A four-legged robot body and four-legged robot

Abstract

The application provides a fuselage of a quadruped robot and the quadruped robot, and belongs to the technical field of industrial robots, and comprises a fuselage rotating piece component, a side slide rack assembly, a telescopic driving assembly, a middle slide support component, a lead screw oiling device, an arc-shaped insert piece assembly and a side connecting seat, right upper rotating pieces, left upper rotating pieces, right lower rotating pieces and left lower rotating pieces are sequentially and rotatably connected to form a closed loop chain structure, the side slide rack assembly is located at both sides of the fuselage rotating piece component, and not only can the stability of the fuselage rotating piece component when changing be increased, but also the shape of the fuselage rotating piece component can be automatically adjusted in cooperation with the telescopic driving assembly; the middle slide support component is located at the middle of the fuselage rotating piece component, the deformation precision of the fuselage rotating piece component can be improved, and through cooperation with the lead screw oiling device, the telescopic lead screw can be efficiently oiled and lubricated; the arc-shaped insert piece assembly connected at both ends of the opening of the fuselage rotating piece component can play a role in strengthening protection.

Description

TECHNICAL FIELD

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

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

[0003] However, using a rigid trunk, the trunk only serves as a bearing installation platform, and its contribution to the running performance and environmental adaptability of the quadruped robot is very low. The movement ability of the quadruped robot with a rigid trunk completely depends on the movement performance of the legs. SUMMARY

[0004] The purpose of the present application is to provide a body of a quadruped robot, which can not only realize the deformation action of the body rotating piece component through the transmission of the telescopic drive assembly and the side sliding frame assembly, but also can synchronously realize the oiling and lubricating work of the telescopic lead screw within a certain range through the cooperation of the middle sliding support component and the lead screw oiling device.

[0005] The purpose of the present application is achieved by the following technical scheme. A body of a quadruped robot comprises a body rotating piece component, a side sliding frame assembly, a telescopic drive assembly, a middle sliding support component and a lead screw oiling device. The body rotating piece component comprises a right upper rotating piece, a left upper rotating piece, a right lower rotating piece and a left lower rotating piece. The side sliding frame assembly comprises an inner sliding rod and an outer sliding rod. The telescopic drive assembly comprises an outer cross frame, a telescopic lead screw and a lead screw sliding block. The middle sliding support component comprises an outer sliding tube and an inner insertion tube. The lead screw oiling device comprises an oiling cylinder, a driven gear and a driven rack.

[0006] The right upper rotating piece, the left upper rotating piece, the right lower rotating piece and the left lower rotating piece are chain-shaped and connected in rotation. The inner sliding rod and the outer sliding rod are distributed in pairs. One end of the inner sliding rod is connected in rotation with the outer side of the top end of the right lower rotating piece. One end of the outer sliding rod is connected in rotation with the outer side of the bottom end of the left upper rotating piece. The inner sliding rod and the outer sliding rod on the same side are connected in sliding. The inner ends of the two groups of outer sliding rods are fixedly connected with an inner cross frame. The outer cross frame is fixedly connected with the outer ends between the two groups of outer sliding rods. One end of the telescopic lead screw is connected in rotation with the middle part of the inner cross frame. The other end of the telescopic lead screw is connected in rotation with 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 lead screw sliding block is fixedly installed in the middle part of the moving cross frame and is connected in cooperation with the telescopic lead screw.

[0007] The outer sliding tube is distributed in pairs and is connected in rotation with the middle part of the top end of the right upper rotating piece. The inner insertion tube is distributed in pairs and is connected in rotation with the middle part of the bottom end of the left lower rotating piece. The inner insertion tube and the outer sliding tube on the same side are connected in sliding.

[0008] The inner end of the oiling cylinder is sleeved on the outside of the telescopic screw rod, a group of inner side walls of the outer sliding tube are vertically provided with a pipe groove, the passive rack is fixedly connected in the inner inserting tube which is slidingly inserted with the group of outer sliding tubes, and the passive gear is fixed in the middle part of the outside of the oiling cylinder and is engaged with the passive rack while being slidingly inserted with the pipe groove.

[0009] The use process of the technical scheme of the present application is as follows:

[0010] The right upper rotating piece, the left upper rotating piece, the right lower rotating piece and the left lower rotating piece are sequentially and rotatably connected to form the main body structure of the fuselage, and the center distance of the two end rotating cores of the right upper rotating piece, the center distance of the two end rotating cores of the left upper rotating piece, the center distance of the two end rotating cores of the right lower rotating piece and the center distance of the two end rotating cores of the left lower rotating piece are all equal;

[0011] The side sliding frame assemblies are respectively transmissionally connected to the two sides of the fuselage rotating piece component, which not only provides lateral support for the rotatable connection of the right upper rotating piece, the left upper rotating piece, the right lower rotating piece and the left lower rotating piece, but also is connected with the telescopic driving assembly; the telescopic screw rod can automatically rotate and cooperatively drive the sliding block of the screw rod, so as to drive the relative sliding of the component connected by the moving cross frame and the inner sliding rod relative to the component connected by the outer cross frame and the outer sliding rod;

[0012] When the inner sliding rod is away from the outer sliding rod, the fuselage rotating piece component is flat in width, and vice versa, when the inner sliding rod is close to the outer sliding rod, the fuselage rotating piece component is flat in height, so that the automatic change of the fuselage can be realized;

[0013] Since the upper end rotating core of the outer sliding tube is concentric with the rotatable connection of the right upper rotating piece and the left upper rotating piece, the lower end rotating core of the inner inserting tube is concentric with the rotatable connection of the right lower rotating piece and the left lower rotating piece, and the outer sliding tube is slidingly connected with the inner inserting tube, the middle sliding support component can always be vertically located at the center of the fuselage rotating piece component within the change range of the fuselage rotating piece component, so that the change accuracy of the fuselage rotating piece component can be improved to a certain extent by the middle sliding support component;

[0014] Synchronously, during the rotatable connection change of the fuselage rotating piece component, the inner inserting tube is displaced relative to the outer sliding tube, since the passive gear is engaged with the passive rack inside the inner inserting tube and the outer surface of the passive gear is slidingly connected in the pipe groove, the relative movement of the inner inserting tube relative to the outer sliding tube can make the oiling cylinder rotate relative to the telescopic screw rod;

[0015] And due to the relative displacement of the component formed by the outer slide rod connection relative to the component formed by the inner slide rod connection in the process of the body of the body rotating piece component changing, that is, the telescopic lead screw can be displaced relative to the middle position of the body rotating piece component while cooperating with the lead screw block to form a transmission, so that the oiling mechanism at the inner end of the oiling cylinder can be used to perform a large range of oiling and lubrication operation on the surface of the telescopic lead screw in a certain path.

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

[0017] Due to the lack of a fixed reference in the shape change of the body rotating piece component, when the body rotating piece component is changed in shape, the alternating stepping action of the left and right leg structures installed in the side connecting seat needs to be performed, and at the same time, the miniature servo motor is started through the control center of the quadruped robot, so that the deformation action of the mechanism composed of the right upper rotating piece, the left upper rotating piece, the right lower rotating piece and the left lower rotating piece can be conveniently formed.

[0018] By adopting the above technical scheme, the present application can form the following beneficial effects:

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

[0020] (2) And the sliding cooperation of the inner slide rod and the outer slide rod formed by the side slide bracket assembly transversely connected on both sides of the body rotating piece component not only can improve the stability of the body rotating piece component body change, but also can provide a cooperation position for the telescopic driving assembly, that is, when the body rotating piece component needs to change the body, the cooperation transmission between the automatically rotatable telescopic lead screw and the lead screw block can drive the movement of the component formed by the inner slide rod connection relative to the component formed by the outer slide rod connection, so that the body rotating piece component can be deformed by being pressed flat up and down or pressed flat left and right, thereby being suitable for different walking environments.

[0021] (3) The cooperation of the outer slide tube and the inner insertion tube not only provides a reference type support on the inner middle position of the body rotating piece component, so that the change process of the body rotating piece component is more accurate, but also drives the rotation of the oiling cylinder through the cooperation transmission between the passive rack and the passive gear when the body rotating piece component changes, and cooperates with the transverse displacement of the telescopic lead screw relative to the middle slide support component, so that the oiling mechanism at the inner end of the oiling cylinder can more effectively perform oiling and lubrication operation on the surface of the telescopic lead screw. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort based on these drawings.

[0023] Figure 1 The whole structure schematic diagram of the fuselage and the quadruped robot of the present application;

[0024] Figure 2 The structure schematic diagram of the fuselage rotating piece component of the present application;

[0025] Figure 3 The installation structure schematic diagram of the side slide frame assembly of the present application;

[0026] Figure 4 The installation structure schematic diagram of the telescopic driving assembly of the present application;

[0027] Figure 5 The transmission structure schematic diagram of the telescopic driving assembly and the side slide frame assembly of the present application;

[0028] Figure 6 The installation structure schematic diagram of the middle slide support component of the present application;

[0029] Figure 7 The explosion structure schematic diagram of the middle slide support component of the present application;

[0030] Figure 8 The position structure schematic diagram of the lead screw oiling device and the telescopic lead screw of the present application;

[0031] Figure 9 The structure schematic diagram of the oiling cylinder part of the present application;

[0032] Figure 10 The structure schematic diagram of the passive rack part of the present application;

[0033] Figure 11 The structure schematic diagram of the arc-shaped insert piece assembly of the present application;

[0034] Figure 12 The connection structure schematic diagram of the arc-shaped insert piece assembly and the left upper rotating piece and the left lower rotating piece of the present application;

[0035] Figure 13 The structure schematic diagram of the arc-shaped insert piece assembly at the position of the right upper rotating piece of the present application.

[0036] Reference signs:

[0037] 1. Body rotary piece component; 101. Right upper rotary piece; 102. Left upper rotary piece; 103. Right lower rotary piece; 104. Left lower rotary piece; 105. Rotary shaft; 106. Rotary seat; 107. Arrow hole;

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

[0039] 3. Telescopic drive assembly; 301. Inner cross frame; 302. Outer cross frame; 303. Screw inner seat; 304. Screw outer seat; 305. Telescopic screw; 306. Moving cross frame; 307. Screw sliding block; 308. Micro servo motor;

[0040] 4. Mid-position slide support component; 401. Upper groove; 402. Lower groove; 403. Upper fixed shaft; 404. Lower fixed shaft; 405. Upper rotary rod; 406. Outer slide tube; 407. Lower rotary rod; 408. Inner insertion tube; 409. Nylon sliding sleeve;

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

[0042] 6. Arc-shaped insertion piece assembly; 601. Main insertion piece; 602. Main interval insertion piece; 603. Side insertion piece; 604. Side interval insertion piece; 605. Insertion piece connecting seat; 606. Inlay block; 607. Elastic fixed sleeve;

[0043] 7. Side connecting seat. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0045] In the description of the present application, it should be noted that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0046] As shown in Figures 1-13 The upper right flap 101, the upper left flap 102, the lower right flap 103 and the lower left flap 104 in the fuselage rotating piece component 1 are respectively divided into four parts by a whole circle, the upper right flap 101, the upper left flap 102, the lower right flap 103 and the lower left flap 104 are connected in a chain shape, the upper right flap 101 and the upper left flap 102 are the upper part of the fuselage, the lower right flap 103 and the lower left flap 104 are the lower part of the fuselage, the inner slide rod 203 and the outer slide rod 204 are distributed in pairs, one end of the inner slide rod 203 is connected with the outer side of the top end of the lower right flap 103, one end of the outer slide rod 204 is connected with the outer side of the bottom end of the upper left flap 102, and the inner slide rod 203 and the outer slide rod 204 on the same side are connected in sliding mode, the inner end between the two groups of outer slide rods 204 is fixedly connected with the inner cross frame 301, the outer cross frame 302 is fixedly connected between the outer ends of the two groups of outer slide rods 204, one end of the telescopic lead screw 305 is connected with the middle part of the inner cross frame 301, the other end is connected with the middle part of the outer cross frame 302, the inner ends of the two groups of inner slide rods 203 are fixedly connected with the moving cross frame 306, the screw block 307 is fixedly installed in the middle part of the moving cross frame 306, and is connected with the telescopic lead screw 305 in cooperation;

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

[0048] The outer slide tube 406 is distributed in pairs, and the upper end is connected with the middle part of the top end of the upper right flap 101, the inner insertion tube 408 is distributed in pairs, and the lower end is connected with the middle part of the bottom end of the lower left flap 104, the inner insertion tube 408 and the outer slide tube 406 on the same side are connected in sliding mode, and the upper end of the outer slide tube 406 is concentric with the connection between the upper right flap 101 and the upper left flap 102, and the lower end of the inner insertion tube 408 is concentric with the connection between the lower right flap 103 and the lower left flap 104;

[0049] The inner end of the oiling cylinder 503 is sleeved on the outside of the telescopic lead screw 305, wherein a group of inner sidewalls of the outer sliding tube 406 are vertically provided with a tube groove 501, the passive rack 510 is fixedly connected in the inner inserting tube 408 which is slidingly inserted with the group of outer sliding tubes 406, and the passive gear 504 is fixed in the middle part of the outside of the oiling cylinder 503 and is in engagement with the passive rack 510 while being slidingly inserted with the tube groove 501.

[0050] The working principle is as follows:

[0051] The right upper rotating piece 101, the left upper rotating piece 102, the right lower rotating piece 103 and the left lower rotating piece 104 are sequentially and rotatably connected to form the main structure of the machine body, and the center distance of the two ends of the rotating core of the right upper rotating piece 101, the center distance of the two ends of the rotating core of the left upper rotating piece 102, the center distance of the two ends of the rotating core of the right lower rotating piece 103 and the center distance of the two ends of the rotating core of the left lower rotating piece 104 are all equal;

[0052] The side sliding frame assembly 2 is drivingly connected to the two sides of the machine body rotating piece component 1, which not only provides lateral support for the rotatable connection of the right upper rotating piece 101, the left upper rotating piece 102, the right lower rotating piece 103 and the left lower rotating piece 104, but also is connected with the telescopic driving assembly 3. The telescopic lead screw 305 can automatically rotate and cooperatively drive the sliding block 307, so as to drive the relative sliding of the component formed by the moving cross frame 306 and the inner sliding rod 203 relative to the component formed by the outer cross frame 302, the inner cross frame 301 and the outer sliding rod 204;

[0053] When the inner sliding rod 203 moves away from the outer sliding rod 204, the machine body rotating piece component 1 is flat in width, and vice versa, when the inner sliding rod 203 moves close to the outer sliding rod 204, the machine body rotating piece component 1 is flat in height, so as to realize the automatic change of the machine body;

[0054] Since the upper end of the outer sliding tube 406 is concentric with the rotatable connection of the right upper rotating piece 101 and the left upper rotating piece 102, the lower end of the inner inserting tube 408 is concentric with the rotatable connection of the right lower rotating piece 103 and the left lower rotating piece 104, and the outer sliding tube 406 is slidingly connected with the inner inserting tube 408, the middle sliding support component 4 can always be vertically located at the center of the machine body rotating piece component 1 within the change range of the machine body rotating piece component 1, so as to improve the change accuracy of the machine body rotating piece component 1 to a certain extent by using the middle sliding support component 4;

[0055] Synchronously, during the rotatable connection change of the machine body rotating piece component 1, the inner inserting tube 408 will be displaced relative to the outer sliding tube 406. Since the passive gear 504 is in engagement with the passive rack 510 inside the inner inserting tube 408 and the outer surface of the passive gear 504 is slidingly connected in the tube groove 501, the relative movement of the inner inserting tube 408 relative to the outer sliding tube 406 can make the oiling cylinder 503 rotate relative to the telescopic lead screw 305.

[0056] And because in the process of the body rotating piece component 1 body changes, will form the outer slide rod 204 connection formed component relative to the inner slide rod 203 connection formed component relative displacement, that is, will make the telescopic lead screw 305 in the silk block 307 formed in the cooperation of transmission, telescopic lead screw 305 itself can be over relative to the body rotating piece component 1 mid position displacement, thus cooperate with the oiling cylinder 503 relative to the telescopic lead screw 305 rotating action, can use the oiling mechanism in the oiling cylinder 503 end to the surface of the telescopic lead screw 305 certain path of oiling lubrication operation in a larger range.

[0057] The specific structure of the body rotating piece component 1 is as shown in Figure 2 The right upper rotating piece 101 and the left lower rotating piece 104 are both inserted and installed with rotating shafts 105, and the right lower rotating piece 103 and the left upper rotating piece 102 are both fixedly connected with rotating seats 106. The right upper rotating piece 101, the left upper rotating piece 102, the right lower rotating piece 103 and the left lower rotating piece 104 are sequentially connected through the rotating joint cooperation formed by the rotating shafts 105 and the rotating seats 106, forming a chain-shaped closed loop structure.

[0058] The arrow hole 107 is arranged in the main body of the right upper rotating piece 101 and the left upper rotating piece 102. The purpose of arranging the arrow hole 107 in the right upper rotating piece 101 and the left upper rotating piece 102 is to reduce weight and keep the right lower rotating piece 103 and the left lower rotating piece 104 in a complete protection state.

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

[0060] The main body of each group of inner slide rods 203 is transversely provided with a sliding groove 205, and the other end of the outer slide rod 204 is provided with at least two groups of rubber wheels 206, which are slidingly connected in the sliding groove 205.

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

[0062] And the two ends of the inner cross 301 are fixedly connected with the inner slide rod 203 after passing through different sliding grooves 205, which means that the inner cross 301 can also slide in the sliding grooves 205;

[0063] And the micro servo motor 308 is connected with the control center of the four-legged robot, which can automatically start the micro servo motor 308 to drive the rotation of the telescopic lead screw 305 according to the actual environment, so as to change the shape of the body rotating piece component 1;

[0064] The side connecting seat 7 of the corner structure is fixedly connected at one end of the inner slide rod 203 and the outer slide rod 204, and the side connecting seat 7 is symmetrically distributed in front and back.

[0065] Each group of side connecting seats 7 is installed with a leg structure, and when the shape of the body rotating piece component 1 is changed, the leg structure needs to form a motion;

[0066] Because of the lack of fixed reference when the shape of the body rotating piece component 1 is changed, when the shape of the body rotating piece component 1 is changed, the alternating stepping action of the left and right leg structures installed in the side connecting seat 7 needs to be performed, and at the same time, the micro servo motor 308 is started through the control center of the four-legged robot, so that the deformation action of the mechanism composed of the right upper rotating piece 101, the left upper rotating piece 102, the right lower rotating piece 103 and the left lower rotating piece 104 can be easily formed;

[0067] When the width of the body rotating piece component 1 is increased, the walking process is more stable, and when the width of the body rotating piece component 1 is reduced, it can pass through a more narrow space.

[0068] The specific structure of the middle slide support component 4 is shown in Figure 6 And Figure 7 The upper groove 401 is opened in 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 in the transverse direction, and is concentric with the rotating shaft 105 at the top end of the right upper rotating piece 101, the lower groove 402 is opened in 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 in the transverse direction, and is concentric with the rotating shaft 105 at the bottom end of the left lower rotating piece 104;

[0069] The top end of the outer slide pipe 406 is fixedly connected with the upper rotating rod 405, the top end of the upper rotating rod 405 is rotationally connected with the upper fixed shaft 403, the bottom end of the inner insertion pipe 408 is fixedly connected with the lower rotating rod 407, and the bottom end of the lower rotating rod 407 is rotationally connected with the lower fixed shaft 404;

[0070] The inner lower end of each group of outer slide pipes 406 is also fixedly installed with a nylon sliding sleeve 409, and the inner insertion pipe 408 is slidingly connected with the nylon sliding sleeve 409, which can reduce friction, reduce noise and achieve the purpose of sound reduction.

[0071] The specific structure of the lead screw oiling device 5 is shown in Figure 8 、 Figure 9 and Figure 10 The rack slot 502 is arranged in the main body of one of the groups of inner insertion tubes 408, the passive rack 510 is fixedly installed in the rack slot 502, and the teeth of the passive rack 510 do not protrude from the outer contour surface of the inner insertion tube 408.

[0072] The inner middle part of the oiling cylinder 503 is fixedly connected with the inner cylinder 505, and the oiling cylinder 503 and the inner cylinder 505 jointly form a cylindrical structure, and the side cover 506 is connected to the opening at one end of the oiling cylinder 503 and the inner cylinder 505.

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

[0074] The inner end of the oiling wiper column 508 protrudes from the inner wall of the inner cylinder 505, and the uniformly distributed oiling wiper column 508 can form a flexible wrapping on the outer surface of the telescopic lead screw 305.

[0075] The inner side surface of the other group of outer sliding tubes 406 is also vertically fixedly connected with a soft limiting block 509, which can flexibly contact the outer surface of the passive gear 504. The purpose is to make the passive gear 504 and the passive rack 510 form a good meshing state, and reduce the shaking of the passive gear 504 relative to the telescopic lead screw 305 during rotation.

[0076] Preferably, 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 provided with the arc-shaped insert piece assembly 6 at the opening of the two ends of the mechanism, which not only protects the inner cavity of the fuselage rotating piece component 1, but more importantly, can adapt to the deformation action of the fuselage rotating piece component 1. The two 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 fixedly connected with the insert piece connecting seat 605. The insert piece connecting seat 605 is provided to enable the main insert piece 601, the main interval insert piece 602, the side insert piece 603 and the side interval insert piece 604 to move outward to the outside of the side sliding frame assembly 2, thereby protecting the fuselage rotating piece component 1 and the side sliding frame assembly 2. The main insert piece 601 and the main interval insert piece 602 are located on the upper and lower sides of the two 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. The side insert piece 603 and the side interval insert piece 604 are located on the left and right sides of the two 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. The main insert piece 601 is linearly and radially arranged and distributed outward with the rotating core at the top end of the upper left rotating piece 102 and the rotating core at the bottom end of the lower right rotating piece 103 as the center. The main interval insert piece 602 is linearly and radially arranged and distributed outward with the rotating core at the top end of the upper right rotating piece 101 and the rotating core at the bottom end of the lower left rotating piece 104 as the center. The main insert piece 601 and the main interval insert piece 602 located at the rotating joint of the upper left rotating piece 102 and the upper right rotating piece 101 are sequentially and crossly attached. The main insert piece 601 and the main interval insert piece 602 located at the rotating joint of the lower right rotating piece 103 and the lower left rotating piece 104 are sequentially and crossly attached. Similarly, the side insert piece 603 is linearly and radially arranged and distributed outward with the rotating core at the bottom end of the upper left rotating piece 102 and the rotating core at the top end of the lower right rotating piece 103 as the center. The side interval insert piece 604 is linearly and radially arranged and distributed outward with the rotating core at the top end of the lower left rotating piece 104 and the rotating core at the bottom end of the upper right rotating piece 101 as the center. The side insert piece 603 and the side interval insert piece 604 located at the rotating joint of the upper left rotating piece 102 and the lower left rotating piece 104 are sequentially and crossly attached. The side insert piece 603 and the side insert piece 603 located at the rotating joint of the upper right rotating piece 101 and the lower right rotating piece 103 are sequentially and crossly attached. The outer end of each group of insert piece connecting seats 605 is also fixedly connected with the inlay block 606, and the inlay block 606 does not interfere with the cross action of the main insert piece 601 and the main interval insert piece 602 or the side insert piece 603 and the side interval insert piece 604.

[0077] The inner ends of the inlay blocks 606 on the same side are fixedly connected with the elastic fixed sleeve 607. The elastic fixed sleeve 607 covers the gaps formed by the main insert piece 601, the main interval insert piece 602, the side insert piece 603 and the side interval insert piece 604 in the middle of the fuselage rotating piece component 1 based on its own elasticity, thereby improving the protection effect.

[0078] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions recorded in the above embodiments can be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A quadruped robot's body, comprising a body rotor component (1), characterized in that: Side slide assembly (2), telescopic drive assembly (3), center sliding support component (4) and lead screw oiling device (5); The fuselage rotor component (1) includes an upper right rotor (101), an upper left rotor (102), a lower right rotor (103), and a lower left rotor (104). The upper right rotor (101), upper left rotor (102), lower right rotor (103), and lower left rotor (104) are connected in a chain. The side slide assembly (2) is located on both sides of the fuselage rotor component (1). The push formed by the telescopic drive assembly (3) installed in the side slide assembly (2) can drive the fuselage rotor component (1) to form a deformation action. At the same time, it can also drive the middle sliding support component (4) to form a transmission connection with the screw oiling device (5) to perform oiling and lubrication operation on the transmission components of the telescopic drive assembly (3). The side slide assembly (2) includes an inner slide rod (203) and an outer slide rod (204); the telescopic drive assembly (3) includes an outer crossbar (302), a telescopic lead screw (305), and a lead screw slider (307); the center sliding support component (4) includes an outer slide tube (406) and an inner insert tube (408); the lead screw oiling device (5) includes an oiling cylinder (503), a driven gear (504), and a driven rack (510); the inner slide rod (203) and the outer slide rod (204) are both distributed in pairs; the inner slide rod ( One end of the outer slide rod (203) is screwed to the outer side of the top of the lower right slide plate (103), and one end of the outer slide rod (204) is screwed to the outer side of the bottom of the upper left slide plate (102). The inner slide rod (203) on the same side is slidably connected to the outer slide rod (204). The inner end of the two sets of outer slide rods (204) is fixedly connected to the inner cross frame (301). The outer cross frame (302) is fixedly connected to the outer end of the two sets of outer slide rods (204). One end of the telescopic screw (305) is screwed to the middle of the inner cross frame (301). The other end is screwed to the middle of the outer crossbar (302). The inner ends of the two sets of inner slide rods (203) are fixedly connected to the movable crossbar (306). The lead screw slider (307) is installed and fixed in the middle of the movable crossbar (306) and is connected to the telescopic lead screw (305). The outer slide tubes (406) are distributed in pairs, and their upper ends are screwed to the middle of the top of the upper right rotating plate (101). The inner inserts (408) are distributed in pairs, and their lower ends are screwed to the middle of the bottom of the lower left rotating plate (104). The inner inserts (408) on the same side are also connected to the middle of the bottom of the lower left rotating plate (104). 08) The inner end of the oiling cylinder (503) is sleeved on the outside of the telescopic screw (305) and the outer slide tube (406) slides into it. The inner side wall of one set of outer slide tubes (406) is provided with a tube groove (501). The passive rack (510) is fixedly connected in the inner tube (408) that slides into the outer slide tube (406). The passive gear (504) is fixed in the middle of the outer side of the oiling cylinder (503) and meshes with the passive rack (510) while sliding into the tube groove (501).

2. The body of a quadruped robot according to claim 1, characterized in that: The side slide assembly (2) also includes an inner rod seat (201) and an outer rod seat (202). The inner rod seat (201) is symmetrically fixedly connected to the top two sides of the lower right rotating plate (103). The outer rod seat (202) is symmetrically fixedly connected to the bottom two sides of the upper left rotating plate (102). One end of the inner slide rod (203) is rotatably connected to the inner rod seat (201), and one end of the outer slide rod (204) is rotatably connected to the outer rod seat (202). Each set of inner slide rods (203) has a groove (205) in its main body. The other end of the outer slide rod (204) is equipped with a rubber wheel (206), which is slidably connected to the groove (205).

3. The body of a quadruped robot according to claim 1 or 2, characterized in that: The fuselage rotor component (1) also includes arrow holes (107). Rotary shafts (105) are inserted and installed at both ends of the upper right rotor (101) and the lower left rotor (104). Rotary seats (106) are fixedly connected to both ends of the lower right rotor (103) and the upper left rotor (102). The upper right rotor (101), the upper left rotor (102), the lower right rotor (103) and the lower left rotor (104) are connected in sequence through the rotating shaft (105) and the rotating seat (106). Arrow holes (107) are arranged in the main body of the upper right rotor (101) and the upper left rotor (102).

4. The body of a quadruped robot according to claim 1 or 2, characterized in that: The telescopic drive assembly (3) also includes an inner screw seat (303), an outer screw seat (304), and a micro servo motor (308). The inner screw seat (303) is installed and fixed in the middle of the side of the inner cross frame (301). One end of the telescopic screw (305) is rotatably connected in the inner screw seat (303). The outer screw seat (304) is installed and fixed in the middle of the main body of the outer cross frame (302). The other end of the telescopic screw (305) is rotatably connected in 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). The telescopic screw (305) is fixedly connected to the shaft of the micro servo motor (308).

5. The body of a quadruped robot according to claim 1 or 2, characterized in that: The mid-position sliding support component (4) also includes an upper groove (401), a lower groove (402), an upper fixed shaft (403), and a lower fixed shaft (404). The upper groove (401) is located at the top center of the upper right rotating plate (101), and the upper fixed shaft (403) is fixedly connected inside the upper groove (401). The lower groove (402) is located at the bottom center of the lower left rotating plate (104), and the lower fixed shaft (404) is fixedly connected inside the lower groove (402). The top end of the outer slide tube (406) is fixedly connected to an upper rotating rod (405), the top end of the upper rotating rod (405) is rotatably connected to an upper fixed shaft (403), the bottom end of the inner insert tube (408) is fixedly connected to a lower rotating rod (407), the bottom end of the lower rotating rod (407) is rotatably connected to a lower fixed shaft (404), and a nylon sleeve (409) is also fixedly installed at the lower inner end of each set of outer slide tubes (406), and the inner insert tube (408) is slidably connected to the nylon sleeve (409).

6. The body of a quadruped robot according to claim 1 or 2, characterized in that: The lead screw oiling device (5) also includes a rack slot (502) and a side cover (506). The rack slot (502) is opened in the body of one of the inner tubes (408). 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). The inner cylinder (505) is fixedly connected to the middle of the oiling cylinder (503). The side cover (506) is connected to the opening at one end of the oiling cylinder (503) and the inner cylinder (505). The side wall of the inner cylinder (505) is provided with oil seepage holes (507), and each set of oil seepage holes (507) is planted with an oiling wiping column (508).

7. The body of a quadruped robot according to claim 1 or 2, characterized in that: Another set of outer sliding tubes (406) has a soft limit block (509) vertically fixedly connected to the outer wall of the inner side surface.

8. A quadruped robot comprising the body of a quadruped robot as described in any one of claims 1 to 7, characterized in that: It also includes a side connecting seat (7), which is fixedly connected to one end of the inner slide rod (203) and the outer slide rod (204).

9. A quadruped robot according to claim 8, characterized in that: The upper right rotating plate (101), upper left rotating plate (102), lower right rotating plate (103), and lower left rotating plate (104) are all equipped with arc-shaped insert assemblies (6) at both ends of the mechanism. The arc-shaped insert assembly (6) includes a main insert (601), a main spacer insert (602), a side insert (603), and a side spacer insert (604). The two outer ends of the upper right rotating plate (101), upper left rotating plate (102), lower right rotating plate (103), and lower left rotating plate (104) are all connected and fixed with insert connecting seats (605). The main insert (601) and the main spacer insert (602) are located on the upper right rotating plate. (101), the upper left spiral plate (102), the lower right spiral plate (103), and the lower left spiral plate (104) are located on the upper and lower sides of their outer ends. The side inserts (603) and the side spacers (604) are located on the left and right sides of the upper right spiral plate (101), the upper left spiral plate (102), the lower right spiral plate (103), and the lower left spiral plate (104). The main inserts (601) are arranged linearly outward from the spiral center at the top of the upper left spiral plate (102) and the spiral center at the bottom of the lower right spiral plate (103). The main spacers (602) are arranged linearly outward from the spiral center at the top of the upper right spiral plate (101) and the spiral center at the bottom of the lower left spiral plate (103). (104) The main inserts (601) and main spacer inserts (602) are arranged radially outward from the center of the bottom spiral plate (102). The main inserts (601) and main spacer inserts (602) at the joint of the upper left spiral plate (102) and the upper right spiral plate (101) are sequentially cross-attached. The main inserts (601) and main spacer inserts (602) at the joint of the lower right spiral plate (103) and the lower left spiral plate (104) are sequentially cross-attached. The side inserts (603) are arranged radially outward from the center of the bottom of the upper left spiral plate (102) and the center of the top of the lower right spiral plate (103). The side spacer inserts (604) are arranged radially outward from the center of the bottom of the upper left spiral plate (102) and the center of the top of the lower right spiral plate (103). The spiral core at the top and the spiral core at the bottom of the upper right spiral plate (101) are arranged linearly outwards. The side inserts (603) and side spacer inserts (604) located at the joint of the upper left spiral plate (102) and the lower left spiral plate (104) are sequentially cross-fitted. The side inserts (603) and side inserts (603) located at the joint of the upper right spiral plate (101) and the lower right spiral plate (103) are sequentially cross-fitted. The outer middle of each set of insert connecting seats (605) is also fixedly connected to a block (606). The inner ends of the blocks (606) on the same side are fixedly connected to an elastic sleeve (607).

Images