Leg mechanism of quadruped robot
By designing a multi-purpose foot end mechanism, combined with camera recognition, cylinder drive and suction cup adsorption, the problem that existing four-legged robots cannot climb on a smooth exterior wall is solved, achieving higher rescue practicality and stability.
Patent Information
- Application Number
- CN202510180457.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-19
- Publication Date
- 2025-04-11
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
The existing four-legged robot cannot climb on smooth exterior walls, limiting its application and effectiveness in the rescue process.
A four-legged robot leg mechanism is designed, using a combination of multiple calfs, guide rods, movable rods, telescopic springs and suction cups. The camera recognizes objects and adjusts the positions of the thighs and calfs. The cylinder and traction block drive the suction cup to adsorb and distance the smooth surface.
The quadruple-legged robot has been able to climb and move firmly on the smooth exterior wall, improving its practicality and coordination in the rescue process.
Smart Images
Figure CN119796372A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the field of quadruped robots, in particular to a leg mechanism of a quadruped robot. Background Art
[0002] A quadruped robot is a bionic robot, named because its appearance and movement imitate quadrupeds. This type of robot usually has four legs and joints, and can simulate the walking, running and other movements of real animals. Quadruped robots excel in mobility, environmental adaptability and load capacity, and are particularly suitable for working in complex and changeable terrains. They have broad application prospects in many fields such as military, rescue, and exploration. The development of quadruped robots has benefited from the study of the movement mechanism of quadrupeds in nature. By imitating their movement and body structure, engineers have designed robots that can walk stably and cross obstacles. With the advancement of technology, quadruped robots are becoming more and more intelligent and can perform more complex tasks, such as navigation and object handling. In the future, quadruped robots are expected to play an important role in more fields and become an important assistant for human work and life.
[0003] However, the existing quadruped robots still have the following problems during use: Existing quadruped robots are only suitable for activities on the ground and cannot complete various complex actions such as climbing on smooth exterior walls, which limits the use of quadruped robots in the rescue process and reduces their effectiveness. Therefore, it is necessary to use a quadruped robot leg mechanism in the existing quadruped robot field. Summary of the invention
[0004] In order to make up for the shortcomings of the existing technology, the existing quadruped robots are only suitable for activities on the ground and cannot complete various complex actions such as climbing on smooth external walls, which limits the quadruped robots in the rescue process and reduces the use effect. The present invention proposes a leg mechanism of a quadruped robot.
[0005] The technical solution adopted by the present invention to solve its technical problems is: a leg mechanism of a quadruped robot, comprising a body and a plurality of calf parts, the bottoms of the calf parts are fixedly equipped with foot ends, the calf parts are penetrated with mounting openings, the calf parts are penetrated with traction openings, the traction openings are located on one side of the mounting openings, the symmetrical sides of the calf parts are symmetrically fixedly equipped with guide rods, the guide rods are located below the traction openings, one end of the two guide rods are fixedly equipped with limit blocks, the bottom of the limit blocks and the calf parts are fixedly equipped with connecting blocks, the connecting blocks are located below the two guide rods, the connecting blocks are movably equipped with movable rods, the tops of the movable rods are fixedly equipped with guide plates, the guide plates are located between the connecting blocks and the guide rods, the bottoms of the movable rods are fixedly equipped with fixed disks, the movable rods are fixedly equipped with telescopic springs, the two ends of the telescopic springs are fixedly equipped with the connecting blocks and the fixed disks respectively, the bottoms of the fixed disks are fixedly equipped with spheres, the spheres are located outside the foot ends, and the spheres are fixedly equipped with a plurality of suction cups.
[0006] Preferably, the upper surface of the guide plate is symmetrically fixedly equipped with a first traction arc block, and the lower surface of the guide plate is symmetrically fixedly equipped with a second traction arc block, and the first traction arc block and the second traction arc block are both located on both sides of the guide rod.
[0007] Preferably, the mounting ports are fixedly equipped with cylinders, the output ends of the cylinders are fixedly equipped with piston rods, the piston rods are movably inserted into the traction ports, and the bottoms of the piston rods are fixedly equipped with lifting blocks, both ends of the lifting blocks are fixedly equipped with mounting plates, the two guide rods are movably equipped with traction blocks, the tops of the traction blocks are fixedly equipped with operating panels, the operating panels are movably equipped with adjusting rods, and the other ends of the adjusting rods are movably equipped with the mounting plates.
[0008] Preferably, the symmetrical sides of the traction block are fixedly equipped with connecting rods, the connecting rods are located above the guide rods, one end of the connecting rods is fixedly equipped with guide blocks, the bottom of the guide blocks is fixedly equipped with first operating arc blocks, and the first operating arc blocks can be fitted with the first traction arc block.
[0009] Preferably, one end of the guide block is fixedly equipped with a vertical block, the top of the vertical block is fixedly equipped with a horizontal block, and the horizontal block is fixedly equipped with a second operating arc block, and the second operating arc block can be fitted with the second traction arc block.
[0010] Preferably, when the first traction arc block is fitted with the first operating arc block, the second operating arc block moves away from the second traction arc block, and the first operating arc block moves the guide plate downward through the first traction arc block.
[0011] Preferably, when the second operating arc block is fitted with the second traction arc block, the first operating arc block moves away from the first traction arc block, and the second operating arc block moves the guide plate upward through the second traction arc block.
[0012] Preferably, the body is provided with a plurality of assembly ports, each of which is equipped with a hip joint, each of which is equipped with a thigh, each of which is equipped with a knee joint, each of which is equipped with a calf, and a camera is fixedly mounted on the body.
[0013] The present invention is beneficial in that: 1. The present invention can identify objects through a camera, and with the cooperation of the hip joint and the knee joint, the thigh and the calf are relatively adjusted, so that it is inconvenient for the body to walk through the foot end, and the cylinder is started, so that the piston rod drives the lifting block to move downward, and under the action of the adjusting rod, the two traction blocks are respectively moved in opposite directions on the two guide rods, and the traction blocks respectively drive the guide blocks on the connecting rod to move, and the guide blocks drive the horizontal blocks on the vertical blocks to move. When the first traction arc block is fitted with the first operating arc block, the second operating arc block is away from the second traction arc block, and the first operating arc block applies force downward to the guide plate through the first traction arc block, and according to the moving pace of the foot end, the guide plate is forced downward, so that the movable rod moves on the connecting block, the telescopic spring is stretched, and the fixed plate drives the ball to move, so that the suction cup adsorbs the smooth outer wall, thereby improving the practicality of rescue.
[0014] 2. In the present invention, when the second operating arc block and the second traction arc block are fitted together, the first operating arc block moves away from the first traction arc block, and the second operating arc block is forced upward on the guide plate through the second traction arc block, so that the movable rod moves on the connecting block, the telescopic spring is stretched, and the fixed plate drives the ball to move, so that the suction cup moves away from the smooth outer wall, thereby increasing the coordinated movement stability of the body. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] 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 only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0016] Figure 1 It is a schematic diagram of the structure of the quadruped robot of the present invention; Figure 2 It is a schematic diagram of the structure of the quadruped robot of the present invention; Figure 3 It is a schematic diagram of the structure of the multi-purpose foot end mechanism of the present invention; Figure 4 It is a schematic diagram of the structure of the adsorption mechanism of the present invention; Figure 5 It is a schematic diagram of the guiding mechanism structure of the present invention; Figure 6 It is a schematic diagram of the traction mechanism structure of the present invention.
[0017] In the figure: 10. Body; 11. Assembly port; 12. Hip joint; 13. Thigh; 20. Knee joint; 21. Lower leg; 22. Foot end; 23. Camera; 30. Cylinder; 31. Mounting port; 32. Traction port; 33. Guide rod; 40. Limit block; 41. Connecting block; 42. Pulling block; 43. Connecting rod; 50. sphere; 51. movable rod; 52. guide plate; 53. first traction arc block; 60. Second traction arc block; 61. Fixed plate; 62. Telescopic spring; 63. Suction cup; 70. Guide block; 71. Vertical block; 72. Horizontal block; 73. First operating arc block; 80. Second operating arc block; 81. Piston rod; 82. Lifting block; 83. Mounting plate; 90. Operation panel; 91. Adjustment lever. DETAILED DESCRIPTION
[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.
[0019] Example like Figures 1 to 6 As shown, it is a schematic diagram of the leg mechanism structure of a quadruped robot according to a preferred embodiment of the present invention, referring to Figure 3 and Figure 4A leg mechanism of a quadruped robot includes a body 10 and a plurality of calf parts 21, wherein the bottom of each calf part 21 is fixedly equipped with a foot end 22, each calf part 21 is provided with a mounting opening 31, each calf part 21 is provided with a traction opening 32 located on one side of the mounting opening 31, and the symmetrical sides of the calf part 21 are symmetrically fixedly equipped with guide rods 33, the guide rods 33 are located below the traction opening 32, one end of the two guide rods 33 is fixedly equipped with a limit block 40, a connecting block 41 is fixedly equipped between the bottom of the limit block 40 and the calf part 21, the connecting block 41 is located below the two guide rods 33, and a movable rod 51 is movably equipped on the connecting block 41, and a guide plate 52 located between the connecting block 41 and the guide rod 33 is fixedly equipped on the top of the movable rod 51, and a fixed plate 61 is fixedly equipped on the bottom of the movable rod 51, and the connecting block 41 and the fixed plate 61 are fixedly equipped on the bottom of the movable rod 51. A telescopic spring 62 is fixedly assembled between the plates 61, and the movable rods 51 are fixedly assembled on the inner side of the telescopic spring 62. A sphere 50 is fixedly assembled on the bottom of the fixed plate 61, and the sphere 50 is located on the outer side of the foot end 22. A plurality of suction cups 63 are fixedly assembled on the sphere 50. The upper surface of the guide plate 52 is symmetrically fixedly assembled with a first traction arc block 53 located on both sides of the guide rod 33, and the lower surface of the guide plate 52 is symmetrically fixedly assembled with a second traction arc block 60 located on both sides of the guide rod 33. The body 10 moves on the outer wall through the foot end 22 on the calf 21. According to the moving pace of the foot end 22, force is applied to the guide plate 52 respectively, so that the movable rod 51 moves on the connecting block 41, the telescopic spring 62 is stretched, and the fixed plate 61 drives the sphere 50 to move, so that the suction cup 63 adsorbs the smooth outer wall, thereby increasing the movement stability of the body 10.
[0020] Reference Figure 3 and Figure 5 as well as Figure 6, the mounting port 31 is fixedly equipped with a cylinder 30, the output end of the cylinder 30 is fixedly equipped with a piston rod 81, the piston rod 81 is movably inserted into the traction port 32, and the bottom of the piston rod 81 is fixedly equipped with a lifting block 82, and both ends of the lifting block 82 are fixedly equipped with a mounting plate 83, the two guide rods 33 are movably equipped with a traction block 42, the top of the traction block 42 is fixedly equipped with an operating plate 90, and the operating plate 90 is movably equipped with an adjusting rod 91, and the other end of the adjusting rod 91 is movably assembled with the mounting plate 83, and the symmetrical sides of the traction block 42 are fixedly equipped with a connecting rod 43, and the connecting rod 43 is located above the guide rod 33, and one end of the connecting rod 43 is fixedly equipped with a guide block 70, and the bottom of the guide block 70 is fixedly equipped with a first operating arc block 73 that can be fitted with the first traction arc block 53, and one end of the guide block 70 is fixedly equipped with a vertical block 71, and the top of the vertical block 71 is fixedly equipped with a vertical block 71. A cross block 72 is fixedly assembled, and a second operating arc block 80 that can be fitted with the second traction arc block 60 is fixedly assembled on the cross block 72. The cylinder 30 is started, so that the piston rod 81 drives the lifting block 82 to move downward. Under the action of the adjusting rod 91, the two traction blocks 42 move in opposite directions on the two guide rods 33 respectively. The traction blocks 42 drive the guide blocks 70 on the connecting rods 43 to move respectively, and the guide blocks 70 drive the cross block 72 on the vertical block 71 to move. When the first traction arc block 53 is fitted with the first operating arc block 73, the second operating arc block 80 moves away from the second traction arc block 60, and the first operating arc block 73 applies force downward to the guide plate 52 through the first traction arc block 53. When the second operating arc block 80 is fitted with the second traction arc block 60, the first operating arc block 73 moves away from the first traction arc block 53, and the second operating arc block 80 applies force upward to the guide plate 52 through the second traction arc block 60.
[0021] Reference Figure 1 and Figure 2 The body 10 is provided with a plurality of assembly openings 11, each of which is equipped with a hip joint 12, each of which is equipped with a thigh 13, each of which is equipped with a knee joint 20, each of which is equipped with a calf 21, and a camera 23 is fixedly mounted on the body 10, and the camera 23 can identify an object. With the cooperation of the hip joint 12 and the knee joint 20, the thigh 13 and the calf 21 are relatively adjusted, so that the body 10 can walk through the foot end 22.
[0022] Working principle: The camera 23 can identify the object. With the cooperation of the hip joint 12 and the knee joint 20, the thigh 13 and the calf 21 are relatively adjusted, which makes it inconvenient for the body 10 to walk through the foot end 22. The cylinder 30 is started, so that the piston rod 81 drives the lifting block 82 to move downward. Under the action of the adjusting rod 91, the two traction blocks 42 move in opposite directions on the two guide rods 33 respectively. The traction blocks 42 drive the guide blocks 70 on the connecting rod 43 to move respectively, and the guide blocks 70 drive the horizontal blocks 72 on the vertical blocks 71 to move. When the first traction arc block 53 is fitted with the first operating arc block 73, the second operating arc block 80 moves away from the second traction arc block 60, and the first operating arc block 73 moves the guide plate 52 downward through the first traction arc block 53. The second operating arc block 80 is subjected to force when it is fitted with the second traction arc block 60, and the first operating arc block 73 moves away from the first traction arc block 53. The second operating arc block 80 applies force upward to the guide plate 52 through the second traction arc block 60. According to the moving pace of the foot end 22, the guide plate 52 is subjected to force downward, so that the movable rod 51 moves on the connecting block 41, the telescopic spring 62 is stretched, and the fixed plate 61 drives the sphere 50 to move, so that the suction cup 63 adsorbs the smooth outer wall, and applies force upward to the guide plate 52, so that the movable rod 51 moves on the connecting block 41, the telescopic spring 62 is stretched, and the fixed plate 61 drives the sphere 50 to move, so that the suction cup 63 moves away from the smooth outer wall, thereby increasing the coordinated movement stability of the body 10.
[0023] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.
Claims
1. A leg mechanism of a quadruped robot, characterized in that: The invention comprises a machine body (10) and a plurality of calf parts (21), wherein the bottom of each calf part (21) is fixedly equipped with a foot end (22), each calf part (21) is provided with a mounting opening (31), each calf part (21) is provided with a traction opening (32), the traction opening (32) is located on one side of the mounting opening (31), and guide rods (33) are symmetrically fixedly equipped on two symmetrical side surfaces of the calf part (21), the guide rods (33) are located below the traction opening (32), one end of each of the two guide rods (33) is fixedly equipped with a limit block (40), and a connecting block (41) is fixedly equipped between the bottom of the limit block (40) and the calf part (21), and the connecting block (41) is located between the two guide rods (33). Below the guide rod (33), a movable rod (51) is movably mounted on the connecting block (41), a guide plate (52) is fixedly mounted on the top of the movable rod (51), the guide plate (52) is located between the connecting block (41) and the guide rod (33), a fixed plate (61) is fixedly mounted on the bottom of the movable rod (51), a telescopic spring (62) is fixedly mounted on the movable rod (51), two ends of the telescopic spring (62) are respectively fixedly mounted on the connecting block (41) and the fixed plate (61), a sphere (50) is fixedly mounted on the bottom of the fixed plate (61), the sphere (50) is located outside the foot end (22), and a plurality of suction cups (63) are fixedly mounted on the sphere (50).
2. The leg mechanism of a quadruped robot according to claim 1, characterized in that: The upper surface of the guide plate (52) is symmetrically fixedly equipped with a first traction arc block (53), and the lower surface of the guide plate (52) is symmetrically fixedly equipped with a second traction arc block (60), and the first traction arc block (53) and the second traction arc block (60) are both located on both sides of the guide rod (33).
3. The leg mechanism of a quadruped robot according to claim 2, characterized in that: The mounting openings (31) are fixedly mounted with cylinders (30), the output ends of the cylinders (30) are fixedly mounted with piston rods (81), the piston rods (81) are movably inserted into the traction openings (32), the bottoms of the piston rods (81) are fixedly mounted with lifting blocks (82), both ends of the lifting blocks (82) are fixedly mounted with mounting plates (83), the two guide rods (33) are movably mounted with traction blocks (42), the tops of the traction blocks (42) are fixedly mounted with operating plates (90), the operating plates (90) are movably mounted with adjustment rods (91), and the other end of the adjustment rods (91) is movably mounted corresponding to the mounting plate (83).
4. The leg mechanism of a quadruped robot according to claim 3, characterized in that: The symmetrical sides of the traction block (42) are fixedly mounted with connecting rods (43), the connecting rods (43) are located above the guide rods (33), one end of the connecting rods (43) is fixedly mounted with a guide block (70), the bottom of the guide block (70) is fixedly mounted with a first operating arc block (73), and the first operating arc block (73) can be fitted with the first traction arc block (53).
5. The leg mechanism of a quadruped robot according to claim 4, characterized in that: One end of the guide block (70) is fixedly equipped with a vertical block (71), the top of the vertical block (71) is fixedly equipped with a horizontal block (72), and the horizontal block (72) is fixedly equipped with a second operating arc block (80), and the second operating arc block (80) can be fitted with the second traction arc block (60).
6. The leg mechanism of a quadruped robot according to claim 5, characterized in that: When the first traction arc block (53) and the first operating arc block (73) are fitted together, the second operating arc block (80) moves away from the second traction arc block (60), and the first operating arc block (73) moves the guide plate (52) downwards via the first traction arc block (53).
7. The leg mechanism of a quadruped robot according to claim 6, characterized in that: When the second operating arc block (80) is fitted with the second traction arc block (60), the first operating arc block (73) moves away from the first traction arc block (53), and the second operating arc block (80) moves the guide plate (52) upwards through the second traction arc block (60).
8. The leg mechanism of a quadruped robot according to claim 1, characterized in that: The machine body (10) is provided with a plurality of assembly openings (11), each of the assembly openings (11) is equipped with a hip joint (12), each of the hip joints (12) is equipped with a thigh portion (13), each of the thigh portions (13) is equipped with a knee joint (20), each of the knee joints (20) is equipped with a calf portion (21), and a camera (23) is fixedly mounted on the machine body (10).