Climbing mechanism of quadruped robot dog and quadruped robot dog

Abstract

The invention discloses a climbing mechanism of a quadruped robot dog and the quadruped robot dog, and belongs to the technical field of robot dogs, the climbing mechanism of the quadruped robot dog and the quadruped robot dog comprise an energy storage control main body mechanism, first limb mechanisms are fixedly connected to the two ends of the front side and the rear side of the energy storage control main body mechanism, and second limb mechanisms are fixedly connected to the two ends of the front side and the rear side of the energy storage control main body mechanism; a plurality of first limb mechanisms are arranged in the energy storage control main body mechanism, limb driving mechanisms are arranged in the first limb mechanisms, the other ends of the first limb mechanisms are rotatably connected with second limb mechanisms, the other ends of the second limb mechanisms are fixedly connected with conduction connecting mechanisms, and a plurality of roller mechanisms are placed at the bottom of the energy storage control main body mechanism. According to the robot dog, the conduction connecting mechanism and the detachable roller mechanisms are designed, so that the robot dog can be quickly moved by matching the multiple motor roller assemblies with the corresponding first limb mechanism and limb driving mechanism, two working modes of the robot dog are realized, and the application range is widened.

Description

Technical Field

[0001] The invention belongs to the technical field of robot dogs, and in particular relates to a climbing mechanism of a four-legged robot dog and the four-legged robot dog. Background Art

[0002] A quadruped robot is a four-legged bionic robot based on bionics and composed of four walking legs. A quadruped robot has the advantages of a more acceptable appearance and universal land mobility. As a multi-legged robot, it has a stronger carrying capacity and better stability than a bipedal robot, and a simpler structure than a hexapod or octapod robot. Therefore, it has attracted the attention of researchers at home and abroad. It can be used in military material transportation, dangerous environment detection, education and entertainment, and has a very broad application prospect. The legs of quadrupeds generally include hip joints, knee joints and ankle joints. During walking, the hip joint includes two degrees of freedom, which can realize forward and backward swinging and sideways swinging; the knee joint has one degree of freedom, which can realize forward and backward swinging; the ankle joint has one degree of freedom, which can also realize forward and backward swinging. These degrees of freedom of the legs enable quadrupeds to move flexibly and run at high speed in complex environments.

[0003] The climbing and quadruped structures of existing robot dogs are mostly designed bionically, with reference to existing quadrupeds. However, rollers are added to the positions where the limbs contact the ground according to different usage scenarios to increase the overall movement speed of the robot dog. However, existing robot dogs cannot meet all of these requirements at the same time. At the same time, when designing the lower limbs, the direct-drive motors used in existing structures consume more electricity. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the disadvantages of the above-mentioned prior art and provide a climbing mechanism of a four-legged robot dog and a four-legged robot dog.

[0005] The technical solution adopted to solve the above technical problems is: to provide a climbing mechanism of a quadruped robot dog and a quadruped robot dog, comprising an energy storage control main body mechanism, both ends of the front and rear sides of the energy storage control main body mechanism are fixedly connected with a first limb mechanism, and a plurality of the first limb mechanisms are internally installed with a limb driving mechanism;

[0006] The other ends of the plurality of first limb mechanisms are rotatably connected to the second limb mechanisms, the other ends of the plurality of second limb mechanisms are fixedly connected to the conductive connection mechanisms, and a plurality of roller mechanisms are placed at the bottom of the energy storage control main body mechanism.

[0007] Furthermore, the energy storage control main mechanism includes a mechanism installation body, a storage component is installed on the top of the mechanism installation body, a visual sensor component is installed on one side of the mechanism installation body, and a bottom storage plate is fixedly connected to the bottom of the mechanism installation body.

[0008] Through the above technical scheme, the energy storage component is used to power the entire device, the visual sensor component is used to perform data analysis and control the corresponding driving mechanism to achieve different movement modes, and the walking of the entire robot dog is achieved by controlling different drives of multiple first limb mechanisms and multiple limb driving mechanisms.

[0009] Furthermore, the first limb mechanism includes a driving shell fixedly connected to the energy storage control main body mechanism, a driving rotor is arranged inside the driving shell, one side of the driving rotor is fixedly connected to a joint shell, and the outer wall of the joint shell is fixedly connected to the first limb shell.

[0010] Through the above technical solution, the energy storage component can control the rotation of the joint housing and the first limb housing after energizing the drive housing and the drive rotor.

[0011] Furthermore, the inner wall of the joint housing and the outer wall of the drive housing are in contact with each other.

[0012] Through the above technical solution, while ensuring the rotation of the joint housing, the joint housing can also protect the entire drive housing and its internal components.

[0013] Furthermore, the limb driving mechanism includes a first motor installed inside the first limb shell, the output end of the first motor is fixedly connected to a transmission screw, the outer wall of the transmission screw is provided with a ball screw sleeve, the other end of the ball screw sleeve is fixedly connected to a limiting square plate, the other side of the limiting square plate is fixedly connected to a fixed rotating shaft, and a rotating connecting member is rotatably connected to the fixed rotating shaft.

[0014] Through the above technical solution, the first motor drives the transmission screw to rotate in the ball screw sleeve, and then under the limit of the limit square plate, the ball screw sleeve, the limit square plate, the fixed shaft and the rotating connecting piece can be driven to move together.

[0015] Furthermore, strip-shaped through holes corresponding to the limiting square plates are provided on both the front and rear sides of the first limb shell.

[0016] Through the above technical scheme, the limited sliding through the limiting square plate and the strip-shaped through hole is ensured, so that when the first motor drives the transmission screw to rotate, the overall structure of the ball screw sleeve, the limiting square plate, the fixed shaft and the rotating connecting piece can achieve linear movement.

[0017] Furthermore, the second limb mechanism comprises a rotating block, and the outer wall of the rotating block is respectively fixedly connected with the second limb shell and the rotating driving ear.

[0018] Through the above technical solution, the limb driving mechanism drives the rotating block and the second limb shell on the other side to rotate by pushing the rotating driving ear.

[0019] Furthermore, the conductive connection mechanism includes a threaded sleeve fixedly connected to one end of the second limb shell, one end of the outer wall of the threaded sleeve is fixedly connected to a reset spring, the other end of the reset spring is fixedly connected to an insulating sealing ring, the other end of the threaded sleeve is adsorbed with a sealing magnetic block, and the outer wall of the threaded sleeve is provided with a conductive ring.

[0020] Through the above technical solution, when the motor roller assembly needs to be installed, the entire robot dog is turned over, the bottom storage plate is opened, the multiple roller mechanisms are taken out, the multiple sealing magnets are removed, and they are spirally installed inside the threaded sleeve through the threaded rod. During the spiral rotation, the conductive sleeve will contact the insulating sealing ring, and then push the insulating sealing ring and compress the reset spring until the metal coil inside the conductive sleeve contacts the conductive ring to achieve power-on. At the same time, when not in use, the conductive ring and the threaded sleeve can be sealed respectively by designing the insulating sealing ring and the sealing magnet.

[0021] Furthermore, the roller mechanism includes a threaded rod, one end of the threaded rod is fixedly connected to a motor roller assembly, and the motor roller assembly is provided with a conductive sleeve on a side close to the threaded rod.

[0022] Through the above technical solution, when in use, when the metal coil inside the conductive sleeve is in contact with the conductive ring, the motor roller assembly can be energized, and then rapid movement can be achieved through multiple motor roller assemblies in cooperation with the corresponding first limb mechanism and limb drive mechanism.

[0023] The beneficial effects of the present invention are as follows: (1) The present invention designs a conductive connection mechanism and a detachable roller mechanism. When the motor roller assembly needs to be installed, the entire robot dog is turned over, the bottom storage plate is opened, and the threaded rod is spirally installed inside the threaded sleeve. During the spiral rotation, the conductive sleeve will contact the insulating sealing ring, and then push the insulating sealing ring and compress the reset spring until the metal coil inside the conductive sleeve contacts the conductive ring to achieve power-on. Then, multiple motor roller assemblies can be combined with the corresponding first limb mechanism and limb drive mechanism to achieve rapid movement, thereby realizing two working modes of the robot dog and improving the scope of application; (2) The present invention designs a limb drive mechanism. The first motor drives the transmission screw to rotate in the ball screw sleeve. Then, under the limit of the limit square plate, the ball screw sleeve, the limit square plate, the fixed shaft and the rotating connector can be driven to move together. Compared with the traditional motor direct drive, this method can effectively reduce energy loss and improve the overall endurance of the robot dog. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a three-dimensional structural schematic diagram of the present invention;

[0025] Figure 2 It is a cross-sectional structural schematic diagram of the present invention;

[0026] Figure 3 is a schematic diagram of the structure of the first limb mechanism of the present invention;

[0027] Figure 4 It is a schematic diagram of the limb structure of the present invention;

[0028] Figure 5 yes Figure 4 Schematic diagram of the cross-sectional structure;

[0029] Figure 6 yes Figure 4 Schematic diagram of the explosion structure;

[0030] Figure 7 yes Figure 6 A schematic diagram of the side structure of

[0031] Figure 8 It is a schematic diagram of the storage structure of the roller mechanism of the present invention;

[0032] Fig. 9 It is a schematic diagram of the three-dimensional structure of the roller mechanism of the present invention;

[0033] Fig.10 It is a schematic diagram of the installation structure of the conduction connection mechanism and the roller mechanism of the present invention.

[0034] 1. Energy storage control main body; 101. Mechanism installation main body; 102. Energy storage component; 103. Visual sensor component; 104. Bottom storage plate; 2. First limb mechanism; 201. Drive shell; 202. Drive rotor; 203. Joint shell; 204. First limb shell; 3. Limb drive mechanism; 301. First motor; 302. Transmission screw; 303. Ball screw sleeve; 304. Limiting square plate; 305. Fixed shaft; 306. Rotating connector; 4. Second limb mechanism; 401. Rotating block; 402. Second limb shell; 403. Rotating drive ear; 5. Conductive connection mechanism; 501. Threaded sleeve; 502. Reset spring; 503. Insulating sealing ring; 504. Sealing magnetic block; 505. Conductive ring; 6. Roller mechanism; 601. Threaded rod; 602. Conductive sleeve; 603. Motor roller assembly. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0036] like Figure 1 and Figure 2As shown, a climbing mechanism of a quadruped robot dog and a quadruped robot dog of the present embodiment include an energy storage control main body mechanism 1, the energy storage control main body mechanism 1 includes a mechanism installation body 101, an energy storage component 102 is installed on the top of the mechanism installation body 101, a visual sensor component 103 is installed on one side of the mechanism installation body 101, and a bottom storage plate 104 is fixedly connected to the bottom of the mechanism installation body 101. The energy storage component 102 is used to power the entire device, and the visual sensor component 103 is used to realize data analysis and control the corresponding driving mechanism to realize different movement modes, and the walking of the entire robot dog is realized by controlling different drives of multiple first limb mechanisms 2 and multiple limb driving mechanisms 3.

[0037] like Figure 1-Figure 4 As shown, both ends of the front and rear sides of the energy storage control main body mechanism 1 are fixedly connected with the first limb mechanism 2, and the first limb mechanism 2 includes a driving shell 201 fixedly connected to the energy storage control main body mechanism 1, and a driving rotor 202 is arranged inside the driving shell 201, and a joint shell 203 is fixedly connected to one side of the driving rotor 202, and the outer wall of the joint shell 203 is fixedly connected to the first limb shell 204. After the energy storage component 102 energizes the driving shell 201 and the driving rotor 202, the rotation of the joint shell 203 and the first limb shell 204 can be controlled, and the inner wall of the joint shell 203 and the outer wall of the driving shell 201 are in contact with each other. While ensuring the rotation of the joint shell 203, the joint shell 203 can also protect the overall driving shell 201 and its internal components.

[0038] like Figure 1-Figure 5 As shown, a limb driving mechanism 3 is installed inside each of the multiple first limb mechanisms 2, and the limb driving mechanism 3 includes a first motor 301 installed inside the first limb shell 204, the output end of the first motor 301 is fixedly connected to a transmission screw 302, the outer wall of the transmission screw 302 is provided with a ball screw sleeve 303, the other end of the ball screw sleeve 303 is fixedly connected to a limited square plate 304, the other side of the limited square plate 304 is fixedly connected to a fixed shaft 305, and a rotating connecting member 306 is rotatably connected to the fixed shaft 305, and the transmission screw 302 is driven by the first motor 301 to rotate in the ball screw sleeve 303. The ball screw sleeve 303 rotates inside, and then under the limitation of the limiting square plate 304, the ball screw sleeve 303, the limiting square plate 304, the fixed rotating shaft 305 and the rotating connecting piece 306 can be driven to move together, and the front and rear sides of the first limb shell 204 are provided with strip through holes corresponding to the limiting square plate 304, which ensures the limited sliding through the limiting square plate 304 and the strip through holes, so that when the first motor 301 drives the transmission screw 302 to rotate, the overall structure of the ball screw sleeve 303, the limiting square plate 304, the fixed rotating shaft 305 and the rotating connecting piece 306 can achieve linear movement.

[0039] like Figure 1-Figure 10 As shown, the other ends of the multiple first limb mechanisms 2 are rotatably connected to the second limb mechanisms 4, the second limb mechanisms 4 include a rotating block 401, the outer walls of the rotating block 401 are respectively fixedly connected to the second limb shell 402 and the rotating drive ear 403, the limb driving mechanism 3 drives the rotating block 401 and the second limb shell 402 on the other side to rotate by pushing the rotating drive ear 403, the other ends of the multiple second limb mechanisms 4 are fixedly connected to the conductive connection mechanism 5, the conductive connection mechanism 5 includes a threaded sleeve 501 fixedly connected to one end of the second limb shell 402, one end of the outer wall of the threaded sleeve 501 is fixedly connected to a reset spring 502, the other end of the reset spring 502 is fixedly connected to an insulating sealing ring 503, the other end of the threaded sleeve 501 is adsorbed with a sealing magnetic block 504, and the outer wall of the threaded sleeve 501 is provided with a conductive ring 505. When the motor roller assembly 603 needs to be installed, the entire robot dog is turned over, the bottom storage plate 104 is opened, the multiple roller mechanisms 6 are taken out, and the multiple sealing magnetic blocks 504 are removed. The threaded rod 601 is spirally installed inside the threaded sleeve 501. During the spiral rotation, the conductive sleeve 602 will contact the insulating sealing ring 503, and then push the insulating sealing ring 503 and compress the reset spring 502 until the metal coil inside the conductive sleeve 602 contacts the conductive ring 505 to achieve power-on. At the same time, when not in use, the insulating sealing ring 503 and the sealing magnetic block 504 can be designed to seal the conductive ring 505 and the threaded sleeve 501 respectively. A plurality of roller mechanisms 6 are placed at the bottom of the energy storage control main body mechanism 1. The roller mechanism 6 includes a threaded rod 601. One end of the threaded rod 601 is fixedly connected to a motor roller assembly 603. The motor roller assembly 603 is provided with a conductive sleeve 602 on one side close to the threaded rod 601. When in use, when the metal coil inside the conductive sleeve 602 contacts the conductive ring 505, the motor roller assembly 603 can be powered on, and then rapid movement can be achieved by cooperating with the corresponding first limb mechanism 2 and limb drive mechanism 3 through the plurality of motor roller assemblies 603.

[0040] The working principle of this embodiment is as follows. During normal use, when the second limb mechanism 4 completes the overall walking process, the energy storage component 102 can control the rotation of the joint housing 203 and the first limb housing 204 after energizing the drive housing 201 and the drive rotor 202, and then the first motor 301 drives the transmission screw 302 to rotate in the ball screw sleeve 303, and then under the limit of the limit square plate 304, the ball screw sleeve 303, the limit square plate 304, the fixed shaft 305 and the rotating connector 306 can be driven to move together, so that the rotation block 401 and the second limb housing 402 on the other side can be driven to rotate by pushing the rotating drive ear 403, and the coordinated movement of the limbs can be achieved through the cooperation of the two and reference to the movement mechanism of real organisms;

[0041] When the motor roller assembly 603 needs to be installed, the entire robot dog is turned over, the bottom storage plate 104 is opened, the multiple roller mechanisms 6 are taken out, the multiple sealing magnets 504 are removed, and they are spirally installed inside the threaded sleeve 501 through the threaded rod 601. During the spiral rotation, the conductive sleeve 602 will contact the insulating sealing ring 503, and then push the insulating sealing ring 503 and compress the reset spring 502 until the metal coil inside the conductive sleeve 602 contacts the conductive ring 505 to achieve power-on, and then the entire robot dog can be moved quickly through the multiple motor roller assemblies 603. At the same time, when not in use, the insulating sealing ring 503 and the sealing magnet 504 can be designed to seal the conductive ring 505 and the threaded sleeve 501 respectively.

[0042] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention.

Claims

1. A climbing mechanism of a quadruped robot dog and a quadruped robot dog, comprising an energy storage control main body mechanism (1), characterized in that: Both ends of the front and rear sides of the energy storage control main body mechanism (1) are fixedly connected to first limb mechanisms (2), and a plurality of the first limb mechanisms (2) are internally installed with limb drive mechanisms (3); The other ends of the plurality of first limb mechanisms (2) are rotatably connected to the second limb mechanisms (4), the other ends of the plurality of second limb mechanisms (4) are fixedly connected to the conduction connection mechanism (5), and a plurality of roller mechanisms (6) are placed at the bottom of the energy storage control main body mechanism (1).

2. The climbing mechanism of the quadruped robot dog and the quadruped robot dog according to claim 1, characterized in that: The energy storage control main mechanism (1) comprises a mechanism installation main body (101), an energy storage component (102) is installed on the top of the mechanism installation main body (101), a visual sensor component (103) is installed on one side of the mechanism installation main body (101), and a bottom storage plate (104) is fixedly connected to the bottom of the mechanism installation main body (101).

3. The climbing mechanism of the quadruped robot dog and the quadruped robot dog according to claim 1, characterized in that: The first limb mechanism (2) comprises a driving housing (201) fixedly connected to the energy storage control main body mechanism (1); a driving rotor (202) is arranged inside the driving housing (201); a joint housing (203) is fixedly connected to one side of the driving rotor (202); and a first limb shell (204) is fixedly connected to the outer wall of the joint housing (203).

4. The climbing mechanism of the quadruped robot dog and the quadruped robot dog according to claim 3, characterized in that: The inner wall of the joint housing (203) and the outer wall of the drive housing (201) fit each other.

5. The climbing mechanism of the quadruped robot dog and the quadruped robot dog according to claim 3, characterized in that: The limb drive mechanism (3) comprises a first motor (301) installed inside a first limb shell (204); the output end of the first motor (301) is fixedly connected to a transmission screw (302); the outer wall of the transmission screw (302) is provided with a ball screw sleeve (303); the other end of the ball screw sleeve (303) is fixedly connected to a limiting square plate (304); the other side of the limiting square plate (304) is fixedly connected to a fixed rotating shaft (305); and a rotating connecting member (306) is rotatably connected to the fixed rotating shaft (305).

6. The climbing mechanism of the quadruped robot dog and the quadruped robot dog according to claim 5, characterized in that: The first limb shell (204) is provided with strip-shaped through holes corresponding to the limiting square plate (304) on both the front and rear sides.

7. The climbing mechanism of the quadruped robot dog and the quadruped robot dog according to claim 1, characterized in that: The second limb mechanism (4) comprises a rotating block (401), and the outer wall of the rotating block (401) is respectively fixedly connected with a second limb shell (402) and a rotating driving ear (403).

8. The climbing mechanism of the quadruped robot dog and the quadruped robot dog according to claim 7, characterized in that: The conductive connection mechanism (5) comprises a threaded sleeve (501) fixedly connected to one end of the second limb shell (402); one end of the outer wall of the threaded sleeve (501) is fixedly connected to a reset spring (502); the other end of the reset spring (502) is fixedly connected to an insulating sealing ring (503); the other end of the threaded sleeve (501) is adsorbed with a sealing magnetic block (504); and the outer wall of the threaded sleeve (501) is provided with a conductive ring (505).

9. The climbing mechanism of a quadruped robot dog and the quadruped robot dog according to claim 1, characterized in that: The roller mechanism (6) comprises a threaded rod (601), one end of the threaded rod (601) is fixedly connected to a motor roller assembly (603), and the motor roller assembly (603) is provided with a conductive sleeve (602) on a side close to the threaded rod (601).

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