A quadruped robot with an integrated climbing and variable configuration

Abstract

The present invention provides a quadruped robot with an integrated climbing and walking variable configuration, which relates to the technical field of robots and includes: a fuselage joint and four leg structures; the four leg structures are all rotatably connected to the fuselage joint; a middle rotating motor is arranged at the center of the fuselage bottom plate; one end of two long rotating linkages and two short rotating linkages is connected to the motor bracket of the middle rotating motor, and the other end is connected to a leg structure; the short rotating linkage controls the rotation of the corresponding leg structure through a parallelogram structure, so that the rotation direction of the leg structure is the same as that of the motor bracket of the middle rotating motor; the long rotating linkage controls the rotation of the corresponding leg structure through a multi-linkage structure, so that the rotation direction of the leg structure is opposite to that of the motor bracket of the middle rotating motor; through the cooperation of the middle rotating motor, the motor bracket of the middle rotating motor, two long rotating linkages and two short rotating linkages, the switching between the walking gait and the crawling gait of the quadruped robot is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a quadruped robot with an integrated crawling and walking variable configuration. Background Art

[0002] In recent years, quadruped robots have shown great potential in fields such as movement on complex terrains, disaster rescue, and military reconnaissance.

[0003] However, due to the fixed configuration of traditional quadruped robots, it is difficult to balance high mobility and multi-task adaptability. Most existing robots adopt a single motion mode (such as walking or crawling), resulting in insufficient flexibility in narrow spaces or special terrains.

[0004] Although some existing technologies can switch gaits through deformable legs (such as folding joints and telescopic structures), they usually only support simple morphological changes and have complex control, still making it difficult to move flexibly in narrow spaces or special terrains, with insufficient flexibility. Summary of the Invention

[0005] To solve the technical problem that existing quadruped robots are difficult to move flexibly in narrow spaces or special terrains with insufficient flexibility, the present invention provides a quadruped robot with an integrated crawling and walking variable configuration.

[0006] The technical solutions provided by the embodiments of the present invention are as follows:

[0007] A quadruped robot with an integrated crawling and walking variable configuration provided by an embodiment of the present invention includes: a fuselage joint and four leg structures;

[0008] All four of the leg structures are rotatably connected to the fuselage joint;

[0009] The fuselage joint includes an upper fuselage plate, a lower fuselage plate, four fuselage side plates, an intermediate rotating motor connected to the fuselage, a motor bracket for the intermediate rotating motor, two long rotating linkages, and two short rotating linkages;

[0010] The upper fuselage plate and the lower fuselage plate are connected by the four fuselage side plates;

[0011] The intermediate rotating motor is disposed at the center of the lower fuselage plate;

[0012] The intermediate rotating motor is fixedly connected to the motor bracket for the intermediate rotating motor;

[0013] One end of each of the two long rotating linkages and the two short rotating linkages is connected to the motor bracket for the intermediate rotating motor, and the other end of each is connected to one of the leg structures;

[0014] The two long rotating linkages are respectively located at one diagonal of the motor bracket of the intermediate rotating motor, and the two short rotating linkages are respectively located at the other diagonal of the motor bracket of the intermediate rotating motor;

[0015] The short rotating linkage controls the rotation of the corresponding leg structure through a parallelogram structure, so that the leg structure rotates in the same direction as the motor bracket of the intermediate rotating motor;

[0016] The long rotating linkage controls the rotation of the corresponding leg structure through a multi-linkage structure, so that the leg structure rotates in the opposite direction to the motor bracket of the intermediate rotating motor;

[0017] Through the cooperation of the intermediate rotating motor, the motor bracket of the intermediate rotating motor, the two long rotating linkages and the two short rotating linkages, the switching between the walking gait and the crawling gait of the quadruped robot is realized.

[0018] The beneficial effects brought by the technical solution provided by the embodiment of the present invention at least include:

[0019] In the embodiment of the present invention, through the cooperation of the intermediate rotating motor, the motor bracket of the intermediate rotating motor, the two short rotating linkages and the two short rotating linkages, the convenient switching between the walking gait and the crawling gait of the quadruped robot is realized, so that the quadruped robot can move flexibly in a narrow space or on special terrains, improving the flexibility of the quadruped robot. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings.

[0021] Figure 1 It is a schematic structural diagram of a quadruped robot with an integrated crawling and walking variable configuration provided by an embodiment of the present invention.

[0022] Figure 2 It is a structural diagram of a leg mechanism provided by an embodiment of the present invention.

[0023] Figure 3 It is an exploded structural diagram of a leg mechanism provided by an embodiment of the present invention.

[0024] Figure 4 It is a structural diagram of a fuselage frame provided by an embodiment of the present invention.

[0025] Figure 5 It is a schematic diagram of a front-elbow and rear-knee foot-type motion configuration provided by an embodiment of the present invention.

[0026] Figure 6 This is a schematic diagram of a front knee and rear elbow foot-type motion configuration provided by an embodiment of the present invention.

[0027] Figure 7 This is a schematic diagram of a full knee foot-type motion configuration provided by an embodiment of the present invention.

[0028] Figure 8 This is a schematic diagram of a full elbow foot-type motion configuration provided by an embodiment of the present invention.

[0029] Figure 9 This is a schematic diagram of a crawling motion configuration provided by an embodiment of the present invention.

[0030] Reference numerals: S1, upper body plate; S2, lower body plate; S3, side body plate; S4, long rotating link; S5, short rotating link; S6, intermediate rotating motor motor bracket; S7, intermediate rotating motor; T1, hip joint; T11, crawling step switching rotating motor bracket; T12, hip joint motor; T13, hip joint motor bracket; T14, thigh joint motor bracket; T15, thigh joint motor; T16, outer connecting bracket for thigh motor; T17, calf motor; T2, thigh joint; T21, calf motor bracket; T22, thigh housing; T23, long calf link; T24, thigh set screw; T25, thigh plate housing; T26, intermediate small link; T3, calf joint; T31, calf set screw; T32, calf shaft; T33, double-ear calf link; T34, double-ear calf; T35 and T36, foot end stop; T37, foot end; K1, first through hole; K2, second through hole; K3, third through hole; K4, fourth through hole; K5, fifth through hole; K6, sixth through hole; K7, seventh through hole. Detailed implementation manners

[0031] The technical solutions in the present invention will be described below with reference to the accompanying drawings. At the same time, it should be noted here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments. For some well-known technologies, those skilled in the art can also adopt other alternative methods for implementation; moreover, the accompanying drawings are only for more specifically describing the embodiments and are not intended to specifically limit the present invention.

[0032] As Figures 1 to 9 shown, an embodiment of the present invention provides a quadruped robot with an integrated crawling step and variable configuration, including: a body joint and four leg structures.

[0033] All four leg structures are rotatably connected to the body joint.

[0034] The body joint includes an upper body plate S1, a lower body plate S2, four body side plates S3, an intermediate rotating motor S7 connected to the body, an intermediate rotating motor bracket S6, two long rotating linkages S4, and two short rotating linkages S5.

[0035] The upper body plate S1 and the lower body plate S2 are connected by four body side plates S3.

[0036] The intermediate rotating motor S7 is arranged at the center of the lower body plate S2.

[0037] The intermediate rotating motor S7 is fixedly connected to the intermediate rotating motor bracket S6.

[0038] One end of each of the two long rotating linkages S4 and the two short rotating linkages S5 is connected to the intermediate rotating motor bracket S6, and the other end of each is connected to a leg structure.

[0039] The two long rotating linkages S4 are respectively located on one diagonal of the intermediate rotating motor bracket S6, and the two short rotating linkages S5 are respectively located on the other diagonal of the intermediate rotating motor bracket S6.

[0040] As Figure 4 shown, the short rotating linkage S5 controls the rotation of the corresponding leg structure through a parallelogram structure, so that the rotation direction of the leg structure is the same as that of the intermediate rotating motor bracket S6.

[0041] As Figure 4 shown, the long rotating linkage S4 controls the rotation of the corresponding leg structure through a multi-linkage structure, so that the rotation direction of the leg structure is opposite to that of the intermediate rotating motor bracket S6.

[0042] Through the cooperation of the intermediate rotating motor S7, the intermediate rotating motor bracket S6, the two long rotating linkages S4, and the two short rotating linkages S5, the switching between the walking gait and the crawling gait of the quadruped robot is realized, greatly improving the adaptability of the quadruped robot to complex terrains.

[0043] The beneficial effects brought by the technical solution provided in the embodiment of the present invention at least include:

[0044] In the embodiment of the present invention, through the cooperation of the intermediate rotating motor, the intermediate rotating motor bracket, the two short rotating linkages, and the two short rotating linkages, the convenient switching between the walking gait and the crawling gait of the quadruped robot is realized, so that the quadruped robot can move flexibly in narrow spaces or special terrains, improving the flexibility of the quadruped robot.

[0045] In a possible implementation manner, the leg structure includes a hip joint T1, a thigh joint T2, and a calf joint T3.

[0046] The hip joint T1 includes a climbing step switching rotary motor bracket T11, a hip joint motor T12, a hip joint motor bracket T13, a thigh joint motor bracket T14, a thigh joint motor T15, a thigh motor outer connecting bracket T16, and a calf motor T17.

[0047] The climbing step switching rotary motor bracket T11 is connected to two long rotary link rods S4 and two short rotary link rods S5. The climbing step switching rotary motor bracket T11 is connected to the fuselage bottom plate S2. The climbing step switching rotary motor bracket T11 is connected to the hip joint motor T12. One end of the hip joint motor T12 is connected to the thigh joint motor T15, and the other end of the hip joint motor T12 is connected to the hip joint motor bracket T13. The hip joint motor bracket T13 is connected to the thigh motor outer connecting bracket T16. The thigh joint motor bracket T14 is nested and fixed inside the thigh motor outer connecting bracket T16. The thigh motor outer connecting bracket T16 is connected to the calf motor T17.

[0048] The thigh joint T2 includes a calf motor bracket T21, a thigh outer shell T22, a calf long link rod T23, a thigh set screw T24, a thigh plate shell T25, and an intermediate small link rod T26.

[0049] The calf motor T17 is connected to the thigh outer shell T22. The calf motor bracket T21 is connected to the calf motor T17. The calf motor bracket T21 and the calf long link rod T23 are connected by the thigh set screw T24. One end of the intermediate small link rod T26 is connected to the thigh outer shell T22, and the other end of the intermediate small link rod T26 is connected to the calf long link rod T23. The thigh outer shell T22 is connected to the thigh plate shell T25.

[0050] The calf joint T3 includes a calf set screw T31, a calf shaft T32, a double-ear calf connecting piece T33, a double-ear calf T34, a foot end retaining piece T35, T36, and a foot end T37.

[0051] The thigh joint T2 and the calf joint T3 are rotationally connected by the calf set screw T31 and the calf shaft T32. The double-ear calf connecting piece T33 is connected to the double-ear calf T34. The double-ear calf T34 is connected to the foot end T37 through the foot end retaining pieces T35, T36.

[0052] Further, the parallelogram structure is composed of the fuselage bottom plate S2, the short rotary link rod S5, and the climbing step switching rotary motor bracket T11. The first through hole K1 and the fourth through hole K4 of the fuselage bottom plate S2 form a set of short sides of the parallelogram structure. The short rotary link rod S5 forms a set of long sides of the parallelogram structure. The second through hole K2 and the third through hole K3 connected by the climbing step switching rotary motor bracket T11 form another set of short sides of the parallelogram structure.

[0053] Further, the multi-link structure is composed of a fuselage bottom plate S2, a long rotating link S4, and a climbing gait switching rotating motor bracket T11. The first through-hole K1 and the fifth through-hole K5 of the fuselage bottom plate S2 form the first set of links of the multi-link structure, the long rotating link S4 forms the second set of links of the multi-link structure, and the sixth through-hole K6 and the seventh through-hole K7 connected by the climbing gait switching rotating motor bracket T11 form the third set of links of the multi-link structure.

[0054] In a possible implementation, eight limit blocks are provided on the fuselage bottom plate S2 to limit the rotation angle of the hip joint T1 of the walking gait and the crawling gait.

[0055] In the embodiment of the present invention, the limit blocks can effectively prevent the joints from rotating excessively or causing structural interference, improving the safety and reliability of the mechanical system; at the same time, they can ensure the action consistency and accuracy during the attitude switching process, avoid abnormal gaits or energy waste, and help improve the running stability and control accuracy of the quadruped robot in complex environments.

[0056] In a possible implementation, the foot end T37 is made of rubber.

[0057] In the embodiment of the present invention, designing the foot end T37 to be made of rubber can significantly improve the grip and friction of the quadruped robot on various terrain surfaces, effectively prevent slipping, and enhance the stability and safety during walking and crawling; at the same time, rubber has good shock absorption and buffering properties, which can reduce the impact of mechanical vibration on the structure and electronic components, extend the service life, and improve the environmental adaptability and motion smoothness of the robot on rough, slippery or fragile ground.

[0058] In a possible implementation, the walking gait includes a full-knee motion configuration, a full-elbow motion configuration, a front-knee rear-elbow motion configuration, and a front-elbow rear-knee motion configuration.

[0059] Optionally, when the quadruped robot is in the full-knee motion configuration, the left front leg, the right front leg, the left hind leg, and the right hind leg simultaneously bend forward at the knees. This configuration has high balance and strong adaptability, extremely high stability, can adapt to various terrains, and can also be used for load-carrying scenarios.

[0060] When the quadruped robot is in the full-elbow motion configuration, the left front leg, the right front leg, the left hind leg, and the right hind leg simultaneously bend backward at the knees. This configuration has the characteristic of a compact configuration, greatly avoiding collisions with obstacles in front of it, being able to adapt to specific gaits and tasks, and the center of this configuration of the robot is biased forward, suitable for scenarios such as slope climbing and stair climbing.

[0061] When the quadruped robot is in the front-knee-and-rear-elbow motion configuration, the left front leg and the right front leg bend forward simultaneously, and the left rear leg and the right rear leg bend backward simultaneously. This configuration operates relatively smoothly, has the effects of high load capacity and high energy efficiency, is suitable for application scenarios of carrying loads while walking, and can ensure the long-term stable operation of a quadruped robot with a variable configuration of crawling and walking integrated.

[0062] When the quadruped robot is in the front-elbow-and-rear-knee motion configuration, the left front leg and the right front leg bend backward simultaneously, and the left rear leg and the right rear leg bend forward simultaneously. This configuration has high mobility and good buffering effects, and is suitable for complex terrains and situations that require running.

[0063] In a possible implementation manner, the crawling gait includes a crawling motion configuration.

[0064] Optionally, when the quadruped robot is in the crawling motion configuration, the rotation of the intermediate rotation motor bracket S6 is driven by the intermediate rotation motor S7. The intermediate rotation motor bracket S6 drives the crawling gait switching rotation motor bracket T11 through two long rotation linkages S4 and two short rotation linkages S5 to control the rotation of the leg structure, so that the leg structures in the front and rear of the fuselage rotate to the sides of the fuselage for crawling. The crawling motion configuration can lower the center of gravity of the robot, improve stability, and is suitable for advancing in rough terrains such as gravel, mud, and narrow passages. Compared with high-gait walking, the crawling gait can reduce the additional energy consumption caused by lifting the legs in some cases, especially in tasks that require stable climbing or long-term low-speed and uniform forward movement. The crawling structure can also reduce the overall height of the robot, enabling it to enter narrow environments such as pipelines, caves, and building ruins.

[0065] Furthermore, when the quadruped robot enters the crawling motion configuration, the gait and stride can be adjusted to adapt to different environments, and even static walking can be achieved. The center of gravity of the fuselage can also be adjusted at any time, greatly enhancing the stability of the fuselage and having high robustness. The quadruped robot adopts a symmetric leg structure design. By precisely controlling the timing of the feet landing alternately, combined with a multi-leg cooperative support strategy and intelligent planning of the landing points, the obstacle crossing function can be achieved. Its modular leg configuration supports smooth and rapid switching, can adapt to the needs of different application scenarios, and has multi-modal motion capabilities such as walking, running, and crawling, demonstrating excellent maneuverability and environmental adaptability in complex terrain environments.

[0066] In a possible implementation manner, a multi-parallelogram structure composed of a calf motor bracket T21, a calf long linkage T23, an intermediate small linkage T26, a calf setscrew T31, a calf shaft T32, a double-ear calf link T33, and a double-ear calf T34 is used to enable the quadruped robot to switch between various motion configurations.

[0067] Furthermore, the thigh rotation joint can achieve a 360° rotation. The rotation of the calf motor T17 is used as the driving force to achieve an approximate 310° deflection of the calf joint, which can enable the quadruped robot to pass through the singularity of the parallel four-bar mechanism more easily. The four leg structures can be rotated by 90° through the intermediate rotation motor installed on the fuselage bottom plate, and there is a limit structure on the fuselage bottom plate, which can stop the rotation of the leg structure after it rotates to the specified position, that is, the required crawling structure. Compared with the general quadruped robot with a parallel four-bar structure, it has strong innovation. When the robot faces more extreme and complex terrain changes, it provides a variety of different operation modes and improves the passing ability of the robot in various environments.

[0068] In the embodiment of the present invention, a new transmission mode of multi-parallelogram transmission is adopted inside the thigh joint, which can enable the quadruped robot to pass through the singularity of the parallel four-bar mechanism in the thigh joint more easily; and according to the connection of the parallel four-bar and cross four-bar of the intermediate rotation motor bracket and the crawling step switching rotation motor bracket inside the fuselage frame, a quadruped robot with an integrated crawling and variable configuration only uses one motor to switch between walking gait and crawling gait, which has strong innovation compared with the general quadruped robot with a parallel four-bar structure.

[0069] The present invention covers any alternatives, modifications, equivalent methods and solutions made on the essence and scope of the present invention. In order to enable the public to have a thorough understanding of the present invention, specific details are described in detail in the preferred embodiments of the present invention, but those skilled in the art can fully understand the present invention without these detailed descriptions. In addition, in order to avoid unnecessary confusion to the essence of the present invention, well-known methods, processes, procedures, elements and circuits are not described in detail.

[0070] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A quadruped robot with an integrated climbing and variable configuration, characterized in that, Including: A fuselage joint and four leg structures; All four of the said leg structures are rotatably connected to the fuselage joint; The fuselage joint includes an upper fuselage plate, a lower fuselage plate, four fuselage side plates, an intermediate rotating motor connected to the fuselage, an intermediate rotating motor bracket, two long rotating linkages, and two short rotating linkages; The upper fuselage plate and the lower fuselage plate are connected by the four fuselage side plates; The intermediate rotating motor is arranged at the center of the lower fuselage plate; The intermediate rotating motor is fixedly connected to the intermediate rotating motor bracket; One end of each of the two long rotating linkages and the two short rotating linkages is connected to the intermediate rotating motor bracket, and the other end of each is connected to one of the leg structures; The two long rotating linkages are respectively located on one diagonal of the intermediate rotating motor bracket, and the two short rotating linkages are respectively located on the other diagonal of the intermediate rotating motor bracket; The short rotating linkage controls the rotation of the corresponding leg structure through a parallelogram structure, so that the rotation direction of the leg structure is the same as that of the intermediate rotating motor bracket; The long rotating linkage controls the rotation of the corresponding leg structure through a multi-linkage structure, so that the rotation direction of the leg structure is opposite to that of the intermediate rotating motor bracket; Through the cooperation of the intermediate rotating motor, the intermediate rotating motor bracket, the two long rotating linkages, and the two short rotating linkages, the switching between the walking gait and the crawling gait of the quadruped robot is realized; Wherein, the leg structure includes a hip joint, a thigh joint, and a calf joint; The hip joint includes a crawling step switching rotating motor bracket, a hip joint motor, a hip joint motor bracket, a thigh joint motor bracket, a thigh joint motor, a thigh motor outer connection bracket, and a calf motor; The crawling step switching rotating motor bracket is connected to the two long rotating linkages and the two short rotating linkages, the crawling step switching rotating motor bracket is connected to the lower fuselage plate, the crawling step switching rotating motor bracket is connected to the hip joint motor, one end of the hip joint motor is connected to the thigh joint motor, the other end of the hip joint motor is connected to the hip joint motor bracket, the hip joint motor bracket is connected to the thigh motor outer connection bracket, the thigh joint motor bracket is nested and fixed inside the thigh motor outer connection bracket, and the thigh motor outer connection bracket is connected to the calf motor; The thigh joint includes a calf motor bracket, a thigh housing, a long calf linkage, a thigh set screw, a thigh plate housing, and an intermediate small linkage; The calf motor is connected to the thigh housing, the calf motor bracket is connected to the calf motor, the calf motor bracket and the long calf linkage are connected by the thigh set screw, one end of the intermediate small linkage is connected to the thigh housing, the other end of the intermediate small linkage is connected to the long calf linkage, and the thigh housing is connected to the thigh plate housing; The calf joint includes a calf set screw, a calf shaft, a double-ear calf link, a double-ear calf, a foot end retaining piece, and a foot end; The thigh joint and the calf joint are rotationally connected by the calf set screw and the calf shaft. The double-ear calf link is connected to the double-ear calf. The double-ear calf is connected to the foot end through the foot end stop piece.

2. The quadruped robot with an integrated climbing and variable configuration according to claim 1, characterized in that, The parallelogram structure is composed of the fuselage bottom plate, the short rotating link, and the climbing gait switching rotating motor bracket. The first through hole and the fourth through hole of the fuselage bottom plate form a set of short sides of the parallelogram structure. The short rotating link forms a set of long sides of the parallelogram structure. The second through hole and the third through hole connected by the climbing gait switching rotating motor bracket form another set of short sides of the parallelogram structure.

3. The quadruped robot with an integrated climbing and variable configuration according to claim 1, characterized in that, The multi-link structure is composed of the fuselage bottom plate, the long rotating link, and the climbing gait switching rotating motor bracket. The first through hole and the fifth through hole of the fuselage bottom plate form the first set of links of the multi-link structure. The long rotating link forms the second set of links of the multi-link structure. The sixth through hole and the seventh through hole connected by the climbing gait switching rotating motor bracket form the third set of links of the multi-link structure.

4. The quadruped robot with an integrated climbing and variable configuration according to claim 1, characterized in that, Eight limit blocks are provided on the fuselage bottom plate to limit the rotation angle of the hip joint in the walking gait and the crawling gait.

5. The quadruped robot with an integrated climbing and variable configuration according to claim 1, characterized in that, The foot end is made of rubber material.

6. The quadruped robot with integrated climbing steps and variable configurations according to claim 1, characterized in that The walking gait includes a full-knee motion configuration, a full-elbow motion configuration, a front-knee and rear-elbow motion configuration, and a front-elbow and rear-knee motion configuration. The crawling gait includes a crawling motion configuration.

7. The quadruped robot with an integrated climbing and variable configuration according to claim 6, characterized in that, Through the multi-parallelogram structure composed of the calf motor bracket, the calf long link, the intermediate small link, the calf set screw, the calf shaft, the double-ear calf link, and the double-ear calf, the quadruped robot can switch between various motion configurations.

8. The quadruped robot with a combined climbing and walking integrated variable configuration according to claim 6, characterized in that, When the quadruped robot is in the full-knee motion configuration, the left front leg, the right front leg, the left rear leg, and the right rear leg bend forward simultaneously. When the quadruped robot is in the full-elbow motion configuration, the left front leg, the right front leg, the left rear leg, and the right rear leg bend backward simultaneously. When the quadruped robot is in the front-knee and rear-elbow motion configuration, the left front leg and the right front leg bend forward simultaneously, and the left rear leg and the right rear leg bend backward simultaneously. When the quadruped robot is in the front-elbow and rear-knee motion configuration, the left front leg and the right front leg bend backward simultaneously, and the left rear leg and the right rear leg bend forward simultaneously.

9. The quadruped robot with an integrated climbing and variable configuration according to claim 6, characterized in that, When the quadruped robot is in the crawling motion configuration, the rotation of the intermediate rotating motor drives the rotation of the intermediate rotating motor bracket. The intermediate rotating motor bracket drives the climbing gait switching rotating motor bracket through two long rotating links and two short rotating links to control the rotation of the leg structure, so that the leg structure located directly in front and behind the fuselage rotates to the side of the fuselage for crawling.

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