Four-foot two-arm robot

Abstract

The invention belongs to the technical field of walking robots, and particularly relates to a four-foot two-arm robot which comprises a robot body, a gravity center balance mechanism and a reinforcing mechanism, the robot body comprises a base with a storage groove in the top, bionic driving feet located at the front end and the rear end of the bottom of the base and mechanical arms movably installed on the two sides of the top of the base; when the bottoms of the bionic driving feet press an obstacle or a slope, and the gravity center of one side of the robot body is unstable, the gravity center balance mechanism is automatically driven to work, and the gravity center of the robot body is automatically balanced; when the gravity center balance mechanism works, the reinforcing mechanism is automatically driven to synchronously work to reinforce the stability of objects in the object containing groove, the four-foot two-arm robot replaces a traditional four-foot two-arm robot, and the situation that when the four-foot two-arm robot walks in a complex road surface environment, due to the fact that the gravity center is not stable, self-balance cannot be corrected in time, toppling is caused, and the service life of the robot is prolonged is avoided. Therefore, the problem of damage to the user and carried articles is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of walking, and specifically to a quadruped-biped robot. Background Art

[0002] In recent years, with the progress and development of technology, there are more and more types of robots, such as bionic humanoid robots with two legs and two arms, and quadruped-biped robots.

[0003] Among them, in some outdoor emergency repairs or transportation applications, quadruped robots are more widely used because of their higher stability. However, when existing quadruped-biped robots walk in relatively complex outdoor environments, their stability still has a large degree of uncertainty. When the soles of the robot encounter obstacles, such as stones, slopes and other environments, their performance of timely correcting their own balance is poor, and one side of the robot is prone to tilt, resulting in unstable center of gravity and subsequent toppling, which causes damage to the robot itself and the carried items. Summary of the Invention

[0004] The purpose of this part is to outline some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Simplifications or omissions may be made in this part, as well as in the abstract and title of the application, to avoid obscuring the purpose of this part, the abstract and the title, and such simplifications or omissions shall not be used to limit the scope of the present invention.

[0005] Therefore, the purpose of the present invention is to provide a quadruped-biped robot to replace the traditional quadruped-biped robot, avoiding the problem that when walking on a complex road surface environment, it topples due to unstable center of gravity and inability to correct its own balance in time, thus causing damage to itself and the carried items.

[0006] To solve the above technical problems, according to one aspect of the present invention, the following technical solutions are provided: A quadruped-biped robot, comprising: A robot main body, which includes a base with a storage groove at the top, bionic driving feet at the front and rear ends of the bottom of the base, and robotic arms movably installed on both sides of the top of the base; A center-of-gravity balance mechanism, which is installed at the bottom of the base. When the bottom of the bionic driving foot presses on an obstacle or a slope, causing the center of gravity of one side of the robot main body to be unstable, it automatically drives the center-of-gravity balance mechanism to work and automatically balance the center of gravity of the robot main body; A reinforcement mechanism, which is installed on the top of the base. When the center-of-gravity balance mechanism works, it automatically drives the reinforcement mechanism to work synchronously to reinforce the stability of the items in the storage groove.

[0007] As a preferred solution of a quadruped and biped robot according to the present invention, wherein the bionic driving foot includes a connecting seat installed in an installation groove at the bottom of the base, a driving member movably installed on the connecting seat, and a supporting member drivingly connected to the driving member.

[0008] As a preferred solution of a quadruped and biped robot according to the present invention, wherein one end of the connecting seat has a connecting groove; The driving member includes a connecting rod rotatably installed in the connecting groove and eccentric wheels located at both ends of the connecting rod with opposite eccentric angles. Among them, a driving source with an output end drivingly connected to the connecting rod is provided inside the connecting seat.

[0009] As a preferred solution of a quadruped and biped robot according to the present invention, wherein the supporting member includes an arc-shaped hinge rod with one end hinged to the end of the connecting seat away from the connecting groove, a hinge frame with one end hinged to the other end of the arc-shaped hinge rod and the other end hinged to the eccentric wheel, and a supporting foot with one end hinged to one end of the arc-shaped hinge rod and the middle hinged to the hinge frame.

[0010] As a preferred solution of a quadruped and biped robot according to the present invention, wherein the center of gravity balance mechanism includes a pendulum movably installed at the bottom of the base and a first transmission component with one end drivingly connected to the pendulum and the other end drivingly connected to the four supporting feet.

[0011] As a preferred solution of a quadruped and biped robot according to the present invention, wherein elastic pneumatic sources are provided at the bottoms of the four supporting feet; A first gear is provided at one end of the rotating shaft where the pendulum is movably connected to the base; The first transmission member includes a fixed cylinder installed at the bottom of the base and having a first limit chute on its side wall, a movable plug movably installed in the fixed cylinder and having a first serrated plate connected to the outside of the first limit chute at one end. The first serrated plate meshes with the first gear, and both ends of the fixed cylinder have first connection ports connected to the output ends of the elastic pneumatic sources.

[0012] As a preferred solution of a quadruped and biped robot according to the present invention, wherein air guide holes are provided at the bottoms of the supporting feet, and second connection ports communicating with the plurality of air guide holes are provided on the side walls of the supporting feet; The elastic pneumatic source includes a pressing plate located below the supporting feet, a plurality of first elastic members with one end connected to the bottom of the supporting feet and the other end connected to the top of the pressing plate, and air guide columns located on the top of the pressing plate and corresponding to the air guide holes; Among them, the two second connection ports on the left side of the robot body are connected to the first connection port on the right side of the robot body through a hose, and the two second connection ports on the right side of the robot body are connected to the first connection port on the left side of the robot body through a hose.

[0013] As a preferred solution of the four-legged and two-armed robot described in the present invention, among them, the reinforcement mechanism includes a reinforcement component installed on the top of the base and a second transmission component with one end drivingly connected to the reinforcement component and the other end drivingly connected to the pendulum.

[0014] As a preferred solution of the four-legged and two-armed robot described in the present invention, among them, the top of the base has mounting plates located on both sides of the placement groove; The reinforcement component includes a threaded rod with opposite thread patterns at both ends installed between the two mounting plates, a limiting slide rod located between the two mounting plates, and two reinforcement plates with one end threadedly sleeved at both ends of the threaded rod and the other end slidably sleeved on the limiting slide rod. The side wall of the mounting plate has a plurality of second elastic members with the other ends connected to the side wall of the reinforcement plate.

[0015] As a preferred solution of the four-legged and two-armed robot described in the present invention, among them, one end of the threaded rod is connected with a first pulley through a rotating shaft; The bottom arc surface of the pendulum has a plurality of driving sawteeth; The second transmission component includes a connecting plate installed at the bottom of the base, a second gear installed on one side of the plate and meshing with the driving sawteeth, and a transmission member with one end drivingly connected to the threaded rod and the other end drivingly connected to the second gear; The side wall of the connecting plate has a second limiting chute. The transmission member includes a limiting block with its side wall connected to the connecting shaft of the second gear, a counterweight block with its side wall extending into the second limiting chute and corresponding to the bottom of the limiting block, and a third gear installed on the side wall of the connecting plate and having one side connected to a second pulley through a rotating shaft. The side wall of the counterweight block has a second sawtooth plate meshing with the third gear. The second pulley is connected to the first pulley through a belt.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows. For this four-legged and two-armed robot, two groups of bionic driving feet at the bottom of the base drive the base to walk. When the bottom of the bionic driving feet presses on an obstacle or a slope, causing the center of gravity of one side of the robot body to be unstable, the center-of-gravity balance mechanism automatically balances the center of gravity of the robot body, thereby preventing the robot body from tilting due to unstable center of gravity. At the same time, when the center-of-gravity balance mechanism works, it drives the reinforcement mechanism to work to reinforce the stability of the goods in the storage slot, thus preventing the goods from shaking and being unstable. This replaces the traditional four-legged and two-armed robot, avoiding the problem that when it walks on a complex road surface environment, it may topple due to unstable center of gravity and inability to correct its own balance in time, thereby causing damage to itself and the carried items. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below in conjunction with the drawings and detailed 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 based on these drawings. Among them: Figure 1 is a schematic structural diagram of a four-legged and two-armed robot of the present invention; Figure 2 is a structural exploded view of a four-legged and two-armed robot of the present invention; Figure 3 is a structural exploded view of the bionic driving feet of a four-legged and two-armed robot of the present invention; Figure 4 is a schematic structural diagram of the support feet of a four-legged and two-armed robot of the present invention; Figure 5 is a schematic structural diagram of the center-of-gravity balance mechanism of a four-legged and two-armed robot of the present invention; Figure 6 is a structural exploded view of the first transmission component of a four-legged and two-armed robot of the present invention; Figure 7 is a schematic structural diagram of the reinforcement component of a four-legged and two-armed robot of the present invention; Figure 8 is a schematic structural diagram of the second transmission component of a four-legged and two-armed robot of the present invention.

[0018] In the figure: 100, robot main body; 110, base; 110a, storage slot; 110b, mounting plate; 120, bionic driving foot; 120a, connecting seat; 120a-1, connecting groove; 120b, driving member; 120b-1, connecting rod; 120b-2, eccentric wheel; 120c, support member; 120c-1, arc-shaped hinge rod; 120c-2, hinge frame; 120c-3, support foot; 120c-31, elastic air pressure source; 120c-311, pressing plate; 120c-312, first elastic member; 120c-313, air guide column; 120c-22, air guide hole; 120c-33, second connection port; 130, robotic arm; 200, center of gravity balance mechanism; 210, pendulum; 210a, first gear; 210b, transmission saw teeth; 220, first transmission component; 220a, fixed cylinder; 220a-1, first limit sliding groove; 220a-2, first connection port; 220b, movable plug; 220b-1, first sawtooth plate; 300, reinforcement mechanism; 310, reinforcement component; 210a, threaded rod; 210a-1, first pulley; 310b, limit sliding rod; 310c, reinforcement plate; 320, second transmission component; 320a, connecting plate; 320a-1, second limit sliding groove; 320b, second gear; 320c, transmission member; 320c-1, limit block; 320c-2, counterweight; 320c-21, second sawtooth plate; 320c-3, third gear; 320c-31, second pulley. Detailed implementation manners

[0019] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following provides a detailed description of the specific implementation manners of the present invention with reference to the accompanying drawings.

[0020] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the implementation manners of the present invention, for the convenience of description, the cross-sectional views showing the device structure will be enlarged locally not in accordance with the general ratio, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention herein. In addition, in actual production, three-dimensional spatial dimensions including length, width, and depth should be included.

[0021] To make the purpose, technical solutions, and advantages of the present invention clearer, the following will further describe the implementation manners of the present invention in detail with reference to the accompanying drawings.

[0022] The present invention provides a four-legged and two-armed robot, which replaces the traditional four-legged and two-armed robot, avoiding the problem that when it walks on a complex road surface environment, due to unstable center of gravity and inability to correct its own balance in time, it will fall, thereby causing damage to itself and the carried items.

[0023] Figures 1 - 8 The following shows a schematic structural diagram of a four-legged and two-armed robot of the present invention. Please refer toFigures 1 - 8 Provide a detailed introduction to this quadruped and biped robot.

[0024] Embodiment 1 Reference Figures 1 - 2 , the present invention discloses a quadruped and biped robot, the main body part of which includes a robot main body 100, a center of gravity balance mechanism 200, and a reinforcement mechanism 300.

[0025] Reference Figures 1 - 2 , the robot main body 100 includes a base 110 with an object placement groove 110a at the top, bionic driving feet 120 located at the front and rear ends of the bottom of the base 110, and robotic arms 130 movably installed on both sides of the top of the base 110. The base 110 is used to facilitate the installation of the bionic driving feet 120 and the robotic arms 130. The object placement groove 110a is used to facilitate the placement of items that need to be transported or repaired and installed. The bionic driving feet 120 are used to drive the entire robot main body 100 to move in the gait of a bionic quadruped animal during work. The robotic arms 130 are used to facilitate the picking up of items; Reference Figures 1 - 2 , the center of gravity balance mechanism 200 is used to automatically balance the center of gravity of the robot main body 100 when the bionic driving feet 120 press on an obstacle or a slope, causing the robot main body 100 to lose its center of gravity. The center of gravity balance mechanism 200 is installed at the bottom of the base 110. Among them, when the bottom of the bionic driving feet 120 presses on an obstacle or a slope, causing the center of gravity of one side of the robot main body 100 to be unstable, the center of gravity balance mechanism 200 is automatically driven to work to automatically balance the center of gravity of the robot main body 100. Thus, when the bionic driving feet 120 press on an obstacle or a slope, resulting in the center of gravity of the robot main body 100 shifting, the center of gravity balance mechanism 200 automatically balances the center of gravity of the robot main body 100, thereby avoiding the robot main body 100 from tipping over after the center of gravity shifts; Reference Figures 1 - 2 , the reinforcement mechanism 300 is used to automatically reinforce the items inside the object placement groove 110a when the center of gravity of the robot main body 100 shifts and the center of gravity balance mechanism 200 works. The reinforcement mechanism 300 is installed on the top of the base 110. Among them, when the center of gravity balance mechanism 200 works, it automatically drives the reinforcement mechanism 300 to work synchronously to reinforce the stability of the items in the object placement groove 110a. Thus, while the center of gravity of the robot main body 100 shifts and drives the center of gravity balance mechanism 200 to work, the reinforcement mechanism 300 automatically starts to work to reinforce the items in the object placement groove 110a, thereby avoiding the items from shaking due to the unstable center of gravity of the robot main body 100.

[0026] In this embodiment, the specific usage process is as follows: the items to be transported are placed in the storage slot 110a, and the two sets of bionic driving feet 120 are used to drive the entire robot body 100 to move stably with the gait of a bionic quadruped. When the bottom of the bionic driving foot 120 presses against an obstacle or a slope, causing the center of gravity of the robot body 100 to be unstable, the center of gravity balancing mechanism 200 automatically starts to work to balance the center of gravity of the robot body 100, thereby maintaining the stability of the robot body 100. At the same time, the reinforcement mechanism 300 automatically works once to urgently reinforce the items in the storage slot 110a, thereby preventing the goods from shaking when the center of gravity of the robot body 100 is unstable.

[0027] Example 2 Based on Example 1, Figures 1 - 3 The bionic driving foot 120 includes a connecting seat 120a installed in the mounting groove at the bottom of the base 110, a driving member 120b movably installed on the connecting seat 120a, and a supporting member 120c transmission-connected to the driving member 120b. The connecting seat 120a is used for facilitating the installation of the driving member 120b and the supporting member 120c. The driving member 120b is used to drive the supporting member 120c to move during operation, thereby driving the entire robot body 100 to move. The supporting member 120c is used to support and stabilize the base 110.

[0028] In this embodiment, reference Figures 1 - 3 One end of the connecting seat 120a has a connecting groove 120a-1 for conveniently installing the connecting rod 120b-1; refer to Figure 3 The driving member 120b includes a connecting rod 120b-1 rotatably installed in the connecting groove 120a-1 and eccentric wheels 120b-2 with opposite eccentric angles at both ends of the connecting rod 120b-1. The connecting rod 120b-1 is used to drive the two eccentric wheels 120b-2 to rotate when rotating. The two eccentric wheels 120b-2 are used to drive the support member 120c to intermittently step forward when rotating, and the eccentric angles of the two eccentric wheels 120b-2 are opposite to each other, so that the two supporting feet 120c-3 at both ends of the connecting rod 120b-1 step alternately, thereby avoiding synchronous stepping to form a jumping step and causing overall instability. Among them, the connecting seat 120a has a driving source with an output end transmission connected to the connecting rod 120b-1, which is used to drive the connecting rod 120b-1 to rotate during operation.

[0029] In this embodiment, reference Figure 3The support member 120c includes an arc-shaped hinged rod 120c-1, one end of which is hinged to the end of the connection seat 120a away from the connection groove 120a-1, an articulated frame 120c-2, one end of which is hinged to the other end of the arc-shaped hinged rod 120c-1 and the other end of which is hinged to the eccentric wheel 120b-2, and a support foot 120c-3, one end of which is hinged to one end of the arc-shaped hinged rod 120c-1 and the middle part of which is hinged to the articulated frame 120c-2. The connecting rod 120c-1 is used to facilitate the active connection between the supporting foot 120c-3 and the connecting seat 120a, and the articulated frame 120c-2 is used to facilitate the active connection between the eccentric wheel 120b-2, the arc-shaped articulated rod 120c-1 and the supporting foot 120c-3, so that when the eccentric wheel 120b-2 rotates one circle, the supporting foot 120c-3 is driven to complete the action of stepping forward and kicking backward, thereby simulating the gait of an animal.

[0030] In this embodiment, the specific working process is as follows: the driving source inside the connecting seat 120a drives the connecting rod 120b-1 to rotate, and when the connecting rod 120b-1 rotates, it drives the two eccentric wheels 120b-2 to rotate. At this time, the two supporting feet 120c-3 alternately complete the stepping and backward pedaling action under the connection action of the hinged rod and the hinged frame 120c-2. Through the synchronous operation of the two sets of bionic driving feet 120, the base 110 is driven to simulate the gait of a quadruped and move forward steadily.

[0031] Example 3 Based on Example 2, Figures 1 - 6 The center of gravity balancing mechanism 200 includes a pendulum 210 movably mounted on the bottom of the base 110 and a first transmission assembly 220 having one end connected to the pendulum 210 and the other end connected to four supporting feet 120c-3. The pendulum 210 is used to adjust and balance the center of gravity of the robot body 100 when swinging. The first transmission assembly 220 is used to drive the pendulum 210 to deflect toward an obstacle or a slope when the bottom of the supporting foot 120c-3 on one side of the robot body 100 is pressed against that side, thereby balancing the offset center of gravity.

[0032] In this embodiment, reference Figures 1 - 6 , an elastic air pressure source 120c-31 is provided at the bottom of the four supporting feet 120c-3, which is used to generate high-pressure gas and transport it to the fixed cylinder 220a when the bottom of the supporting feet 120c-3 presses against an obstacle or a slope; refer to Figure 5 A first gear 210a is provided at one end of the rotating shaft that is movably connected to the base 110, and is used to drive the pendulum 210 to deflect when rotating; refer to Figures 5 - 6, the first transmission member 320c includes a fixed cylinder 220a installed at the bottom of the base 110 and having a first limit chute 220a-1 on its side wall, a movable plug 220b movably installed in the fixed cylinder 220a and having one end extending out of the first limit chute 220a-1 and connected with a first serrated plate 220b-1. The fixed cylinder 220a is used for movably installing the movable plug 220b. The first limit chute 220a-1 is used for limiting the movable plug 220b. The movable plug 220b is used for driving the first serrated plate 220b-1 to move when moving inside the fixed cylinder 220a. The first serrated plate 220b-1 is used for driving the first gear 210a to rotate when moving. The first serrated plate 220b-1 meshes with the first gear 210a. Both ends of the fixed cylinder 220a have first connection ports 220a-2 connected with the output end of the elastic air pressure source 120c-31, which are used for introducing air into the fixed cylinder 220a when the elastic air pressure source 120c-31 outputs high-pressure air.

[0033] In this embodiment, referring to Figure 4 , the bottom of the support leg 120c-3 has air guide holes 120c-22 for storing part of the air. The side wall of the support leg 120c-3 has second connection ports 120c-33 communicated with a plurality of air guide holes 120c-22, which are used for introducing the air in the air guide holes 120c-22 to the first connection ports 220a-2 through the second connection ports 120c-33 when the air in the air guide holes 120c-22 is squeezed. Referring to Figure 4 , the elastic air pressure source 120c-31 includes a pressing plate 120c-311 located below the support leg 120c-3, a plurality of first elastic members 120c-312 with one end connected to the bottom of the support leg 120c-3 and the other end connected to the top of the pressing plate 120c-311, and air guide columns 120c-313 located on the top of the pressing plate 120c-311 and corresponding to the air guide holes 120c-22. The pressing plate 120c-311 is used for squeezing the first elastic members 120c-312 after being squeezed and driving the plurality of air guide columns 120c-313 to move into the air guide holes 120c-22. The first elastic members 120c-312 are used for facilitating the connection of the pressing plate 120c-311 and, after the bottom of the pressing plate 120c-311 is separated from the obstacle, making the pressing plate 120c-311 reset by its own rebound. At the same time, the first elastic members 120c-312 provide a certain buffer for the whole support leg 120c-3 through their own characteristics. The air guide columns 120c-313 are used for squeezing the air in the air guide holes 120c-22 to the second connection ports 120c-33 for discharge when moving into the air guide holes 120c-22. Among them, the two second connection ports 120c-33 on the left side of the robot main body 100 are connected to the first connection port 220a-2 on the right side of the robot main body 100 through a hose, and the two second connection ports 120c-33 on the right side of the robot main body 100 are connected to the first connection port 220a-2 on the left side of the robot main body 100 through a hose. When the bottom of the left support foot 120c-3 of the robot main body 100 presses against an obstacle or a slope, at this time, the center of gravity of the robot main body 100 tilts to the right. And at this time, the air output by the left elastic air source 120c-31 enters the fixed cylinder 220a through the first connection port 220a-2 on the right side of the fixed cylinder 220a, thereby driving the movable plug 220b to move to the left, and then indirectly driving the pendulum 210 to deflect to the left to balance the center of gravity. Similarly, when the bottom of the right support foot 120c-3 of the robot main body 100 presses against an obstacle or a slope, at this time, the center of gravity of the robot main body 100 tilts to the left. And at this time, the air output by the right elastic air source 120c-31 enters the fixed cylinder 220a through the first connection port 220a-2 on the left side of the fixed cylinder 220a, thereby driving the movable plug 220b to move to the right, and then indirectly driving the pendulum 210 to deflect to the right to balance the center of gravity.

[0034] In this embodiment, the specific working process is as follows: When the bottom of the support foot 120c-3 on one side of the robot main body 100 presses against an obstacle or a slope, at this time, the center of gravity of the robot main body 100 tilts to the other side. And at this time, while the pressure plate 120c-311 on this side squeezes the first elastic member 120c-312, it drives the air guide column 120c-313 to move into the air guide hole 120c-22, thereby squeezing the air in the air guide hole 120c-22 from the second connection port 120c-33 on this side through the hose to the first connection port 220a-2 on the other side and entering the fixed cylinder 220a. When driving the movable plug 220b to move in the direction close to the support foot 120c-3 on this side, it drives the first serrated plate 220b-1 to move on the same side, and then drives the pendulum 210 to deflect to this side, thereby balancing the offset center of gravity of the robot main body 100 and maintaining the overall stability. At the same time, driving the pendulum 210 to deflect through the support foot 120c-3 makes it form a damping effect, thereby enhancing the stability of the robot main body 100 during movement.

[0035] Embodiment 4 On the basis of Embodiment 3, refer to Figures 1 - 8, the reinforcement mechanism 300 includes a reinforcement component 310 installed on the top of the base 110 and a second transmission component 320 with one end drivingly connected to the reinforcement component 310 and the other end drivingly connected to the pendulum 210. The reinforcement component 310 is used to reinforce the items in the storage slot 110a during operation, and the second transmission component 320 is used to drive the reinforcement component 310 to work when the pendulum 210 deflects.

[0036] In this embodiment, referring to Figure 7 , the top of the base 110 has mounting plates 110b located on both sides of the storage slot 110a, which are used to facilitate the installation of the threaded rod 210a and the limit slide rod 310b; Referring to Figure 7 , the reinforcement component 310 includes a threaded rod 210a installed between the two mounting plates 110b with opposite thread directions at both ends, a limit slide rod 310b located between the two mounting plates 110b, and two reinforcement plates 310c with one end threadedly sleeved on both ends of the threaded rod 210a and the other end slidably sleeved on the limit slide rod 310b. The threaded rod 210a is used to drive the two reinforcement plates 310c to approach or move away from each other along the limit slide rod 310b when rotating. The limit slide rod 310b is used to limit the two reinforcement plates 310c to prevent the two reinforcement plates 310c from rotating synchronously when the threaded rod 210a rotates. The two reinforcement plates 310c are used to clamp and fix the items in the storage slot 110a when approaching each other. The side wall of the mounting plate 110b has a plurality of second elastic members with the other ends connected to the side walls of the reinforcement plates 310c. When the pendulum 210 returns to its original state and the center of gravity of the robot body 100 is balanced, the second elastic members automatically reset, driving the two reinforcement plates 310c to move away from each other, thus returning to the original state, avoiding clamping too tightly at the beginning and causing damage to the items. At the same time, the second elastic members, through their own characteristics and in cooperation with the two reinforcement plates 310c, also play a role in pre-clamping the items, thereby improving the stability of the items in the storage slot 110a.

[0037] In this embodiment, referring to Figure 7 , one end of the threaded rod 210a is connected with a first pulley 210a-1 through a rotating shaft, which is used to drive the threaded rod 210a to rotate when rotating; The bottom arc surface of the pendulum 210 has a plurality of transmission sawteeth 210b, which are used to drive the second gear 320b to rotate when the pendulum 210 deflects; Referring to Figure 8, the second transmission assembly 320 includes a connecting plate 320a mounted on the bottom of the base 110, a second gear 320b mounted on one side of the plate and meshing with the transmission sawtooth 210b, and a transmission member 320c with one end drivingly connected to the threaded rod 210a and the other end drivingly connected to the second gear 320b. The connecting plate 320a is used to facilitate the installation of the second gear 320b and the transmission member 320c. The transmission member 320c is used to drive the first pulley 210a-1 to rotate when the second gear 320b rotates; Reference Figure 8 , the side wall of the connecting plate 320a has a second limiting chute 320a-1 for limiting the counterweight 320c-2. The transmission member 320c includes a limiting block 320c-1 with its side wall connected to the connecting shaft of the second gear 320b, a counterweight 320c-2 with its side wall extending into the second limiting chute 320a-1 and its bottom corresponding to the limiting block 320c-1, and a third gear 320c-3 mounted on the side wall of the connecting plate 320a and having a second pulley 320c-31 connected to one side through a rotating shaft. The limiting block 320c-1 is used to limit and support the bottom of the counterweight 320c-2. The counterweight 320c-2 is used to drive the second sawtooth plate 320c-21 to move downward when its center of gravity moves downward along the second limiting chute 320a-1 when the limiting block 320c-1 rotates. The bottom sides of both sides of the counterweight 320c-2 are symmetric arc structures, so that no matter which side the limiting block 320c-1 rotates to, the counterweight 320c-2 will move downward at this time. The third gear 320c-3 is used to drive the second pulley 320c-31 to rotate when rotating. The side wall of the counterweight 320c-2 has a second sawtooth plate 320c-21 meshing with the third gear 320c-3, which is used to drive the third gear 320c-3 to rotate when the second sawtooth plate 320c-21 moves. The second pulley 320c-31 is connected to the first pulley 210a-1 through a belt, and is used to drive the first pulley 210a-1 to rotate when the second pulley 320c-31 rotates.

[0038] In this embodiment, the specific working process is as follows: When the pendulum 210 deflects to balance the center of gravity of the robot body 100, at this time, under the action of the transmission saw teeth 210b, the second gear 320b is driven to rotate. When the second gear 320b rotates, the limiting block 320c-1 is driven to deflect, so that the bottom of the counterweight 320c-2 is released from the limit and moves downward along the second limiting chute 320a-1 under its own gravity. When the counterweight 320c-2 moves downward, it drives the second sawtooth plate 320c-21 to move downward. When the second sawtooth plate 320c-21 moves downward, it drives the third gear 320c-3 to rotate. When the third gear 320c-3 rotates, it drives the second pulley 320c-31 to rotate. When the second pulley 320c-31 rotates, it drives the first pulley 210a-1 to rotate. When the first pulley 210a-1 rotates, it drives the threaded rod 210a to rotate. When the threaded rod 210a rotates, it drives the two reinforcing plates 310c to approach each other to clamp and reinforce both sides of the item in the storage slot 110a, thereby increasing the stability of the item. At this time, the second elastic member is stretched. After the center of gravity of the robot body 100 is balanced, the pendulum 210 returns to its original state, and at this time, the second elastic member is reset, pulling the two reinforcing plates 310c away from each other to their original state, and under the self-characteristics of the second elastic member, it cooperates with the reinforcing plates 310c to continuously pre-clamp the item in the storage slot 110a.

[0039] Although the present invention has been described above with reference to the embodiments, various improvements can be made to it and components therein can be replaced with equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the various features in the disclosed embodiments of the present invention can be combined with each other in any way. The exhaustive description of these combinations is not given in this specification only for the sake of saving space and resources. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A quadrupedal two-armed robot, characterized in that, include: A robot body (100) comprising a base (110) having a storage slot (110a) on the top, bionic driving feet (120) located at the front and rear ends of the bottom of the base (110), and a robot arm (130) movably mounted on both sides of the top of the base (110); A center of gravity balancing mechanism (200) is installed at the bottom of the base (110), wherein when the bottom of the bionic driving foot (120) presses against an obstacle or a slope, causing the center of gravity of one side of the robot body (100) to become unstable, the center of gravity balancing mechanism (200) is automatically driven to work, thereby automatically balancing the center of gravity of the robot body (100); A reinforcement mechanism (300) is installed on the top of the base (110), wherein when the center of gravity balancing mechanism (200) is working, it automatically drives the reinforcement mechanism (300) to work synchronously, thereby reinforcing the stability of the items in the storage slot (110a).

2. The quadruped and two-arm robot according to claim 1, wherein The bionic driving foot (120) comprises a connecting seat (120a) mounted in a mounting groove at the bottom of the base (110), a driving member (120b) movably mounted on the connecting seat (120a), and a supporting member (120c) drivingly connected to the driving member (120b).

3. The quadruped and two-armed robot according to claim 2, characterized in that, One end of the connection seat (120a) is provided with a connection groove (120a-1); The driving member (120b) comprises a connecting rod (120b-1) rotatably mounted in the connecting groove (120a-1) and eccentric wheels (120b-2) located at both ends of the connecting rod (120b-1) and having opposite eccentric angles, wherein the connecting seat (120a) has a driving source inside, the output end of which is transmission-connected to the connecting rod (120b-1).

4. A quadrupedal and bipedal robot according to claim 3, characterized in that, The support member (120c) comprises an arc-shaped hinged rod (120c-1) having one end hinged to one end of the connection seat (120a) away from the connection groove (120a-1), an articulated frame (120c-2) having one end hinged to the other end of the arc-shaped hinged rod (120c-1) and the other end hinged to the eccentric wheel (120b-2), and a support foot (120c-3) having one end hinged to one end of the arc-shaped hinged rod (120c-1) and the middle part hinged to the articulated frame (120c-2).

5. A quadruped and two-arm robot according to claim 4, characterized in that The center of gravity balancing mechanism (200) comprises a pendulum (210) movably mounted on the bottom of the base (110) and a first transmission assembly (220) having one end transmission-connected to the pendulum (210) and the other end transmission-connected to the four supporting legs (120c-3).

6. A quadruped and two-armed robot according to claim 5, wherein, The bottoms of the four supporting feet (120c-3) are provided with elastic air pressure sources (120c-31); A first gear (210a) is provided at one end of a rotating shaft movably connected to the pendulum (210) and the base (110); The first transmission member (320c) includes a fixed cylinder (220a) installed at the bottom of the base (110) and having a first limit chute (220a-1) on its side wall, and a movable plug (220b) movably installed in the fixed cylinder (220a) and having one end extending out of the first limit chute (220a-1) and connected with a first serrated plate (220b-1). The first serrated plate (220b-1) meshes with the first gear (210a). Both ends of the fixed cylinder (220a) have first connection ports (220a-2) connected to the output end of the elastic air pressure source (120c-31).

7. A quadrupedal two-armed robot according to claim 6, characterized in that, The bottom of the support foot (120c-3) has an air guide hole (120c-22), and the side wall of the support foot (120c-3) has a second connection port (120c-33) communicating with a plurality of the air guide holes (120c-22). The elastic air pressure source (120c-31) includes a pressing plate (120c-311) located below the support foot (120c-3), a plurality of first elastic members (120c-312) with one end connected to the bottom of the support foot (120c-3) and the other end connected to the top of the pressing plate (120c-311), and an air guide column (120c-313) located on the top of the pressing plate (120c-311) and corresponding to the air guide hole (120c-22). Wherein, the two second connection ports (120c-33) on the left side of the robot main body (100) and the first connection port (220a-2) on the right side of the robot main body (100) are connected by a hose, and the two second connection ports (120c-33) on the right side of the robot main body (100) and the first connection port (220a-2) on the left side of the robot main body (100) are connected by a hose.

8. A quadruped and two-armed robot according to claim 5, characterized in that, The reinforcement mechanism (300) includes a reinforcement component (310) installed on the top of the base (110) and a second transmission component (320) with one end drivingly connected to the reinforcement component (310) and the other end drivingly connected to the pendulum (210).

9. A quadruped and two-arm robot according to claim 8, characterized in that, The top of the base (110) has mounting plates (110b) located on both sides of the placement groove (110a). The reinforcement component (310) includes a threaded rod (210a) installed between the two mounting plates (110b) and having opposite thread directions at both ends, a limit slide rod (310b) located between the two mounting plates (110b), and two reinforcement plates (310c) with one end threadedly sleeved at both ends of the threaded rod (210a) and the other end slidably sleeved on the limit slide rod (310b). The side wall of the mounting plate (110b) has a plurality of second elastic members with the other end connected to the side wall of the reinforcement plate (310c).

10. A quadruped and two-armed robot according to claim 9, characterized in that, One end of the threaded rod (210a) is connected with a first pulley (210a-1) through a rotating shaft. The bottom arc surface of the pendulum (210) has a plurality of transmission serrations (210b). The second transmission component (320) includes a connecting plate (320a) installed at the bottom of the base (110), a second gear (320b) installed on one side of the plate and meshing with the transmission saw teeth (210b), and a transmission member (320c) with one end drivingly connected to the threaded rod (210a) and the other end drivingly connected to the second gear (320b); The side wall of the connecting plate (320a) has a second limit sliding groove (320a-1). The transmission member (320c) includes a limit block (320c-1) whose side wall is connected to the connecting shaft of the second gear (320b), a counterweight block (320c-2) whose side wall extends into the second limit sliding groove (320a-1) and whose bottom corresponds to the limit block (320c-1), and a third gear (320c-3) installed on the side wall of the connecting plate (320a) and having a second pulley (320c-31) connected to one side through a rotating shaft. The side wall of the counterweight block (320c-2) has a second sawtooth plate (320c-21) meshing with the third gear (320c-3). The second pulley (320c-31) is connected to the first pulley (210a-1) through a belt.

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