A four-legged, two-arm robot

Abstract

The present invention belongs to the technical field of walking robots, and specifically relates to a four-legged two-arm robot, including a robot body, a center of gravity balancing mechanism and a reinforcement mechanism. The robot body includes a base with a storage slot on the top, bionic driving feet located at the front and rear ends of the bottom of the base, and mechanical arms movably installed on both sides of the top of the base; when the bottom of the bionic driving foot presses against an obstacle or a slope, causing the center of gravity of one side of the robot body to be unstable, the center of gravity balancing mechanism is automatically driven to work, and the center of gravity of the robot body is automatically balanced; when the center of gravity balancing mechanism is working, it automatically drives the reinforcement mechanism to work synchronously, and reinforces the stability of the items in the storage slot. This four-legged two-arm robot replaces the traditional four-legged two-arm robot, and avoids the problem that when the robot walks in a complex road environment, it cannot correct its own balance in time due to unstable center of gravity, resulting in tipping over, thereby causing damage to the robot itself and the items carried.

Description

Technical Field

[0001] The present invention relates to the technical field of walking, in particular to a quadruped two-arm robot. Background Art

[0002] In recent years, with the advancement and development of science and technology, there are more and more types of robots, such as bipedal, two-arm robots and quadrupedal, two-arm robots that imitate humans.

[0003] Among them, in some outdoor emergency repair or transportation applications, quadruped robots are more widely used due to their higher stability. However, the stability of existing quadruped two-arm robots when walking in relatively complex outdoor environments is still highly uncertain. When the robot's feet encounter obstacles, such as stones, slopes, etc., its performance in timely correcting its own balance is poor, and one side of the robot is more likely to tilt, resulting in an unstable center of gravity and tipping over, causing damage to the robot itself and the items it carries. Summary of the Invention

[0004] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract and title of this application to avoid blurring the purpose of this section, the abstract and the title of the invention, and such simplifications or omissions should not be used to limit the scope of the present invention.

[0005] Therefore, the purpose of the present invention is to provide a four-legged two-arm robot to replace the traditional four-legged two-arm robot, so as to avoid the problem that when walking on a complex road environment, the robot cannot correct its own balance in time due to unstable center of gravity, resulting in tipping over, thereby causing damage to itself and the items it carries.

[0006] To solve the above technical problems, according to one aspect of the present invention, the present invention provides the following technical solutions:

[0007] A quadruped two-arm robot comprising:

[0008] The robot body comprises a base with a storage slot on the top, bionic driving feet located at the front and rear ends of the bottom of the base, and robotic arms movably mounted on both sides of the top of the base;

[0009] a center of gravity balancing mechanism mounted on the bottom of the base, wherein when the bottom of the bionic driving foot presses against an obstacle or a slope, causing the center of gravity of one side of the robot body to become unstable, the center of gravity balancing mechanism is automatically driven to operate, thereby automatically balancing the center of gravity of the robot body;

[0010] A reinforcement mechanism is installed on the top of the base, wherein when the center of gravity balancing mechanism is working, it automatically drives the reinforcement mechanism to work synchronously to reinforce the stability of the items in the storage slot.

[0011] As a preferred solution of the quadruped two-arm robot described in the present invention, the bionic driving foot includes a connecting seat installed in the mounting groove at the bottom of the base, a driving member movably installed on the connecting seat, and a supporting member transmission-connected to the driving member.

[0012] As a preferred solution of the quadruped two-arm robot described in the present invention, one end of the connecting seat has a connecting groove;

[0013] The driving member includes a connecting rod rotatably installed in the connecting groove and eccentric wheels located at both ends of the connecting rod and with opposite eccentric angles, wherein the connecting seat has a driving source with an output end transmission-connected to the connecting rod.

[0014] As a preferred solution of a quadruped two-arm robot described in the present invention, the support member includes an arc-shaped articulated rod with one end hinged to the end of the connecting seat away from the connecting groove, an articulated frame with one end hinged to the other end of the arc-shaped articulated 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 articulated rod and the middle part hinged to the articulated frame.

[0015] As a preferred solution of the quadruped two-arm robot described in the present invention, the center of gravity balancing mechanism includes a pendulum movably mounted on the bottom of the base and a first transmission assembly having one end transmission connected to the pendulum and the other end transmission connected to the four supporting legs.

[0016] As a preferred solution of the quadruped two-arm robot described in the present invention, an elastic air pressure source is provided at the bottom of the four supporting legs;

[0017] A first gear is provided at one end of a rotating shaft movably connected between the pendulum and the base;

[0018] The first transmission member includes a fixed cylinder installed at the bottom of the base and having a first limiting sliding groove on the side wall, a movable plug movably installed in the fixed cylinder and one end extending out of the first limiting sliding groove and connected to a first serrated plate, the first serrated plate is engaged with the first gear, and both ends of the fixed cylinder have first connecting ports connected to the output end of the elastic air pressure source.

[0019] As a preferred embodiment of the quadruped two-arm robot of the present invention, the bottom of the supporting foot has an air guide hole, and the side wall of the supporting foot has a second connection port connected to the plurality of air guide holes;

[0020] The elastic air pressure source includes a pressure plate located below the supporting foot, a plurality of first elastic members connected at one end to the bottom of the supporting foot and at the other end to the top of the pressure plate, and an air guide column located at the top of the pressure plate and corresponding to the air guide hole;

[0021] 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.

[0022] As a preferred solution of the quadruped two-arm robot described in the present invention, the reinforcement mechanism includes a reinforcement component installed on the top of the base and a second transmission component with one end transmission connected to the reinforcement component and the other end transmission connected to the pendulum.

[0023] As a preferred solution of the quadruped two-arm robot described in the present invention, the top of the base has mounting plates located on both sides of the storage slot;

[0024] The reinforcement assembly includes a threaded rod installed between the two mounting plates with opposite textures at both ends, a limiting sliding rod located between the two mounting plates, and two reinforcement plates with one end threadedly sleeved on both ends of the threaded rod and the other end slidingly sleeved on the limiting sliding rod. The side wall of the mounting plate has a plurality of second elastic members with the other end connected to the side wall of the reinforcement plate.

[0025] As a preferred solution of the quadruped two-arm robot described in the present invention, one end of the threaded rod is connected to a first pulley via a rotating shaft;

[0026] The bottom arc surface of the pendulum has a plurality of transmission saw teeth;

[0027] The second transmission assembly includes a connecting plate mounted on the bottom of the base, a second gear mounted on one side of the plate and meshing with the transmission serrations, and a transmission member with one end transmission-connected to the threaded rod and the other end transmission-connected to the second gear;

[0028] The side wall of the connecting plate has a second limiting slot, and the transmission member includes a limiting block connected to the side wall and the connecting shaft of the second gear, a counterweight block with the side wall extending into the second limiting slot and the bottom corresponding to the limiting block, and a third gear installed on the side wall of the connecting plate and connected to the second pulley on one side through a rotating shaft, the side wall of the counterweight block has a second serrated plate meshing with the third gear, and the second pulley is connected to the first pulley through a belt.

[0029] Compared with the existing technology, the beneficial effect of the present invention is that the four-legged two-arm robot drives the base to walk by two sets of bionic driving feet at the bottom of the base. When the bottom of the bionic driving foot presses against an obstacle or a slope, causing the center of gravity of one side of the robot body to be unstable, the center of gravity balancing mechanism automatically balances the center of gravity of the robot body, thereby preventing the robot body from tilting due to the unstable center of gravity. At the same time, when the center of gravity balancing mechanism is working, it drives the reinforcement mechanism to work to reinforce the stability of the goods in the storage slot, thereby preventing the goods from shaking unstablely, replacing the traditional four-legged two-arm robot, and avoiding the problem that when it walks on a complex road environment, it cannot correct its own balance in time due to unstable center of gravity, resulting in tipping over, thereby causing damage to itself and the items carried. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] 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 with reference to the accompanying drawings and detailed embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be derived from these drawings without inventive effort. Among them:

[0031] Figure 1 This is a schematic structural diagram of a quadruped two-arm robot of the present invention;

[0032] Figure 2 This is a structural breakdown diagram of a quadruped two-arm robot of the present invention;

[0033] Figure 3 This is a structural breakdown diagram of a bionic driving foot of a quadruped two-arm robot according to the present invention;

[0034] Figure 4 This is a schematic structural diagram of a supporting leg of a quadruped two-arm robot according to the present invention;

[0035] Figure 5 This is a structural schematic diagram of a center of gravity balancing mechanism of a quadruped two-arm robot of the present invention;

[0036] Figure 6 This is a structural exploded view of the first transmission assembly of a quadruped two-arm robot of the present invention;

[0037] Figure 7 This is a schematic structural diagram of a reinforcement assembly of a quadruped two-arm robot according to the present invention;

[0038] Figure 8 This is a schematic structural diagram of the second transmission assembly of a quadruped two-arm robot of the present invention.

[0039] In the figure: 100, robot body; 110, base; 110a, storage slot; 110b, mounting plate; 120, bionic driving foot; 120a, connecting seat; 120a-1, connecting slot; 120b, driving member; 120b-1, connecting rod; 120b-2, eccentric wheel; 120c, support member; 120c-1, arc-shaped hinged rod; 120c-2, hinged frame; 120c-3, supporting foot; 120c-31, elastic air pressure source; 120c-311, pressure plate; 120c-312, first elastic member; 120c-313, air guide column; 120c-22, air guide hole; 120c-33, second connecting port; 130, robotic arm; 200, center of gravity balancing mechanism; 210, pendulum; 210a, first Gear; 210b, transmission serration; 220, first transmission component; 220a, fixed cylinder; 220a-1, first limiting slide; 220a-2, first connecting port; 220b, movable plug; 220b-1, first serrated plate; 300, reinforcement mechanism; 310, reinforcement component; 210a, threaded rod; 210a-1, first pulley; 310b, limiting slide; 310c, reinforcement plate; 320, second transmission component; 320a, connecting plate; 320a-1, second limiting slide; 320b, second gear; 320c, transmission member; 320c-1, limiting block; 320c-2, counterweight block; 320c-21, second serrated plate; 320c-3, third gear; 320c-31, second pulley. DETAILED DESCRIPTION

[0040] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0041] Next, the present invention is described in detail with reference to schematic diagrams. For ease of illustration, cross-sectional views of device structures may be partially enlarged and not to scale when describing the embodiments of the present invention. Furthermore, the schematic diagrams are merely illustrative and should not limit the scope of protection of the present invention. Furthermore, in actual production, three-dimensional dimensions, including length, width, and depth, should be included.

[0042] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0043] The present invention provides a quadrupedal two-arm robot to replace the traditional quadrupedal two-arm robot, avoiding the problem of the robot tipping over due to inability to correct its own balance in time when walking on complex road environments, thereby causing damage to itself and carried items.

[0044] Figures 1-8 The figure shows a schematic diagram of the structure of a quadruped two-arm robot of the present invention. Figures 1-8 Give a detailed introduction to this quadruped two-arm robot.

[0045] Example 1

[0046] refer to Figure 1-Figure 2 The present invention discloses a quadruped two-arm robot, the main body of which includes a robot body 100, a center of gravity balancing mechanism 200 and a reinforcement mechanism 300.

[0047] refer to Figure 1-Figure 2 The robot body 100 includes a base 110 with 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 robotic arms 130 movably mounted 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 storage slot 110a is used to facilitate the placement of items that need to be transported or repaired. The bionic driving feet 120 are used to drive the entire robot body 100 to move in a bionic quadruped gait during operation, and the robotic arms 130 are used to facilitate the removal of items.

[0048] refer to Figure 1-Figure 2 The center of gravity balancing mechanism 200 is used to automatically balance the center of gravity of the robot body 100 when the bionic driving foot 120 presses against an obstacle or a slope, causing the robot body 100 to lose its center of gravity. The center of gravity balancing mechanism 200 is installed at the bottom of the base 110. 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 and automatically balance the center of gravity of the robot body 100. When the bionic driving foot 120 presses against an obstacle or a slope, causing the center of gravity of the robot body 100 to shift, the center of gravity balancing mechanism 200 automatically balances the center of gravity of the robot body 100, thereby preventing the robot body 100 from tipping over after the center of gravity shifts.

[0049] refer to Figure 1-Figure 2 The reinforcement mechanism 300 is used to automatically reinforce the items inside the storage slot 110a when the center of gravity of the robot body 100 shifts and the center of gravity balancing mechanism 200 is working. The reinforcement mechanism 300 is installed on the top of the base 110. When the center of gravity balancing mechanism 200 is working, it automatically drives the reinforcement mechanism 300 to work synchronously to reinforce the stability of the items in the storage slot 110a. Therefore, when the center of gravity of the robot body 100 shifts and drives the center of gravity balancing mechanism 200 to work, the reinforcement mechanism 300 automatically starts working to reinforce the items in the storage slot 110a, thereby avoiding the shaking of the items caused by the unstable center of gravity of the robot body 100.

[0050] 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 working 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.

[0051] Example 2

[0052] Based on Example 1, Figure 1-Figure 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 that is transmission-connected to the driving member 120b. The connecting seat 120a is used to facilitate 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.

[0053] In this embodiment, reference Figure 1-Figure 3 One end of the connecting seat 120a has a connecting groove 120a-1 for facilitating the movable installation of the connecting rod 120b-1;

[0054] 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 step forward intermittently when rotating, and the eccentric angles of the two eccentric wheels 120b-2 are opposite, which is used to make the two supporting feet 120c-3 at both ends of the connecting rod 120b-1 step alternately, thereby avoiding synchronous stepping to form a jump-type step and causing overall instability. Among them, the connecting seat 120a has a driving source with an output end connected to the connecting rod 120b-1 for transmission, which is used to drive the connecting rod 120b-1 to rotate during operation.

[0055] 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 connecting seat 120a away from the connecting 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 supporting 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, it drives the supporting foot 120c-3 to complete the forward step and backward kicking action, thereby simulating the gait of an animal.

[0056] 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 step-back action under the connection action of the articulated rod and the articulated frame 120c-2. Through the synchronous work 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.

[0057] Example 3

[0058] 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 the four supporting legs 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 legs 120c-3 on one side of the robot body 100 is pressed against that side, thereby balancing the offset center of gravity.

[0059] In this embodiment, reference Figures 1-6 , an elastic air pressure source 120c-31 is provided at the bottom of the four supporting legs 120c-3, which is used to generate high-pressure gas and transport it to the fixed cylinder 220a when the bottom of the supporting legs 120c-3 presses against an obstacle or a slope;

[0060] 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;

[0061] refer to Figure 5-Figure 6The first transmission member 320c includes a fixed cylinder 220a installed at the bottom of the base 110 and having a first limiting sliding groove 220a-1 on the side wall, and a movable plug 220b movably installed in the fixed cylinder 220a and extending the first limiting sliding groove 220a-1 at one end to be connected to the first serrated plate 220b-1. The fixed cylinder 220a is used to movably install the movable plug 220b, and the first limiting sliding groove 220a-1 is used to limit the movable plug 220b. The movable plug 220b is used to move in the fixed cylinder 220a. When the cylinder 220a moves inside, it drives the first serrated plate 220b-1 to move. The first serrated plate 220b-1 is used to drive the first gear 210a to rotate when moving. The first serrated plate 220b-1 is engaged with the first gear 210a. The two ends of the fixed cylinder 220a have a first connecting port 220a-2 connected to the output end of the elastic air pressure source 120c-31, which is used to introduce air into the fixed cylinder 220a when the elastic air pressure source 120c-31 outputs high-pressure air.

[0062] In this embodiment, reference Figure 4 The bottom of the supporting foot 120c-3 has an air guide hole 120c-22 for storing some air. The side wall of the supporting foot 120c-3 has a second connecting port 120c-33 connected to the multiple air guide holes 120c-22. When the air in the air guide holes 120c-22 is squeezed, the air is introduced into the first connecting port 220a-2 through the second connecting port 120c-33.

[0063] refer to Figure 4 The elastic air pressure source 120c-31 includes a pressure plate 120c-311 located below the support foot 120c-3, a plurality of first elastic members 120c-312 connected at one end to the bottom of the support foot 120c-3 and at the other end to the top of the pressure plate 120c-311, and an air guide column 120c-313 located at the top of the pressure plate 120c-311 and corresponding to the air guide hole 120c-22. The pressure plate 120c-311 is used to squeeze the first elastic member 120c-312 after being squeezed and drive the plurality of air guide columns 120c-313 to the air guide hole 120c-22. The first elastic member 120c-312 is used to facilitate connection with the pressure plate 120c-311 and to restore the pressure plate 120c-311 by its own rebound after the bottom of the pressure plate 120c-311 separates from the obstacle. At the same time, the first elastic member 120c-312 provides a certain cushioning effect on the entire supporting leg 120c-3 through its own characteristics. The air guide column 120c-313 is used to squeeze the air in the air guide hole 120c-22 to the second connection port 120c-33 for discharge when moving into the air guide hole 120c-22.

[0064] Among them, the two second connection ports 120c-33 on the left side of the robot body 100 are connected to the first connection port 220a-2 on the right side of the robot body 100 through a hose, and the two second connection ports 120c-33 on the right side of the robot body 100 are connected to the first connection port 220a-2 on the left side of the robot body 100 through a hose, which is used when the bottom of the left supporting foot 120c-3 of the robot body 100 is pressed against an obstacle or a slope. At this time, the center of gravity of the robot body 100 tilts to the right, and at this time, the air output by the elastic air pressure source 120c-31 on the left side passes through the first connection port 220a- 2 enters 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 supporting foot 120c-3 of the robot body 100 presses against an obstacle or a slope, the center of gravity of the robot body 100 tilts to the left, and at this time, the air output by the elastic air pressure source 120c-31 on the right side enters the fixed cylinder 220a through the first connecting 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.

[0065] In this embodiment, the specific working process is as follows: when the bottom of the supporting foot 120c-3 on one side of the robot body 100 is pressed against an obstacle or a slope, the center of gravity of the robot body 100 tilts to the other side, and at this time, the pressure plate 120c-311 on this side squeezes the first elastic member 120c-312 while driving 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 through the second connecting port 120c-33 on this side to the hose on the other side. The first connection port 220a-2 enters the fixed cylinder 220a, thereby driving the movable plug 220b to move toward the direction of the supporting foot 120c-3 on that side, driving the first serrated plate 220b-1 to move on the same side, and then driving the pendulum 210 to deflect toward that side, thereby balancing the offset center of gravity of the robot body 100 and maintaining the overall stability. At the same time, the pendulum 210 is driven to deflect through the supporting foot 120c-3 to form a damper effect, thereby enhancing the stability of the robot body 100 during movement.

[0066] Example 4

[0067] Based on Example 3, Figures 1-8The reinforcement mechanism 300 includes a reinforcement component 310 installed on the top of the base 110 and a second transmission component 320, one end of which is transmission-connected to the reinforcement component 310 and the other end of which is transmission-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 is deflected.

[0068] In this embodiment, reference Figure 7 The top of the base 110 has mounting plates 110b located on both sides of the storage slot 110a for facilitating the installation of the threaded rod 210a and the limiting slide rod 310b;

[0069] refer to Figure 7 The reinforcement assembly 310 includes a threaded rod 210a installed between the two mounting plates 110b with opposite textures at both ends, a limiting slide 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 limiting slide 310b. The threaded rod 210a is used to drive the two reinforcement plates 310c to move closer to or away from each other along the limiting slide 310b when rotating. The limiting slide 310b is used to limit the two reinforcement plates 310c, thereby preventing the threaded rod 210a from driving the two reinforcement plates 310c to rotate synchronously when rotating. The two reinforcing plates 310c are used to clamp and fix the items in the storage slot 110a when they are close to each other. The side wall of the mounting plate 110b has multiple second elastic members whose other ends are connected to the side wall of the reinforcing plate 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 and drive the two reinforcing plates 310c away from each other, thereby returning to their original state, avoiding damage to the items due to excessive clamping at the beginning. At the same time, the second elastic members, through their own characteristics, cooperate with the two reinforcing plates 310c to pre-clamp the items, thereby improving the stability of the items in the storage slot 110a.

[0070] In this embodiment, reference Figure 7 One end of the threaded rod 210a is connected to a first pulley 210a-1 via a rotating shaft, which is used to drive the threaded rod 210a to rotate when rotating;

[0071] The bottom arc surface of the pendulum 210 has a plurality of transmission saw teeth 210b, which are used to drive the second gear 320b to rotate when the pendulum 210 deflects;

[0072] refer to Figure 8The 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 serrations 210b, and a transmission member 320c with one end in transmission connection with the threaded rod 210a and the other end in transmission connection with 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.

[0073] refer to Figure 8 The side wall of the connecting plate 320a has a second limiting slot 320a-1 for limiting the counterweight 320c-2. The transmission member 320c includes a limiting block 320c-1 connected to the side wall and the connecting shaft of the second gear 320b, a counterweight 320c-2 whose side wall extends into the second limiting slot 320a-1 and whose bottom corresponds to the limiting block 320c-1, and a third gear 320c-3 installed on the side wall of the connecting plate 320a and connected to the second pulley 320c-31 on one side through a rotating shaft. The limiting block 320c-1 is used to provide limiting support for the bottom of the counterweight 320c-2, and the counterweight 320c-2 is used to descend along the second limiting slot 320a-1 by its own center of gravity when the limiting block 320c-1 rotates. During the process, the second serrated plate 320c-21 is driven to move downward, and the two sides of the bottom of the counterweight block 320c-2 are symmetrical arc structures, which are used to drive the counterweight block 320c-2 to move downward no matter which direction the limit block 320c-1 rotates. The third gear 320c-3 is used to drive the second pulley 320c-31 to rotate when it rotates. The side wall of the counterweight block 320c-2 has a second serrated plate 320c-21 that is meshed with the third gear 320c-3, which is used to drive the third gear 320c-3 to rotate when the second serrated 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.

[0074] In this embodiment, the specific working process is as follows: when the pendulum 210 is deflected to balance the center of gravity of the robot body 100, the second gear 320b is driven to rotate under the action of the transmission sawtooth 210b. When the second gear 320b rotates, it drives the limit block 320c-1 to deflect, so that the bottom of the counterweight block 320c-2 is released from the limit and moves downward along the second limit slot 320a-1 under the action of its own gravity. When the counterweight block 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 3 20c-31 rotates, and when the second pulley 320c-31 rotates, it drives the first pulley 210a-1 to rotate, and when the first pulley 210a-1 rotates, it drives the threaded rod 210a to rotate, and when the threaded rod 210a rotates, it drives the two reinforcement plates 310c to approach each other to clamp and reinforce the two sides of the objects in the object slot 110a, thereby increasing the stability of the objects. At this time, the second elastic member is stretched. When 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 reinforcement plates 310c away from each other, and under the characteristics of the second elastic member itself, the reinforcement plates 310c cooperate with each other to continuously pre-clamp the objects in the object slot 110a.

[0075] Although the present invention has been described above with reference to embodiments, various modifications may be made thereto and equivalent components may be substituted without departing from the scope of the present invention. In particular, as long as there are no structural conflicts, the various features of the embodiments disclosed herein may be combined with each other in any manner, and the omission of an exhaustive description of such combinations in this specification is solely for the sake of space and resource conservation. 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 quadruped two-arm 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 robotic arms (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 operate, thereby automatically balancing the center of gravity of the robot body (100); a reinforcement mechanism (300) mounted on the top of the base (110), wherein when the center of gravity balancing mechanism (200) is in operation, it automatically drives the reinforcement mechanism (300) to operate synchronously, thereby reinforcing the stability of the items in the storage slot (110a); 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) in transmission connection with the driving member (120b); One end of the connecting seat (120a) is provided with a connecting 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 with an output end transmission-connected to the connecting rod (120b-1); The support member (120c) comprises an arc-shaped hinged rod (120c-1) with one end hinged to one end of the connection seat (120a) away from the connection slot (120a-1), an articulated frame (120c-2) with 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) with 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). 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); The bottoms of the four supporting legs (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 between the pendulum (210) and the base (110); The first transmission assembly (220) comprises a fixed cylinder (220a) mounted on the bottom of the base (110) and having a first limiting sliding groove (220a-1) on its side wall, and a movable plug (220b) movably mounted in the fixed cylinder (220a) and having one end extending out of the first limiting sliding groove (220a-1) and connected to a first sawtooth plate (220b-1), the first sawtooth plate (220b-1) being engaged with the first gear (210a), and both ends of the fixed cylinder (220a) having first connection ports (220a-2) connected to the output end of the elastic air pressure source (120c-31); The bottom of the support foot (120c-3) is provided with an air guide hole (120c-22), and the side wall of the support foot (120c-3) is provided with a second connection port (120c-33) in communication with the plurality of air guide holes (120c-22); The elastic air pressure source (120c-31) comprises a pressing plate (120c-311) located below the supporting foot (120c-3), a plurality of first elastic members (120c-312) one end of which is connected to the bottom of the supporting foot (120c-3) and the other end of which is 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); The two second connection ports (120c-33) on the left side of the robot body (100) are connected to the first connection port (220a-2) on the right side of the robot body (100) via a hose, and the two second connection ports (120c-33) on the right side of the robot body (100) are connected to the first connection port (220a-2) on the left side of the robot body (100) via a hose.

2. A quadruped two-arm robot according to claim 1, characterized in that: The reinforcement mechanism (300) comprises a reinforcement component (310) mounted on the top of the base (110) and a second transmission component (320) having one end transmission-connected to the reinforcement component (310) and the other end transmission-connected to the pendulum (210).

3. A quadruped two-arm robot according to claim 2, characterized in that: The top of the base (110) has mounting plates (110b) located on both sides of the storage slot (110a); The reinforcement component (310) comprises a threaded rod (310a) installed between the two mounting plates (110b) and having opposite lines at both ends, a limiting slide rod (310b) located between the two mounting plates (110b), and two reinforcement plates (310c) one end of which is threadedly sleeved on both ends of the threaded rod (310a) and the other end of which is slidably sleeved on the limiting slide rod (310b), and the side wall of the mounting plate (110b) has a plurality of second elastic members, the other end of which is connected to the side wall of the reinforcement plate (310c).

4. A quadruped two-arm robot according to claim 3, characterized in that: One end of the threaded rod (310a) is connected to a first pulley (310a-1) via a rotating shaft; The bottom arc surface of the pendulum (210) has a plurality of transmission saw teeth (210b); The second transmission assembly (320) comprises a connecting plate (320a) mounted on the bottom of the base (110), a second gear (320b) mounted on one side of the connecting plate (320a) and meshing with the transmission saw teeth (210b), and a transmission member (320c) having one end transmission-connected to the threaded rod (310a) and the other end transmission-connected to the second gear (320b); The side wall of the connecting plate (320a) has a second limiting sliding groove (320a-1), the transmission member (320c) comprises a limiting 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 limiting sliding groove (320a-1) and whose bottom corresponds to the limiting block (320c-1), and a third gear (320c-3) mounted on the side wall of the connecting plate (320a) and connected to a second pulley (320c-31) on one side via a rotating shaft, the side wall of the counterweight block (320c-2) having a second serrated plate (320c-21) meshing with the third gear (320c-3), and the second pulley (320c-31) is connected to the first pulley (310a-1) via a belt.

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