Quadruped robot variable speed driving structure

Abstract

The utility model discloses a variable-speed driving structure of a quadruped robot. The variable-speed driving structure comprises a connecting frame, a hydraulic servo oil cylinder, a hydraulic servo driver, a joint, a guide key rod, a multi-dimensional force sensor, a pulley assembly and a leg assembly. The protection piece and the strong spring are installed on the outer side of the shank rod, so that the dual protection effect is achieved, on one hand, gravel which enters the strong spring and does not fall off in time cannot scratch the shank rod, and on the other hand, the shank rod in close contact with the ground can be protected; the lower mounting plate and the upper mounting plate are arranged to prevent external objects from directly impacting shank rods at weak positions of the quadruped robot, rubber protection plates are arranged on the surfaces of the lower mounting plate and the upper mounting plate to play a protection role, a sliding groove is formed in the upper mounting plate to facilitate quick mounting and dismounting of a strong spring, and the lower mounting plate and the upper mounting plate are bidirectionally attached to each other, so that the service life of the quadruped robot is prolonged. And bolts are used for locking, the installation mode is simple, and the installation speed is high.

Description

Technical Field

[0001] The utility model relates to the field of robots, and in particular to a speed-changing drive structure of a quadruped robot. Background Art

[0002] Robotics is one of the most active research fields in recent years. According to different modes of movement, mobile robots can be divided into wheeled, tracked and legged robots. Compared with wheeled and tracked robots, legged robots have stronger adaptability to complex terrain and unstructured environments. Among legged robots, the stability and load capacity of quadruped robots are much better than those of bipedal robots, and the mechanism redundancy and control complexity are simpler than those of hexapod and octapod robots. Therefore, quadruped robots have better comprehensive performance. Therefore, research on quadruped robot design, gait motion control and environmental adaptability has attracted the attention of more and more scholars.

[0003] The Chinese patent application number CN201720160829.7 discloses "A Hydraulically Driven Quadruped Robot", which adopts a centralized drive control structure. The feedback of all joint movements and force sensors of the robot is modulated and shaped by a hydraulic servo driver. Force sensors are used instead of force sensors to reduce the size of displacement sensors. The use of hydraulic servo cylinders makes the device structure more compact. A guide key rod is also used to drive the calf rod to operate, making the movement direction of the calf controllable.

[0004] This structure has certain advantages, but still has some shortcomings:

[0005] During the movement of the quadruped robot, its calf rod drives the combined spring to move. Since the calf rod is close to the ground, it is easy to come into contact with debris on the ground. When stones and sand on the ground enter the combined spring due to the collision force and cannot fall off in time, it is easy to continuously scrape and collide with the calf rod inside the combined spring, causing wear of the calf rod. Therefore, in order to reduce the probability of wear of the calf rod, it is necessary to further improve its combined spring. Utility Model Content

[0006] Therefore, in order to solve the above-mentioned shortcomings, the present invention provides a variable speed drive structure for a quadruped robot.

[0007] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a variable speed drive structure of a quadruped robot, including a connecting frame, a hydraulic servo cylinder, a hydraulic servo driver, a joint, a guide rod, a multi-dimensional force sensor, a pulley assembly, and a leg assembly. The bottom end of the connecting frame is fixed with a hydraulic servo cylinder, the bottom end of the hydraulic servo cylinder is installed with a hydraulic servo driver, the left end of the hydraulic servo cylinder is rotatably connected to the joint, the bottom end of the joint is fixed with a guide rod, the right end of the guide rod is installed with a multi-dimensional force sensor, and the output end of the multi-dimensional force sensor is connected to the hydraulic servo driver through a control line.

[0008] As a further solution of the present invention, the top of the leg assembly is fixed to the guide rod by bolts, and a pulley assembly is installed at its bottom end. The leg assembly includes a protective part, a calf rod, a mounting plate, a protective sleeve, a strong spring, and a mounting plate. The protective part is installed on the outside of the middle part of the calf rod, and a mounting plate is installed on the top of the calf rod. The mounting plate is fixed to the guide rod by bolts, and a pulley assembly is installed at the bottom end of the calf rod. The mounting plate is slidably connected to the inside of the protective part, and a protective sleeve is fixed to the outside of the mounting plate. The top of the strong spring is fixed to the mounting plate.

[0009] As a further solution of the present invention, the protective part includes a lower mounting plate, an upper mounting plate, a protective plate, a slide groove, and a limit frame. The interiors of the lower mounting plate and the upper mounting plate are respectively in contact with the calf rod. The lower mounting plate is locked and fixed to the upper mounting plate with bolts. The limit frame is locked and fixed to the lower mounting plate with bolts, and its right end is in contact with the upper mounting plate.

[0010] As a further solution of the present invention, a slide groove is provided at the top of the upper mounting plate, and a mounting plate is slidably connected in the slide groove. The slide groove facilitates the connection of the mounting plate. By sliding the mounting plate into the interior of the slide groove, the strong spring is installed to the outside of the calf rod, which plays a protective role when the calf rod moves.

[0011] As a further solution of the present invention, protective plates are fixed on the surfaces of the lower mounting plate and the upper mounting plate, which play a protective role to prevent hard objects such as stones and sand from scratching the calf rod, thereby preventing the calf rod from wearing too quickly.

[0012] As a further solution of the present invention, two groups of the mounting plates and protective sleeves are provided, and the two groups of mounting plates are connected by a strong spring.

[0013] As a further solution of the present invention, two groups of slide grooves are provided, and their cross-sections are "T"-shaped, which strengthens the connection with the mounting plate so that the mounting plate moves inside the two groups of slide grooves with balanced force, achieving stable sliding.

[0014] As a further solution of the present invention, the cross-section of the limiting frame and the cross-section of the upper mounting plate are both "U"-shaped, and their sizes are consistent.

[0015] As a further solution of the present invention, the protective plate and the protective cover are both made of rubber, which has the advantages of buffering and protection.

[0016] As a further solution of the present invention, the strong spring is made of alloy spring steel, has high strength, can maintain excellent elastic restoring force for a long time, and plays an excellent buffering and protective role.

[0017] Compared with the existing technology, the utility model provides a variable speed drive structure for a quadruped robot, which has the following beneficial effects:

[0018] 1. In the utility model, a protective part and a strong spring are installed on the outside of the calf rod, which plays a dual protective role. On the one hand, sand and gravel that enter the inside of the strong spring and do not fall off in time cannot scratch the calf rod, thereby extending the service life of the calf rod, reducing the wear of the calf rod and slowing down the degree of wear of the calf rod. On the other hand, it can protect the calf rod that is in close contact with the ground, avoiding foreign objects from directly hitting the weak point of the calf rod of the quadruped robot, and using the protective part and the strong spring to play a protective role.

[0019] 2. In the present invention, protective plates made of rubber are provided on the surfaces of the lower mounting plate and the upper mounting plate to provide protection, and a slide groove is provided inside the upper mounting plate to facilitate the rapid installation and removal of the powerful spring, thereby improving the convenience of installation and removal. Moreover, the lower mounting plate and the upper mounting plate are fitted in two directions and locked with bolts, so the installation method is simple and stable, so that the lower mounting plate and the upper mounting plate can be stably mounted on the calf rod, thereby providing stable protection for the calf rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a side structural diagram of the utility model;

[0021] Figure 2 This is a schematic diagram of the three-dimensional structure of the leg assembly of the utility model;

[0022] Figure 3 This is a schematic diagram of the three-dimensional structure of the leg assembly of the utility model;

[0023] Figure 4 This is a schematic diagram of the cross-sectional structure of the leg assembly of the utility model;

[0024] Figure 5 This is a schematic diagram of the three-dimensional structure of the protective element of the utility model;

[0025] Figure 6It is a schematic diagram of the cross-sectional structure of the protective element of the present utility model.

[0026] Including: connecting frame-1, hydraulic servo cylinder-2, hydraulic servo driver-3, joint-4, guide rod-5, multi-dimensional force sensor-6, pulley assembly-7, leg assembly-8, protective part-81, calf rod-82, mounting plate-83, protective cover-84, strong spring-85, mounting plate 1-86, lower mounting plate-811, upper mounting plate-812, protective plate-813, slide groove-814, limit frame-815. DETAILED DESCRIPTION

[0027] In order to further explain the technical solution of the present invention, specific embodiments are described in detail below.

[0028] See also Figure 1 In the embodiment of the present utility model:

[0029] A variable speed drive structure for a quadruped robot includes a connecting frame 1, a hydraulic servo cylinder 2, a hydraulic servo driver 3, a joint 4, a guide rod 5, a multi-dimensional force sensor 6, and a pulley assembly 7. The hydraulic servo cylinder 2 is fixed to the bottom end of the connecting frame 1, the hydraulic servo driver 3 is installed at the bottom end of the hydraulic servo cylinder 2, the left end of the hydraulic servo cylinder 2 is rotatably connected to the joint 4, the bottom end of the joint 4 is fixed to the guide rod 5, the right end of the guide rod 5 is installed with the multi-dimensional force sensor 6, and the output end of the multi-dimensional force sensor 6 is connected to the hydraulic servo driver 3 through a control line.

[0030] refer to Figure 2-4 , in the embodiment of the present utility model:

[0031] The top of the leg assembly 8 is locked and fixed with the guide health bar 5 by bolts, and the pulley assembly 7 is installed at its bottom end. The leg assembly 8 includes a protective part 81, a calf rod 82, a mounting plate 83, a protective sleeve 84, a strong spring 85, and a mounting plate 1 86. The protective part 81 is installed on the middle outer side of the calf rod 82, and a mounting plate 1 86 is installed on the top of the calf rod 82. The mounting plate 1 86 is locked and fixed with the guide health bar 5 by bolts. The pulley assembly 7 is installed at the bottom end of the calf rod 82. The mounting plate 83 is slidably connected inside the protective part 81, and a protective sleeve 84 is fixed on the outside of the mounting plate 83. The top of the strong spring 85 is fixed to the mounting plate 83. The mounting plate 83 and the protective sleeve 84 are each provided with two groups, and the two groups of mounting plates 83 are connected by a strong spring 85. The strong spring 85 is made of alloy spring steel, has high strength, can maintain excellent elastic restoring force for a long time, and plays an excellent buffering and protective role.

[0032] refer to Figure 5-6 , in the embodiment of the present utility model:

[0033] The protective member 81 includes a lower mounting plate 811, an upper mounting plate 812, a protective plate 813, a slide groove 814, and a limiting frame 815. The interiors of the lower mounting plate 811 and the upper mounting plate 812 are in contact with the calf rod 82 respectively. The lower mounting plate 811 is locked and fixed with the upper mounting plate 812 by bolts. The limiting frame 815 is locked and fixed with the lower mounting plate 811 by bolts, and its right end is in contact with the upper mounting plate 812. The top of the upper mounting plate 812 is provided with a slide groove 814, and the mounting plate 83 is slidably connected in the slide groove 814. The slide groove 814 facilitates the connection of the mounting plate 83. By sliding the mounting plate 83 into the interior of the slide groove 814, the strong spring 85 is installed to the outside of the calf rod 82. To protect the calf rod 82 when it moves, protective plates 813 are fixed on the surfaces of the lower mounting plate 811 and the upper mounting plate 812. The protective plates 813 are used to protect the calf rod 82 from being scratched by hard objects such as stones and gravel, and to prevent the calf rod 82 from wearing out too quickly. There are two groups of slide grooves 814, and their cross-sections are "T"-shaped, which strengthen the connection with the mounting plate 83 so that the mounting plate 83 is subjected to balanced force and moves inside the two groups of slide grooves 814 to achieve a stable sliding limit frame 815. The cross-section of the upper mounting plate 812 is "U"-shaped, and their sizes are consistent. The protective plates 813 and the protective sleeves 84 are both made of rubber, which has the advantages of buffering and protection.

[0034] refer to Figures 1-6 When in use, first install the lower mounting plate 811 and the upper mounting plate 812 against the calf rod 82, and slide the two sets of mounting plates 83 into the slide groove 814 in sequence, and then install the strong spring 85 to the outside of the protective member 81, and then place the limit frame 815 against the lower mounting plate 811 and the upper mounting plate 812, and lock it with the lower mounting plate 811, thereby preventing the strong spring 85 and the mounting plate 83 from sliding out of the slide groove 814, achieving stable installation, and the installation step is fast and convenient;

[0035] This hydraulically driven quadruped robot adopts a centralized control structure. The motion of all joints of the robot and the feedback of the multi-dimensional force sensor 6 are modulated and shaped by the hydraulic servo driver 3. The joints 4 are driven by the hydraulic servo cylinder 2, and the guide rod 5 drives the shank rod 82 to walk. When walking, the robot can move by rotating the roller 12.

[0036] When the quadruped robot walks, the strong spring 85 protects it to prevent the calf rod 82 in close contact with the ground from being hit by foreign objects, and the protective plate 813 inside the strong spring 85 plays a protective role.

[0037] The control method of the present invention is to manually start and stop the switch. The wiring diagram of the power element and the provision of power supply are common knowledge in the field. Moreover, the present invention is mainly used to protect mechanical devices. Therefore, the control method and wiring arrangement are not explained in detail in the present invention.

[0038] The control method of the present invention is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by technicians in this field. The provision of power is also common knowledge in this field. In addition, the present invention is mainly used to protect mechanical devices, so the control method and circuit connection are no longer explained in detail in the present invention.

[0039] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A variable speed drive structure of a quadruped robot, comprising a connecting frame (1), a hydraulic servo cylinder (2), a hydraulic servo driver (3), a joint (4), a guide rod (5), a multi-dimensional force sensor (6), and a pulley assembly (7), wherein the bottom end of the connecting frame (1) is fixed with a hydraulic servo cylinder (2), the bottom end of the hydraulic servo cylinder (2) is equipped with a hydraulic servo driver (3), the left end of the hydraulic servo cylinder (2) is rotatably connected to the joint (4), the bottom end of the joint (4) is fixed with a guide rod (5), the right end of the guide rod (5) is equipped with a multi-dimensional force sensor (6), and the output end of the multi-dimensional force sensor (6) is connected to the hydraulic servo driver (3) through a control line; Features: The invention also comprises a leg assembly (8), the top end of which is fixedly locked with the guide rod (5) by bolts, and the bottom end of which is provided with a pulley assembly (7), the leg assembly (8) comprises a protective member (81), a calf rod (82), a mounting plate (83), a protective sleeve (84), a strong spring (85), and a mounting plate (86), the protective member (81) being mounted on the outer side of the middle part of the calf rod (82), the top end of which is provided with a mounting plate (86), the mounting plate (86) being fixedly locked with the guide rod (5) by bolts, the bottom end of which is provided with a pulley assembly (7), the mounting plate (83) being slidably connected inside the protective member (81), the outer side of which is fixed with a protective sleeve (84), and the top end of the strong spring (85) being fixed with the mounting plate (83).

2. A quadruped robot variable speed drive structure according to claim 1, characterized in that: The protective member (81) comprises a lower mounting plate (811), an upper mounting plate (812), a protective plate (813), a slide groove (814), and a limiting frame (815); the interiors of the lower mounting plate (811) and the upper mounting plate (812) are in contact with the calf rod (82) respectively; the lower mounting plate (811) is locked and fixed to the upper mounting plate (812) by bolts; the limiting frame (815) is locked and fixed to the lower mounting plate (811) by bolts, and its right end is in contact with the upper mounting plate (812).

3. The variable speed drive structure of a quadruped robot according to claim 2, characterized in that: A sliding groove (814) is provided at the top end of the upper mounting plate (812), and a mounting plate (83) is slidably connected in the sliding groove (814).

4. The variable speed drive structure of a quadruped robot according to claim 2, characterized in that: Protective plates (813) are fixed to the surfaces of the lower mounting plate (811) and the upper mounting plate (812).

5. The variable speed drive structure of a quadruped robot according to claim 1, characterized in that: The mounting plates (83) and protective sleeves (84) are each provided in two groups, and the two groups of mounting plates (83) are connected via a strong spring (85).

6. The variable speed drive structure of a quadruped robot according to claim 2, characterized in that: The slide grooves (814) are provided in two groups, and their cross sections are in a "T" shape.

7. The variable speed drive structure of a quadruped robot according to claim 2, characterized in that: The cross-section of the limiting frame (815) and the cross-section of the upper mounting plate (812) are both "U"-shaped and have the same size.

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