Quadruped robot

Abstract

The utility model discloses a quadruped robot. The quadruped robot comprises a trunk, a driving device and legs, the driving devices and the legs are symmetrically arranged on the trunk, and the number of the driving devices and the number of the legs are both four. The driving device comprises a first motor, a second motor, a third motor, a first motor support and a second motor support, the first motor is fixed on the trunk, the second motor and the third motor are fixed on the first motor support and the second motor support, and the legs are fixed on the second motor and the third motor. The connection between the driving device and the leg part adopts a loose coupling design, so that the connected damage of the driving device caused by the damage of the leg part is avoided. The quadruped robot is convenient to disassemble and maintain, and the gait stability of the robot and the balance of the robot body in the moving process are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a quadruped robot. Background Art

[0002] At present, quadruped robots have been a hot topic of research at home and abroad in recent years due to their strong terrain adaptability, flexible movement, and low energy consumption. The general structure of a legged robot is a body part plus a mechanical leg. The mechanical leg is the actuator of the legged robot and needs to realize walking and various tasks. Due to the presence of dynamic obstacles and external force interference in complex environments, the transmission mechanism of the mechanical leg is easily damaged. However, the degree of coupling between the transmission mechanism and the drive device of the existing legged robot is relatively high. Damage to the transmission mechanism of the mechanical leg will further lead to damage to the drive device and cause inconvenience in disassembly and maintenance. Utility Model Content

[0003] The utility model aims to provide a quadruped robot, aiming to solve the problem of damage caused by tight coupling between an actuator and a driving device and inconvenience in disassembly and maintenance.

[0004] In order to solve the above technical problems, the technical solution adopted by the utility model is as follows: a quadruped robot, comprising a trunk, four legs and a driving device for driving the legs to move, the trunk adopts a frame structure, the four legs are symmetrically arranged on the trunk, the legs include thighs, calves, a first connecting rod, a second connecting rod, a third connecting rod and a fan-shaped connecting piece; the driving device includes a first motor, a second motor, a third motor, a first motor support and a second motor support, the first motor is fixed to the trunk, the first motor output shaft is arranged along a first direction, the second motor and the third motor output shafts are both arranged along a second direction, the second motor and the third motor are fixedly connected to the first motor support and the second motor support, and the first motor support is connected to the first motor output shaft.

[0005] Preferably, the first motor, the second motor and the third motor are all digital steering gears.

[0006] Preferably, the first motor support includes a first motor support body and a first servo arm, the first servo arm is fixedly connected to the first motor output shaft, the second motor support includes a second motor support body and a ball bearing, and the ball bearing is connected to the head or the tail through a flat cylindrical pin.

[0007] Preferably, the fan-shaped connecting piece has a circular through hole, and the circular boss portion of the thigh passes through the circular through hole of the fan-shaped connecting piece.

[0008] Preferably, the leg also includes a first steering gear disc and a rotating shaft, the thigh and the first steering gear disc are fixedly connected, the thigh and the calf are hinged through the rotating shaft, and the first steering gear disc and the second motor output shaft are fixedly connected.

[0009] Preferably, one end of the first connecting rod is fixedly connected to the output shaft of the third motor, and the other end is hinged to one end of the second connecting rod; one end of the second connecting rod is hinged to the first connecting rod, and the other end is hinged to one end of the fan-shaped connecting member; one end of the fan-shaped connecting member is hinged to the second connecting rod, and the other end is hinged to the third connecting rod; one end of the third connecting rod is hinged to one end of the fan-shaped connecting member, and the other end is hinged to the calf.

[0010] Preferably, the trunk comprises an upper support member, a lower support member, a left support member, a right support member, a head portion and a tail portion. The left support member and the right support member are provided with mounting grooves, and the first motor is arranged in the mounting grooves.

[0011] Preferably, the quadruped robot further comprises a power module, the power module is arranged on the trunk, and the first motor, the second motor and the third motor are all electrically connected to the power module.

[0012] Preferably, a foot-end buffer is provided at the end of the calf that contacts the ground.

[0013] In the technical scheme of the utility model, during specific operation, when the first motor is working, since the first motor is fixed on the trunk, the first motor support and the first motor output shaft are fixedly connected, the second motor and the third motor rotate relative to the trunk around the first direction under the rotation action of the first motor output shaft, and the leg connected to the second motor and the third motor also rotates around the first direction accordingly; when the second motor output shaft rotates, it drives the steering gear disk to rotate, and since the steering gear disk and the thigh are fixedly connected, the thigh rotates around the second direction; the first connecting rod, the second connecting rod, one side of the fan-shaped connecting piece, the second motor output shaft and the third motor output shaft connecting line form a parallelogram, when the third motor output shaft rotates, it drives the first connecting rod to rotate around the second direction, the first connecting rod drives the second connecting rod to move, the second connecting rod drives the fan-shaped connecting piece to rotate around the second direction, the thigh, the other side of the fan-shaped connecting piece, the third connecting rod and a part of the calf form a parallelogram, when the fan-shaped connecting piece rotates around the second direction, the fan-shaped connecting piece drives the third connecting rod to move, and the third connecting rod drives the calf to rotate around the second direction.

[0014] The beneficial effects of the utility model are:

[0015] (1) The quadruped robot proposed in the utility model concentrates the driving devices at the four corners of the trunk and distributes them symmetrically, which reduces the weight of the legs and makes the leg design more concise and slender. At the same time, it reduces the shaking and abnormal movement caused by the large inertia of the legs during movement, and improves the stability of the robot's gait and the balance of the body during movement.

[0016] (2) The quadruped robot proposed in the utility model has a loose coupling between the legs and the drive device. The two are connected only through the thigh and the second motor output shaft, the first connecting rod and the third motor output shaft. When the legs are damaged during movement, the internal structure of the drive device will not be damaged. The quadruped robot is easy to install and disassemble, which can reduce the time of assembly and maintenance. At the same time, the legs use two sets of four-link transmission mechanisms, which have high structural stability, can reduce the vibration and displacement of the legs during movement, and improve the stability of mechanical operation.

[0017] (3) The quadruped robot proposed in the utility model has a buffer installed at the foot end, which is suitable for the walking of the legged robot in a complex environment. The buffer is made of polyurethane foam plastic, which can absorb vibration energy and thus play a passive and compliant role, which is conducive to the smooth walking of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0019] Figure 1 This is a schematic diagram of the structure of a quadruped robot in one embodiment of the utility model;

[0020] Figure 2 Schematic diagram of the structure of the trunk in one embodiment of the utility model, (a) is a top view of the quadruped robot, (b) is a bottom view of the quadruped robot;

[0021] Figure 3 This is a schematic diagram of the structure of a driving device in one embodiment of the utility model;

[0022] Figure 4 Schematic diagram of the structure of the leg in one embodiment of the utility model, (a) is a front view of the leg, and (b) is a back view of the leg.

[0023] Description of Figure Numbers:

[0024] Label name Label name 100 trunk 205 Second motor support 200 Drive device 206 First servo arm 300 Legs 207 Bearings 101 Upper support 301 First connecting rod 102 Lower support 302 Second connecting rod 103 Left support 303 Fan-shaped connector 104 Right support 304 Third Link 105 head 305 thigh 106 Tail 306 Calf 107 Mounting slot 307 Foot end cushion 201 First Motor 308 First steering gear 202 Second motor 309 Rotation axis 203 The third motor 310 Bearings 204 First motor support 311 Bearings

[0025] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0028] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0029] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0031] The utility model provides a quadruped robot, aiming to solve the problems of damage caused by tight coupling between an actuator and a driving device and inconvenience in disassembly and maintenance.

[0032] Reference Figure 1-Figure 4The utility model discloses a quadruped robot, wherein the quadruped robot comprises a trunk 100, a driving device 200 and a leg 300, and the number of the driving device 200 and the number of the leg 300 are both four. The trunk 100 adopts a frame structure, and is composed of an upper support member 101, a lower support member 102, a left support member 103, a right support member 104, a head 105, and a tail 106 fixed by screws. The driving device 200 is symmetrically arranged on the trunk 100, and the leg 300 is fixed on the driving device 200. The driving device 200 includes a first motor 201, a second motor 202, a third motor 203, a first motor support 204, and a second motor support 205. The first motor 201 is fixed in the mounting groove 107 of the trunk 100. The output shaft of the first motor 201 is arranged along the first direction. The first motor support 204 includes a first motor support body and a first servo arm 206. The first servo arm 206 is fixed on the output shaft of the first motor 201. The second motor support 205 includes a second motor support body and a bearing 207. The bearing 207 is fixed to the head 105 or the tail 106 through a flat cylindrical pin. The second motor 202 and the third motor 203 are fixed on the first motor support 204 and the second motor support 205. The output shaft directions of the second motor 202 and the third motor 203 are arranged along the second direction.

[0033] Specifically, the first direction is Figure 2 The X direction in the second direction is Figure 2 The first direction is the length direction of the trunk 100, and the second direction is the width direction of the trunk 100. When the output shaft of the first motor 201 rotates, since the first motor 201 is fixed to the trunk and the first motor support 204 is fixed to the output shaft of the first motor 201, the second motor 202 and the third motor 203 are fixed to the first motor support 201, the second motor 202 and the third motor 203 are driven by the output shaft of the first motor 201 to rotate relative to the trunk 100 in the first direction, so that the leg 300 connected to the driving device 200 performs a sideways swing motion.

[0034] Among them, the circular boss part of the thigh 305 passes through the circular through hole of the fan-shaped connecting piece 303, the first steering gear disc 308 is fixed to the thigh 305 by screws, fixed to the output shaft of the second motor 202 by the slot, and the thigh 305 and the first steering gear disc 308 are screwed in to fix the output shaft of the second motor 202. The first connecting rod 301 is fixed to the output shaft of the third motor 203 by the slot and screws. The rotating shaft 309 is a flat cylindrical pin, and the bearing 310 and the bearing 311 are fixed to the shank 306. The rotating shaft 309 passes through the bearing 301, the thigh 305 and the bearing 311 and is fixed with a retaining ring at the cylindrical end, thereby connecting the thigh 305 and the shank 306.

[0035] The output shaft of the second motor 202 rotates to drive the thigh 305 to rotate in the second direction. The first connecting rod 301, the second connecting rod 302, the fan-shaped connecting member 303, the output shaft of the second motor 202 and the output shaft of the third motor 203 form a parallelogram. When the output shaft of the third motor 203 rotates, the first connecting rod 301 is driven to rotate in the second direction. The first connecting rod 301 drives the second connecting rod 302 to move, and the second connecting rod 302 drives the fan-shaped connecting member 303 to rotate in the second direction. The thigh 305, the fan-shaped connecting member 303, the third connecting rod 304 and a part of the shank 306 form a parallelogram. When the fan-shaped connecting member 303 rotates, the third connecting rod 304 is driven to move, and the third connecting rod 304 drives the shank 306 to rotate around the rotation axis 309 in the second direction. The quadruped robot of the above scheme sets one degree of freedom for each driving device 200 and two degrees of freedom for each leg 300, so that the legs can meet complex joint movements. At the same time, the quadruped robot can pass through obstacles with height restrictions by adjusting the height of the torso 100. It can move in all directions and has strong stability. It can adapt to rugged terrain environments and meet various task requirements in practical applications.

[0036] The legs 300 are driven by two sets of four-bar linkages. The four-bar linkage has a compact structure, and the connection points will not be slightly displaced during operation. It has high rigidity and transmission accuracy, which is beneficial to the joint angle and speed control of the quadruped robot, enhances the load capacity of the quadruped robot, improves space utilization, reduces the inertia of the legs, and improves the response speed of the legs.

[0037] The driving device 200 and the leg 300 are connected through the output shaft of the second motor 202 and the thigh 305, and the output shaft of the third motor 203 and the first connecting rod 301. If the leg 300 is damaged due to collision with an obstacle or interference from external force, it will not cause large-scale damage to the driving device 200. The loose coupling design between the driving device 200 and the leg 300 also makes disassembly and maintenance easier.

[0038] The trunk 100 adopts a frame structure and is made of aluminum alloy and resin materials. The upper support 101 and the lower support are made of 7075 high-quality aluminum alloy, and the left support 103, the right support 104, the head 105, and the tail 106 are made of resin material, which reduces the overall weight of the trunk 100 and improves the structural strength of the quadruped robot under load movement.

[0039] The first motor 201, the second motor 202, and the third motor 203 are all large-torque digital servos with built-in encoders and feedback control circuits. The control method is simple and can control the position and speed more accurately.

[0040] A foot-end buffer 307 is provided at one end of the calf 306 that contacts the ground. The foot-end buffer 307 is made of polyurethane foam plastic, which can effectively absorb the impact of the ground on the foot end, reduce vibration and noise during the movement of the quadruped robot, and improve stability and accuracy.

[0041] The quadruped robot further includes a power module, which is disposed on the trunk 100 , and the first motor 201 , the second motor 202 , and the third motor 203 are all electrically connected to the power module.

[0042] A control system is provided in the quadruped robot trunk 100, and the control system includes a control unit module, a sensor module, and a motor drive module. The sensor module includes an inertial navigation unit and a laser radar located on the trunk 100, which are used to sense the quadruped robot's own posture information and surrounding environment information. The motor drive module is electrically connected to the first motor 201, the second motor 202, and the third motor 203 to control the position and speed of the motors.

[0043] The above description is only a preferred embodiment of the utility model, and does not limit the patent scope of the utility model. All equivalent structural changes made by using the contents of the utility model specification and drawings under the utility model concept, or directly / indirectly used in other related technical fields are included in the patent protection scope of the utility model.

Claims

1. A quadruped robot, characterized in that: The quadruped robot comprises: The torso comprises an upper support, a lower support, a left support, a right support, a head and a tail; A driving device, wherein the number of the driving devices is four, and the four driving devices are symmetrically arranged on the trunk, and each of the driving devices comprises a first motor, a second motor, a third motor, a first motor support, and a second motor support, wherein the first motor is fixed to the trunk, the output shaft of the first motor is arranged along a first direction, and the first motor support is fixed to the output shaft of the first motor; the second motor and the third motor are fixed to the first motor support and the second motor support, and the second motor support is fixed to the head or the tail; The legs are four in number, each of which is connected to the driving device, and includes a thigh, a calf, a first connecting rod, a second connecting rod, a third connecting rod and a fan-shaped connecting piece, wherein the first connecting rod is fixedly connected to the output shaft of the third motor and is hinged to the first end of the second connecting rod, the fan-shaped connecting piece is hinged to the second end of the second connecting rod and the first end of the third connecting rod, and the calf is hinged to the thigh and the second end of the third connecting rod.

2. The quadruped robot according to claim 1, characterized in that: The leg also includes a first servo disc and a rotating shaft, wherein the circular boss portion of the thigh passes through the circular through hole of the fan-shaped connector and is fixedly connected to the first servo disc, the first servo disc is fixed on the output shaft of the second motor, and the calf and the thigh are hinged via the rotating shaft.

3. The quadruped robot according to claim 1, characterized in that: The first connecting rod is fixedly connected to the output shaft of the third motor.

4. The quadruped robot according to any one of claims 1 to 3, characterized in that: The first motor, the second motor and the third motor are all digital steering gears.

5. The quadruped robot according to any one of claims 1 to 3, characterized in that: The quadruped robot also includes a power module, which is arranged on the trunk, and the first motor, the second motor and the third motor are all electrically connected to the power module.

6. The quadruped robot according to any one of claims 1 to 3, characterized in that: The left support member and the right support member are provided with mounting grooves, and the first motor is arranged in the mounting grooves.

7. The quadruped robot according to any one of claims 1 to 3, characterized in that: A foot-end buffer is arranged at one end of the calf that contacts the ground and is made of polyurethane foam plastic material. The foot-end buffer and the calf are fixedly connected by interference fit.

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