Bionic quadruped robot
By designing the layout of the trunk and mechanical legs of the split structure and equipped with a telescopic adjustment mechanism, the problem of passage and stability of the four-legged robot in small spaces and complex terrain is solved, achieving better passability and safety.
Patent Information
- Application Number
- CN202422200477.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-09
- Publication Date
- 2025-04-11
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
The existing four-legged robots are inconvenient to pass through small spaces, and they are unsteady when walking on complex terrain such as uneven or slopes, which poses a risk of falling.
A bionic four-legged robot is designed, with its body divided into the left trunk and the right trunk of the split structure along the central axis direction, and mechanical legs with front and rear layout are installed on both sides of the trunk, and a telescopic adjustment mechanism is equipped to adjust the width of the body.
Through the use of the telescopic adjustment mechanism, the bionic four-legged robot can reduce the body width when passing through a narrow space, and increase the body width on complex terrain to improve the stability of the center of gravity and avoid the safety hazards of falling.
Smart Images
Figure CN222742818U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of robots, in particular to a bionic quadruped robot. Background Art
[0002] A quadruped robot is an intelligent machine equipment with four legs that can simulate the walking, running, jumping and other movements of four-limbed animals. It has multiple gaits and self-recovery functions after falling. It integrates multidisciplinary technologies such as mechanics, electronics, control, computers, sensors, and artificial intelligence. It can replace humans to complete tasks such as transportation in complex terrain, scientific investigations in special environments, disaster rescue, and firefighting.
[0003] In the related art, in order to meet the weighing needs of loading large-capacity batteries, video surveillance equipment, navigation equipment, etc., the bodies of some quadruped robots are usually designed to be relatively wide, which will limit the quadruped robots from effectively passing through narrow spaces and have great applicability limitations; in addition, in order to provide passing ability and spatial applicability, some quadruped robots are designed to have a relatively narrow body, which will cause the center of gravity of the quadruped robots to be unstable and the walking stability to be poor, especially when passing through bumpy and sloped surfaces, there is a risk and hidden danger of tipping over. Utility Model Content
[0004] The utility model aims to provide a bionic quadruped robot, which is used to solve the problems of poor passability and weak walking stability in the prior art.
[0005] According to one aspect of the utility model, there is provided a bionic quadruped robot, comprising:
[0006] A torso, wherein the torso is divided into a left torso and a right torso along a central axis from the head to the tail, the left torso and the right torso are arranged separately, and the torso further comprises a telescopic adjustment mechanism, one end of the telescopic adjustment mechanism is connected to the left torso, and the other end of the telescopic adjustment mechanism is connected to the right torso;
[0007] two left mechanical legs, the two left mechanical legs are spaced apart along the length direction of the torso and are movably disposed on the left torso; and
[0008] Two right mechanical legs are spaced apart along the length direction of the body and are movably arranged on the right torso.
[0009] In one embodiment, the telescopic adjustment mechanism includes a telescopic drive assembly and a telescopic connection assembly, one end of the telescopic connection assembly is rotatably connected to the left torso, and the other end of the telescopic connection assembly is rotatably connected to the right torso, and the telescopic connection assembly has a folded state and an extended state;
[0010] The telescopic drive assembly is disposed on the left torso and is drivingly connected to the telescopic connection assembly; or, the telescopic drive assembly is disposed on the right torso and is drivingly connected to the telescopic connection assembly, and the telescopic drive assembly is used to drive the telescopic connection assembly to switch between the folded state and the expanded state.
[0011] In one embodiment, the telescopic drive assembly includes a motor, a screw rod and a nut, the motor is arranged on the left trunk or the right trunk, the end of the screw rod is connected and fixed to the driving shaft of the motor, and the nut is screwed to the outside of the screw rod;
[0012] The telescopic connection assembly includes a connecting shaft, a first connecting frame, a second connecting frame, a first rotating shaft, a second rotating shaft and a third rotating shaft. One end of the first connecting frame is rotatably connected to one end of the second connecting frame via the connecting shaft to form a scissors structure. The other end of the first connecting frame is rotatably connected to the left torso via the first rotating shaft. The other end of the second connecting frame is rotatably connected to the right torso via the second rotating shaft. The nut is rotationally connected to the first connecting frame or the second connecting frame via the third rotating shaft.
[0013] In one embodiment, the telescopic drive assembly also includes a first rubber sleeve, a second rubber sleeve and a third rubber sleeve, the first rubber sleeve is disposed on the outside of the first rotating shaft and rotates with the first connecting frame and the left torso, the second rubber sleeve is disposed on the outside of the second rotating shaft and rotates with the second connecting frame and the right torso, and the third rubber sleeve is disposed on the outside of the third rotating shaft and rotates with the nut and the first connecting frame or the second connecting frame.
[0014] In one embodiment, the bionic quadruped robot also includes a rail and a movable link, one end of the rail is arranged on the left torso, one end of the movable link is arranged on the right torso, and the other end of the movable link is telescopically nested and assembled with the other end of the rail.
[0015] In one of the embodiments, the bionic quadruped robot further comprises a rolling body, and the rolling body is rotatably disposed between the movable link and the telescopic nesting portion of the rail.
[0016] In one embodiment, the two left mechanical legs are respectively a left front leg and a left rear leg, and the two right mechanical legs are respectively a right front leg and a right rear leg;
[0017] The left front leg and the right front leg each include a first gear driving unit, a front thigh, a second gear driving unit and a front calf, wherein the first gear driving unit is disposed on the left trunk and the right trunk and is drivingly connected to the front thigh to drive the front thigh to swing forward and backward, and the second gear driving unit is connected between the front thigh and the front calf to drive the front calf to swing forward and backward;
[0018] The left hind leg and the right hind leg each include a third gear drive unit, a hind thigh, a fourth gear drive unit and a hind calf. The third gear drive unit is disposed on the left torso and the right torso and is drivingly connected to the hind thigh to drive the hind thigh to swing forward and backward. The fourth gear drive unit is connected between the hind thigh and the hind calf to drive the hind calf to swing forward and backward.
[0019] In one embodiment, the bionic quadruped robot further includes a controller and a gyroscope, wherein the controller and the gyroscope are respectively arranged on the body, the controller is electrically connected to the gyroscope, and the controller is also electrically connected to the left mechanical leg and the right mechanical leg.
[0020] In one embodiment, the bionic quadruped robot also includes a first hinge assembly, the left torso includes a first left torso support and a second left torso support, the first hinge assembly is connected between the first left torso support and the second left torso support, the left mechanical leg is mounted on the second left torso support, and the second left torso support can be flipped upward relative to the first left torso support to achieve folding and storage of the left mechanical leg.
[0021] In one embodiment, the bionic quadruped robot also includes a second hinge assembly, the right torso includes a first right torso support and a second right torso support, the second hinge assembly is connected between the first right torso support and the second right torso support, the right mechanical leg is mounted on the second right torso support, and the second right torso support can be flipped upward relative to the first right torso support to achieve folding and storage of the right mechanical leg.
[0022] Implementing the embodiments of the present utility model will have the following beneficial effects:
[0023] The bionic quadruped robot of the present scheme obtains a bionic quadruped walking structure by designing a body into a left trunk and a right trunk of a split structure, and installing two left mechanical legs arranged front and back on the left trunk, and installing two right mechanical legs arranged front and back on the right trunk, so as to meet the normal walking, running and other movement needs of the bionic quadruped robot; further, since a telescopic adjustment mechanism is also installed between the left trunk and the right trunk, the telescopic adjustment mechanism can drive the left trunk and the right trunk to move closer to or away from each other. When the bionic quadruped robot passes through a narrow space, the telescopic adjustment mechanism drives the left trunk and the right trunk to move closer to each other, so that the width of the trunk becomes smaller, thereby meeting the need to pass through the narrow space; when the bionic quadruped robot passes through an uneven or sloping ground, the telescopic adjustment mechanism can drive the left trunk and the right trunk to move away from each other, so that the width of the trunk becomes larger, which greatly enhances the center of gravity stability of the bionic quadruped robot, so that the quadruped bionic robot can pass through complex terrain well and eliminate the safety hazard of tipping over. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] 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 these drawings without paying creative work.
[0025] Figure 1 A schematic structural diagram of a bionic quadruped robot according to an embodiment;
[0026] Figure 2 for Figure 1 A structural diagram from another perspective;
[0027] Figure 3 for Figure 1 A structural diagram from another perspective.
[0028] in:
[0029] 100. Bionic quadruped robot; 10. Torso; 11. Left torso; 12. Right torso; 20. Telescopic adjustment mechanism; 21. Telescopic drive assembly; 22. Telescopic connection assembly; 30. Left mechanical leg; 40. Right mechanical leg; 50. Track rod; 60. Movable connecting rod. DETAILED DESCRIPTION
[0030] In order to facilitate the understanding of the present invention, the present invention will be described more comprehensively with reference to the accompanying drawings. The accompanying drawings provide preferred embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.
[0031] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.
[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.
[0033] Please refer to Figure 1-Figure 3 , is a bionic quadruped robot 100 described in an embodiment, including a body 10, which is divided into a left trunk 11 and a right trunk 12 along the central axis from the head to the tail, and the left trunk 11 and the right trunk 12 are separately arranged. The body 10 also includes a telescopic adjustment mechanism 20, one end of the telescopic adjustment mechanism 20 is connected to the left trunk 11, and the other end of the telescopic adjustment mechanism 20 is connected to the right trunk 12; two left mechanical legs 30, the two left mechanical legs 30 are spaced along the length direction of the body 10 and are movably arranged on the left trunk 11; and two right mechanical legs 40, the two right mechanical legs 40 are spaced along the length direction of the body 10 and are movably arranged on the right trunk 12.
[0034] The implementation of the embodiment of the utility model will have the following beneficial effects: the bionic quadruped robot 100 of the present scheme, by designing the torso 10 into a left torso 11 and a right torso 12 of a split structure, and installing two left mechanical legs 30 arranged front and back on the left torso 11, and installing two right mechanical legs 40 arranged front and back on the right torso 12, thereby obtaining a bionic quadruped walking structure, meeting the normal walking, running and other movement needs of the bionic quadruped robot 100; further, since a telescopic adjustment mechanism 20 is also installed between the left torso 11 and the right torso 12, the telescopic adjustment mechanism 20 can drive the left torso 11 and the right torso 12 to move. The right torso 12 moves towards or away from each other. When the bionic quadruped robot 100 passes through a narrow space, the telescopic adjustment mechanism 20 drives the left torso 11 and the right torso 12 to move towards each other, so that the width of the torso 10 becomes smaller, thereby meeting the need to pass through a narrow space; when the bionic quadruped robot 100 passes through an uneven or sloping ground, the telescopic adjustment mechanism 20 can drive the left torso 11 and the right torso 12 to move away from each other, so that the width of the torso 10 becomes larger, greatly enhancing the center of gravity stability of the bionic quadruped robot 100, so that the quadruped bionic robot can pass through complex terrain well and eliminate the safety hazard of tipping over.
[0035] Specifically, in one embodiment, the telescopic adjustment mechanism 20 includes a telescopic drive assembly 21 and a telescopic connection assembly 22, one end of the telescopic connection assembly 22 is rotatably connected to the left torso 11, and the other end of the telescopic connection assembly 22 is rotatably connected to the right torso 12, and the telescopic connection assembly 22 has a folded state and an expanded state. It can be understood that when the telescopic connection assembly 22 is in the folded state, the left torso 11 and the right torso 12 are close to each other, and the width of the torso 10 becomes smaller; when the telescopic connection assembly 22 is in the expanded state, the left torso 11 and the right torso 12 are separated, and the width of the torso 10 becomes larger.
[0036] The telescopic drive component 21 is arranged on the left trunk 11 and is drivingly connected to the telescopic connection component 22; or, the telescopic drive component 21 is arranged on the right trunk 12 and is drivingly connected to the telescopic connection component 22, and the telescopic drive component 21 is used to drive the telescopic connection component 22 to switch between the folded state and the unfolded state. Thus, according to the terrain and space size, the telescopic drive component 21 can output power to change the state of the telescopic connection component 22, so as to meet the flexible switching of the posture size of the bionic quadruped robot 100, and improve its passing ability and applicable scenarios.
[0037] In one embodiment, the telescopic drive assembly 21 includes a motor, a screw and a nut. The motor is arranged on the left trunk 11 or the right trunk 12. The end of the screw is connected and fixed to the drive shaft of the motor, and the nut is screwed to the outside of the screw. It can be understood that when the motor drives the screw to rotate, the screw synchronously drives the nut to slide along the axial direction of the screw, and changes the rotation direction of the screw, which can further drive the nut to slide back and forth in both directions.
[0038] The telescopic connection assembly 22 includes a connecting shaft, a first connecting frame, a second connecting frame, a first rotating shaft, a second rotating shaft and a third rotating shaft. One end of the first connecting frame is rotatably connected to one end of the second connecting frame via the connecting shaft to form a scissors structure. The other end of the first connecting frame is rotatably connected to the left torso 11 via the first rotating shaft. The other end of the second connecting frame is rotatably connected to the right torso 12 via the second rotating shaft. The nut is rotationally connected to the first connecting frame or the second connecting frame via the third rotating shaft. When the nut slides along the screw rod, the nut provides power for the first connecting frame or the second connecting frame to actively rotate. For example, when the nut pushes the first connecting frame and the second connecting frame to rotate around the connecting axis and forces the scissors structure to unfold, the left torso 11 and the right torso 12 will move away from each other under the push of the motor and the nut, respectively, thereby achieving the purpose of increasing the width of the torso 10; on the contrary, the width of the torso 10 is reduced, the adjustment method is simple, and the degree of automation is high. The threaded pair of the screw rod and the nut ensures that the adjustment accuracy of the width of the torso 10 is high. At the same time, the self-locking performance of the threaded pair can also prevent the left torso 11 and the right torso 12 from being displaced and loosened after adjustment, affecting the overall structural stability of the bionic quadruped robot 100.
[0039] Furthermore, the telescopic drive assembly 21 also includes a first rubber sleeve, a second rubber sleeve and a third rubber sleeve. The first rubber sleeve is sleeved on the outside of the first rotating shaft and rotates with the first connecting frame and the left trunk 11. The second rubber sleeve is sleeved on the outside of the second rotating shaft and rotates with the second connecting frame and the right trunk 12. The third rubber sleeve is sleeved on the outside of the third rotating shaft and rotates with the nut and the first connecting frame or the second connecting frame. The additional first rubber sleeve, second rubber sleeve and third rubber sleeve can increase the damping of each rotating part, so that the width adjustment of the trunk 10 is more stable, and can also reduce friction and wear and increase the service life of each component.
[0040] See also Figure 1 and Figure 3In addition, in one embodiment, the bionic quadruped robot 100 further includes a rail rod 50 and a movable link 60, one end of the rail rod 50 is arranged on the left trunk 11, one end of the movable link 60 is arranged on the right trunk 12, and the other end of the movable link 60 is telescopically nested with the other end of the rail rod 50. The addition of the telescopically nested movable link 60 and the rail rod 50 can not only increase the connection strength between the left trunk 11 and the right trunk 12, but also play a guiding and limiting role when the left trunk 11 and the right trunk 12 move in telescopic motion, thereby improving the motion stability.
[0041] Furthermore, the bionic quadruped robot 100 further includes a rolling body, which is rotatably disposed between the telescopic nesting portion of the movable link 60 and the rail rod 50. After the rolling body is added, the sliding friction between the rail rod 50 and the movable link 60 can be changed into rolling friction, which reduces friction resistance and wear, and is conducive to reducing the motor load. For example, the rolling body can be one of a cylindrical roller, a ball, etc.
[0042] In one embodiment, the two left mechanical legs 30 are respectively a left front leg and a left rear leg, and the two right mechanical legs 40 are respectively a right front leg and a right rear leg.
[0043] Both the left front leg and the right front leg include a first gear driving unit, a front thigh, a second gear driving unit and a front calf. The first gear driving unit is arranged on the left torso 11 and the right torso 12 and is drivingly connected to the front thigh to drive the front thigh to swing back and forth. The second gear driving unit is connected between the front thigh and the front calf to drive the front calf to swing back and forth.
[0044] The left hind leg and the right hind leg each include a third gear drive unit, a hind thigh, a fourth gear drive unit and a hind calf. The third gear drive unit is disposed on the left trunk 11 and the right trunk 12 and is drivingly connected to the hind thigh to drive the hind thigh to swing forward and backward. The fourth gear drive unit is connected between the hind thigh and the hind calf to drive the hind calf to swing forward and backward. Thus, the bionic quadruped robot 100 can achieve walking, running, jumping and other actions, and the gear drive unit is used as a connecting joint and for power output, which can ensure stable power output and strong impact bearing capacity.
[0045] Furthermore, the bionic quadruped robot 100 further includes a controller and a gyroscope, which are respectively arranged on the body 10, and the controller is electrically connected to the gyroscope, and the controller is also electrically connected to the left mechanical leg 30 and the right mechanical leg 40. The gyroscope can measure the horizontality of the body 10 in real time, and when it is found that the body 10 is tilted to one side, it immediately feeds back a signal to the controller, and the controller adjusts the bending and swinging of each left mechanical leg 30 and each right mechanical leg 40 to re-level the posture of the bionic quadruped robot 100 and eliminate the potential safety hazard of tipping.
[0046] In another embodiment, the bionic quadruped robot 100 further includes a first hinge assembly, the left torso 11 includes a first left torso support and a second left torso support, the first hinge assembly is connected between the first left torso support and the second left torso support, the left mechanical leg 30 is mounted on the second left torso support, and the second left torso support can be flipped upward relative to the first left torso support to achieve folding and storage of the left mechanical leg 30. The bionic quadruped robot 100 further includes a second hinge assembly, the right torso 12 includes a first right torso support and a second right torso support, the second hinge assembly is connected between the first right torso support and the second right torso support, the right mechanical leg 40 is mounted on the second right torso support, and the second right torso support can be flipped upward relative to the first right torso support to achieve folding and storage of the right mechanical leg 40. Therefore, when the bionic quadruped robot 100 is not in operation or is being transported, it can be folded and stored to reduce the volume and space occupation.
[0047] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent application. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.
Claims
1. A bionic quadruped robot, characterized in that: include: A torso, wherein the torso is divided into a left torso and a right torso along a central axis from the head to the tail, the left torso and the right torso are arranged separately, and the torso further comprises a telescopic adjustment mechanism, one end of the telescopic adjustment mechanism is connected to the left torso, and the other end of the telescopic adjustment mechanism is connected to the right torso; two left mechanical legs, the two left mechanical legs are spaced apart along the length direction of the torso and are movably disposed on the left torso; and Two right mechanical legs are spaced apart along the length direction of the body and are movably arranged on the right torso.
2. The bionic quadruped robot according to claim 1, characterized in that: The telescopic adjustment mechanism includes a telescopic driving assembly and a telescopic connection assembly, one end of the telescopic connection assembly is rotatably connected to the left torso, and the other end of the telescopic connection assembly is rotatably connected to the right torso, and the telescopic connection assembly has a folded state and an expanded state; The telescopic drive assembly is disposed on the left torso and is drivingly connected to the telescopic connection assembly; or, the telescopic drive assembly is disposed on the right torso and is drivingly connected to the telescopic connection assembly, and the telescopic drive assembly is used to drive the telescopic connection assembly to switch between the folded state and the expanded state.
3. The bionic quadruped robot according to claim 2, characterized in that: The telescopic drive assembly includes a motor, a screw rod and a nut, wherein the motor is arranged on the left trunk or the right trunk, the end of the screw rod is connected and fixed to the driving shaft of the motor, and the nut is screwed to the outside of the screw rod; The telescopic connection assembly includes a connecting shaft, a first connecting frame, a second connecting frame, a first rotating shaft, a second rotating shaft and a third rotating shaft. One end of the first connecting frame is rotatably connected to one end of the second connecting frame via the connecting shaft to form a scissors structure. The other end of the first connecting frame is rotatably connected to the left torso via the first rotating shaft. The other end of the second connecting frame is rotatably connected to the right torso via the second rotating shaft. The nut is rotationally connected to the first connecting frame or the second connecting frame via the third rotating shaft.
4. The bionic quadruped robot according to claim 3, characterized in that: The telescopic drive assembly also includes a first rubber sleeve, a second rubber sleeve and a third rubber sleeve. The first rubber sleeve is sleeved on the outside of the first rotating shaft and rotates with the first connecting frame and the left torso. The second rubber sleeve is sleeved on the outside of the second rotating shaft and rotates with the second connecting frame and the right torso. The third rubber sleeve is sleeved on the outside of the third rotating shaft and rotates with the nut and the first connecting frame or the second connecting frame.
5. The bionic quadruped robot according to claim 1, characterized in that: The bionic quadruped robot also includes a rail and a movable link, one end of the rail is arranged on the left trunk, one end of the movable link is arranged on the right trunk, and the other end of the movable link is telescopically nested with the other end of the rail.
6. The bionic quadruped robot according to claim 5, characterized in that: The bionic quadruped robot further comprises a rolling body, which is rotatably arranged between the movable connecting rod and the telescopic nesting part of the rail rod.
7. The bionic quadruped robot according to claim 1, characterized in that: The two left mechanical legs are respectively a left front leg and a left rear leg, and the two right mechanical legs are respectively a right front leg and a right rear leg; The left front leg and the right front leg each include a first gear driving unit, a front thigh, a second gear driving unit and a front calf, wherein the first gear driving unit is disposed on the left trunk and the right trunk and is drivingly connected to the front thigh to drive the front thigh to swing forward and backward, and the second gear driving unit is connected between the front thigh and the front calf to drive the front calf to swing forward and backward; The left hind leg and the right hind leg each include a third gear drive unit, a hind thigh, a fourth gear drive unit and a hind calf. The third gear drive unit is disposed on the left torso and the right torso and is drivingly connected to the hind thigh to drive the hind thigh to swing forward and backward. The fourth gear drive unit is connected between the hind thigh and the hind calf to drive the hind calf to swing forward and backward.
8. The bionic quadruped robot according to claim 1, characterized in that: The bionic quadruped robot also includes a controller and a gyroscope, wherein the controller and the gyroscope are respectively arranged on the body, the controller is electrically connected to the gyroscope, and the controller is also electrically connected to the left mechanical leg and the right mechanical leg.
9. The bionic quadruped robot according to claim 1, characterized in that: The bionic quadruped robot also includes a first hinge assembly, the left torso includes a first left torso support and a second left torso support, the first hinge assembly is connected between the first left torso support and the second left torso support, the left mechanical leg is mounted on the second left torso support, and the second left torso support can be flipped upward relative to the first left torso support to achieve folding and storage of the left mechanical leg.
10. The bionic quadruped robot according to claim 1, characterized in that: The bionic quadruped robot also includes a second hinge assembly, the right torso includes a first right torso support and a second right torso support, the second hinge assembly is connected between the first right torso support and the second right torso support, the right mechanical leg is mounted on the second right torso support, and the second right torso support can be flipped upward relative to the first right torso support to achieve folding and storage of the right mechanical leg.