Dynamic balance adjusting device for quadruped robot
Through a dynamic balance adjustment device that simulates the function of the tail of tetrapod animals, a multi-section articulated tail, servo motor and pneumatic adjustment system are used to solve the balance problem of the tetrapod robot under complex terrain and high-speed motion, achieving higher stability and environmental adaptability.
Patent Information
- Application Number
- CN202422605814.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-28
- Publication Date
- 2025-07-25
- Estimated Expiration
- 2034-10-28
AI Technical Summary
The existing four-legged robots are difficult to ensure balance under complex terrain and high-speed motion, and the existing balance adjustment methods are insufficient.
A dynamic balance adjustment device that simulates the function of a tetrapod tail is designed, including a multi-section articulated tail, a servo motor, a stepper motor, an inclination sensor and a miniature air pump. The horizontal and vertical position of the tail is controlled by the servo motor and stepper motor, and the tail volume is adjusted by a pneumatic adjustment system to achieve dynamic balance adjustment.
Effectively improve the balance and stability of the robot under complex terrain and high-speed motion, reduce the risk of dumping, and improve environmental adaptability and motility.
Smart Images
Figure CN223148543U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of quadruped robots, and more specifically, to a dynamic balance adjustment device for a quadruped robot. Background Art
[0002] A quadruped robot, also known as a robot dog, is a bionic legged robot designed to mimic the limb structure and walking pattern of animals (such as dogs, cats, horses, etc.). A quadruped robot is a robot that realizes stable walking and task execution through a highly complex mechanical structure, precise control algorithms, and is equipped with various types of sensors, actuators, control systems, etc. A quadruped robot has extremely strong environmental adaptability and can walk stably on various complex terrains. Compared with biped robots, it has better load capacity and high stability; compared with multi-legged robots, it has a larger leg movement space, less mechanism redundancy, and lower complexity.
[0003] A quadruped robot is a bionic robot whose motion principle is based on mimicking the walking pattern of animals. To achieve balance control, a quadruped robot is usually equipped with sensors such as inclination sensors and gyroscopes to detect the tilt of the robot. However, under complex terrains and high-speed movements, the existing balance adjustment methods may have deficiencies and it is difficult to ensure the balance of the robot. Therefore, it is particularly important to develop a new type of dynamic balance adjustment device. Summary of the Utility Model
[0004] In view of the existing deficiencies, the utility model provides a dynamic balance adjustment device for a quadruped robot, which can simulate the tail function of quadruped animals and achieve dynamic balance adjustment during the walking or running of the robot, improving the stability and motion ability of the robot in complex terrain environments.
[0005] To achieve the above object, the technical solution adopted by the utility model is as follows:
[0006] A dynamic balance adjustment device for a quadruped robot includes a primary control box and a secondary control box. Both the upper and lower end faces of the primary control box are fixedly provided with bottom plates for installation and fixation. A horizontal movement groove is opened on the right side of the primary control box, and the secondary control box is arranged inside the horizontal movement groove. A rotatable first drive shaft is vertically arranged inside the primary control box. The left end of the secondary control box is rotationally connected to the first drive shaft through a first connecting seat. A rotatable second drive shaft is longitudinally arranged inside the secondary control box. A second connecting seat is sleeved on the second drive shaft. A vertical movement groove is opened on the right side surface of the secondary control box. A connecting bracket is fixedly connected to the right side of the second connecting seat, and the connecting bracket is located in the vertical movement groove. A multi-jointed articulated tail is arranged on the right side of the connecting bracket, and the left end of the multi-jointed articulated tail is fixedly connected to the connecting bracket through a tail connector.
[0007] Further, a servo motor is installed on the upper side of the first-level control box. A driving gear is assembled on the lower output end of the servo motor. A driven gear is assembled on the first driving shaft, and the driven gear is in meshing transmission connection with the driving gear.
[0008] Further, inclination sensors for detecting the inclination of the robot are installed on both the front and rear sides of the first-level control box.
[0009] Further, a stepping motor is installed on the right end face of the second-level control box. A worm is fixedly connected to the left output end of the stepping motor. A worm gear is assembled on the second driving shaft, and the worm gear is in meshing transmission connection with the worm.
[0010] Further, a micro air pump is provided on the bottom wall of the first-level control box at the bottom of the second-level control box. A thin film airbag covers the surface of the multi-jointed tail, and the micro air pump is connected to the thin film airbag through a hose.
[0011] Further, the multi-jointed tail is formed by connecting hollow cylinders with a conical structure in series at the head and tail, and the angle of the joint can be adjusted.
[0012] Compared with the prior art, the utility model has the following beneficial effects:
[0013] 1. By simulating the tail function of quadruped animals, the device can realize dynamic balance adjustment during the walking or running process of the robot. Whether on complex terrains or in high-speed motion states, it can effectively improve the balance and stability of the robot and reduce the risk of tipping over.
[0014] 2. Through the design of the multi-jointed tail, the robot can better adapt to different environments. The flexibility and adjustability of the tail enable the robot to maintain a stable motion state on various terrains and conditions, improving its environmental adaptability and passing ability.
[0015] 3. Through the coordinated use of components such as servo motors, stepping motors, and inclination sensors, the utility model realizes precise control of the multi-jointed tail. Whether it is horizontal or vertical position adjustment, it can quickly and accurately respond according to the instructions of the control system, ensuring the stability and accuracy of the robot's movement.
[0016] 4. The introduction of the micro air pump and the thin film airbag in the utility model constitutes a pneumatic adjustment system. By adjusting the volume of the tail to change the air resistance it receives, rapid braking and balance maintenance can be achieved in high-speed motion states. This function not only enhances the motion control ability of the robot but also improves its response ability in emergency situations. Description of the Drawings
[0017] Figure 1 This is a schematic diagram of the overall structure of the present utility model.
[0018] Figure 2 This is a schematic diagram of the structure of the present utility model from another angle.
[0019] Figure 3 This is a schematic diagram of the partial structure of the present utility model.
[0020] Figure 4 This is a partial cross-sectional view of the present utility model.
[0021] Figure 5 This is a schematic diagram of the state where the device is installed at the tail of a quadruped robot.
[0022] In the figure: 1. bottom plate; 2. primary control box; 3. secondary control box; 4. multi-jointed tail; 5. servo motor; 6. micro air pump; 7. stepper motor; 8. tail connector; 9. driven gear; 10. first drive shaft; 11. first connection seat; 12. driving gear; 13. second connection seat; 14. second drive shaft; 15. connecting bracket; 16. worm gear; 17. worm; 18. vertical moving slot; 19. horizontal moving slot; 20. inclination sensor. Specific embodiments
[0023] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.
[0024] Embodiment:
[0025] As Figures 1 to 5As shown in the figure, a dynamic balance adjustment device for a quadruped robot includes a first-level control box 2 and a second-level control box 3. Bottom plates 1 for installation and fixation are fixedly provided on both the upper and lower end faces of the first-level control box 2. A horizontal activity groove 19 is provided on the right side of the first-level control box 2, and the second-level control box 3 is arranged inside the horizontal activity groove 19. A rotatable first drive shaft 10 is vertically arranged inside the first-level control box 2. The left end of the second-level control box 3 is rotationally connected to the first drive shaft 10 through a first connection seat 11. A rotatable second drive shaft 14 is longitudinally arranged inside the second-level control box 3. A second connection seat 13 is sleeved on the second drive shaft 14. A vertical activity groove 18 is provided on the right side face of the second-level control box 3. A connection bracket 15 is fixedly connected to the right side of the second connection seat 13, and this connection bracket 15 is located in the vertical activity groove 18. A multi-jointed tail 4 is arranged on the right side of the connection bracket 15. The left end of the multi-jointed tail 4 is fixedly connected to the connection bracket 15 through a tail connector 8. This device can simulate the tail of a quadruped animal and achieve dynamic balance adjustment during the walking or running process of the robot, improving the stability and movement ability of the robot in a complex terrain environment.
[0026] In this embodiment, a servo motor 5 is installed on the upper side face of the first-level control box 2. A driving gear 12 is assembled on the lower output end of the servo motor 5. A driven gear 9 is assembled on the first drive shaft 10, and this driven gear 9 is in meshing transmission connection with the driving gear 12. The servo motor 5 is connected to the internal control system of the four groups of robots. This design realizes the rotational control of the first drive shaft 10 through the cooperation of the servo motor 5, the driven gear 9, and the driving gear 12, and further controls the horizontal rotation of the second-level control box 3 to achieve the horizontal rotation adjustment of the multi-jointed tail 4. When the control system issues an instruction to require the position of the multi-jointed tail 4 in the horizontal direction, the servo motor 5 starts to work. The servo motor 5 adjusts its rotation speed and rotation direction according to the control instruction, thereby driving the driving gear 12 to rotate. The rotation of the driving gear 12 is transmitted to the driven gear 9 through meshing, and then drives the first drive shaft 10 to rotate. The rotation of the first drive shaft 10 drives the second-level control box 3 to move in the horizontal activity groove 19, realizing the position adjustment of the multi-jointed tail 4 in the horizontal direction.
[0027] In this embodiment, inclination sensors 20 for detecting the inclination of the robot are installed on both the front and rear sides of the first-level control box 2. The inclination sensors 20 are connected to the internal control system of the four groups of robots. The inclination sensors 20 can monitor the inclination angle of the robot in real time. Through the feedback of the inclination sensors 20, the control system can adjust the state of the multi-jointed tail 4 in real time to realize the attitude adjustment of the robot, helping the robot maintain balance to cope with the changes in the external environment.
[0028] In this embodiment, a stepping motor 7 is installed on the right end face of the secondary control box 3. The stepping motor 7 is connected to the internal control systems of the four groups of robots. A worm 17 is fixedly connected to the left output end of the stepping motor 7. A worm gear 16 is assembled on the second drive shaft 14, and the worm gear 16 is in meshing transmission connection with the worm 17. This design constitutes a vertical adjustment system for the multi-jointed tail 4 through the stepping motor 7, the worm 17, and the worm gear 16, which is used to control the position adjustment of the multi-jointed tail 4 in the vertical direction. When the control system issues an instruction to adjust the position of the multi-jointed tail 4 in the vertical direction, the stepping motor 7 starts to work. The stepping motor 7 rotates at a certain step angle according to the control instruction, thereby driving the worm 17 to rotate. The rotation of the worm 17 is transmitted to the worm gear 16 through meshing. Since the worm gear 16 is connected to the second drive shaft 14, the rotation of the worm gear 16 will drive the second drive shaft 14 to rotate together. The rotation of the second drive shaft 14 drives the connection bracket 15 and the multi-jointed tail 4 to move in the vertical direction, realizing the position adjustment of the tail in the vertical direction.
[0029] In this embodiment, a micro air pump 6 is provided on the bottom wall of the primary control box 2 at the bottom of the secondary control box 3. The micro air pump 6 is connected to the internal control systems of the four groups of robots. A thin film airbag (not shown in the figure) covers the surface of the multi-jointed tail 4. The micro air pump 6 is connected to the thin film airbag through a hose. A pneumatic adjustment system is constituted by the micro air pump 6 and the thin film airbag covering the surface of the multi-jointed tail 4, which can adjust the overall volume of the multi-jointed tail 4 and further adjust the air resistance received by the multi-jointed tail 4 during the movement of the robot, so as to help the robot quickly brake under a high-speed movement state and maintain the balance of the robot. When the control system needs to adjust the shape of the multi-jointed tail 4, it will send an instruction to the micro air pump 6. The micro air pump 6 inflates or deflates the thin film airbag through the hose according to the instruction. When inflating, the airbag expands, the volume of the tail increases, and the resistance received increases, which can provide greater air resistance; when deflating, the airbag contracts, the volume of the tail decreases, and the air resistance can be reduced. By changing the shape of the tail, the balance state and movement trajectory of the robot can be affected.
[0030] In this embodiment, the multi-jointed tail 4 is formed by connecting multiple hollow cylinders with a conical structure end to end, and the joints can be adjusted for angle rotation. This design not only improves the flexibility of the tail, enabling it to simulate various complex actions and forms, but also enhances the adaptability of the tail, enabling it to exert the best performance in different environments and tasks.
[0031] The working principle of this four-legged robot dynamic balance adjustment device: During actual use, the entire device is installed on the robot's tail through the bottom plate 1 with bolts. The tilt sensor 20 on it can monitor the tilt angle of the robot in real time. Through the feedback of the tilt sensor 20, the control system can adjust the state of the multi-jointed tail 4 in real time. When the control system issues an instruction to require the position of the multi-jointed tail 4 in the horizontal direction, the servo motor 5 starts to work. The servo motor 5 adjusts its rotation speed and direction according to the control instruction, thereby driving the driving gear 12 to rotate. The rotation of the driving gear 12 is transmitted to the driven gear 9 through meshing, and then drives the first drive shaft 10 to rotate. The rotation of the first drive shaft 10 drives the secondary control box 3 to move in the horizontal movement groove 19, realizing the position adjustment of the multi-jointed tail 4 in the horizontal direction; when the control system issues an instruction to require the adjustment of the position of the multi-jointed tail 4 in the vertical direction, the stepper motor 7 starts to work. The stepper motor 7 rotates at a certain step angle according to the control instruction, thereby driving the worm 17 to rotate. The rotation of the worm 17 is transmitted to the worm gear 16 through meshing. Since the worm gear 16 is connected to the second drive shaft 14, the rotation of the worm gear 16 will drive the second drive shaft 14 to rotate together. The rotation of the second drive shaft 14 drives the connecting bracket 15 and the multi-jointed tail 4 to move in the vertical direction, realizing the position adjustment of the tail in the vertical direction;
[0032] The micro air pump 6 and the thin film air bags covering the surface of the multi-jointed tail 4 constitute a pneumatic adjustment system, which can adjust the overall volume of the multi-jointed tail 4 and then adjust the air resistance received by the multi-jointed tail 4 during the movement of the robot, so as to help the robot perform rapid braking in a high-speed movement state and maintain the balance of the robot. When the control system needs to adjust the shape of the multi-jointed tail 4, it will send an instruction to the micro air pump 6. The micro air pump 6 inflates or deflates the thin film air bag according to the instruction through the hose. When inflating, the air bag expands, the volume of the tail increases, and the resistance received increases, which can provide greater air resistance; when deflating, the air bag shrinks, the volume of the tail decreases, and the air resistance can be reduced. By changing the shape of the tail, the balance state and movement trajectory of the robot can be affected.
[0033] In summary, by simulating the tail function of four-legged animals, this device can achieve dynamic balance adjustment during the walking or running of the robot. Whether in complex terrains or high-speed movement states, it can effectively improve the balance and stability of the robot and reduce the risk of tipping.
[0034] Obviously, the above embodiments of the present utility model are merely examples for clearly illustrating the present utility model, rather than limitations on the implementation manners of the present utility model. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is impossible to list all the implementation manners here. Any obvious changes or modifications derived from the technical solutions of the present utility model still fall within the protection scope of the present utility model.
Claims
1. A dynamic balance adjustment device for a quadruped robot, comprising a first-level control box (2) and a second-level control box (3), characterized in that: The upper and lower end faces of the first-level control box (2) are both fixedly provided with bottom plates (1) for installation and fixation. A horizontal moving groove (19) is opened on the right side of the first-level control box (2). A second-level control box (3) is arranged inside the horizontal moving groove (19). A rotatable first driving shaft (10) is vertically arranged inside the first-level control box (2). The left end of the second-level control box (3) is rotationally connected to the first driving shaft (10) through a first connecting seat (11). A rotatable second driving shaft (14) is longitudinally arranged inside the second-level control box (3). A second connecting seat (13) is sleeved on the second driving shaft (14). A vertical moving groove (18) is opened on the right side surface of the second-level control box (3). A connecting bracket (15) is fixedly connected to the right side of the second connecting seat (13), and the connecting bracket (15) is located in the vertical moving groove (18). A multi-jointed tail (4) is arranged on the right side of the connecting bracket (15). The left end of the multi-jointed tail (4) is fixedly connected to the connecting bracket (15) through a tail connector (8).
2. The dynamic balance adjustment device for a quadruped robot according to claim 1, characterized in that: A servo motor (5) is installed on the upper side surface of the first-level control box (2). A driving gear (12) is assembled on the lower output end of the servo motor (5). A driven gear (9) is assembled on the first driving shaft (10), and the driven gear (9) is in meshing transmission connection with the driving gear (12).
3. The four-legged robot dynamic balance adjustment device according to claim 1, wherein: Inclinometers (20) for detecting the inclination of the robot are installed on both the front and rear sides of the first-level control box (2).
4. The four-legged robot dynamic balance adjustment device according to claim 1, characterized in that: A stepping motor (7) is installed on the right end surface of the second-level control box (3). A worm (17) is fixedly connected to the left output end of the stepping motor (7). A worm gear (16) is assembled on the second driving shaft (14), and the worm gear (16) is in meshing transmission connection with the worm (17).
5. The four-legged robot dynamic balance adjustment device according to claim 1, characterized in that: A micro air pump (6) is arranged on the bottom wall of the first-level control box (2) at the bottom of the second-level control box (3). A thin film air bag covers the surface of the multi-jointed tail (4). The micro air pump (6) is connected to the thin film air bag through a hose.
6. The four-legged robot dynamic balance adjustment device according to claim 1, characterized in that: The multi-jointed tail (4) is formed by hinging a plurality of hollow cylinders with a conical structure at the head and tail, and the hinged part can be adjusted for angle rotation.