Self-adaptive multi-terrain four-footed search and rescue robot

Abstract

The utility model relates to the technical field of robots, in particular to a self-adaptive multi-terrain four-footed search and rescue robot which comprises a carbon fiber machine body and parallel leg mechanisms, the parallel leg mechanisms are arranged on the two sides of the carbon fiber machine body and comprise leg fixing frames and leg moving assemblies, the leg fixing frames are arranged on one side of the carbon fiber machine body, and the leg moving assemblies are arranged on the other side of the carbon fiber machine body. The leg moving assemblies are arranged on the front side and the rear side of the leg fixing frame and comprise joint motors, two symmetrical thigh connecting rods, two symmetrical shank connecting rods and flexible foot ends, the joint motors are fixed to one end of the leg fixing frame, the thigh connecting rods are connected with the joint motors, and the shank connecting rods are rotationally connected with the thigh connecting rods; the tail ends of the two shank connecting rods are connected with the flexible foot ends, the four-foot robot is of a riveted full-carbon-fiber structure and has the high symmetry, the jumping function, the overturning function and the like can be achieved, the obstacle crossing and getting-out capacity of the legs is improved, and the structural strength and impact resistance are enhanced.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and particularly relates to an adaptive multi-terrain quadruped search and rescue robot. Background Technique

[0002] When natural disasters (such as earthquakes) or wars occur in urban areas, complex ruins may be formed, posing many challenges to rescue work. The terrain of the ruins is complex, and obstacles such as rubble and fractured buildings make it difficult for traditional rescue equipment to operate efficiently. Common wheeled or tracked robots are difficult to move in irregular and ever-changing ruins due to the lack of sufficient support points, resulting in a large amount of manpower and material resources being consumed for search and rescue and maintenance tasks, with low efficiency.

[0003] In contrast, quadruped robots have obvious advantages in complex terrains. Quadruped robots can flexibly move on broken terrains by independently adjusting the support positions of the four foot ends without relying on continuous flat ground. However, when facing challenging terrains (such as slopes, gravel, or narrow spaces), the stability and flexibility of quadruped robots are often insufficient, easily leading to loss of balance or tipping over. Therefore, it is urgent to design a quadruped search and rescue robot that can adapt to multiple terrains and perform complex actions. Content of the Utility Model

[0004] The purpose of the utility model is to overcome the above problems and provide an adaptive multi-terrain quadruped search and rescue robot.

[0005] To achieve the above purpose, the utility model adopts the following technical scheme: an adaptive multi-terrain quadruped search and rescue robot, characterized in that: it includes a carbon fiber fuselage and a parallel leg mechanism, and the parallel leg mechanism is arranged on both sides of the carbon fiber fuselage;

[0006] The parallel leg mechanism includes a leg fixing frame and a leg moving component. The leg fixing frame is arranged on one side of the carbon fiber fuselage, and the leg moving component is arranged on the front and back sides of the leg fixing frame;

[0007] The leg moving component includes a joint motor, two symmetric thigh linkages, two symmetric calf linkages, and a flexible foot end. The joint motor is fixed at one end of the leg fixing frame, the thigh linkage is connected to the joint motor, the calf linkage is rotatably connected to the thigh linkage, and the ends of the two calf linkages are connected to the flexible foot end.

[0008] As an improvement, it further includes a camera bracket, and a panoramic camera is provided on the camera bracket.

[0009] As an improvement, the output shaft of the joint motor is fixed to the thigh linkage through a gasket, and retaining bearings are provided at the ends of the thigh linkage and the calf linkage, and the two retaining bearings are connected by bolts and made concentric.

[0010] As an improvement, a plain bearing is provided on the inner contact surface between the thigh connecting rod and the calf connecting rod.

[0011] As an improvement, a movable body cover plate is provided on the top of the carbon fiber body. The movable body cover plate is rotatably connected to the leg fixing frame through a hinge and closes the body opening at the top of the carbon fiber body.

[0012] As an improvement, the carbon fiber body includes a bottom plate, side plates, and a split fixing plate. The bottom plate is connected to and supports the bottom of the leg fixing frame. The side plates are arranged on the front and rear sides above the bottom plate, and the top of the side plates is connected to the split fixing plate. The split fixing plate is connected to the top of the leg fixing frame.

[0013] As an improvement, the leg fixing frame includes a carbon square tube frame, an inner fixing plate, and an outer fixing plate. The inner fixing plate is connected to the end of the side plate and cooperates with it to enclose the carbon fiber body on all sides. The carbon square tube frame is arranged outside the inner fixing plate, and the outer fixing plate is arranged outside the carbon square tube. The inner fixing plate, the outer fixing plate, the bottom plate, and the split fixing plate are connected to surround the carbon square tube frame.

[0014] As an improvement, the carbon square tube frame includes a number of longitudinal carbon square tubes and reinforcing carbon square tubes. The two sides of the longitudinal carbon square tubes are respectively connected to the inner fixing plate and the outer fixing plate. The reinforcing carbon square tubes are arranged perpendicular to the longitudinal carbon square tubes and connect them in sequence to form a space truss structure.

[0015] The advantages of the present utility model are as follows:

[0016] 1. The quadruped robot adopts a fully carbon fiber structure with a riveting method, enhancing the structural strength and impact resistance.

[0017] 2. The quadruped robot is highly symmetric in structure, can achieve functions such as jumping and flipping, and still has the same movement ability after flipping, improving the performance of the legs in crossing obstacles and getting out of trouble.

[0018] 3. The quadruped robot provides two modes of position control and force-position hybrid control, which can be switched according to different application scenarios, can not only meet the accurate positioning requirements, but also adapt to the dynamic mechanical requirements under complex terrains, enhancing the adaptability and control flexibility of the robot. Description of the Drawings

[0019] Figure 1 It is a schematic structural diagram of an adaptive multi-terrain quadruped search and rescue robot in the embodiment.

[0020] Figure 2 It is a schematic structural diagram of the carbon fiber body in the embodiment.

[0021] Figure 3 It is a schematic structural diagram of the parallel leg mechanism in the embodiment.

[0022] Figure 4 It is a right side view of the parallel leg mechanism in the embodiment.

[0023] The symbols in the figure are:

[0024] 1. Carbon fiber body; 101. Bottom plate; 102. Side plate; 103. Split fixing plate; 2. Movable cover of the body; 3. Parallel leg mechanism; 301. Joint motor; 302. Gasket; 303. Thigh connecting rod; 304. Calf connecting rod; 305. Side bearing; 306. Plane bearing; 307. Flexible foot end; 308. Longitudinal carbon square tube; 309. Reinforced carbon square tube; 310. Inner fixing plate; 311. Outer fixing plate; 4. Camera bracket. DETAILED DESCRIPTION

[0025] In the description of the embodiments of the present invention, it should be noted that if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the product of the utility model is usually placed when in use. It is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it should not be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and should not be understood as indicating or implying relative importance.

[0026] Furthermore, the use of terms such as "horizontal," "vertical," and "overhanging" does not necessarily mean that the component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," not that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0027] In the description of the embodiments of the present invention, "a plurality" represents at least 2.

[0028] In the description of the embodiments of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0029] The present invention is described in detail and specifically below through specific embodiments to facilitate a better understanding of the present invention. However, the following embodiments do not limit the scope of protection of the present invention.

[0030] Example 1

[0031] This embodiment discloses an adaptive multi-terrain quadruped search and rescue robot.

[0032] like Figures 1-4 As shown, this embodiment includes a fiber fuselage 1 and a parallel leg mechanism 3, and the parallel leg mechanism 3 is arranged on both sides of the carbon fiber fuselage 1;

[0033] The parallel leg mechanism 3 includes a leg fixing frame and a leg moving assembly. The leg fixing frame is arranged on one side of the carbon fiber fuselage 1, and the leg moving assembly is arranged on the front and rear sides of the leg fixing frame.

[0034] The leg movement assembly includes a joint motor 301, two symmetrical thigh links 302, two symmetrical calf links 303 and a flexible foot end 304. The joint motor 301 is fixed at one end of the leg fixing frame, the thigh link 303 is connected to the joint motor 301, the calf link 304 is rotatably connected to the thigh link 303, and the ends of the two calf links 304 are connected to the flexible foot end 307.

[0035] The quadruped robot's legs utilize a four-bar linkage mechanism, driven by two concentrically positioned high-torque articulated motors 301. Bearings are designed to ensure the motors' concentricity. The driving force, channeled through the linkage, simulates the leg motion of a quadruped, enabling movement and obstacle avoidance on diverse terrains. The flexible foot 304, made of TPE material and mounted on two connecting rods, provides ample ground contact at varying angles. By allowing ample leg room for movement, the robot's legs can rotate up to 360 degrees. This not only meets the demands of diverse terrain but also ensures the robot's ability to navigate and escape difficult terrain.

[0036] The quadruped search and rescue robot also includes a camera bracket 4, on which a panoramic camera is provided. The panoramic camera can provide a 360-degree field of view, enabling the robot to better understand complex terrain, monitor the surrounding environment in real time, and identify potential obstacles and risks.

[0037] It's important to note that the output shaft of the joint motor 301 is secured to the thigh link 303 via a washer 302. Both the thigh link 303 and the calf link 304 are equipped with side bearings 305 at their ends. Bolts connect the two side bearings 305 and align them concentrically. These side bearings 305 constrain the relative position of the two links during motion, ensuring their concentricity and providing stable and reliable movement.

[0038] A plain bearing 306 is provided on the inner contact surface between the thigh connecting rod 303 and the calf connecting rod 304. The design of the plain bearing 306 helps to reduce friction, provide smoother movement, and allows the two connecting rods to maintain good contact and movement performance during activities.

[0039] At the top of the carbon fiber fuselage, there is a fuselage movable cover plate 2. The fuselage movable cover plate 2 is rotatably connected to the leg fixing frame through a hinge and closes the fuselage opening at the top of the carbon fiber fuselage 1. The fuselage movable cover plate 2 adopts a magnetic damping carbon fiber structure to provide protection for internal components.

[0040] The carbon fiber fuselage includes a bottom plate 101, side plates 102, and split fixing plates 103. The bottom plate 101 is connected to and supports the bottom of the leg fixing frame. The side plates 102 are arranged on the front and rear sides above the bottom plate 101, and the tops of the side plates 102 are connected to the split fixing plates 103. The split fixing plates 103 are connected to the top of the leg fixing frame. The main skeleton of this quadruped robot adopts all-carbon fiber composite plates and carbon fiber square tubes. While ensuring structural strength, it reduces the moving weight of the robot. Positioning windows are reserved on the front and rear side plates 102 to provide installation positions for adding auxiliary components such as sensors and screens and facilitate maintenance. In addition, the carbon fiber fuselage 1 adopts a riveting connection method to avoid the problem of loosening in bolt connections.

[0041] The leg fixing frame includes a carbon square tube frame, an inner fixing plate 310, and an outer fixing plate 311. The inner fixing plate 310 is connected to the end of the side plate 102 and cooperates with it to enclose the carbon fiber fuselage 1 on all sides. The carbon square tube frame is arranged outside the inner fixing plate 310, and the outer fixing plate 311 is arranged outside the carbon square tube. The inner fixing plate 310, the outer fixing plate 311 are connected to the bottom plate 101 and the split fixing plate 103 to enclose the carbon square tube frame inside.

[0042] The carbon square tube frame includes several longitudinal carbon square tubes 308 and reinforcing carbon square tubes 309. The two sides of the longitudinal carbon square tubes 308 are respectively connected to the inner fixing plate 310 and the outer fixing plate 311. The reinforcing carbon square tubes 309 are vertically arranged with the longitudinal carbon square tubes 308 and connect them in sequence to form a space truss structure. The longitudinal carbon square tubes 308 and the reinforcing carbon square tubes 309 provide the main load-bearing, enhance the overall rigidity and load-bearing capacity. In addition, the design of the space truss structure also helps to reduce weight while maintaining the necessary strength.

[0043] It should be noted that

[0044] In this embodiment, the movement of the quadruped robot is also controlled by electronic control technology, which mainly includes three parts: single-leg movement control, overall robot movement realization, and attitude control.

[0045] Single-leg movement control:

[0046] The parametric equation of the trajectory is constructed by setting the starting point, ending point and movement time of the foot-end movement. Taking the moment when the action starts as the 0 moment and the system time as the parameter input, a series of discrete points changing with time are obtained, which are used as the expected positions of the foot-end at different time points. After determining the discrete points, single-leg motion control can be realized through inverse kinematics or PID + virtual force.

[0047] Robot action implementation:

[0048] When the quadruped robot walks, diagonal gait control is adopted, that is, when the left front leg and the right hind leg swing, the right front leg and the left hind leg support the body, and then the supporting leg and the swinging leg are interchanged. This process is taken as a complete gait cycle. By adjusting the gait cycle, step length and step height, the trajectory is optimized to meet the motion requirements of different terrains.

[0049] When the quadruped robot jumps, the four legs first retract to the preset positions, then the hind legs kick backward, and the legs are quickly retracted after taking off. By adjusting the displacement of the legs pushing on the ground at the takeoff and the time of the front and hind legs pushing on the ground, the jumping posture and distance can be changed. When landing, force-position hybrid control is adopted to reduce the impact.

[0050] When the quadruped robot does a somersault, the front and hind legs of the robot retract, the hind legs kick off the ground to take off, and the pitch angle feedback by the gyroscope is used to judge the posture. When the body turns 90 degrees, the front legs cooperate with the takeoff, and the legs are retracted to the preset positions after taking off. When landing, force-position hybrid control is also adopted to buffer the impact.

[0051] Attitude control:

[0052] The quadruped robot can perform pitch angle control. When the robot crosses complex terrains, in order to improve the stability during movement, the foot-end trajectory will rotate according to the pitch angle to ensure that the foot-end is always perpendicular to the ground and the pitch direction of the robot is parallel to the ground.

[0053] The quadruped robot can perform yaw angle control. The target yaw angle is set through the remote control, and the overall yaw is realized by using the differential motion of the left front, left hind legs and the right front, right hind legs. The yaw angle error corrects the step length through the PD controller, increasing the step length of one side of the robot's legs and decreasing that of the other side, thereby adjusting the yaw angle.

[0054] The specific embodiments of the present utility model have been described in detail above, but they are only examples, and the present utility model is not equivalent to the specific embodiments described above. For those skilled in the art, any equivalent modifications and substitutions to the present utility model are also within the scope of the present utility model. Therefore, all equivalent transformations and modifications made without departing from the spirit and scope of the present utility model should be covered within the scope of the present utility model.

Claims

1. An adaptive multi-terrain quadruped search and rescue robot, characterized in that: It includes a carbon fiber fuselage and a parallel leg mechanism, and the parallel leg mechanism is arranged on both sides of the carbon fiber fuselage; The parallel leg mechanism includes a leg fixing frame and a leg moving component. The leg fixing frame is arranged on one side of the carbon fiber fuselage, and the leg moving component is arranged on the front and back sides of the leg fixing frame; The leg moving component includes a joint motor, two symmetric thigh linkages, two symmetric calf linkages and a flexible foot end. The joint motor is fixed at one end of the leg fixing frame, the thigh linkages are connected to the joint motor, the calf linkages are rotatably connected to the thigh linkages, and the ends of the two calf linkages are connected to the flexible foot end; The leg fixing frame includes a carbon square tube frame, an inner fixing plate and an outer fixing plate. The inner fixing plate is connected to the end of the side plate and cooperates with it to enclose the periphery of the carbon fiber fuselage. The carbon square tube frame is arranged outside the inner fixing plate, the outer fixing plate is arranged outside the carbon square tube, and the inner fixing plate, the outer fixing plate are connected to the bottom plate and the split fixing plate to enclose the carbon square tube frame therein.

2. The adaptive multi-terrain quadruped search and rescue robot according to claim 1, characterized in that: It also includes a camera bracket, and a panoramic camera is provided on the camera bracket.

3. An adaptive multi-terrain quadruped search and rescue robot according to claim 1 or 2, characterized in that: The output shaft of the joint motor is fixed to the thigh linkage through a gasket, and stop edge bearings are provided at the ends of the thigh linkage and the calf linkage, and the two stop edge bearings are connected by bolts and made concentric.

4. The adaptive multi-terrain quadruped search and rescue robot according to claim 3, characterized in that: Plain bearings are provided on the inner contact surfaces of the thigh linkage and the calf linkage.

5. An adaptive multi-terrain quadruped search and rescue robot according to claim 4, characterized in that: A fuselage movable cover plate is provided on the top of the carbon fiber fuselage. The fuselage movable cover plate is rotatably connected to the leg fixing frame through a hinge and closes the fuselage opening at the top of the carbon fiber fuselage.

6. An adaptive multi-terrain quadruped search and rescue robot according to claim 5, characterized in that: The carbon fiber fuselage includes a bottom plate, side plates and split fixing plates. The bottom plate is connected to and supports the bottom of the leg fixing frame. The side plates are arranged on the front and back sides above the bottom plate, and the tops of the side plates are connected to the split fixing plates. The split fixing plates are connected to the top of the leg fixing frame.

7. An adaptive multi-terrain quadruped search and rescue robot according to claim 6, characterized in that: The carbon square tube frame includes a number of longitudinal carbon square tubes and reinforcing carbon square tubes. The two sides of the longitudinal carbon square tubes are respectively connected to the inner fixing plate and the outer fixing plate. The reinforcing carbon square tubes are vertically arranged with the longitudinal carbon square tubes and are sequentially connected to form a space truss structure.

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