Multi-legged robot

Abstract

The utility model discloses a multi-legged robot which comprises a machine frame and four movement feet arranged on the machine frame, and each movement foot comprises a parallel movement mechanism and an extended supporting leg connected with the parallel movement mechanism. The parallel movement mechanism comprises a movable platform, a static platform and three branch chains mounted between the static platform and the movable platform, and the static platform is connected with the rack; the extended supporting legs are connected with the movable platform, arranged on the side, away from the static platform, of the movable platform and extend towards the side, away from the static platform, of the movable platform. According to the multi-legged robot, the extended supporting legs are arranged in the moving feet, the extended supporting legs are arranged on the side, away from the static platform, of the moving platform, and the extended supporting legs extend towards the side, away from the static platform, of the moving platform, so that the lengths of the moving feet on the multi-legged robot are increased; therefore, the stride of the multi-legged robot is increased in the moving process of the robot.

Description

Technical Field

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

[0002] Multi-legged robots, as biomimetic legged robots, are designed to mimic the walking style of quadrupeds found in nature, such as dogs, cats, and horses. These robots, through their highly complex mechanical structures and sophisticated control algorithms, combined with a variety of sensors, actuators, and control systems, demonstrate strong adaptability to environmental conditions, enabling them to stably navigate and perform tasks in a variety of complex terrains.

[0003] Although existing multi-legged robots demonstrate strong terrain adaptability and stability when performing tasks, they generally face the problem of small stride length, which to some extent limits their ability to cross obstacles. Utility Model Content

[0004] In order to solve the problem of small stride of existing multi-legged robots, the utility model provides a multi-legged robot.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0006] The utility model provides a multi-legged robot. The multi-legged robot comprises a frame and four moving feet arranged on the frame. The moving feet comprise a parallel kinematic mechanism and extended supporting legs connected with the parallel kinematic mechanism.

[0007] The parallel motion mechanism includes a moving platform, a static platform and three branches installed between the static platform and the moving platform. The static platform is connected to the frame; the extended support leg is connected to the moving platform, and the extended support leg is arranged on the side of the moving platform away from the static platform, and the extended support leg extends toward the side of the moving platform away from the static platform.

[0008] The beneficial effects are:

[0009] The multi-legged robot of the present invention increases the length of each moving foot on the multi-legged robot by arranging an extended support leg in the moving foot, and arranging the extended support leg on the side of the moving platform away from the static platform, and extending the extended support leg toward the side of the moving platform away from the static platform, thereby increasing the stride of the multi-legged robot during the movement of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is a schematic structural diagram of a multi-legged robot according to Example 1 of the present invention;

[0011] Figure 2 This is a schematic structural diagram of the first parallel kinematic machine of Example 1 of the present utility model;

[0012] Figure 3 This is a schematic structural diagram of the first extended support leg of Example 1 of the present utility model;

[0013] Figure 4 This is a schematic structural diagram of the first extended support leg from another perspective of Example 1 of the present utility model;

[0014] Figure 5 This is a schematic structural diagram of each drive control device on the multi-legged robot of Example 1 of the present utility model;

[0015] Figure 6 This is a schematic structural diagram of the multi-legged robot from another perspective of Example 1 of the present utility model;

[0016] Figure 7 yes Figure 6 Hiding the structural diagram of each movement foot;

[0017] Figure 8 yes Figure 7 Structural diagram of the middle rack from another perspective;

[0018] Figure 9 yes Figure 6 A structural diagram of the first vertical line and the first connecting line;

[0019] Figure 10 This is a schematic structural diagram of the multi-legged robot during movement according to an embodiment of the present utility model;

[0020] Figure 11 yes Figure 10 Schematic diagram of the structure after the ground contact points in the projected onto the horizontal plane.

[0021] Figures: 1, frame; 11, first corner; 12, second corner; 13, third corner; 14, fourth corner; 15, first mounting platform; 151, first mounting surface; 152, first vertical line; 16, second mounting platform; 17, third mounting platform; 18, fourth mounting platform; 19, fixed surface; 191, center point; 192, first connecting line; 2, first moving foot; 21, first parallel kinematic mechanism; 211, first static platform; 212, first moving platform; 213, first branch chain; 214, first drive motor; 215, rotating base; 22, first extended support leg; 221, first flange; 222 , first extension part; 2221, first weight-reducing groove; 2222, second weight-reducing groove; 2223, weight-reducing hole; 223, first foot end; 2231, arc-shaped groove; 3, second movement foot; 4, third movement foot; 5, fourth movement foot; 6, first drive control device; 7, second drive control device; 8, third drive control device; 9, fourth drive control device; 101, center of gravity of the frame; 102, first ground contact point; 103, second ground contact point; 104, third ground contact point; 105, fourth ground contact point; X direction is the first direction; Y direction is the second direction; Z direction is the vertical direction. DETAILED DESCRIPTION

[0022] The present invention will be further described below with reference to the accompanying drawings: Example

[0023] Multi-legged robots, as biomimetic legged robots, are designed to mimic the walking style of quadrupeds found in nature, such as dogs, cats, and horses. These robots utilize highly complex mechanical structures and sophisticated control algorithms, combined with a variety of sensors, actuators, and control systems. These robots demonstrate strong adaptability to environmental conditions, enabling them to stably navigate and perform tasks in a variety of complex terrains.

[0024] Although existing multi-legged robots demonstrate strong terrain adaptability and stability when performing tasks, they generally face the problem of small stride length, which to some extent limits their ability to cross obstacles.

[0025] In order to solve the problem of small stride length of existing multi-legged robots, this embodiment provides a multi-legged robot. Figure 1As shown, the multi-legged robot includes a frame 1, a first moving leg 2, a second moving leg 3, a third moving leg 4, and a fourth moving leg 5. The frame 1 is in the shape of a rectangular parallelepiped, and the four corners of the frame 1 are respectively a first corner 11, a second corner 12, a third corner 13, and a fourth corner 14. The first moving leg 2, the second moving leg 3, the third moving leg 4, and the fourth moving leg 5 are respectively arranged at the four corners of the frame 1. Specifically, the first moving leg 2 is arranged at the first corner 11 of the frame 1, the second moving leg 3 is arranged at the second corner 12 of the frame 1, the third moving leg 4 is arranged at the third corner 13 of the frame 1, and the fourth moving leg 5 is arranged at the fourth corner 14 of the frame 1.

[0026] The first movement foot 2 includes a first parallel movement mechanism 21 and a first extended support leg 22 connected to the first parallel movement mechanism 21. Figure 2 As shown, the first parallel kinematic mechanism 21 is a 3-UPS type parallel mechanism, which includes a first static platform 211, a first dynamic platform 212, three first drive motors 214, and three first branches 213 installed between the static platform and the dynamic platform. Figures 1 to 3 As shown, the first static platform 211 is connected to the frame 1, the first movable platform 212 is connected to the first extended support leg 22, the first extended support leg 22 is provided on the side of the first movable platform 212 away from the first static platform 211, and the first extended support leg 22 extends toward the side of the first movable platform 212 away from the first static platform 211, that is, the first extended support leg 22 extends toward the side of the parallel motion mechanism away from the frame 1.

[0027] like Figure 2 As shown, three first branches 213 connect the first static platform 211 and the first moving platform 212, wherein each first branch 213 is a telescopic structure and is connected to the first moving platform 212 via a ball joint. Three rotating bases 215 are rotatably mounted on the first static platform 211. The rotating axis of the rotating base 215 on the first static platform 211 is as shown in FIG. Figure 2 As shown in the middle A axis. A U-shaped hinge is installed on the rotating base 215, and the first branch chain 213 is rotatably installed on the U-shaped hinge. Three first drive motors 214 are installed on the first static platform 211, and each first drive motor 214 corresponds to a rotating base 215. The output shaft of the first drive motor 214 is arranged parallel to the rotating axis of the rotating base 215, and the output shaft of the first drive motor 214 drives the rotating base 215 to rotate through a belt drive, thereby driving the first branch chain 213 to rotate. In other embodiments, the first parallel motion mechanism 21 can also be an existing parallel motion mechanism, such as the parallel robotic arm structure in CN221844976U.

[0028] In this embodiment, the structures of the second movement foot 3 , the third movement foot 4 , and the fourth movement foot 5 are similar to those of the first movement foot 2 , and therefore will not be described in detail.

[0029] The multi-legged robot of the present invention increases the length of each moving foot on the multi-legged robot by arranging an extended support leg in the moving foot, and arranging the extended support leg on the side of the moving platform away from the static platform, and extending the extended support leg toward the side of the moving platform away from the static platform, thereby increasing the stride of the multi-legged robot during the movement of the robot.

[0030] like Figure 3 and Figure 4 As shown, the first extended support leg 22 includes a first flange portion 221, a first extension portion 222 and a first foot end portion 223. The first movable platform 212, the first flange portion 221, the first extension portion 222 and the first foot end portion 223 are connected in sequence, and the first foot end portion 223 is in contact with the ground. The first flange portion 221, the first extension portion 222 and the first foot end portion 223 are an integrated structure. Figure 1 As shown, the length direction of the multi-legged robot is defined as the first direction ( Figure 1 The first plane is the plane along which the first and vertical directions lie (in the X-axis direction). The cross-section of the first extension portion 222 in the first plane is triangular, and the first extension portion 222 is provided with a first weight-reducing groove 2221 and a second weight-reducing groove 2222, respectively, on opposite sides of the first plane. The first weight-reducing groove 2221 and the second weight-reducing groove 2222 are of identical shape. Furthermore, the first extension portion 222 is provided with a weight-reducing hole 2223, which communicates with the first weight-reducing groove 2221 and the second weight-reducing groove 2222, respectively. The first foot portion 223 is spherical and is provided with a plurality of arc-shaped grooves 2231. These arc-shaped grooves 2231 are evenly distributed in an annular pattern on the first foot portion 223 in the first plane.

[0031] like Figure 5As shown, the multi-legged robot also includes a first drive control device 6, a second drive control device 7, a third drive control device 8, and a fourth drive control device 9. The first drive control device 6, the second drive control device 7, the third drive control device 8, and the fourth drive control device 9 are respectively arranged at the four corners of the frame 1. Specifically, the first drive control device 6 is arranged at the first corner 11 of the frame 1, the second drive control device 7 is arranged at the second corner 12 of the frame 1, the third drive control device 8 is arranged at the third corner 13 of the frame 1, and the fourth drive control device 9 is arranged at the fourth corner 14 of the frame 1. Among them, the first drive control device 6 controls the movement of the first moving foot 2, the second drive control device 7 controls the movement of the second moving foot 3, the third drive control device 8 controls the movement of the third moving foot 4, and the fourth drive control device 9 controls the movement of the fourth moving foot 5. In this embodiment, the drive control device is a motor drive board. The drive control device controlling the movement of the moving foot means that the drive control device controls the movement of the output shaft of the drive motor in the moving foot, thereby controlling the movement of the moving foot.

[0032] In this embodiment, four driving control devices are distributed at the four corners of the frame 1, which can make the multi-legged robot move more smoothly.

[0033] like Figure 5 As shown, each drive control device is arranged above the frame 1, and each motion foot is arranged below the frame 1, so that each drive control device and a motion foot it controls are respectively arranged on the upper and lower opposite sides of the frame 1.

[0034] like Figure 6 and Figure 7 As shown, the first mounting platform 15, the second mounting platform 16, the third mounting platform 17 and the fourth mounting platform 18 are respectively provided at the four corners of the fixed surface 19 on the frame 1. The first movement foot 2 is correspondingly installed on the first mounting platform 15, the second movement foot 3 is correspondingly installed on the second mounting platform 16, the third movement foot 4 is correspondingly installed on the third mounting platform 17, and the fourth movement foot 5 is correspondingly installed on the fourth mounting platform 18. A first mounting surface 151 is provided on the first mounting platform 15, and the first movement foot 2 is installed on the first mounting surface 151. Figure 7 As shown, there is an inclination angle θ between the first mounting surface 151 and the fixing surface 19 . In this embodiment, the inclination angle θ may be 15 degrees to 25 degrees.

[0035] like Figure 8 As shown, the line connecting the center point 191 on the fixed surface 19 to the first corner 11 is the first connecting line 192. Figure 9As shown, the straight line perpendicular to the first mounting surface 151 is the first vertical line 152, the first connecting line 192 is coplanar with the first vertical line, and there is a first clamping angle α between the first connecting line 192 and the first vertical line 152. In this embodiment, the first clamping angle α can be 65 degrees to 75 degrees.

[0036] The structures of the second mounting platform 16 , the third mounting platform 17 , and the fourth mounting platform 18 are the same as that of the first mounting platform 15 , and thus will not be described in detail.

[0037] On the other hand, existing multi-legged robots may experience problems such as unstable center of gravity causing the robot to roll over when performing tasks. To address this problem, this embodiment further provides a control method for a multi-legged robot, which is the multi-legged robot described in the above embodiment. In this embodiment, a force sensor is provided between the moving platform and the extended support leg of each moving foot. Therefore, when the moving foot contacts the ground, the force sensor detects a signal of contact between the moving foot and the ground. The system receives the signal transmitted by the force sensor, indicating that the moving foot is in contact with the ground.

[0038] Specifically, the control method of the multi-legged robot includes the following steps:

[0039] S1. Obtaining the position of the contact point between each moving foot and the ground based on the posture of each moving foot and the signal of the force sensor in each moving foot;

[0040] S2. Confirming the stable movement of the movement foot based on the position of the contact point between each movement foot and the ground and the position of the center of gravity of the frame 101;

[0041] S3. confirming the moving foot to be moved according to the posture of each moving foot capable of stable movement;

[0042] S4. Drive the moving foot to be moved.

[0043] Specifically, in the above step S1, when the system receives the signal from the force sensor in each moving foot, it means that each moving foot is in contact with the ground at this time, and the posture parameters of each joint in the parallel motion mechanism in each moving foot can be obtained by the system. Therefore, the system can calculate the position of the contact point between the moving foot and the ground based on the posture parameters of each joint, that is, obtain Figure 10The positions of the first ground contact point 102, the second ground contact point 103, the third ground contact point 104, and the fourth ground contact point 105 are shown in FIG. Furthermore, if the system does not receive a signal from a force sensor in a particular moving foot, it indicates that the moving foot is not in contact with the ground. Therefore, the moving foot must first be driven to move so that it makes contact with the ground. (Driving the moving foot to move can be achieved by extending a branch chain in a parallel kinematic mechanism. If the branch chain in the parallel kinematic mechanism cannot achieve contact with the ground, the system will generate an alarm.)

[0044] The above step S2 includes:

[0045] S21, projecting the position of the center of gravity of the rack 101 onto the horizontal plane; Figure 11 As shown, the position of the center of gravity point 101 of the rack is projected on the horizontal plane to obtain the center of gravity projection point O;

[0046] S22, projecting the contact points of each moving foot with the ground onto a horizontal plane; Figure 11 As shown, each ground contact point 102 is projected onto a horizontal plane to obtain a first projection point C, a second projection point D, a third projection point E, and a fourth projection point F.

[0047] S23, connect the projections of the first movement foot 2, the second movement foot 3, and the third movement foot 4 on the horizontal plane with the ground contact points to form a first triangle, and determine whether the projection of the frame center of gravity 101 on the horizontal plane is within the first triangle. If so, confirm that the fourth movement foot 5 is a movement foot that can stably move. Figure 11 As shown, the center of gravity projection point O lies within ΔCDE, confirming that the fourth motion foot 5 is a motion foot capable of stable movement. Since the center of gravity projection point O lies within ΔCDE, the first motion foot 2, the second motion foot 3, and the third motion foot 4 can support the stability of the frame 1 during the movement of the fourth motion foot 5, thus confirming that the fourth motion foot 5 is a motion foot capable of stable movement.

[0048] S24, connect the projections of the first movement foot 2, the second movement foot 3, and the fourth movement foot 5 on the horizontal plane with the ground contact point to form a second triangle, and determine whether the projection of the frame center of gravity 101 on the horizontal plane is within the second triangle. If so, confirm that the third movement foot 4 is a movement foot that can stably move. Figure 11 As shown, the center of gravity projection point O lies outside the ΔCDF, confirming that the third motion foot 4 is not a motion foot capable of stable movement. Because the center of gravity projection point O lies outside the ΔCDF, the first motion foot 2, the second motion foot 3, and the fourth motion foot 5 cannot guarantee the stability of the frame 1 during the movement of the third motion foot 4.

[0049] S25, connect the projections of the first movement foot 2, the third movement foot 4, and the fourth movement foot 5 on the horizontal plane with the ground contact point to form a third triangle, and determine whether the projection of the frame center of gravity 101 on the horizontal plane is within the third triangle. If so, confirm that the second movement foot 3 is a movement foot that can stably move. Figure 11 As shown, the center of gravity projection point O lies within ΔCEF, confirming that the second moving foot 3 is a moving foot capable of stable movement. Since the center of gravity projection point O lies within ΔCEF, the first moving foot 2, the third moving foot 4, and the fourth moving foot 5 can support the stability of the frame 1 during the movement of the second moving foot 3, thus confirming that the second moving foot 3 is a moving foot capable of stable movement.

[0050] S26, connect the projections of the fourth movement foot 5, the second movement foot 3, and the third movement foot 4 on the horizontal plane with the ground contact point to form a fourth triangle, and determine whether the projection of the frame center of gravity 101 on the horizontal plane is within the fourth triangle. If so, confirm that the first movement foot 2 is a movement foot that can stably move. Figure 11 As shown, the center of gravity projection point O is outside ΔDEF, confirming that the first moving foot 2 is not a stable moving foot. Because the center of gravity projection point O is outside ΔDEF, the fourth moving foot 5, the second moving foot 3, and the third moving foot 4 cannot guarantee the stability of the frame 1 during the movement of the first moving foot 2.

[0051] Through the above steps S21 to S26 , it is confirmed that the multi-legged robot can ensure the stability of the frame 1 by driving the second moving foot 3 or the fourth moving foot 5 , so it is confirmed that the second moving foot 3 or the fourth moving foot 5 is a moving foot that can move stably.

[0052] The above steps S21 to S26 confirm that there are two moving feet that can move stably, so step S3 needs to confirm which moving foot that can move stably is driven by the multi-legged robot to move. Step S3 determines the posture force condition of each moving foot through the posture of each moving foot that can move stably, and confirms the moving foot with the weakest posture force condition as the moving foot to be moved, that is, the moving foot with the weakest posture force condition is confirmed as the moving foot that the multi-legged robot needs to drive to move.

[0053] Specifically, there are many ways to determine the posture and force conditions of each moving foot. This embodiment uses an example. For example, by determining which of the two moving foot 3 and the fourth moving foot 5 has a larger angle between the moving platform and the horizontal plane, the moving foot to be moved is determined. For example, if the posture system of the second moving foot 3 calculates that the angle between the moving platform and the horizontal plane is 10 degrees, and the posture system of the fourth moving foot 5 calculates that the angle between the moving platform and the horizontal plane is 30 degrees, the fourth moving foot 5 is determined to be the moving foot to be moved. Since the posture and force conditions of the second moving foot 3 are better than those of the fourth moving foot 5, selecting the second moving foot 3 as the support to drive the fourth moving foot 5 is better than selecting the fourth moving foot 5 as the support to drive the second moving foot 3.

[0054] The above step S4 includes:

[0055] S41, driving the moving foot to be moved to contract to a contracted state; in this embodiment, the contraction of the moving foot to the contracted state is achieved by driving the branch chain in each moving foot to shorten.

[0056] S42, driving the moving foot to be moved to swing a preset angle; in this embodiment, the branch chain in each moving foot is driven to rotate, thereby driving the movement to swing, for example, driving the moving foot to swing 30°.

[0057] S43, driving the moving foot to be moved to extend; in this embodiment, the extension of the moving foot is achieved by driving the branch chain in each moving foot to extend.

[0058] S44. When the force sensor on the moving foot to be moved detects a force, the moving foot to be moved stops extending.

[0059] Through the above steps S1 to S4, the system can ensure that the multi-legged robot drives the moving legs to move forward in the most stable state, thereby avoiding the situation where the multi-legged robot's center of gravity is unstable and causes the robot to roll over when performing a task.

[0060] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and improvements shall fall within the scope of the present invention as claimed.

Claims

1. A multi-legged robot comprising a frame and four moving legs arranged on the frame, characterized in that: The sports foot includes a parallel kinematic mechanism and an extended support leg connected to the parallel kinematic mechanism; The parallel motion mechanism includes a moving platform, a static platform and three branches installed between the static platform and the moving platform. The static platform is connected to the frame; the extended support leg is connected to the moving platform, and the extended support leg is arranged on the side of the moving platform away from the static platform, and the extended support leg extends toward the side of the moving platform away from the static platform.

2. A multi-legged robot according to claim 1, characterized in that: The extended support leg includes a flange portion, an extension portion and a foot end portion. The movable platform, the flange portion, the extension portion and the foot end portion are connected in sequence, and the foot end portion is in contact with the ground.

3. A multi-legged robot according to claim 2, characterized in that: The length direction of the multi-legged robot is the first direction, the plane where the first direction and the vertical direction are located is the first plane, the cross-section of the extension part in the first plane is triangular, and the extension part is respectively provided with a first weight-reducing groove and a second weight-reducing groove on two opposite side surfaces along the first plane.

4. A multi-legged robot according to claim 3, characterized in that: The first weight-reducing groove and the second weight-reducing groove have the same shape.

5. A multi-legged robot according to claim 4, characterized in that: The extension portion is further provided with a weight-reducing hole, and the weight-reducing hole is communicated with the first weight-reducing groove and the second weight-reducing groove respectively.

6. A multi-legged robot according to claim 5, characterized in that: The foot end portion is spherical and is provided with a plurality of arc-shaped grooves; on the first plane, the plurality of arc-shaped grooves are evenly distributed on the foot end portion in an annular shape.

7. A multi-legged robot according to any one of claims 1 to 6, characterized in that: The multi-legged robot also includes four drive control devices respectively arranged at the four corners of the frame, and the four moving feet are respectively arranged at the four corners of the frame. Each of the drive control devices controls the movement of one of the moving feet, and each of the drive control devices and the moving feet it controls are located at the same corner of the frame.

8. The multi-legged robot according to claim 7, characterized in that: Each of the driving control devices and one of the moving feet it controls are respectively arranged on opposite sides of the frame.

9. The multi-legged robot according to claim 8, characterized in that: A mounting platform is provided at the four corners of the fixed surface on the frame relative to each of the moving feet, and each of the mounting platforms is provided with a mounting surface. There is an inclination angle between the mounting surface on each mounting platform and the fixed surface; each of the moving feet is respectively mounted on the mounting surface of the mounting platform corresponding to the moving foot.

10. The multi-legged robot according to claim 9, characterized in that: The movement foot includes a first movement foot, a first mounting platform is provided at a first corner of the fixing surface relative to the first movement foot, a first mounting surface is provided on the first mounting platform, an inclination angle is formed between the first mounting surface and the fixing surface, and the first movement foot is mounted on the first mounting surface; The line connecting the center point of the fixing surface to the first angle is a first connecting line, the straight line perpendicular to the first mounting surface is a first vertical line, the first connecting line and the first vertical line are coplanar, and there is a first clamping angle between the first connecting line and the first vertical line.

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