Multifunctional profile model of quadruped robot

Abstract

The utility model discloses a multifunctional profile frame of a quadruped robot, which is characterized in that a multifunctional profile frame is of a detachable structure, is mounted on a robot trunk, and mainly comprises a profile frame main body structure, a profile frame handle, a profile frame outer side expansion assembly surface, a joint motor double-end support shaft and a profile frame grounding part; according to the utility model, modular design is adopted, and dismounting and mounting can be selected according to needs; the multifunctional handle can be conveniently carried, hoisted and air-dropped; an expansion assembly surface is arranged, so that specific products can be flexibly mounted according to requirements, and the expansibility of the robot is improved; the two ends of the joint motor set are fixed, and the stress condition of the joint motor set is improved; the ground contact structure can relieve impact on the robot during falling and falling.

Description

Technical Field

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

[0002] The quadruped robot is a bionic robot that has many applications in industry, firefighting, counter-terrorism, military industry and other fields.

[0003] At present, in order to meet users' demand for large-load functions, quadruped robots are developing towards large size and heavy weight, making them difficult to carry. Moreover, during debugging and movement, if the robot falls or falls, it is very easy to cause damage to the robot due to its own heavy weight. At the same time, large loads place higher demands on the motor, and the weight of the joint motor group itself is also increasing. How to achieve reliable assembly of the joint motor group has also become a key point in the design. Utility Model Content

[0004] In order to facilitate the transportation of the quadruped robot, provide protection for the robot from falling, achieve reliable assembly of the joint motor group, and provide product scalability, the utility model provides a multifunctional frame structure of the quadruped robot, which can be installed or disassembled according to needs.

[0005] The technical solution adopted by the present invention is: a multifunctional frame structure of a quadruped robot, the multifunctional frame is a detachable structure, installed on the robot torso, including a frame main structure, a frame handle, an outer expansion assembly surface of the frame, a joint motor double-end support shaft, and a frame ground contact part, the vertical length of the frame main structure is greater than the vertical thickness of the robot torso; the joint motor group is installed between the joint motor double-end support shaft and the robot torso, and the joint motor double-end support shaft is hinged to the joint motor group through bearings.

[0006] Furthermore, the multifunctional frame is installed on the front and rear sides of the robot trunk.

[0007] Furthermore, there are four multifunctional frames, and their installation positions correspond to the installation positions of the robot legs.

[0008] Furthermore, the frame main structure is connected to the robot torso by welding, bolts or gluing.

[0009] Furthermore, the main structure of the frame is a C-shaped structure, with both ends fixedly connected to the robot torso.

[0010] Furthermore, the frame handle is installed on the top of the frame main structure.

[0011] Furthermore, the outer extension assembly surface of the frame is installed on the vertical axis outside the main structure of the frame and is provided with a threaded hole or a bayonet structure.

[0012] Furthermore, the double-end support shafts of the joint motor are installed on the vertical axis of the main structure of the frame and are located at the same height as the outer expansion assembly surface of the frame.

[0013] Furthermore, the ground contact portion of the frame is installed at the bottom of the frame main structure, and the plane where the bottom of the ground contact portion of the frame is located is lower than the plane where the bottom of the robot torso is located.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] 1) Modular design, can be disassembled and assembled as needed;

[0016] 2) The multifunctional handle allows for easy transport, lifting and airdropping;

[0017] 3) The extended assembly surface can flexibly install specific products according to needs, improving the scalability of the robot;

[0018] 4) Realize double-end fixation of the joint motor group to improve the stress condition of the joint motor group;

[0019] 5) The special ground contact structure can reduce the impact on the robot when it falls or falls. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The overall picture of the quadruped robot equipped with a multifunctional frame.

[0021] Figure 2 This is the main body diagram of the multifunctional frame.

[0022] Figure 3 Diagram of the quadruped robot torso equipped with a multifunctional frame.

[0023] Figure 4 The quadruped robot equipped with a multifunctional frame is in a squatting state.

[0024] Figure markings: 1. robot trunk, 2. multifunctional frame, 3. robot legs, 1.1. trunk frame, 1.2. joint motor group, 2.1. frame main structure, 2.2. frame handle, 2.3. frame outer extension assembly surface, 2.4. joint motor double-end support shaft, 2.5. frame ground contact part. DETAILED DESCRIPTION

[0025] In order to facilitate the transportation of the quadruped robot, provide protection for the robot from falling, achieve reliable assembly of the joint motor group, and provide product scalability, this application proposes a multifunctional and modular framework.

[0026] Combine Figures 1 to 4The quadruped robot equipped with a multifunctional frame is composed of a robot trunk 1, several multifunctional frames 2, and robot legs 3; the multifunctional frames 2 can be installed or removed from the robot trunk 1 according to needs; the multifunctional frame 2 is composed of a frame main structure 2.1, a frame handle 2.2, a frame outer extension assembly surface 2.3, a joint motor double-end support shaft 2.4, and a frame ground contact part 2.5.

[0027] The multifunctional frame 2 is fixed to the robot trunk 1 by bolts (but not limited to bolts), specifically connected to the trunk frame 1.1 of the robot trunk 1; the frame main structure 2.1 in the multifunctional frame 2 is connected to other structures by welding, bolts or gluing (but not limited to these forms); the frame handle 2.2 can be used as a handle for manual transportation, and can also be used as a lifting point for hoisting, airdrop, etc.; the outer extension assembly surface 2.3 of the frame is provided with threaded holes or bayonet structures (but not limited to these forms), and specific products can be installed on the assembly surface according to user needs; the double-end support shaft 2.4 of the joint motor is hinged to the joint motor group 1.2 through bearings or other structures, such as Figure 3 As shown, a second support point is realized in addition to the mounting surface of the joint motor group 1.2 body, thereby achieving the effect of double-end fixed support of the joint motor group 1.2 without affecting the rotation and torque output of the motor itself; the frame contact part 2.5 is used as an overall support member when the robot lies down, such as Figure 4 shown.

[0028] When the quadruped robot needs to be transported or hoisted, it can be achieved through the frame handle 2.2, and a targeted hoisting and fixing structure can be designed according to different needs.

[0029] When it is necessary to install specific external components on the quadruped robot, they can be installed on the extended assembly surface 2.3 outside the frame according to the needs, and targeted or universal assembly structures can be designed according to the differences in needs.

[0030] When the robot needs to lie down, the frame contact part 2.5 is used as an integral support member, such as Figure 4 As shown; in addition, the bottom of the frame contacting part 2.5 is lower than the robot torso 1, and the top of the multifunctional frame 2 is higher than the robot torso 1, which can effectively help the robot torso 1 and the internal structure to relieve the impact when falling or falling.

[0031] The multifunctional frame 2 can realize one or more functions of a handle, a support, an expansion piece installation, and a joint motor assembly installation.

[0032] Preferably, there are four multifunctional frames 2 , which are respectively arranged at the four corners of the robot trunk 1 , or the four multifunctional frames 2 are connected and merged into one frame.

[0033] Preferably, one or more of the frame handle 2.2, the frame outer extension assembly surface 2.3, the joint motor double-end support shaft 2.4, and the frame ground contact part 2.5 can be integrated with the frame main structure 2.1.

[0034] When several multifunctional frames 2 are installed at the same time, the parts do not need to be exactly the same. They can be matched according to needs to realize one or more functions of handle, support, expansion piece installation, and joint motor group installation.

Claims

1. A multifunctional quadruped robot, characterized in that: The multifunctional frame (2) is a detachable structure, mounted on the robot trunk (1), and comprises a frame main structure (2.1), a frame handle (2.2), an outer frame expansion assembly surface (2.3), a joint motor double-end support shaft (2.4), and a frame ground contact portion (2.5); the vertical length of the frame main structure (2.1) is greater than the vertical thickness of the robot trunk (1); the joint motor group (1.2) is mounted between the joint motor double-end support shaft (2.4) and the robot trunk (1), and the joint motor double-end support shaft (2.4) is hinged to the joint motor group (1.2) via a bearing.

2. The multifunctional framework of the quadruped robot according to claim 1, characterized in that: The multifunctional frame (2) is installed on the front and rear sides of the robot trunk (1).

3. The multifunctional framework of the quadruped robot according to claim 2, characterized in that: There are four multifunctional frames (2), and their installation positions correspond to the installation positions of the robot legs.

4. The multifunctional framework of the quadruped robot according to claim 1, characterized in that: The frame main structure (2.1) is connected to the robot trunk (1) by welding, bolts or gluing.

5. The multifunctional framework of the quadruped robot according to claim 4, characterized in that: The frame main structure (2.1) is a C-shaped structure, with both ends fixedly connected to the robot trunk (1).

6. The multifunctional framework of the quadruped robot according to claim 1, characterized in that: The frame handle (2.2) is mounted on the top of the frame main structure (2.1).

7. The multifunctional framework of the quadruped robot according to claim 1, characterized in that: The outer extension assembly surface (2.3) of the frame is mounted on a vertical axis outside the frame main structure (2.1) and is provided with a threaded hole or a bayonet structure.

8. The multifunctional outline structure of the quadruped robot according to claim 1, characterized in that: The joint motor double-end support shaft (2.4) is installed on the vertical axis of the frame main structure (2.1).

9. The multifunctional framework of the quadruped robot according to claim 1, characterized in that: The frame ground contact portion (2.5) is installed at the bottom of the frame main structure (2.1), and the plane where the bottom of the frame ground contact portion (2.5) is located is lower than the plane where the bottom of the robot trunk (1) is located.

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