Quadruped robot carrying two arms

Abstract

The utility model relates to the technical field of robots, and discloses a quadruped robot carrying two arms, in the scheme, a mechanical arm is provided with a working position and a standby position, a machine body is provided with a bearing part used for bearing the mechanical arm in the standby position, when the robot rapidly moves, the mechanical arm is in the standby position, and the mechanical arm is in the standby position. The mechanical arm in the standby position is supported through the supporting part, so that the situation that the mechanical arm swings to a larger extent due to shaking of a machine body in the rapid moving process of the robot is avoided as much as possible, the balance and stability of the robot in the rapid moving process are improved, and the maneuverability of the robot under the field complex road condition is enhanced; the working efficiency of the robot is improved; according to the scheme, the robot is provided with the double mechanical arms, and the double mechanical arms can provide more complex operation capacity; meanwhile, the four mechanical legs are arranged, the four-foot structure provides dynamic balance capacity, and stability can be kept even on the uneven ground.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, in particular to a four -legged robot of carrying double arms. BACKGROUND

[0002] With the rapid popularization of robots, robots are widely used in various trades and professions; the current robot mainly includes fuselage, walking unit, mechanical arm unit, through the mechanical arm unit can execute multiple tasks, such as opening door, grabbing, scribbling etc., improve the multifunctionality of robot;

[0003] Robot in the process of fast movement, especially in the uneven area, fuselage produces the shaking of greater degree, because the mechanical arm usually has a certain length, weight and the mechanical arm usually is in the state of suspension, when the fuselage produces a certain degree of shaking, will lead to the swing of greater amplitude of mechanical arm, is not conducive to the stability of robot when fast movement. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing a four -legged robot of carrying double arms for solving the problem of the balance and stability of robot when moving in prior art because the swing of greater amplitude of mechanical arm when fast movement.

[0005] In order to realize the above-mentioned purpose, the embodiment of the application provides a four -legged robot of carrying double arms, comprising:

[0006] Fuselage, the fuselage has the first direction along its length direction extension and the second direction along its width direction extension;

[0007] Walking part, connected to the fuselage, the walking part is used to drive the fuselage to walk;

[0008] Mechanical arm, connected to the fuselage, the mechanical arm can rotate along the first direction, the trajectory of the mechanical arm along the first direction rotation has standby position and working position;

[0009] Supporting part, located on the fuselage, when the mechanical arm is in standby position, the supporting part supports the mechanical arm.

[0010] In some embodiments of the application, the robot has a head end and a tail end along the first direction, the mechanical arm is connected to the head end, and the supporting part is arranged at the tail end.

[0011] In some embodiments of the application, the mechanical arm includes an upper arm, a forearm, a first driving part connected to the upper arm, and a second driving part connected between the upper arm and the forearm.

[0012] The first driving part is installed on the head end and is used to drive the upper arm to rotate in the first direction; and the second driving part is used to drive the forearm to bend and stretch relative to the upper arm.

[0013] In some embodiments of the present application, the standby position includes a first standby position and a second standby position, the first driving part drives the upper arm to rotate in the first direction, and the upper arm rotates to the first standby position;

[0014] The second driving part drives the forearm to bend and stretch relative to the upper arm, and drives the forearm to be in the second standby position, so that the support part supports the forearm.

[0015] In some embodiments of the present application, the support part includes a frame body installed on the body, and the frame body is arranged on a rotation track of the mechanical arm in the first direction;

[0016] The frame body is provided with a support slot in the first direction, and the upper end of the frame body has an opening communicating with the support slot and the outside, when the upper arm is in the first standby position, the second driving part drives the forearm to bend and stretch relative to the upper arm, so that the forearm enters the support slot from the opening, and the forearm is in the second standby position.

[0017] In some embodiments of the present application, the robot further includes a support connected to the head end, and the first driving part is installed on the support.

[0018] In some embodiments of the present application, the mechanical arm has two, and the two mechanical arms are arranged on the support in the second direction.

[0019] The number of support parts matches the number of mechanical arms.

[0020] In some embodiments of the present application, the walking part includes a left front mechanical leg, a right front mechanical leg, a left rear mechanical leg, and a right rear mechanical leg.

[0021] In some embodiments of the present application, the robot further includes a laser radar arranged on the head end.

[0022] The laser radar, the support and the like are arranged in sequence from the head end to the tail end.

[0023] In some embodiments of the present application, the robot further includes a cloud camera arranged on the head end, and the cloud camera is arranged on the side of the laser radar away from the support.

[0024] The four-legged robot carrying double arms has the beneficial effects that: the mechanical arm in the scheme has a working position and a standby position, and a supporting part for supporting the mechanical arm in the standby position is arranged on the machine body, so that the mechanical arm is in the standby position during the rapid movement of the robot, and the mechanical arm in the standby position is supported by the supporting part, thereby avoiding the shaking of the machine body during the rapid movement of the robot as much as possible, causing the mechanical arm to swing more greatly, improving the balance and stability of the robot during the rapid movement, enhancing the mobility of the robot in complex road conditions in the wild, and improving the working efficiency of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a whole structure schematic view of the utility model;

[0026] Figure 2 It is a machine body, walking part connection relation schematic view of the utility model;

[0027] Figure 3 It is a mechanical arm structure schematic view of the utility model;

[0028] Figure 4 It is a supporting part structure schematic view of the utility model.

[0029] In the drawing, 1, machine body;11, support;

[0030] 2, walking part;21, left front mechanical leg;211, left front joint module;22, right front mechanical leg;221, right front joint module;23, left rear mechanical leg;231, left rear joint module;24, right rear mechanical leg;241, right rear joint module;

[0031] 3, mechanical arm;31, upper arm;311, side spread driving joint;312, first circumferential driving joint;32, forearm;321, second circumferential driving joint;322, yaw driving joint;33, first driving part;34, second driving part;

[0032] 4, supporting part;41, frame body;42, supporting slot;43, opening;5, laser radar;

[0033] 6, cloud platform camera;X, first direction;Y, second direction. DETAILED DESCRIPTION

[0034] The specific embodiments of the utility model are further described in detail in combination with the drawings and embodiments. The following embodiments are used to illustrate the utility model, but not to stop the range of the utility model.

[0035] In the description of the utility model, it is understood that the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a stop to the utility model. It should be understood that the utility model uses the terms "first", "second" and the like to describe various information, but these information should not be limited to these terms, and these terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the utility model, "first" information can also be referred to as "second" information, and similarly, "second" information can also be referred to as "first" information.

[0036] As shown in Figures 1-4 The utility model discloses a four -legged robot of carrying double arms, including fuselage 1, walking part 2, mechanical arm 3, support part 4, fuselage 1 has the first direction X along its length direction extension and the second direction Y along its width direction extension, walking part 2 is connected to fuselage 1, and walking part 2 is used to drive fuselage 1 to walk and executes corresponding task, mechanical arm 3 is connected to the upper end of fuselage 1, and mechanical arm 3 can rotate along the first direction X, and the track of mechanical arm 3 along the first direction X has standby position and working position, when the robot is in fast walking and mechanical arm 3 does not grab the article, along the first direction X, mechanical arm 3 is rotated to be in standby position, and the mechanical arm 3 in standby position is supported, supported (avoid the mechanical arm 3 in the state of suspension, so that the mechanical arm 3 has a reliable support in the process of robot walking, ensures that the robot keeps good balance, stability when fast walking), thereby avoiding the robot when fast walking, due to the sway of fuselage 1, and the greater degree of swing, sway of mechanical arm 3 is caused, on the one hand, the balance and stability of the robot when fast maneuvering are influenced (easily lead to the robot gravity instability), on the other hand, the frequent swing of mechanical arm 3 also can lead to the internal structure component of it to produce loose, easily produce mechanical failure.

[0037] In some embodiments of the application, as Figure 1As shown, the robot has a head end and a tail end along the first direction X, the mechanical arm 3 is connected to the head end for the convenience of the robot to perform tasks, so that the robot can more easily grasp objects (such as opening doors, graffiti, etc.) when performing tasks; the support part 4 is arranged at the tail end, when not performing the grasping task, the mechanical arm 3 is rotated from front to back along the first direction X, so that the mechanical arm 3 is rotated to the back position of the body 1 (in standby position), and the mechanical arm 3 is placed on the support part 4, and the support part 4 reliably supports and supports the mechanical arm 3, avoiding the mechanical arm 3 in a suspended state during the robot walking, causing the mechanical arm 3 to shake with the body 1, resulting in a large amplitude swing, affecting the balance and stability of the robot when walking fast; the mechanical arm 3 in standby position will make the center of gravity of the robot as a whole deviate from the geometric center of the robot, so that the robot can maintain good balance when walking fast.

[0038] As shown in some embodiments of the present application, Figure 3 As shown, the mechanical arm 3 includes an upper arm 31, a forearm 32, a first driving part 33 connected to the upper arm 31, and a second driving part 34 connected between the upper arm 31 and the forearm 32; the first driving part 33 is installed at the head end, and the first driving part 33 is used to drive the upper arm 31 to rotate along the first direction X; the second driving part 34 is used to drive the forearm 32 to make flexion and extension action relative to the upper arm 31.

[0039] The upper arm 31 includes a side spread driving joint 311 and a first circumferential driving joint 312; the side spread driving joint 311 is connected with the first driving part 33, and the first driving part 33 drives the side spread driving joint 311 to rotate along the first direction X when working, and the side spread driving joint 311 is used to drive the upper arm 31 to spread or retract along the second direction Y; the first circumferential driving joint 312 is connected with the side spread driving joint 311, and the side spread driving joint 311 synchronously drives the first circumferential driving joint 312 to spread or retract along the second direction Y when working, and the first circumferential driving joint 312 is used to drive the upper arm 31 to rotate circumferentially relative to the side spread driving joint 311.

[0040] The forearm 32 comprises a second circumferential driving joint 321, a yaw driving joint 322 and a hand; wherein the second circumferential driving joint 321 is connected with the second driving part 34, and the second driving part 34 drives the second circumferential joint to make flexion and extension relative to the upper arm 31 when working, and the second circumferential driving joint 321 is used to drive the hand to make circumferential rotation relative to the forearm 32; the yaw driving joint 322 is connected with the second circumferential driving joint 321, and the yaw driving joint 322 is used to drive the hand to make left and right yaw, i.e. to make left and right swing. The first driving part 33, the second driving part 34, the lateral spread driving joint 311, the first circumferential driving joint 312, the second circumferential driving joint 321 and the yaw driving joint 322 in the scheme are all driven by motors (the structures for driving the mechanical arm 3 to move in the scheme are all prior art, and the structure and principle thereof will not be described in detail here).

[0041] In some embodiments of the application, the standby position comprises a first standby position and a second standby position, the first driving part 33 drives the upper arm 31 to rotate in the first direction X, so that the upper arm 31 is rotated to the first standby position; the second driving part 34 drives the forearm 32 to flex and extend relative to the upper arm 31, so that the forearm 32 is in the second standby position, and at this time the support part 4 supports and supports the forearm 32 in the second standby position; when the mechanical arm 3 is in the standby position, the upper arm 31 and the forearm 32 are in different positions, i.e. the upper arm 31 is in the first standby position and the forearm 32 is in the second standby position. When the mechanical arm 3 is rotated to the standby position, the first driving part 33 drives the upper arm 31 to rotate in the first direction X first, so that the upper arm 31 is in the first standby position, and then the second driving part 34 adjusts the position of the forearm 32 relative to the upper arm 31, so that the forearm 32 is adjusted to the second standby position. When the forearm 32 is in the second standby position, the support part 4 supports the forearm 32.

[0042] In some embodiments of the application, as shown in Figure 4 The support part 4 comprises a frame 41 mounted on the rear end of the fuselage 1, and the frame 41 is arranged on the rotation track of the mechanical arm 3 in the first direction X; the frame 41 is provided with a support groove 42 penetrating in the first direction X, and the frame 41 has an opening 43 communicating with the support groove 42 and the outside at the upper end, so that when the upper arm 31 is in the first standby position and the forearm 32 is adjusted to the second standby position, the forearm 32 can enter the support groove 42 through the opening 43 arranged at the upper end of the support groove 42, so that the forearm 32 is in the second standby position and the frame 41 supports and supports the forearm 32.

[0043] In some embodiments of the application, the robot further comprises a support 11 connected to the head end, and the first driving part 33 is mounted on the support 11; as Figure 1As shown, the support 11 is arranged so that the mounting height of the mechanical arm 3 is raised, avoiding the mechanical arm 3 being too close to the machine body 1, so that the mechanical arm 3 collides with the machine body 1 when performing a grabbing task.

[0044] In some embodiments of the present application, as shown in Figure 1 As shown, the mechanical arm 3 has two, and the two mechanical arms 3 are arranged on the support 11 in the second direction Y; the number of supporting parts 4 is matched with the number of mechanical arms 3, and each supporting part 4 is used for supporting a mechanical arm 3; in this scheme, two mechanical arms 3 are provided and work cooperatively, which can improve the working efficiency of the robot; at the same time, double mechanical arms 3 can provide more complex operation ability, such as performing multiple tasks at the same time or operating objects from different directions in space, and the double mechanical arm 3 system provides additional stability and redundancy, if one mechanical arm 3 has a problem, the other can take over the task or provide support; the single mechanical arm 3 system lacks such redundancy, and once the mechanical arm 3 has a problem, the function of the whole robot will be affected.

[0045] In some embodiments of the present application, as shown in Figure 2 As shown, the walking part 2 includes a left front mechanical leg 21, a right front mechanical leg 22, a left rear mechanical leg 23, and a right rear mechanical leg 24, which are arranged at the four corner positions of the machine body 1 respectively, and the arrangement of the four mechanical legs enables the robot to walk stably on complex and uneven road surfaces, and enhances the working ability in outdoor, ruins and other environments.

[0046] The left front mechanical leg 21 includes a thigh, a calf, and a left front joint module 211 (the left front joint module 211 is installed on the machine body 1), the left front joint module 211 is connected with the thigh and the calf respectively, and is used for controlling the movement of the left front mechanical leg 21, that is, controlling the cooperative movement of the thigh and the calf (a connecting rod mechanism is arranged in the calf, and the left front joint module 211 drives the calf to move through the connecting rod mechanism; in this scheme, the components for driving the movement of the mechanical leg can adopt any form of driving structure in the prior art); the structures of the right front mechanical leg 22, the left rear mechanical leg 23, and the right rear mechanical leg 24 are the same as that of the left front mechanical leg 21, and will not be described in detail here.

[0047] In some embodiments of the present application, as shown in Figure 1 , Figure 2 As shown, the robot further includes a laser radar 5 arranged at the head end; the laser radar 5 and the support 11 are arranged in sequence from the head end to the tail end, the laser radar 5 can generate high-resolution three-dimensional point cloud data, help the robot understand the state of the surrounding environment, and the laser radar 5 can quickly process data, which is suitable for real-time navigation and obstacle avoidance in dynamic environment.

[0048] In some embodiments of the present application, as shown in Figure 1 ,Figure 2 As shown, the robot further comprises a gimbal camera 6 arranged at the head, the gimbal camera 6 is arranged on the side of the laser radar 5 away from the support 11, the gimbal camera 6 can realize omnidirectional rotation, adapt to different shooting requirements, can flexibly adjust the shooting angle in a complex scene, the laser radar 5 provides accurate environment data, and the gimbal camera 6 can capture and record the data in real time, thereby enhancing the navigation capability of the robot.

[0049] A depth camera is further arranged at the head and the tail, which can be used for object recognition, gesture tracking, three-dimensional modeling, environment perception and various visual applications, and a battery is arranged in the body 1 for providing electric energy to various electric components on the robot.

[0050] In summary, the embodiment of the utility model provides a kind of four-legged robot with double arms, the mechanical arm 3 in the scheme has working position and standby position, and it is provided with supporting portion 4 for supporting the mechanical arm 3 in standby position on body 1, when the robot moves quickly, so that the mechanical arm 3 is in standby position, and the mechanical arm 3 in standby position is supported by supporting portion 4 (avoid the mechanical arm 3 in the state of suspension), to avoid the swing of mechanical arm 3 caused by the shaking of body 1 during the quick movement of robot as far as possible, improve the balance, stability of robot when moving quickly, enhance the mobility of robot in complex road conditions in the field, improve the work efficiency of robot;The robot in the scheme has double mechanical arms 3 simultaneously, which can provide more complex operation capability, such as simultaneously performing multiple tasks or operating objects from different directions in space, and the double mechanical arm 3 system provides additional stability and redundancy.Four-legged structure provides dynamic balance capability, and can maintain stable walking even on uneven ground.

[0051] The above is only preferred embodiment of the utility model, it should be pointed out that, for ordinary skilled person in the art, without departing from the technical principle of the utility model, can make several improvements and substitutions under the premise, these improvements and substitutions also should be regarded as the protection range of the utility model.

Claims

1. A quadruped robot equipped with dual arms, characterized by, The robot comprises: a body (1) having a first direction (X) extending along the length direction thereof and a second direction (Y) extending along the width direction thereof; a walking part (2) connected to the body (1) and used for driving the body (1) to walk; a mechanical arm (3) connected to the body (1) and rotatable along the first direction (X), the mechanical arm (3) having a standby position and a working position along the rotation track of the first direction (X); a supporting part (4) arranged on the body (1) and used for supporting the mechanical arm (3) when the mechanical arm (3) is in the standby position.

2. The biped robot with dual arms according to claim 1, characterized by, The robot has a head end and a tail end along the first direction (X), the mechanical arm (3) is connected to the head end, and the supporting part (4) is arranged at the tail end.

3. The biped robot with dual arms according to claim 2, wherein The mechanical arm (3) comprises an upper arm (31), a forearm (32), a first driving part (33) connected to the upper arm (31), and a second driving part (34) connected between the upper arm (31) and the forearm (32). The first driving part (33) is mounted at the head end and used for driving the upper arm (31) to rotate along the first direction (X), and the second driving part (34) is used for driving the forearm (32) to bend and stretch relative to the upper arm (31).

4. The biped robot with dual arms according to claim 3, characterized by, The standby position comprises a first standby position and a second standby position, the first driving part (33) drives the upper arm (31) to rotate along the first direction (X) so that the upper arm (31) rotates to the first standby position; the second driving part (34) drives the forearm (32) to bend and stretch relative to the upper arm (31) so that the forearm (32) is in the second standby position and the supporting part (4) supports the forearm (32).

5. The biped robot with dual arms according to claim 4, wherein The supporting part (4) comprises a frame (41) mounted on the body (1), the frame (41) is arranged on the rotation track of the mechanical arm (3) along the first direction (X); the frame (41) is provided with a supporting groove (42) penetrating along the first direction (X), an upper end of the frame (41) has an opening (43) communicating with the outside and the supporting groove (42), when the upper arm (31) is in the first standby position, the second driving part (34) drives the forearm (32) to bend and stretch relative to the upper arm (31) so that the forearm (32) enters the supporting groove (42) from the opening (43), and the forearm (32) is in the second standby position.

6. The biped robot with dual arms according to claim 3, wherein The robot further comprises a support (11) connected to the head end, and the first driving part (33) is mounted on the support (11).

7. The biped robot with dual arms according to claim 6, wherein The mechanical arm (3) has two, and the two mechanical arms (3) are arranged on the support (11) along the second direction (Y); the number of the supporting parts (4) matches the number of the mechanical arms (3).

8. The biped robot with dual arms according to claim 1, wherein, The walking part (2) comprises a left front mechanical leg (21), a right front mechanical leg (22), a left rear mechanical leg (23), and a right rear mechanical leg (24).

9. The biped robot with dual arms according to claim 6, wherein, The robot further comprises a laser radar (5) arranged at the head end; The laser radar (5), the support (11) are arranged in sequence from the head end to the tail end.

10. The biped robot with dual arms according to claim 9, wherein, The robot further comprises a gimbal camera (6) arranged at the head end, and the gimbal camera (6) is arranged on the side of the laser radar (5) away from the support (11).

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