Quadruped robot
By combining Mecanum wheels and a quadruped structure, and employing bionic articulated arms and high-torque motors, the problem of limited operation of existing quadruped robots on complex terrain has been solved, achieving flexible and stable multi-directional movement and broadening application scenarios.
Patent Information
- Application Number
- CN202423291556.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2025-11-25
- Estimated Expiration
- 2034-12-31
AI Technical Summary
Existing quadruped robots are limited in their operation on complex terrain and uneven ground, making them inconvenient to operate and limiting their application scenarios.
Combining Mecanum wheel components and a quadruped structure, it employs bionic articulated arms and a high-torque motor to achieve multi-directional movement and stable walking, while coordinating motion through a modular control system.
It enables flexible movement and stable walking on complex terrain, broadening application scenarios and enhancing the robot's applicability and practical value.
Smart Images
Figure CN223590871U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to robot technical field, concretely is a four -legged robot. BACKGROUND
[0002] With the wide application of artificial intelligence and robot technology in civil and commercial fields, four -legged robot application occasions are more and more, such as fire scene, but the existing four -legged robot has the following shortcomings in actual use;
[0003] 1, the existing four -legged robot is mostly car body operation, and the operation mode of advancing or retreating is very limited, and the operation is inconvenient;
[0004] 2, the use place is very limited, and in some complex occasions such as uneven ground or mountain, work cannot be carried out;
[0005] To solve the above problems, a four -legged robot is provided. UTILITY MODEL CONTENT
[0006] The utility model discloses a four -legged robot, and the four -legged robot combines the high passability of the mecanum wheel assembly and the motion flexibility of the four -legged structure, so that the device can easily cope with various complex terrains, has high flexibility and wide application range.
[0007] To achieve the above object, the utility model provides the following technical scheme: a four -legged robot, comprising: a frame body, and four -legged joint structures distributed on the periphery of the frame body;The four -legged joint structure includes four groups of bionic joint arms for bionic four -legged motion on high and low ground;And a mecanum wheel assembly is arranged at the bottom of each group of bionic joint arms for multidirectional movement on flat ground;Each group of bionic joint arms includes a mounting frame, and a first steering engine mounted on the mounting frame, the execution end of the first steering engine is provided with a first mounting frame, the first mounting frame is in the shape of a Chinese character, and a second steering engine is arranged on the first mounting frame, and a second mounting frame is arranged at the output end of the second steering engine for mounting the mecanum wheel assembly.
[0008] Preferably, the frame body includes a machine body, the machine body is in square structure, and a rack is detachably mounted with the machine body and placed on both sides of the machine body, and the mounting frames on which the two groups of bionic joint arms are located are fixed on the racks on the same side.
[0009] Preferably, each group of mecanum wheel assemblies includes a DC motor fixed on one side of the second mounting frame, and the output shaft of the DC motor extends to the inside of the second mounting frame and is fixed with a mecanum wheel body.
[0010] Preferably, the DC motor is a high-torque motor, and the model is JGA25-370-1260.
[0011] Preferably, both the first servo and the second servo are PWM servos.
[0012] Preferably, it also includes an antenna disposed on the body and a circuit board disposed inside the body with a "ANT" connection point, the antenna being connected to the "ANT" connection point.
[0013] Preferably, the machine body is provided with a clamping arm in the forward direction.
[0014] Compared with the prior art, the beneficial effects of this utility model are as follows:
[0015] This invention combines the high passability of the Mecanum wheel assembly with the mobility of the quadruped structure, enabling the device to easily cope with various complex terrains. At the same time, the quadruped joint structure not only inherits the stability and off-road performance of the Mecanum wheel, but also gives the robot the ability to walk on four legs, greatly expanding its application scenarios and practical value. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of the structure of this utility model;
[0017] Figure 2 for Figure 1 A schematic diagram of the side view structure;
[0018] Figure 3 for Figure 1 Front view structural diagram;
[0019] Figure 4 for Figure 1 A top-down schematic diagram of the overall structure;
[0020] Figure 5 This is an enlarged structural schematic diagram of a bionic joint arm;
[0021] Figure 6 for Figure 5 Another perspective of the three-dimensional structure diagram;
[0022] Figure 7 for Figure 5 Front view structural diagram;
[0023] Figure 8 This is a schematic diagram of the clamping arm.
[0024] In the diagram: 1. Body; 2. Frame; 211. Mounting bracket; 3. First servo; 4. First mounting frame; 5. Second servo; 6. Second mounting frame; 7. Mecanum wheel body; 8. DC motor; 9. Clamping arm; 10. Antenna. Detailed Implementation
[0025] In the description of the utility model, it is understood that the directions or positional relations indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are the directions or positional relations shown based on the drawings, and are only for the convenience of describing the utility model and simplifying the description, and thus cannot be understood as limiting the utility model in that the indicated devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as limiting the utility model. The embodiments of the utility model will be described in detail below with reference to the drawings.
[0026] Please refer to Figures 1 to 8 The utility model preferably provides technical schemes: a quadruped robot, comprising: a frame body, and quadruped joint structures distributed on the periphery of the frame body; the quadruped joint structures comprise four groups of bionic joint arms for bionic quadruped movement on high and low ground; and Mecanum wheel assemblies arranged at the bottom of each group of bionic joint arms for multidirectional movement on flat ground; each group of bionic joint arms comprises a mounting frame 211, and a first steering engine 3 mounted on the mounting frame 211, the execution end of the first steering engine 3 being provided with a first mounting frame 4, the first mounting frame 4 being in the shape of a Chinese character, further comprising a second steering engine 5 arranged on the first mounting frame 4, and a second mounting frame 6 arranged at the output end of the second steering engine 5 for mounting the Mecanum wheel assembly.
[0027] In the present application, the quadruped joint structures arranged on the periphery of the frame body can realize switching between bionic quadruped movement and vehicle movement, thereby meeting the running requirements on different road surfaces, and the specific switching process is shown in combination with Figure 1 、 3 , 4, 6, it is known that the quadruped joint structures are composed of four groups of bionic joint arms and Mecanum wheel assemblies at the bottom of each group of bionic joint arms, the first steering engine 3 and the second steering engine 5 of the bionic joint arms can respectively realize adjustment of the offset angles of the first mounting frame 4 and the second mounting frame 6, simulate the walking characteristics of quadrupeds, and meet the running occasions such as high and low ground, stairs, and mountains, in this process, the Mecanum wheel assemblies are in a locked state to ensure the stability of quadruped walking, and the Mecanum wheel assemblies arranged on each second mounting frame 6 drive the Mecanum wheel assemblies to run when the bionic joint arms are in a locked state, so that the device can realize forward movement, backward movement, and left and right movement on flat ground.
[0028] The control system arranged in the present application adopts modular design and mainly comprises a main control module, a sensor module, and an actuator module; the main control module uses an STM32 microcontroller and is responsible for the control and coordination of the entire robot; the sensor module comprises a camera for environmental perception and attitude control; and the actuator module controls the movement of the first steering engine 3, the second steering engine 5, the Mecanum wheel assembly, and the clamping arm of the bionic joint arm.
[0029] Further, the frame body includes a machine body 1 in a square structure, and a rack 2 detachably mounted with the machine body 1 and arranged on both sides of the machine body 1, and the mounting rack 211 where the same-side bionic joint arm is located is fixed on the rack 2 on the same side.
[0030] In combination Figure 1 As shown, the machine body 1 and the rack 2 are detachably mounted, so as to dismount the same-side bionic joint arm.
[0031] Further, each group of Mecanum wheel assemblies includes a DC motor 8 fixed on one side of the second mounting frame 6, and the output shaft of the DC motor 8 extends to the inside of the second mounting frame 6 and is fixed with a Mecanum wheel body 7.
[0032] Here, the Mecanum wheel body 7 and the DC motor 8 are all existing mature technologies, in combination Figure 3 , 5 , 6, 7, and the Mecanum wheel body 7 in the present application has an all-direction displacement mode based on the principle of a central wheel with many wheel shafts located around the wheel. These angular peripheral wheel shafts convert part of the wheel steering force into a wheel normal force, and rely on the direction and speed of each wheel to finally synthesize these forces in any required direction to generate a resultant force vector, thereby ensuring that the platform can freely move in the direction of the resultant force vector without changing the direction of the wheel itself. The wheel can slide laterally due to the oblique distribution of many small rollers on its rim. The generatrix of the small rollers is very special, and when the wheel rotates around the fixed hub shaft, the envelope of each small roller is a cylindrical surface, so the wheel can continuously roll forward. The Mecanum wheel body 7 is compact in structure and flexible in movement, and is a very successful omnidirectional wheel. The four new wheels in the present application are combined to more flexibly realize the omnidirectional movement function.
[0033] Further, the DC motor 8 is a high-torque motor with a model number of JGA25-370-1260.
[0034] In combination Figure 1 , 3 , 4, 5, 7, the DC motor 8 used in the present application is a high-torque motor with a stop self-locking function. The four high-torque motors have excellent torque output and stable power transmission characteristics, and can provide strong traction and excellent off-road capability for the entire device. In complex terrain conditions, these high-torque motors can ensure that the device advances stably and efficiently, whether it is facing rugged mountains or slippery muddy areas.
[0035] Further, the first steering engine 3 and the second steering engine 5 are both PWM steering engines with a model number of MG996R.
[0036] In combination Figure 1 ,6 As shown, the first steering engine 3 and the second steering engine 5 are both PWM steering engines, enabling the device to move like a quadruped, and the first steering engine 3 and the second steering engine 5 can accurately control the movement angle and speed of the first mounting frame 4, the mounting frame 211 and the first mounting frame 4 and the second mounting frame 6, so as to realize various complex movement modes of the quadruped, and meanwhile, through fine programming and debugging, the device can simulate the movement state of the joints of the quadruped when walking, running, jumping or even climbing, so that the device exhibits high flexibility and stability in movement, and the programming and debugging can be realized through existing equipment.
[0037] Further, the antenna 10 is arranged on the body 1, and a circuit board marked with an "ANT" connection point is arranged inside the body 1, and the antenna 10 is connected with the "ANT" connection point.
[0038] In combination Figure 1 As shown, in the device, the circuit board arranged in the body 1 has a connection point marked as "ANT", which is a receiving port of the antenna 10, when the antenna 10 receives a signal and connects with the capacitive inductance and other elements on the circuit board through the port, the received signal can be transmitted to the decoding circuit;
[0039] Signal receiving: through remote control by a radio remote controller, the received signal types include infrared signals and radio signals, the infrared signals are transmitted through the air to realize remote control operation, and the radio signals are transmitted through a specific frequency.
[0040] Further, the forward direction of the body 1 is provided with the clamping arm 9 for carrying and removing articles, in combination Figure 1 、 8 As shown.
[0041] In the utility model, unless another definite provision and limitation, the terms "mounting", "connection", "connecting", "fixing" and other terms should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or can be integrated, and the detachable mounting mode has many kinds, for example, can be matched through plug-in and buckle, and for example, through the bolt connection mode.
[0042] The above embodiment is only used for further illustrating the utility model, and cannot be understood as the limitation of the protection scope of the utility model, and the non-essential improvement and adjustment of the utility model by the technical engineers in the field according to the content of the above utility model all fall within the protection scope of the utility model.
Claims
1. A quadruped robot, characterized by, Include: The frame body, and the four-legged joint structure distributed on the side of the frame body; The four-legged joint structure includes four groups of bionic joint arms for bionic four-legged movement on high and low ground; And a Mecanum wheel assembly arranged at the bottom of each group of bionic joint arms for multidirectional movement on flat ground; Each group of bionic joint arms includes a mounting bracket (211), and a first steering engine (3) mounted on the mounting bracket (211), the output end of the first steering engine (3) is provided with a first mounting frame (4), and the first mounting frame (4) is in a shape of a Chinese character. It also includes a second steering engine (5) arranged on the first mounting frame (4), and a second mounting frame (6) arranged at the output end of the second steering engine (5) for mounting the Mecanum wheel assembly.
2. The four-legged robot of claim 1, wherein: The frame body includes a machine body (1) in a square structure, and a rack (2) detachably mounted on the machine body (1) and placed on both sides of the machine body (1), and the mounting bracket (211) on which the two groups of bionic joint arms are arranged is fixed on the rack (2) on the same side.
3. The four-legged robot of claim 1, wherein: Each group of Mecanum wheel assemblies includes a DC motor (8) fixed on one side of the second mounting frame (6), and the output shaft of the DC motor (8) extends into the second mounting frame (6) and is fixed with a Mecanum wheel body (7).
4. The four-legged robot of claim 3, wherein: The DC motor (8) is a high-torque motor, model JGA25-370-1260.
5. The four-legged robot of claim 1, wherein: The first steering engine (3) and the second steering engine (5) are both PWM steering engines.
6. The four-legged robot of claim 2, further comprising: An antenna (10) arranged on the machine body (1), and a circuit board marked with an "ANT" connection point inside the machine body (1), the antenna (10) being connected to the "ANT" connection point.
7. The four-legged robot of claim 2, wherein: The machine body (1) is provided with a clamping arm (9) in the forward direction.