Modularized bionic quadruped robot

Abstract

The utility model relates to the technical field of robots, and discloses a modularized bionic quadruped robot which comprises a body part, four shoulder joints are arranged on the side face of the body part, knee joints are rotationally connected to the ends, away from the body part, of the shoulder joints, walking supporting feet are arranged at the ends, away from the shoulder joints, of the knee joints, and inserting columns are fixedly installed on one sides of the walking supporting feet. Inserting grooves matched with the inserting columns are formed in the ends, close to the walking supporting legs, of the knee joints, first locking threaded rods penetrate through the opposite side faces of the inserting columns, and first adjusting grooves which penetrate through the side faces of the knee joints and are matched with the first locking threaded rods are formed in the opposite side walls in the inserting grooves. According to the walking support leg, the inserting column is inserted into the inserting groove, the first locking threaded rod penetrates through the knee joint and the inserting column and locks the first locking nut, the walking support leg can be conveniently installed and replaced, the replacement cost of the walking support leg is reduced, and the distance between the walking support leg and the knee joint can be adjusted according to the actual situation; and the application range of the robot is widened.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely is a kind of modularization's bionic quadruped robot. BACKGROUND

[0002] With the development of artificial intelligence technology, the application field of robot gradually expands, and people's functional demand for robot is also higher and higher, mobile robot can be divided into wheeled robot, tracked robot and foot robot, and foot robot is divided into quadruped robot and biped robot.

[0003] Through search, like patent publication No.CN214776233U's patent, discloses a kind of modularization's bionic quadruped robot, including body, and through second connecting arm respectively with the bionic mechanical leg of four corners of body connection, further include monitoring system, operation control system and voice system;Wherein, the bionic mechanical leg is composed of shoulder joint, knee joint two active degrees of freedom of pitch and one passive degree of freedom of passive extension of foot, the pitch movement of shoulder joint and knee joint, make robot realize front and back movement, cooperate with the transformation of gravity center, can realize the steering of robot, translation, by being carried on bionic quadruped robot camera, real-time monitoring old person movement, and being carried on bionic quadruped robot intelligent learning system, voice control module, so that robot imitates pet dog, so that old person can interact between robot, can increase the entertainment time of old person, carry on loudspeaker on bionic quadruped robot, can achieve real-time voice, system automatically reminds, realizes reminding effect.

[0004] The above-mentioned patent has obvious beneficial effects, but still has the following deficiencies in practical operation:

[0005] The quadruped robot is supported by four legs to walk on the ground. Since it is in friction with the ground for a long time, it will be worn out. The legs need to be replaced after a long time of use. Moreover, the ground environment or walking method of the quadruped robot is different. According to the walking environment or walking method, the legs also need to be replaced correspondingly. However, in the prior art, such as the above-mentioned comparative document, the leg and the knee joint are integral. Therefore, the knee joint needs to be replaced as a whole, which increases the replacement cost. Moreover, it is troublesome to replace the knee joint, and it is not convenient to replace the leg. Therefore, there is an urgent need to improve the modular bionic quadruped robot to solve the defects of the prior art. UTILITY MODEL CONTENT

[0006] In view of the deficiencies of the prior art, the utility model provides a kind of modularization's bionic quadruped robot, it is convenient to install and replace walking leg, reduce the replacement cost of walking leg.

[0007] To achieve the above object, the utility model provides the following technical scheme: A kind of modular bionic quadruped robot, including body, four shoulder joints are equipped on the side of body, knee joint is rotatably connected with the end far away from body of shoulder joint, walking support is equipped on the end far away from shoulder joint of knee joint, fixed mounting of one side of walking support close to knee joint is equipped with inserting column, inserting slot that is adapted is opened in the end of knee joint close to walking support, first locking screw rod is penetrated in opposite side of inserting column, first adjusting slot that is adapted with first locking screw rod is opened in opposite side wall in inserting slot, and the first locking nut is connected in thread in the opposite side of knee joint that first locking screw rod both ends exceed.

[0008] Preferably, movable cavity is equipped in inserting column, second adjusting slot that is adapted with first locking screw rod is penetrated and opened in opposite side wall in movable cavity, and movable plate that is adapted is movably connected in movable cavity and second adjusting slot, first through-hole that is adapted with first locking screw rod is penetrated and opened in opposite side of movable plate, second shock absorber for shock absorption is equipped on the side of movable plate far away from walking support, and first shock absorbing spring is sleeved on the side of second shock absorber.

[0009] Preferably, a plurality of rack plates are equipped on the opposite side of knee joint, and first limit toothed plate that is engaged with rack plate on one side is sleeved on the both ends of first locking screw rod.

[0010] Preferably, first shock absorber for shock absorption is equipped in inserting slot, and second shock absorbing spring is sleeved on the side of first shock absorber.

[0011] Preferably, abutting shock absorbing plate and fixed plate are respectively fixedly installed on the both ends of first shock absorber, one end of abutting shock absorbing plate is abutted with inserting column, and mounting lug is fixedly installed on the side of fixed plate far away from first shock absorber, second through-hole is penetrated and opened on the side of mounting lug, second locking screw rod that is extended to outside on both ends is penetrated in second through-hole, second limit toothed plate that is engaged with rack plate is sleeved on the both end sides of second locking screw rod, and second locking nut is connected in thread on the both end sides of second locking screw rod.

[0012] Preferably, mounting slot that is adapted with rack plate is opened on the opposite side of knee joint, and mounting bolt that is threadedly connected with the inside wall in mounting slot on one end is penetrated on both ends of rack plate.

[0013] Preferably, end connecting plate is installed on the end far away from walking support of inserting column by bolt.

[0014] In view of the deficiency of prior art, the utility model provides a kind of modular bionic quadruped robot, overcome the deficiency of prior art, the beneficial effect of the utility model is in that:

[0015] 1. The utility model discloses, need to replace walking support, and the plug -in column is inserted in the plug -in slot, and through the first locking screw rod is passed through the knee joint and the plug -in column, and the position of first locking screw rod is fixed through the first locking nut, and it is convenient to replace walking support installation, reduce the replacement cost of walking support, and can adjust the spacing between walking support and knee joint according to the actual situation, improve the application range of the robot.

[0016] 2. The utility model discloses, through first shock absorber spring cooperation second shock absorber, first shock absorber cooperation second shock absorber spring, improve the shock attenuation effect when walking support walks, improve the stability when the four -legged robot walks.

[0017] 3. The utility model discloses, through first limit toothed plate and second limit toothed plate can all be engaged with rack plate side surface, improve the stability after the installation of plug -in column or first shock absorber, and can extrude the spacing between first shock absorber and plug -in column and adjust, can adjust the shock attenuation coefficient of the four -legged robot, improve the applicability of the four -legged robot.

[0018] Other features and advantages of the present utility model will be set forth in the following description of the utility model, and in part will become apparent from the description, or be learned by practice of the present utility model. The purpose and other advantages of the present utility model can be realized and obtained through the structure shown in the specification, claims and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0019] The drawings are used to provide further understanding of the present utility model, and constitute part of the specification, and are used to explain the present utility model together with the embodiments of the present utility model, and do not constitute the limitation to the present utility model.

[0020] Figure 1 It is the structure schematic drawing of the whole of the utility model;

[0021] Figure 2 It is the structure schematic drawing of the knee joint partial section of the utility model;

[0022] Figure 3 It is the structure schematic drawing of the first shock absorber installation position of the utility model;

[0023] Figure 4 It is Figure 3 The enlarged structure schematic drawing of place A in the utility model;

[0024] Figure 5 It is Figure 3 The enlarged structure schematic drawing of place B in the utility model;

[0025] Figure 6 It is Figure 3 The enlarged structure schematic drawing of place C in the utility model.

[0026] In the figure: 1, body; 2, shoulder joint; 3, knee joint; 4, walking support foot; 5, plug-in column; 6, plug-in slot; 7, first locking threaded rod; 8, first adjusting slot; 9, first locking nut; 10, movable cavity; 11, second adjusting slot; 12, first through hole; 13, first damping spring; 14, rack plate; 15, first limiting tooth plate; 16, first damper; 17, second damping spring; 18, abutting damping plate; 19, fixed plate; 20, mounting ear; 21, second through hole; 22, second locking threaded rod; 23, second limiting tooth plate; 24, second locking nut; 25, mounting slot; 26, mounting bolt; 27, end connecting plate; 28, moving plate; 29, second damper. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0028] Embodiment one

[0029] Please refer to Figures 1-6 A modular bionic quadruped robot, comprising a body 1, four shoulder joints 2 are arranged on the side of the body 1, a knee joint 3 is rotatably connected to the end away from the body 1 of the shoulder joint 2, a walking support foot 4 is arranged on the end away from the shoulder joint 2 of the knee joint 3, a plug-in column 5 is fixedly installed on the side close to the knee joint 3 of the walking support foot 4, a plug-in slot 6 is arranged on the end close to the walking support foot 4 of the knee joint 3, a first locking threaded rod 7 penetrates through the opposite side of the plug-in column 5, a first adjusting slot 8 is arranged on the opposite side wall of the plug-in slot 6 and penetrates through the side of the knee joint 3 and is matched with the first locking threaded rod 7, and the first locking threaded rod 7 is threadedly connected with a first locking nut 9 on the opposite side of the knee joint 3.

[0030] The specific implementation of the embodiment: as Figure 1As shown, the four-legged robot structure in the embodiment is similar to the existing four-legged robot structure, such as the modular bionic four-legged robot disclosed in the patent with the publication number CN214776233U. The main improvement point of the embodiment lies in the modular installation and replacement of the walking support foot 4 of the four-legged robot, which includes a plurality of joint motors, steering wheels, lithium batteries, main control boards, laser sensing devices, communication modules and the like. The walking of the four-legged robot is realized by cooperating with the algorithm. The above-mentioned technology is a well-known technology in the art, and therefore will not be described in detail here. In the embodiment, when it is necessary to replace and install the walking support foot 4, the plug-in column 5 on the walking support foot 4 is plugged into the plug-in slot 6, the first locking threaded rod 7 is inserted through the first adjusting slot 8 and the plug-in column 5, and the two first locking nuts 9 are locked at both ends of the first locking threaded rod 7. The plug-in column 5 is fixed, and the replacement of the walking support foot 4 can be completed. The walking support foot 4 can be replaced modularly, and the walking support foot 4 can be a roller, a protrusion or a track, etc. The cost of replacing the walking support foot 4 is reduced, and the first locking threaded rod 7 can slide in the first adjusting slot 8, so that the distance between the walking support foot 4 and the knee joint 3 can be adjusted, the walking height of the body 1 can be adjusted, and the walking range of the four-legged robot is improved.

[0031] Embodiment two

[0032] Please refer to Figure 3 , Figure 5 and Figure 6 The embodiment includes the above-mentioned embodiments, wherein the plug-in column 5 is provided with a movable cavity 10, the movable cavity 10 is provided with a second adjusting slot 11 adapted to the first locking threaded rod 7 on the opposite side walls, the movable cavity 10 and the second adjusting slot 11 are movably connected with an adapted moving plate 28, the moving plate 28 is provided with a first through hole 12 adapted to the first locking threaded rod 7 on the opposite side surfaces, the side of the moving plate 28 away from the walking support foot 4 is provided with a second shock absorber 29 for shock absorption, the side of the second shock absorber 29 is provided with a first shock absorbing spring 13, and the end of the plug-in column 5 away from the walking support foot 4 is provided with an end connecting plate 27 through a bolt.

[0033] The specific implementation of the embodiment is as follows: when the insertion column 5 is installed, the moving plate 28 is placed in the movable cavity 10, the second damper 29 and the first damping spring 13 are fixedly installed between the opposite sides of the moving plate 28 and the end connecting plate 27, the first damping spring 13 is sleeved on the side of the second damper 29, the second damper 29 is a hydraulic damper known in the prior art, and cooperates with the first damping spring 13 to achieve good damping effect, the end connecting plate 27 is fixedly installed at one end of the insertion column 5 away from the walking leg 4 through bolts, the insertion column 5 is inserted into the insertion slot 6, the first locking screw rod 7 penetrates through the second adjusting slot 11, the first penetrating hole 12 and the first adjusting slot 8, and the length between the walking leg 4 and the knee joint 3 is adjusted, the first locking nut 9 is locked, the damping effect on the walking leg 4 is improved through cooperation of the first damping spring 13 and the second damper 29, and the moving plate 28 moves in the movable cavity 10 and the second adjusting slot 11 during vibration.

[0034] Embodiment three

[0035] Please refer to Figure 4 and Figure 6 , the embodiment includes all the above-mentioned embodiments, wherein further comprises: the opposite sides of the knee joint 3 are each provided with a plurality of rack plates 14, the first locking screw rod 7 is sleeved with a first limiting tooth plate 15 at both ends, one side of the first limiting tooth plate 15 is engaged with the rack plate 14, the opposite sides of the knee joint 3 are provided with installation grooves 25 matched with the rack plate 14, and the rack plate 14 is penetrated through an installation bolt 26 at both ends, one end of the installation bolt 26 is threadedly connected with the inner side wall of the installation groove 25.

[0036] The specific implementation of the embodiment is as follows: when the insertion column 5 is installed, the moving plate 28 is placed in the movable cavity 10, the second damper 29 and the first damping spring 13 are fixedly installed between the opposite sides of the moving plate 28 and the end connecting plate 27, the first damping spring 13 is sleeved on the side of the second damper 29, the second damper 29 is a hydraulic damper known in the prior art, and cooperates with the first damping spring 13 to achieve good damping effect, the end connecting plate 27 is fixedly installed at one end of the insertion column 5 away from the walking leg 4 through bolts, the insertion column 5 is inserted into the insertion slot 6, the first locking screw rod 7 penetrates through the second adjusting slot 11, the first penetrating hole 12 and the first adjusting slot 8, and the length between the walking leg 4 and the knee joint 3 is adjusted, the first locking nut 9 is locked, the damping effect on the walking leg 4 is improved through cooperation of the first damping spring 13 and the second damper 29, and the moving plate 28 moves in the movable cavity 10 and the second adjusting slot 11 during vibration.

[0037] Embodiment four

[0038] Please refer to Figures 2-6The embodiment includes all the above-mentioned embodiments, wherein the first shock absorber 16 is arranged in the insertion slot 6 and used for absorbing shock of the insertion column 5, the second shock absorbing spring 17 is arranged on the side of the first shock absorber 16, the abutting shock absorbing plate 18 and the fixed plate 19 are respectively arranged at the two ends of the first shock absorber 16, the abutting shock absorbing plate 18 is abutted with one end of the insertion column 5, the fixed plate 19 is fixedly arranged on the side, away from the first shock absorber 16, of the installation lug 20, the second through hole 21 is arranged on the side of the installation lug 20, the second locking screw rod 22 is arranged in the second through hole 21 and extends to the outside, the second limiting tooth plate 23 is arranged on the side of the second locking screw rod 22 and engaged with the rack plate 14, and the second locking nut 24 is threadedly connected with the side of the second locking screw rod 22.

[0039] The specific implementation in the embodiment is as follows: before the insertion column 5 is installed, the first shock absorber 16 is arranged in the insertion slot 6, the first shock absorber 16 is inserted in the insertion slot 6, the installation lug 20 is inserted in the insertion slot 6, the fixed plate 19 is adapted to the cavity in the insertion slot 6, the abutting shock absorbing plate 18 is a support rubber plate having a shock absorbing effect in the prior art, the second locking screw rod 22 penetrates the first adjusting slot 8 and the second through hole 21, the two second limiting tooth plates 23 are arranged on the two ends of the second locking screw rod 22, the side of the second limiting tooth plate 23 is engaged with the side of the first limiting tooth plate 15, the second locking nut 24 is locked to fix the position of the installation lug 20, the first shock absorber 16 is a hydraulic shock absorber in the prior art, and the second shock absorbing spring 17 is used for absorbing shock of the insertion column 5, through the opposite forces of the first shock absorber 16 and the second shock absorber 29, the quadruped robot is more stable when walking, the spacing between the first shock absorber 16 and the insertion column 5 can be adjusted, the shock absorbing coefficient of the quadruped robot is adjusted according to the quadruped robot of different weights or walking environments, and the practicability of the overall quadruped robot is improved.

[0040] Finally, it should be noted that in the description of the utility model, it should be noted that the terms "vertical", "upper", "lower", "horizontal" and the like indicate the orientation or positional relationship shown in the drawings, and are only used 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 limitation on the utility model.

[0041] In the description of the utility model, still need to explain, unless another explicit provision and limitation, term " set ", " install ", " link ", " connect " should do broad sense understanding, for example, can be fixed connection, also can be detachable connection, or integrally connected;Can be mechanical connection, also can be electrical connection;Can be directly connected, also can indirectly connect through the intermediate medium, can be two elements inside the communication。For ordinary skilled person in the art, can understand the specific meaning of the above-mentioned terms in the utility model according to specific circumstances.

[0042] The above only for the preferred embodiment of the utility model has been described, and is not used to limit the utility model, although the utility model is described in detail with reference to the foregoing embodiment, for the person skilled in the art, it still can modify the technical scheme recorded in the foregoing each embodiment, or equivalent replacement to part of technical features。Any modification, equivalent replacement, improvement etc. that is made within the spirit and principles of the utility model, should be included in the protection scope of the utility model.

Claims

1. A modular biomimetic quadruped robot, comprising a body (1), four shoulder joints (2) on the side of the body (1), a knee joint (3) rotatably connected to one end of the shoulder joints (2) away from the body (1), and a walking leg (4) provided at the end of the knee joint (3) away from the shoulder joints (2), characterized in that, A plug-in post (5) is fixedly installed on the side of the walking support (4) near the knee joint (3). A plug-in groove (6) adapted to the plug-in post (5) is opened at the end of the knee joint (3) near the walking support (4). A first locking thread rod (7) passes through the opposite side of the plug-in post (5). A first adjustment groove (8) that passes through the side of the knee joint (3) and is adapted to the first locking thread rod (7) is opened on the opposite side wall of the plug-in groove (6). Both ends of the first locking thread rod (7) extend beyond the opposite side of the knee joint (3) and are threadedly connected to a first locking nut (9).

2. The modular bionic quadruped robot according to claim 1, characterized in that, The plug-in post (5) is provided with a movable cavity (10). The opposite side walls of the movable cavity (10) are provided with a second adjustment groove (11) adapted to the first locking thread rod (7). The movable cavity (10) and the second adjustment groove (11) are movably connected with a matching movable plate (28). The opposite side of the movable plate (28) is provided with a first through hole (12) adapted to the first locking thread rod (7). The side of the movable plate (28) away from the walking support foot (4) is provided with a second shock absorber (29) for shock absorption. The side of the second shock absorber (29) is fitted with a first shock-absorbing spring (13).

3. A modular bionic quadruped robot according to claim 1, characterized in that, Several rack plates (14) are provided on opposite sides of the knee joint (3), and a first limiting rack plate (15) that meshes with the rack plate (14) is sleeved on both ends of the first locking thread rod (7).

4. A modular bionic quadruped robot according to claim 1, characterized in that, The insertion slot (6) is provided with a first shock absorber (16) for damping the insertion post (5), and a second shock absorber spring (17) is sleeved on the side of the first shock absorber (16).

5. A modular bionic quadruped robot according to claim 4, characterized in that, The first shock absorber (16) has a shock-absorbing plate (18) and a fixing plate (19) fixedly installed at both ends. The shock-absorbing plate (18) abuts against one end of the plug-in post (5). The fixing plate (19) has a mounting ear (20) fixedly installed on the side away from the first shock absorber (16). The mounting ear (20) has a second through hole (21) through it. The second through hole (21) has a second locking thread rod (22) extending to the outside at both ends. The sides of the second locking thread rod (22) are fitted with second limiting tooth plates (23) that mesh with the rack plate (14). The sides of the second locking thread rod (22) are threaded with second locking nuts (24).

6. A modular bionic quadruped robot according to claim 3, characterized in that, The opposite side of the knee joint (3) is provided with a mounting groove (25) that is compatible with the rack plate (14), and a mounting bolt (26) is threaded through both ends of the rack plate (14) and connected to the inner wall of the mounting groove (25).

7. A modular bionic quadruped robot according to claim 2, characterized in that, An end connecting plate (27) is bolted to the end of the plug-in column (5) away from the walking support foot (4).

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