Arm-carrying quadruped robot based on environmental perception

Abstract

The utility model relates to the technical field of robots, and discloses an armed quadruped robot based on environmental perception, which comprises a main body, the top surface of the main body is connected with a multi-axis mechanical arm, the multi-axis mechanical arm comprises a base frame, the bottom end of the base frame is coupled with a turntable, the axis of the bottom end of the turntable is connected with a servo motor, and the servo motor is connected with a servo motor. A connecting frame is fixed to the top end of the base frame, a containing arm is connected to the middle of the connecting frame through a shaft, a containing groove is formed in the top face of the containing arm, a sealing plate is clamped to the inner wall of the containing groove, and a connecting wire is arranged on the bottom face of the sealing plate. The folded storage arm is stored through the storage cavity formed in the top face of the robot body, the storage arm can be matched with the storage groove to store the folded connecting arm, and the multi-section synchronous storage and folding process is formed; and the robot body can be completely stored in the storage cavity, it is ensured that the size of the robot body is completely not affected by the folded mechanical arm, and convenience is provided in the using process.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to an arm-bearing quadruped robot based on environmental perception. Background Technology

[0002] Quadrupedal bionic robots are legged robots designed based on bionic principles. By mimicking the limb structure and movement of quadrupedal animals (such as dogs, cats, and horses), they achieve stable walking and operation capabilities in complex terrains. Currently, quadrupedal bionic robot technology is becoming increasingly mature, and the specifications and styles of these robots are diverse. In existing technologies, quadrupedal robots often use simple sensor peripherals to perceive the outside world and thus change their behavior.

[0003] Existing technologies, such as the patent with publication number CN221314228U, disclose an environment-aware quadruped robot with an arm, including a mobile platform, an environment-aware module, and a robotic arm. The mobile platform includes a torso, etc. The robotic arm is mounted on the back of the torso, and the environment-aware module is mounted on the head of the torso via a head mounting plate. The robotic arm is equipped with a high-degree-of-freedom electrically driven robotic arm, and the end of the robotic arm can be equipped with working tools such as a mechanical claw.

[0004] While the aforementioned existing technologies have significant beneficial effects, they still have shortcomings:

[0005] The aforementioned quadruped robot with arms provides flexibility and versatility during use by mounting a multi-axis robotic arm on its rear structure. While the multi-axis robotic arm itself can be folded by rotating its axis, the structure of the robotic arm itself cannot overlap, and its volume is still relatively large when folded and stored. The storage effect on its rear is limited, and there are still disadvantages in special environments. Therefore, an environmentally perceptive quadruped robot with arms is proposed. Utility Model Content

[0006] To address the shortcomings of existing technologies, this utility model provides an environmentally perceptive quadruped robot with an arm. The robot body has a storage cavity on its top surface that works in conjunction with the storage arm and connecting arm to form a multi-stage synchronous storage and folding process. The robot can be completely stored in the storage cavity, ensuring that the size of the robot body is not affected by the folded robotic arm.

[0007] To achieve the above objectives, this utility model provides the following technical solution: an environmentally perceptive quadruped robot with an arm, comprising a main body, a multi-axis robotic arm connected to the top surface of the main body, the multi-axis robotic arm comprising a base frame, a turntable shafted to the bottom end of the base frame, a servo motor shafted to the bottom end of the turntable, a connecting frame fixed to the top end of the base frame, a storage arm shafted to the middle of the connecting frame, a storage groove formed on the top surface of the storage arm, a sealing plate fitted into the inner wall of the storage groove, wiring provided on the bottom surface of the sealing plate, a first servo joint connected to the bottom end of the storage arm, a second servo joint connected to the top end of the storage arm, a connecting arm fixed to one side of the second servo joint, a third servo joint connected to one section of the connecting arm, a connecting plate fixed to the top end of the third servo joint, and mounting holes formed around the connecting plate.

[0008] Preferably, the connecting plate is rotatably engaged with the end of the connecting arm via a third servo joint, and the end of the connecting arm forms a rotating structure with the storage arm via a second servo joint.

[0009] Preferably, the dimensions of the two sides of the connecting arm match the dimensions of the inner walls of the two sides of the storage slot, and the wiring in the storage slot is electrically connected to the main body and the first servo joint, the second servo joint, and the third servo joint.

[0010] Preferably, the connecting plate is fixedly connected to one side of the third servo joint, and the mounting holes are equidistantly opened along the four perimeters of the connecting plate.

[0011] Preferably, the storage arm forms a rotating structure with the connecting frame via a first servo joint, and the connecting frame is rotated and engaged with the base frame and the turntable.

[0012] Preferably, the main body includes a robot body, the top surface of which has a storage cavity, the two outer walls of which are pivotally connected to front legs, the front end of the top of the robot body is connected to a radar base, the top of which is connected to a sensing radar, a depth camera is fixed to one side of the sensing radar, and a rear seat frame is connected to the center of one end of the robot body, with rear legs pivotally connected to both sides of the rear seat frame.

[0013] Preferably, the sensing radar is rotatably coupled to the top surface of the robot body via a radar base, and the robot body is axially connected to the rear seat frame.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. This utility model uses a storage cavity on the top surface of the robot body to store the folded storage arm, and the storage arm can work with the storage slot to store the folded connecting arm, forming a multi-stage synchronous storage and folding process; and it can be completely stored in the storage cavity, ensuring that the volume of the robot body is not affected by the folded mechanical arm, providing convenience during use.

[0016] 2. This quadruped robot with arms can form a quadruped structure by connecting the front legs on both sides of the robot body and the rear legs on both sides of the rear seat frame, which can assist the robot in walking. A radar base is set at the top front of the robot body. The sensor radar mounted on the top of the radar base can perceive the environment. In conjunction with a depth camera, the robot's environmental perception can be improved.

[0017] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained by means of the structures pointed out in the description, claims, and drawings. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the three-dimensional structure of the main body of this utility model;

[0019] Figure 2 This is a three-dimensional structural diagram of the multi-axis robotic arm of this utility model;

[0020] Figure 3 This is a three-dimensional structural diagram of the storage arm in the multi-axis robotic arm of this utility model;

[0021] Figure 4 This is a three-dimensional structural diagram of the connecting plate in the multi-axis robotic arm of this utility model.

[0022] In the diagram: 1. Main body; 101. Robot main body; 102. Storage cavity; 103. Front legs; 104. Radar base; 105. Sensing radar; 106. Depth camera; 107. Rear seat frame; 108. Hind legs; 2. Multi-axis robotic arm; 201. Base frame; 202. Turntable; 203. Servo motor; 204. Connecting frame; 205. Storage arm; 206. Storage slot; 207. Sealing plate; 208. Wiring; 209. First servo joint; 210. Second servo joint; 211. Connecting arm; 212. Third servo joint; 213. Connecting plate; 214. Mounting hole. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0024] Please see Figure 1-4 This embodiment of an environmentally perceptive quadruped robot includes a main body 1, with a multi-axis robotic arm 2 connected to the top surface of the main body 1. The main body 1 includes a robot body 101, with a storage cavity 102 opened on the top surface of the robot body 101. Front legs 103 are axially connected to the outer walls on both sides of the robot body 101. A radar base 104 is connected to the front end of the top of the robot body 101. A sensing radar 105 is connected to the top of the radar base 104. A depth camera 106 is fixed to one side of the sensing radar 105. A rear seat frame 107 is connected to the center of one end of the robot body 101. Rear legs 108 are axially connected to both sides of the rear seat frame 107.

[0025] like Figure 1-4 As shown, the quadruped robot with an arm in this invention is structurally similar to existing quadruped robots with arms, such as the quadruped robot with an arm based on environmental perception (publication number CN221314228U). The main improvement of this invention lies in the fact that the storage cavity 102 opened on the top surface of the robot body 101 cooperates with the storage arm 205 and the connecting arm 211 to form a multi-stage synchronous storage and folding process; it can be completely stored in the storage cavity 102, ensuring that the volume of the robot body 101 is not affected by the folded robotic arm. Both the servo joints and the robot body 101 are existing technologies. When using this quadruped robot with arms, the front legs 103 connected to both sides of the robot body 101 and the rear legs 108 connected to both sides of the rear seat frame 107 can form a quadruped structure, which can assist the robot in walking. A radar base 104 is provided at the top front end of the robot body 101. The sensing radar 105 mounted on the top of the radar base 104 can perceive the environment. In conjunction with the depth camera 106, the overall environmental perception of the robot can be improved.

[0026] like Figure 2-3As shown, the multi-axis robotic arm 2 includes a base frame 201. A turntable 202 is pivotally connected to the bottom end of the base frame 201. A servo motor 203 is pivotally connected to the bottom end of the turntable 202. A connecting frame 204 is fixed to the top end of the base frame 201. A storage arm 205 is pivotally connected to the middle of the connecting frame 204. A storage groove 206 is formed on the top surface of the storage arm 205. A sealing plate 207 is engaged with the inner wall of the storage groove 206. A wiring 208 is provided on the bottom surface of the sealing plate 207. A first servo joint 209 is connected to the bottom end of the storage arm 205. The top of the robotic arm 205 is connected to a second servo joint 210. A connecting arm 211 is fixed to one side of the second servo joint 210. A third servo joint 212 is connected to one end of the connecting arm 211. A connecting plate 213 is fixed to the top of the third servo joint 212. Mounting holes 214 are provided around the connecting plate 213. The quadruped robot can drive the base frame 201, which is shaft-connected to the top surface of the turntable 202, to rotate via the servo motor 203. The rotating base frame 201 can then drive the multi-axis robotic arm 2 to rotate on the top surface of the robot. The multi-axis robotic arm 2 can be adjusted by rotating its position and angle. Its structure can be controlled via the first servo joint 209, the second servo joint 210, and the third servo joint 212. During storage, the second servo joint 210 is activated, causing the connected arm 211 to rotate and retract into the storage slot 206, completing the folding and storage process. Then, the first servo joint 209 is activated, causing the storage arm 205 to rotate and retract into the storage cavity 102, completing the storage process. The connecting plate 21 at its top... 3. It can be connected with components such as the mounting hole 214 and the gripper to maintain the functionality of the robotic arm. The robot stores the folded storage arm 205 through the storage cavity 102 opened on the top surface of the robot body 101. The storage arm 205 can be used with the storage slot 206 to store the folded connecting arm 211, forming a multi-stage synchronous storage and folding process. It can be completely stored in the storage cavity 102, ensuring that the volume of the robot body 101 is not affected by the folded robotic arm, providing convenience during use.

[0027] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. An environment perception based quadruped robot with arms comprising a main body (1), characterized in that, The top surface of the main body (1) is connected with a multi-axis mechanical arm (2), the multi-axis mechanical arm (2) comprises a base frame (201), the bottom end of the base frame (201) is connected with a turntable (202) through a shaft, the bottom end of the turntable (202) is connected with a servo motor (203) through a shaft, the top end of the base frame (201) is fixedly connected with a connecting frame (204), the middle part of the connecting frame (204) is connected with a receiving arm (205) through a shaft, the top surface of the receiving arm (205) is provided with a receiving groove (206), the inner wall of the receiving groove (206) is clamped with a sealing plate (207), the bottom surface of the sealing plate (207) is provided with a wire (208), the bottom end of the receiving arm (205) is connected with a first rudder joint (209), the top end of the receiving arm (205) is connected with a second rudder joint (210), one side of the second rudder joint (210) is fixedly connected with a connecting arm (211), a section of the connecting arm (211) is connected with a third rudder joint (212), the top end of the third rudder joint (212) is fixedly connected with a connecting plate (213), and the periphery of the connecting plate (213) is provided with a mounting hole (214).

2. The environment perception based quadruped robot with arms according to claim 1, wherein, The connecting plate (213) is rotatably connected with the connecting arm (211) through the third rudder joint (212), and the connecting arm (211) is rotatably connected with the receiving arm (205) through the second rudder joint (210).

3. The environment perception based quadruped robot with arms according to claim 1, wherein, The connecting arm (211) is matched in size with the inner wall of the receiving groove (206) on both sides, and the wire (208) in the receiving groove (206) is electrically connected with the main body (1) and the first rudder joint (209), the second rudder joint (210) and the third rudder joint (212).

4. The environment-aware based quadruped robot with arms according to claim 1, wherein, The connecting plate (213) is fixedly connected with one side of the third rudder joint (212), and the mounting hole (214) is equidistantly arranged along the periphery of the connecting plate (213).

5. The environment perception based quadruped robot with arms as claimed in claim 1 wherein, The receiving arm (205) is rotatably connected with the connecting frame (204) through the first rudder joint (209), and the connecting frame (204) is rotatably connected with the base frame (201) and the turntable (202).

6. The environment perception based quadruped robot with arms as claimed in claim 1 wherein, The main body (1) comprises a robot main body (101), the top surface of the robot main body (101) is provided with a receiving cavity (102), the outer wall of the robot main body (101) on both sides is connected with a forefoot (103), the top surface of the robot main body (101) is connected with a radar base (104) at the front end, the top end of the radar base (104) is connected with a sensing radar (105), one side of the sensing radar (105) is fixedly connected with a depth camera (106), one end of the robot main body (101) is connected with a rear seat frame (107), and the rear seat frame (107) is connected with a hind leg (108) on both sides.

7. The environment perception based quadruped robot with arms according to claim 6, wherein, The sensing radar (105) is rotatably connected with the top surface of the robot main body (101) through the radar base (104), and the robot main body (101) is connected with the rear seat frame (107).

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