Quadruped robot

Abstract

The utility model discloses a quadruped robot, and belongs to the field of science popularization teaching. The quadruped robot comprises a robot body, a power mechanism, a walking mechanism and a power source, the power mechanism comprises a gear assembly and a motor, the gear assembly forms gear transmission through a driving gear and a pair of driven gears, and rotating shafts on the two sides of the motor penetrate out of side plates of the robot body close to each other to be connected with the corresponding driving gear. The two sides of the driving gear are each meshed with one driven gear. The walking mechanism comprises profiling front legs, profiling rear legs and connecting rods, the profiling front legs are symmetrically installed outside two side plates at the front end of the robot body, the profiling rear legs are symmetrically installed outside two side plates at the rear end of the robot body, and the profiling front legs and the profiling rear legs are connected with respective adjacent driven gears through the connecting rods. By selecting different hole positions to install connecting rods, the initial phase angle of the profiling leg can be adjusted, the four-foot movement time sequence is coordinated, and various bionic gaits such as diagonal gaits, same-side gaits and jumping are achieved.

Description

Technical Field

[0001] This utility model relates to the field of popular science teaching technology, specifically a quadruped robot. Background Technology

[0002] Robots are a fusion of various advanced technologies. With the continuous development and progress of technology, robots possess some intelligent abilities similar to humans or other living beings, such as perception, planning, movement, and coordination. Providing science education to school-aged children and having them participate in robot building competitions can cultivate their hand-eye coordination, spatial perception, imagination, and creativity. Most of the robot locomotion mechanisms in current technologies are wheeled or tracked, which not only lack the ability to simulate the four-legged walking of animals and cannot demonstrate the patterns or gaits of human or animal walking, but also make it difficult to simultaneously display multiple gait forms in a quadruped robot. Utility Model Content

[0003] The purpose of this invention is to provide a quadruped robot to solve the technical problem mentioned in the background art, which is that the lack of a demonstration of the walking mode of simulated animals makes it difficult to simultaneously display multiple gait forms in a quadruped robot.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] A quadruped robot includes a robot body, a power mechanism, a walking mechanism, and a power source. The power mechanism includes a gear assembly and motors with rotating shafts on both sides. The gear assembly consists of a driving gear and a pair of driven gears forming a gear transmission. The robot body has an internal space for mounting the motors, which is enclosed by a base plate and two upright side plates. The motors are adjacent to the inner walls of the two side plates, and the rotating shafts on both sides of the motors extend through the adjacent side plates and connect to the corresponding driving gears. Each driving gear meshes with a driven gear on both sides, and the center of each driven gear is mounted on a side plate of the robot body. The walking mechanism includes contoured front legs, contoured rear legs, and connecting rods. The contoured front legs are symmetrically mounted on the outer sides of the two front side plates of the robot body, and the contoured rear legs are symmetrically mounted on the outer sides of the two rear side plates. The contoured front legs and the contoured rear legs are connected to their respective adjacent driven gears via the connecting rods. The power source is electrically connected to the motors.

[0006] As a preferred embodiment of this utility model, the upper ends of the contoured front leg and the upper ends of the contoured rear leg are both provided with first mounting holes. The center points of the two first mounting holes, the driving gear, and the driven gears symmetrically distributed on both sides of the driving gear are all on the same horizontal line.

[0007] Furthermore, both the front and rear legs of the contoured rod are provided with a second mounting hole below the first mounting hole. One end of the connecting rod is hinged to the front / rear leg of the contoured rod through the second mounting hole, and the other end is connected to the adjacent driven gear.

[0008] Furthermore, on the end face of each driven gear, four gait holes are evenly distributed around the central hole in the circumference, with a 90° interval between adjacent gait holes. By fixing the connecting rod to different gait holes, the initial phase angle of the contouring front leg and the contouring rear leg can be adjusted.

[0009] As a preferred embodiment of this utility model, the upper ends of the two contoured front legs are connected to the corresponding side plates via a support shaft passing through the front end of the robot body, and the upper ends of the two contoured rear legs are connected to the corresponding side plates via a support shaft passing through the rear end of the robot body.

[0010] As a preferred embodiment of this utility model, the driven gears symmetrically distributed on both sides of the robot body are connected to their respective centers via a cross shaft.

[0011] As a preferred embodiment of this utility model, the robot body further includes a panel, which is disposed at the top front end formed by the two side plates as the head of the robot body.

[0012] In summary, compared with the prior art, the beneficial effects of this utility model are as follows:

[0013] This invention employs an active gear in conjunction with two driven gears. Four gait holes (spaced 90° apart) are circumferentially distributed on the end face of the driven gears. Combined with the hinged design of the connecting rod and the prototypical legs, the initial phase angle of each leg can be flexibly adjusted to achieve various biomimetic gaits, such as diagonal gait (e.g., a quadruped trot), same-side gait (e.g., a dog walking), and bipedal hopping. This function visually demonstrates the walking patterns of animals, solving the problem that existing wheeled or tracked robots cannot simulate the gait of quadrupedal organisms. It greatly enhances the fun and practicality of science education, helping school-aged children understand the relationship between mechanical transmission and biological movement. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of the quadruped robot of this utility model;

[0015] Figure 2 This is a schematic diagram of the power mechanism structure of the quadruped robot of this utility model;

[0016] Figure 3 This is a schematic diagram of the walking mechanism of the quadruped robot of this utility model;

[0017] Figure 4 This is a left view of the diagonal gait of the first embodiment of the quadruped robot of this utility model;

[0018] Figure 5 This is a right view of the diagonal gait of the first embodiment of the quadruped robot of this utility model;

[0019] Figure 6 This is a left view of the jumping gait of the second embodiment of the quadruped robot of this utility model;

[0020] Figure 7 This is a right view of the jumping gait of the second embodiment of the quadruped robot of this utility model;

[0021] Figure 8 This is a left view of the stomping gait of the third embodiment of the quadruped robot of this utility model;

[0022] Figure 9 This is a right view of the stomping gait of the third embodiment of the quadruped robot of this utility model;

[0023] In the diagram: 1-robot body, 10-base plate, 11-side plate, 12-panel, 2-power mechanism, 20-gear assembly, 200-drive gear, 201-driven gear, 202-gait hole, 21-motor, 210-rotation shaft, 3-walking mechanism, 30-link, 31-contour front leg, 32-contour rear leg, 33-first mounting hole, 34-second mounting hole, 4-battery, 5-support shaft, 6-cross shaft. Detailed Implementation

[0024] 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 of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] like Figure 1-3As shown, a quadruped robot includes a robot body 1, a power mechanism 2, a walking mechanism 3, and a power source. The power mechanism 2 includes a gear assembly 20 and motors 21 with rotating shafts 210 on both sides. The gear assembly 20 forms a gear transmission by a driving gear 200 and a pair of driven gears 201. The robot body 1 has an internal space for mounting the motors 21, which is enclosed by a base plate 10 and two upright side plates 11. The motors 21 are close to the inner walls of the two side plates 11, and the rotating shafts 210 on both sides of the motors 21 extend through the adjacent side plates 11 and connect with the corresponding driving shafts 200. The driving gear 200 is connected, and each side of the driving gear 200 meshes with a driven gear 201. The center of each driven gear 201 is mounted on the side plate 11 of the robot body 1. The walking mechanism 3 includes a contoured front leg 31, a contoured rear leg 32, and a link 30. The contoured front leg 31 is symmetrically mounted on the two side plates 11 at the front end of the robot body 1, and the contoured rear leg 32 is symmetrically mounted on the two side plates 11 at the rear end. The contoured front leg 31 and the contoured rear leg 32 are both connected to their respective adjacent driven gears 201 through the link 30. The power supply is electrically connected to the motor 21.

[0026] As a preferred embodiment of this utility model, the upper end of the contoured front leg 31 and the upper end of the contoured rear leg 32 are both provided with first mounting holes 33. The center points of the two first mounting holes 33, the driving gear 200, and the driven gears 201 symmetrically distributed on both sides of the driving gear 200 are all on the same horizontal line.

[0027] Furthermore, both the contoured front leg 31 and the contoured rear leg 32 are provided with a second mounting hole 34 below the first mounting hole 33. One end of the connecting rod 30 is hinged to the contoured front leg 31 / contoured rear leg 32 through the second mounting hole 34, and the other end is connected to the adjacent driven gear 201.

[0028] The contoured leg is hinged to the side plate 11 through the first mounting hole 33 (collinear design) and the second mounting hole 34. Combined with the support shaft 5 for fixing, it enables quick assembly and disassembly of the leg and angle adjustment, making it easy for children to explore the influence of different mechanical parameters on the movement effect during the assembly process.

[0029] Furthermore, on the end face of each driven gear 201, four gait holes 202 are evenly distributed around the central hole in a circumferential direction. Adjacent gait holes 202 are spaced 90° apart. By fixing the connecting rod 30 to different gait holes 202, the initial phase angles of the profilomorphic front leg 31 and profilomorphic rear leg 32 are adjusted, thereby coordinating the movement sequence of the four legs and achieving biomimetic gaits such as diagonal gait, stomping gait, and jumping. The flexible cooperation between the gait holes 202 and the connecting rod 30 allows the robot to switch gait without a complex control system, lowering the operational threshold and cultivating students' hands-on skills and innovative thinking.

[0030] like Figure 4-9 As shown, according to the walking direction of the quadruped robot, the four gait holes 202202 are marked as a, b, c, and d respectively. The first embodiment uses a diagonal gait reference. Figure 4 and Figure 5 Second implementation method for jumping gait reference Figure 6 and Figure 7 The third implementation method is a pacing gait reference. Figure 8 and Figure 9 .

[0031] like Figure 1 As shown, the upper ends of the two contoured front legs 31 are connected to the corresponding side plates 11 via a support shaft 5 passing through the front end of the robot body 1, and the upper ends of the two contoured rear legs 32 are connected to the corresponding side plates 11 via a support shaft 5 passing through the rear end of the robot body 1.

[0032] like Figure 2 As shown, the driven gears 201 symmetrically distributed on both sides of the robot body 1 are connected to their respective centers via the cross shaft 6.

[0033] like Figure 1 As shown, the robot body 1 also includes a panel 12, which is disposed at the top front end formed by the two side panels 11 as the head of the robot body 1.

[0034] This invention utilizes an innovative gear transmission layout, adjustable linkage mechanism, and biomimetic structural design to achieve multi-gait simulation of a quadruped robot with a low-cost mechanical solution, combining educational functionality with practical fun. Its modular design not only lowers the technical threshold but also provides children with an intuitive platform for learning mechanical principles, aligning with the core requirement of "learning through play" in science education, and possesses significant practical value and promotional significance.

[0035] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A quadruped robot, characterized by: The robot comprises a robot body, a power mechanism, a walking mechanism and a power supply, the power mechanism comprises a gear assembly and a motor with rotating shafts on both sides, the gear assembly is formed by a driving gear and a pair of driven gears, the inside of the robot body forms a containing space for installing the motor, the containing space is enclosed by a bottom plate and two vertical side plates, the motor is close to the inner walls of the two side plates, and the rotating shafts of the motor on both sides pass through the close side plates and are connected with the corresponding driving gears, the driving gears on both sides are engaged with a driven gear, and the center of each driven gear is installed on the side plate of the robot body; the walking mechanism comprises a profiled front leg, a profiled rear leg and a connecting rod, the profiled front legs are symmetrically installed outside the side plates at the front end of the robot body, the profiled rear legs are symmetrically installed outside the side plates at the rear end of the robot body, and the profiled front legs and the profiled rear legs are connected with the corresponding adjacent driven gears through the connecting rods.

2. The quadruped robot of claim 1, wherein: The upper ends of the profiled front legs and the upper ends of the profiled rear legs are provided with first installation holes, the two first installation holes, the driving gears and the driven gears symmetrically distributed on both sides of the driving gears have their center points on the same horizontal line.

3. The quadruped robot of claim 2, wherein: The profiled front legs and the profiled rear legs are provided with second installation holes below the first installation holes, one end of the connecting rod is hinged to the profiled front leg / profiled rear leg through the second installation hole, and the other end is connected with the corresponding adjacent driven gear.

4. The quadruped robot of claim 3, wherein: Four gait hole positions are uniformly distributed on the end face of each driven gear around the center hole, the adjacent gait hole positions are spaced apart by 90°, and the initial phase angle of the profiled front leg and the profiled rear leg is adjusted by fixing the connecting rod in different gait hole positions.

5. The quadruped robot of claim 2, wherein: The upper ends of the two profiled front legs are connected with the corresponding side plates through support shafts arranged at the front end of the robot body, and the upper ends of the two profiled rear legs are connected with the corresponding side plates through support shafts arranged at the rear end of the robot body.

6. The quadruped robot of claim 1, wherein: The driven gears symmetrically distributed on both sides of the robot body are connected through cross shafts.

7. The quadruped robot of claim 1, wherein: The robot body further comprises a faceplate arranged at the top front end formed by the two side plates as the head of the robot body.

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