A cross-foot robot

Abstract

The utility model relates to robot technical field, and disclose a kind of cross foot robot, the cross foot robot includes cover plate, the support frame is fixedly installed in cover plate side wall, the first U-shaped frame is fixedly installed in cover plate bottom, the movable assembly is provided on the cover plate, the movable assembly includes main rudder disc, the main rudder disc fixed end is fixedly installed in the first U-shaped frame inside, the vice rudder disc fixed end is fixedly installed in the first U-shaped frame inside. The cross foot robot to make the control of multiple joints of robot, so that robot can complete complex action, by being provided with movable assembly, by multiple groups of double-shaft steering engine, cooperate main rudder disc, vice rudder disc, connecting plate and base, the accurate control of each joint of robot is carried out, to realize the walking and tumbling action of robot, so that robot can be applied in multiple fields to meet different action requirements, improve practicality.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a cross-legged robot. Background Technology

[0002] A robot is a programmable automated device that achieves autonomous or semi-autonomous task execution through the coordinated work of mechanical structures, sensors, control systems, and actuators. Its core essence is to transform digital instructions into physical actions, possessing both "intelligence" and "execution" attributes, and can replace humans in performing repetitive, high-risk, or high-precision tasks.

[0003] Cross-legged robots, as a typical form of bipedal robots, are a core platform for researching technologies such as robot dynamic walking, center of gravity adjustment, and adaptation to complex terrain. For example, by simulating the cross-legged gait of humans or animals, algorithms can be optimized to achieve a more natural walking posture. However, at present, cross-legged robots have limited applicability to different scenarios and sometimes fall due to instability. They also lack adaptability devices for different scenarios.

[0004] In light of this, we propose a cross-legged robot. Utility Model Content

[0005] The purpose of this invention is to provide a cross-legged robot to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A cross-legged robot includes a cover plate, a support frame fixedly mounted on the side wall of the cover plate, a first U-shaped frame fixedly mounted on the bottom of the cover plate, and a movable component provided on the cover plate, the movable component including:

[0008] The main rudder disk has a fixed end installed inside the first U-shaped frame, and a fixed end installed inside the first U-shaped frame. The movable end of the main rudder disk is fixedly connected to the output end of the first dual-axis servo motor.

[0009] A connecting plate is fixedly installed on the bottom side wall of the first dual-axis servo, and a second dual-axis servo is fixedly installed on the bottom of the connecting plate. Multiple sets of main servo disks and auxiliary servo disks are provided. The output end of the second dual-axis servo is fixedly connected to a set of movable ends of the main servo disk and auxiliary servo disk. A second U-shaped frame is fixedly installed on the fixed ends of the main servo disk and auxiliary servo disk.

[0010] The third U-shaped frame is fixedly installed at the bottom of the second U-shaped frame. A set of main rudder disks and auxiliary rudder disks are fixedly connected inside the third U-shaped frame. The movable ends of the set of main rudder disks and auxiliary rudder disks are fixedly connected to the output end of the third dual-axis servo. A base is fixedly installed at the bottom of the third dual-axis servo.

[0011] In a further embodiment, two sets of the support frame and the first U-shaped frame are provided.

[0012] In a further embodiment, the single set of the active components includes two sets of connecting plates and a set of first dual-axis servo, second dual-axis servo, second U-shaped frame, third U-shaped frame, third dual-axis servo, and base.

[0013] In a further embodiment, the active components are configured in two sets.

[0014] In a further embodiment, the cover plate is provided with an auxiliary component, which includes an electric push rod. The electric push rod is fixedly installed on the top of the base, and a movable rod is fixedly connected to the piston end of the electric push rod. Foot nails are fixedly installed on the bottom of the base, and an anti-slip pad is fixedly installed on the bottom of the movable rod. The anti-slip pad has a groove.

[0015] In a further embodiment, multiple sets of foot spikes and slots are provided.

[0016] In a further embodiment, the shape and size of the foot nail are consistent with the groove.

[0017] Compared with the prior art, this utility model provides a cross-legged robot, which has the following beneficial effects:

[0018] 1. In order to achieve control of multiple joints of the robot and enable the robot to perform complex movements, this cross-legged robot is equipped with movable components. Through multiple sets of dual-axis servos, in conjunction with the main servo disk, secondary servo disk, connecting plate and base, the robot's joints are precisely controlled, thereby realizing the robot's walking and rolling movements, so that the robot can meet different action requirements in different fields.

[0019] 2. In order to enable the robot to maintain stable movement in different terrains, this cross-legged robot is equipped with auxiliary components. The two sets of devices, foot spikes and anti-slip pads, are switched through electric push rods and movable rods. The foot spikes and anti-slip pads are used for different usage environments, so that the robot can maintain stable movement in different environments, prevent the robot from becoming unstable and damaged during walking, and improve the robot's service life. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0021] Figure 2 This is a schematic diagram of the overall structure of the present invention from another perspective;

[0022] Figure 3 This is a schematic diagram of the overall structure of this utility model in another working state;

[0023] Figure 4 This is a schematic cross-sectional view of part of the structure of this utility model.

[0024] Explanation of icon numbers:

[0025] 1. Cover plate; 2. Support frame; 3. First U-shaped frame;

[0026] 4. Moving components; 41. Main rudder; 42. Secondary rudder; 43. First dual-axis servo; 44. Connecting plate; 45. Second dual-axis servo; 46. Second U-shaped frame; 47. Third U-shaped frame; 48. Third dual-axis servo; 49. Base;

[0027] 5. Auxiliary components; 51. Electric actuator; 52. Movable rod; 53. Foot spikes; 54. Anti-slip mat; 55. Groove. Detailed Implementation

[0028] 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.

[0029] In this application, the term "above" indicates the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. It is primarily used to better describe this application and its embodiments, and is not intended to limit the indicated device, element, or component to having a specific orientation, or to construct and operate in a specific orientation. Furthermore, the term "above" may also be used in certain circumstances to indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application according to the specific circumstances.

[0030] Please see Figures 1-4 This utility model provides a technical solution:

[0031] A cross-legged robot includes a cover plate 1, a support frame 2 fixedly installed on the side wall of the cover plate 1, and a first U-shaped frame 3 fixedly installed on the bottom of the cover plate 1.

[0032] In one embodiment of this utility model, a movable component 4 is provided on the cover plate 1. The movable component 4 includes a main rudder disk 41. The fixed end of the main rudder disk 41 is fixedly installed inside the first U-shaped frame 3. The fixed end of the auxiliary rudder disk 42 is fixedly installed inside the first U-shaped frame 3. The movable end of the main rudder disk 41 is fixedly connected to the output end of the first dual-axis servo motor 43. The top of the connecting plate 44 is fixedly installed on the bottom side wall of the first dual-axis servo motor 43. The bottom of the connecting plate 44 is fixedly installed with a second dual-axis servo motor 45. Multiple sets of main rudder disks 41 and auxiliary rudder disks 42 are provided. The output end of the second dual-axis servo motor 45 is fixedly connected to the movable ends of one set of main rudder disks 41 and auxiliary rudder disks 42. A second U-shaped frame 46 is fixedly installed at the fixed end. A third U-shaped frame 47 is fixedly installed at the bottom of the second U-shaped frame 46. A set of main rudder disks 41 and auxiliary rudder disks 42 are fixedly connected inside the third U-shaped frame 47. The movable ends of the set of main rudder disks 41 and auxiliary rudder disks 42 are fixedly connected to the output end of the third dual-axis servo motor 48. A base 49 is fixedly installed at the bottom of the third dual-axis servo motor 48. The support frame 2 and the first U-shaped frame 3 are provided in two sets. A single movable component 4 includes two sets of connecting plates 44 and a set of first dual-axis servo motor 43, second dual-axis servo motor 45, second U-shaped frame 46, third U-shaped frame 47, third dual-axis servo motor 48 and base 49. The movable component 4 is provided in two sets.

[0033] In this embodiment, when the robot needs to perform walking movements, the first dual-axis servo motor 43, the second dual-axis servo motor 45, and the third dual-axis servo motor 48 work together. Each set of dual-axis servos has two independent output axes, and each axis has an independent control circuit, motor, and feedback system. The two axes can receive different PWM signals to achieve independent rotation, driving the corresponding main servo disk 41 and auxiliary servo disk 42 to rotate at a specific angle, thereby simulating the flexion and extension movements of joints when humans or animals walk. This allows the robot's leg joints to move along a predetermined trajectory, achieving forward and backward movement. When the robot needs to perform turning or other walking actions, multiple sets of dual-axis servos work together again to control the angle changes of the main servo disk 41 and the secondary servo disk 42, allowing the robot's body joints to rotate and bend significantly. The angle changes of each joint cooperate and coordinate with each other to ultimately achieve the complex action of rolling. It is through the cooperation of multiple sets of dual-axis servos with the main servo disk 41, the secondary servo disk 42, the connecting plate 44 and the base 49 that the robot can complete various complex actions, and thus be applied to a variety of fields to meet the diverse action requirements in different scenarios.

[0034] In one embodiment of this utility model, an auxiliary component 5 is provided on the cover plate 1. The auxiliary component 5 includes an electric push rod 51. The electric push rod 51 is fixedly installed on the top of the base 49. The piston end of the electric push rod 51 is fixedly connected to the movable rod 52. Foot nails 53 are fixedly installed on the bottom of the base 49. An anti-slip pad 54 is fixedly installed on the bottom of the movable rod 52. A groove 55 is opened on the anti-slip pad 54. Multiple sets of foot nails 53 and grooves 55 are provided. The shape and size of the foot nails 53 are consistent with the grooves 55.

[0035] In this embodiment, when the robot faces different terrains, the operator switches the working mode according to the actual situation. When the robot is on soft, muddy, or other terrains requiring grip, the control system sends a command to the electric push rod 51. The piston of the electric push rod 51 begins to retract, driving the movable rod 52 upward. At this time, the foot spikes 53 are fully exposed. Because the foot spikes 53 are sharp and dense, they can deeply penetrate the soft ground, providing the robot with grip and enabling it to move steadily on such complex terrain, avoiding slipping or sinking. When the robot is moving on a flat and smooth surface, the operator controls the electric push rod 51 to retract. The piston of lever 51 extends, pushing the movable lever 52 downward until the anti-slip pad 54 is in complete contact with the ground. At the same time, the foot spikes 53 are embedded in the grooves 55 of the anti-slip pad 54. The surface of the anti-slip pad 54 has a special anti-slip texture, which can increase the friction with the smooth ground, so that the robot will not easily slip when walking on a flat road. Through the cooperation of the electric push rod 51 and the movable lever 52, the two sets of devices, foot spikes 53 and anti-slip pads 54, can be quickly switched, enabling the robot to maintain stable movement in different environments, effectively avoiding damage caused by unstable walking, and significantly improving the service life and service period of the robot.

[0036] All electrical components mentioned in this application are electrically connected to the PLC controller and the mobile power supply. The PLC controller is a conventional and known device capable of controlling the first dual-axis servo motor 43, the second dual-axis servo motor 45, and the third dual-axis servo motor 48. All standard parts used in this application can be purchased from the market. The specific connection methods of each part are all conventional methods such as riveting and welding, which are mature in the prior art. The standard parts are all conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art. It should be noted that the above electrical components are all prior art products. Those skilled in the art should select, install, and complete the circuit debugging work according to the needs of use to ensure that each electrical component can work normally. The components are all general standard parts or components known to those skilled in the art. Their structure and principle can be learned by those skilled in the art through technical manuals or conventional experimental methods. No specific restrictions are made here.

[0037] The present invention has been described in detail above. However, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, any modifications or improvements that do not depart from the spirit of the present invention are within the protection scope of the present invention.

Claims

1. A cross-legged robot, comprising a cover plate (1), wherein a support frame (2) is fixedly installed on the side wall of the cover plate (1), and a first U-shaped frame (3) is fixedly installed on the bottom of the cover plate (1), characterized in that: The cover plate (1) is provided with a movable component (4), the movable component (4) including: The main rudder disk (41) is fixedly installed inside the first U-shaped frame (3), and the auxiliary rudder disk (42) is fixedly installed inside the first U-shaped frame (3). The movable end of the main rudder disk (41) is fixedly connected to the output end of the first dual-axis servo motor (43). The connecting plate (44) is fixedly installed on the bottom side wall of the first dual-axis servo (43). The top of the connecting plate (44) is fixedly installed on the bottom of the connecting plate (44). The main servo disk (41) and the auxiliary servo disk (42) are provided in multiple sets. The output end of the second dual-axis servo (45) is fixedly connected to the movable end of a set of main servo disk (41) and auxiliary servo disk (42). The fixed ends of the main servo disk (41) and the auxiliary servo disk (42) are fixedly installed with a second U-shaped frame (46). The third U-shaped frame (47) is fixedly installed at the bottom of the second U-shaped frame (46). The third U-shaped frame (47) is internally connected to a set of main rudder disks (41) and auxiliary rudder disks (42) fixed ends. The movable ends of the set of main rudder disks (41) and auxiliary rudder disks (42) are fixedly connected to the output end of the third dual-axis servo motor (48). The third dual-axis servo motor (48) is fixedly installed at the bottom of a base (49).

2. The cross-legged robot according to claim 1, characterized in that: The support frame (2) and the first U-shaped frame (3) are provided in two sets.

3. A cross-legged robot according to claim 1, characterized in that: The single set of active components (4) includes two sets of connecting plates (44) and a set of first dual-axis servo motors (43), second dual-axis servo motors (45), second U-shaped frame (46), third U-shaped frame (47), third dual-axis servo motors (48) and base (49).

4. A cross-legged robot according to claim 3, characterized in that: The active component (4) is provided in two sets.

5. A cross-legged robot according to claim 1, characterized in that: An auxiliary component (5) is provided on the cover plate (1). The auxiliary component (5) includes an electric push rod (51). The electric push rod (51) is fixedly installed on the top of the base (49). The piston end of the electric push rod (51) is fixedly connected to a movable rod (52). Foot nails (53) are fixedly installed on the bottom of the base (49). An anti-slip pad (54) is fixedly installed on the bottom of the movable rod (52). A groove (55) is opened on the anti-slip pad (54).

6. A cross-legged robot according to claim 5, characterized in that: The foot nails (53) and the slots (55) are provided in multiple sets.

7. A cross-legged robot according to claim 6, characterized in that: The shape and size of the foot nail (53) are consistent with the groove (55).

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