A quadruped robot

Abstract

The utility model relates to a kind of four-legged robot, belong to robot technical field.It include fuselage, mechanical leg, mechanical leg is located at the bottom of fuselage, mechanical leg includes mechanical leg connecting plate, first connecting table, second connecting table, first connecting table below is equipped with first connecting rod, second connecting rod, second connecting table below is equipped with third connecting rod, fourth connecting rod, first connecting rod and first connecting table are hinged, second connecting rod and first connecting rod are hinged, third connecting rod and second connecting table are hinged and, fourth connecting rod and third connecting rod are mutually hinged, second connecting rod and fourth connecting rod are mutually hinged, fourth connecting rod bottom is equipped with foot end.The utility model provides a kind of four-legged robot, its linear drive module realizes height flexible adjustment, adapts to different terrain, height and speed are adjustable, enhance obstacle-crossing ability;Multiple drive assembly controls multiple joint flexible movement, accurately controls foot end trajectory, improves movement coordination and efficiency.Optimization connecting rod length and angle design, reduce energy loss.

Description

Technical Field

[0001] This utility model relates to a quadruped robot and belongs to the field of robot technology. Background Technology

[0002] With the continuous development of robotics technology, the application fields of walking robots are becoming wider and wider. From a practical point of view, walking has unique advantages that wheeled machinery cannot match. By imitating the movement principle of animal limbs, quadruped robots can achieve stable walking in complex terrain (such as rugged mountain roads, areas with dense obstacles, etc.). Their advantage is that they can complete non-contact obstacle avoidance, stepping across obstacles, and omnidirectional movement without continuous ground support. They are widely used in industrial inspection, rescue exploration, military reconnaissance and other scenarios.

[0003] However, traditional quadruped robot legs are mostly fixed-axis or single-drive systems. The fixed-axis structure limits the range of foot trajectory adjustment, and single-degree-of-freedom drive cannot achieve real-time optimization of the foot trajectory, making it difficult to adjust the foot movement trajectory according to terrain changes. In rough terrain or obstacle-prone scenarios, there is a risk of slipping or tipping due to unreasonable foot contact angles. Furthermore, controlling the movement of the robotic leg with a single drive component cannot achieve real-time optimization of the foot trajectory, making it difficult for the robot to simultaneously meet the requirements of high-speed movement and high-load obstacle crossing in complex terrain. Utility Model Content

[0004] This invention provides a quadruped robot to solve the problems of insufficient terrain adaptability and limited motion coordination in the prior art.

[0005] This utility model provides a quadruped robot, which includes a body and mechanical legs. The mechanical legs are four in number and fixedly connected at the bottom of the body. Each mechanical leg includes a mechanical leg connecting plate fixedly connected to the body, a first connecting platform fixedly connected to the mechanical leg connecting plate, and a second connecting platform slidably connected to the mechanical leg connecting plate. A first connecting rod and a second connecting rod are provided below the first connecting platform, and a third connecting rod and a fourth connecting rod are provided below the second connecting platform. The first connecting rod is hinged to the first connecting platform and driven by a first driving assembly. The second connecting rod is located below the first connecting rod and hinged to the first connecting rod. The third connecting rod is hinged to the second connecting platform and driven by a second driving assembly. The fourth connecting rod is hinged to the third connecting rod, and the second connecting rod is hinged to the fourth connecting rod. The bottom of the fourth connecting rod has a foot end.

[0006] Preferably, the mechanical legs are located at the four corners of the bottom of the machine body in a rectangular symmetrical arrangement.

[0007] Preferably, the second connecting platform and the mechanical leg connecting plate slide horizontally via a linear drive module.

[0008] Preferably, the linear drive module includes a ball screw and a slide connected to the ball screw by a thread. The ball screw has parallel guide rods on both sides. The slide passes through the guide rods and the ball screw and slides along the axis of the guide rods.

[0009] Preferably, the second connecting platform is fixedly connected to the slide, and the slide drives the second connecting platform to slide along the axis of the guide rod.

[0010] Preferably, the first drive assembly includes a first bearing and a first rotating shaft fixedly connected to the first connecting platform, and the top of the first connecting rod is fixedly connected to the first rotating shaft, thereby driving the first connecting rod to rotate in a circular motion via the first rotating shaft.

[0011] Preferably, the top of the second link is hinged to the end of the first link away from the first pivot.

[0012] Preferably, the second drive assembly includes a second shaft seat and a second rotating shaft fixedly connected to the second connecting platform, the top of the third link is fixedly connected to the second rotating shaft, and the top of the fourth link is hinged to the end of the third link away from the fourth link.

[0013] Preferably, the end of the second link away from the first link and the end of the fourth link away from the third link are hinged to each other.

[0014] Preferably, the foot is located at the hinge point between the second link and the fourth link.

[0015] The beneficial effects of this utility model are:

[0016] This invention provides a quadruped robot that adjusts the distance between the second and first connecting platforms via a linear drive module. This allows the robot to flexibly adjust its height, enabling it to find the optimal clearance in various terrains. For example, it can raise its height to cross obstacles on rugged mountain roads or lower itself to maintain stability in low-ceilinged spaces. The first and second drive components respectively drive the first and third connecting links to rotate in a circular motion. Combined with the hinged relationship between the links, this achieves flexible multi-joint movement of the mechanical legs, allowing the robot to precisely control its foot trajectory and adapt to various complex terrains, such as rugged mountain roads. In rugged mountain roads and areas with dense obstacles, the first and third links are of equal length, the second and fourth links are of equal length and 1.8 times the length of the first link, and the length of the foot is 0.2 times that of the first link. The angle between the foot and the fourth link is 120°. This design improves the coordination of movement between the links during robot walking, reduces unnecessary energy loss, and improves movement efficiency. Multiple drive components enable flexible movement of the multi-joint mechanical leg, allowing for precise control of the mechanical leg's trajectory and posture. This adapts to different terrains and environments, ensuring stable walking of the robot in complex terrains. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of a quadruped robot according to the present invention.

[0018] Figure 2 This is a schematic diagram of the mechanical leg structure of a quadruped robot according to the present invention.

[0019] Figure 3 This is a schematic diagram of the mechanical leg structure of a quadruped robot according to this utility model from another angle.

[0020] Figure 4 This is a schematic diagram of the sliding state structure of a quadruped robot according to the present invention.

[0021] Figure 5 This is a schematic diagram of another state of the sliding platform of a quadruped robot according to the present invention.

[0022] Figure 6 This is a schematic diagram of the movement structure of a quadruped robot according to the present invention.

[0023] In the diagram: 1. Body, 2. Mechanical leg, 201. Mechanical leg connecting plate, 202. First connecting platform, 203. First bearing seat, 204. First connecting rod, 205. Second connecting rod, 206. Linear drive module, 207. Slide table, 208. Second connecting platform, 209. Second bearing seat, 210. Third connecting rod, 211. Fourth connecting rod, 212. Foot end, 213. First motor bracket, 214. First motor, 215. Second motor bracket, 216. Second motor, 217. Third motor, 218. Guide rod, 219. Ball screw, 220. First rotating shaft, 221. Second rotating 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] This utility model proposes a quadruped robot, comprising a body 1 and mechanical legs 2. The mechanical legs 2 are four in a rectangular, symmetrical arrangement located at the bottom of the body 1. Each mechanical leg 2 includes a mechanical leg connecting plate 201 fixedly connected to the body 1, a first connecting platform 202 fixedly connected to the mechanical leg connecting plate 201, and a second connecting platform 208 slidably connected to the mechanical leg connecting plate 201. The mechanical leg connecting plate 201 is provided with a linear drive module 206 matching the second connecting platform 208. The linear drive module 206 includes a ball screw 219 and a slide 207. The second connecting platform 208 is located at the bottom of the slide 207 and fixedly connected to the slide 207. Next, guide rods 218 are provided on both sides of the ball screw 219, and the guide rods 218 are parallel to the ball screw 219. The slide table 207 passes through the ball screw 219 and the guide rods 218, and is threadedly connected to the ball screw 219 and slidably connected to the guide rods 218, respectively. The ball screw 219 is driven by a third motor 217. The first connecting platform 202 and the second connecting platform 208 are both located below the mechanical leg connecting plate 201. A third connecting rod 210 and a fourth connecting rod 211 are provided below the first connecting platform 202. A first driving assembly for driving the first connecting rod 204 to rotate is provided at the bottom of the first connecting platform 202. The first driving assembly includes a third connecting rod 210 and a fourth connecting rod 211. A first shaft seat 203 and a first rotating shaft 220 fixedly connected to the top of the first connecting rod 204 are provided. The first rotating shaft 220 is driven by a first motor 214. A first motor bracket 213 matching the first motor 214 is provided at the bottom of the first connecting platform 202. A second drive assembly for driving the third connecting rod 210 to rotate is provided at the bottom of the second connecting platform 208. The second drive assembly includes a second shaft seat 209 and a second rotating shaft 221 fixedly connected to the top of the third connecting rod 210. The second rotating shaft 221 is driven by a second motor 216. A second motor bracket 215 matching the second motor 216 is provided at the bottom of the second connecting platform 208. The second link 205 and the fourth link 211 are respectively located at the end of the first link 204 away from 220 and the end of the third link 210 away from the second pivot 221 and are hinged to each other. The bottom of the second link 205 and the bottom of the fourth link 211 are hinged to each other. The hinge point of the second link 205 and the third link 210 is provided with a foot end 212 for contacting the ground. The first link 204 and the third link 210 are of equal length. The second link 205 and the third link 210 are of equal length and are 1.8 times the length of the first link 204. The length of the foot end 212 is 0.2 times the length of the first link 204. The included angle between the foot end 212 and the fourth link 211 is 120°.

[0026] In use, the feet 212 at the bottom of the four mechanical legs 2 support the robot on the ground. The first motor 214 and the second motor 216 drive the first link 204 and the third link 210 to rotate in a circular motion. The rotation angle of the first link 204 and the third link 210 ranges from 30° to 100°. The first link 204 and the third link 210 pull on the second link 205 and the third link 210 respectively, causing the feet 212 to lift off the ground and move, thus enabling the robot to move. During the robot's movement, the third motor 217 drives the ball screw 219 to rotate, which in turn causes the slide 207 to move the second connecting platform 208 and the top of the third link 210. The robot slides horizontally to adjust the distance between the second connecting platform 208 and the first connecting platform 202. When the distance between the second connecting platform 208 and the first connecting platform 202 is equal to 0.6 times the distance of the first link 204, the robot rises, the angle between the bottom hinges of the second link 205 and the fourth link 211 decreases, and the displacement of the foot 212 increases during walking, enabling a faster walking speed. When the distance between the second connecting platform 208 and the first connecting platform 202 is equal to 1.5 times the distance of the first link 204, the robot lowers, the angle between the bottom hinges of the second link 205 and the fourth link 211 increases, and the displacement of the foot 212 decreases during walking, but the height increase, enabling greater obstacle-crossing ability.

[0027] Compared to existing technologies, the four mechanical legs 2, arranged symmetrically in a rectangle at the bottom of the robot body 1, allow for a more even distribution of the robot's weight during both stationary and moving operations, providing more stable and reliable support. This ensures better balance on both flat and complex terrains, reducing the risk of falls or misalignment due to unstable support. Multiple drive components enable flexible movement of the multi-joint mechanical legs 2. The bottom of the first connecting platform 202 houses a first drive component that drives the first link 204 to rotate, and the bottom of the second connecting platform 208 houses a second drive component that drives the third link 210 to rotate in a circular motion. The first motor 214 and the second motor 216 drive the first link 204 and the third link 210 to rotate in a circular motion, which can precisely control the movement trajectory and posture of the mechanical leg and adapt to different terrains and environments. The mechanical leg connecting plate 201 is equipped with a linear drive module 206 that matches the second connecting platform 208. The linear drive module 206 includes a ball screw 219 and a slide 207. The second connecting platform 208 is located at the bottom of the slide 207 and is fixedly connected to the slide 207. The ball screw 219 is driven by a third motor 217. During the robot's movement, the third motor 217 drives the ball screw 219 to rotate, causing the slide 207 to slide horizontally along the top of the second connecting platform 208 and the third link 210. This adjusts the distance between the second connecting platform 208 and the first connecting platform 202, allowing the robot to flexibly adjust its height according to different terrains and task requirements, achieving faster walking speeds or greater obstacle-crossing capabilities. When the distance between the second connecting platform 208 and the first connecting platform 202 is equal to 0.6 times the distance of the first link 204, the robot rises, and the angle between the bottom hinges of the second link 205 and the fourth link 211 decreases, resulting in a larger displacement of the foot 212 during walking, thus achieving faster walking speeds. When the distance between the connecting platform 208 and the first connecting platform 202 is equal to 1.5 times the distance of the first link 204, the robot's height decreases, and the angle between the bottom hinges of the second link 205 and the fourth link 211 increases. During walking, the displacement of the foot 212 decreases, but the lifting height increases, enabling greater obstacle-crossing capability. The first link 204 and the third link 210 are of equal length, the second link 205 and the fourth link 211 are of equal length and 1.8 times the length of the first link 204, the foot 212 is 0.2 times the length of the first link 204, and the angle between the foot 212 and the fourth link 211 is 120°. This allows for better coordination between the links during robot walking, reducing unnecessary energy loss and improving movement efficiency. Simultaneously, it fully utilizes the motion performance of the mechanical legs, making the robot's walking and obstacle-crossing actions smoother and more efficient.

[0028] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A quadruped robot, characterized in that: The device includes a fuselage and mechanical legs. The mechanical legs consist of four fixedly connected components located at the bottom of the fuselage. Each mechanical leg includes a mechanical leg connecting plate fixedly connected to the fuselage, a first connecting platform fixedly connected to the mechanical leg connecting plate, and a second connecting platform slidably connected to the mechanical leg connecting plate. Below the first connecting platform are a first connecting rod and a second connecting rod. Below the second connecting platform are a third connecting rod and a fourth connecting rod. The first connecting rod is hinged to the first connecting platform and driven by a first driving assembly. The second connecting rod is located below the first connecting rod and hinged to it. The third connecting rod is hinged to the second connecting platform and driven by a second driving assembly. The fourth connecting rod is hinged to the third connecting rod, and the second connecting rod is also hinged to the fourth connecting rod. The bottom of the fourth connecting rod has a foot end.

2. A quadruped robot according to claim 1, characterized in that: The mechanical legs are located at the four corners of the bottom of the machine body in a rectangular symmetrical arrangement.

3. A quadruped robot according to claim 1, characterized in that: The second connecting platform and the mechanical leg connecting plate slide horizontally via a linear drive module.

4. A quadruped robot according to claim 3, characterized in that: The linear drive module includes a ball screw and a slide connected to the ball screw by threads. The ball screw has parallel guide rods on both sides. The slide passes through the guide rods and the ball screw and slides along the axis of the guide rods.

5. A quadruped robot according to claim 4, characterized in that: The second connecting platform is fixedly connected to the slide, and the slide drives the second connecting platform to slide along the axis of the guide rod.

6. A quadruped robot according to claim 1, characterized in that: The first drive assembly includes a first shaft seat and a first rotating shaft fixedly connected to the first connecting platform. The top of the first connecting rod is fixedly connected to the first rotating shaft, and the first connecting rod is driven to rotate circumferentially through the first rotating shaft.

7. A quadruped robot according to claim 6, characterized in that: The top of the second link is hinged to the end of the first link away from the first pivot.

8. A quadruped robot according to claim 6, characterized in that: The second drive assembly includes a second shaft seat and a second rotating shaft fixedly connected to the second connecting platform. The top of the third link is fixedly connected to the second rotating shaft, and the top of the fourth link is hinged to the end of the third link away from the fourth link.

9. A quadruped robot according to claim 1, characterized in that: The end of the second link away from the first link is hinged to the end of the fourth link away from the third link.

10. A quadruped robot according to claim 1, characterized in that: The foot is located at the hinge point between the second and fourth links.

Images