A robot with stable walking

Abstract

The utility model discloses a robot of machine walking stability relates to robot technical field. The robot of machine walking stability includes robot body, and walking subassembly, the number is two groups, and all hinged in robot body, control subassembly, the number is two groups, one end hinged in robot body, the other end is hinged respectively in two directions of walking subassembly, and first control subassembly and second control subassembly are used for driving first direction and second direction rotation respectively, wherein, first telescopic subassembly has state one and state two: state one, and second telescopic subassembly extends and props and stands on the ground, and first telescopic subassembly is in the contraction state, state two, and second telescopic subassembly contracts, and first telescopic subassembly is in the elongation state and props and stands on the ground. Therefore, through the setting of two walking subassembly of alternately prop and stand on the ground, make the robot of machine walking stability provided by the utility model better balance when moving on the concave-convex road surface.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, specifically relating to a walking robot with stable movement. Background Technology

[0002] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. Robots possess fundamental characteristics such as perception, decision-making, and execution, and can assist or even replace humans in performing dangerous, arduous, and complex tasks, improving work efficiency and quality, serving human life, and expanding or extending the scope of human activities and capabilities.

[0003] Existing intelligent robots are mainly wheeled and tracked robots, which are easy to implement. However, there are places in nature and human society that are inaccessible to humans and special situations that may endanger human lives, such as disaster-stricken mines, disaster relief, and counter-terrorism operations. Continuous exploration and research into these dangerous environments, seeking feasible solutions, has become a necessity for scientific and technological development and the progress of human society. Irregular and rugged terrain is a common characteristic of these environments, thus limiting the application of wheeled and tracked robots. Previous research has shown that wheeled locomotion has considerable advantages on relatively flat terrain, with rapid and stable movement and simpler structure and control. However, when traveling on uneven ground, such as soft ground or severely rugged terrain, the effect of wheels is severely diminished, and the mobility is greatly reduced. To improve the adaptability of wheels to soft and uneven ground, tracked locomotion emerged. However, tracked robots still have poor maneuverability on uneven ground, with severe body swaying during movement. For robots with insufficient body balance, they may even tip over, affecting normal operation. Bipedal robots not only have difficulty ensuring balance, but also have low load-bearing capacity, making it difficult to meet the needs of production and daily life. Utility Model Content

[0004] This invention provides a robot with stable walking, which solves the technical problem of poor balance of existing robots when moving on uneven surfaces.

[0005] This utility model is achieved through the following technical solution:

[0006] A walking-stabilized robot includes: a robot body, a walking component, and a control component.

[0007] The walking assembly includes a first telescopic assembly and a second telescopic assembly, one end of which is hinged to the robot body and spaced apart along a first direction;

[0008] The control assembly includes a first control assembly and a second control assembly. One end of the first control assembly is hinged to the robot body, and the other end is hinged to the first telescopic assembly. The first control assembly is used to drive the first telescopic assembly to swing back and forth. One end of the second control assembly is hinged to the robot body, and the other end is hinged to the first telescopic assembly. The second control assembly is used to drive the first telescopic assembly to swing left and right. The first control assembly and the second control assembly each control two directions of one of the walking assemblies. The second telescopic assembly has the same configuration as the first telescopic assembly.

[0009] The walking assembly includes a first telescopic assembly and a second telescopic assembly, and has two states: State 1 and State 2.

[0010] In state one, the second telescopic component extends and stands upright on the ground, while the first telescopic component is in the retracted state;

[0011] In state two, the second telescopic component is retracted, and the first telescopic component is in an extended state and supported on the ground.

[0012] Furthermore, the walking assembly includes telescopic components, all of which are hinged to the robot body.

[0013] Furthermore, the number of the telescopic components is in two groups, namely the first telescopic component and the second telescopic component, with four components in each group, and each telescopic component is located at the four vertices of the same rectangle.

[0014] Furthermore, the telescopic component is hinged to the robot body via a spherical universal joint.

[0015] Furthermore, the telescopic component of the walking component is a first telescopic piston rod, which has a steel sleeve and an extending and retracting piston rod.

[0016] Furthermore, it also includes a bottom support, which is detachably mounted on the end of each of the first telescopic piston rods away from the robot body.

[0017] Furthermore, the bottom support is connected to the first telescopic piston rod by bolts.

[0018] Furthermore, the control component includes two driving components, namely a first driving component and a second driving component. One end of the first driving component is hinged to the robot body, and the other end is hinged to the end of the steel sleeve of the telescopic component. The first driving component and the telescopic component are spaced apart along a first direction. The first driving component is used to drive the telescopic component to swing in the first direction.

[0019] One end of the second drive member is hinged to the robot body, and the other end is hinged to the end of the steel sleeve of the telescopic member. The second drive member and the telescopic member are spaced apart along the second direction. The second drive member is used to drive the telescopic member to swing in the second direction, and the first direction and the second direction are perpendicular to each other.

[0020] Furthermore, the driving component is a second telescopic piston rod, which has a steel sleeve and an extending and retracting piston rod.

[0021] Furthermore, it also includes a controller, which is electrically connected to both the telescopic component and the drive component, and the controller is used to control the stroke and direction of the telescopic component.

[0022] Compared with the prior art, this utility model has the following advantages and beneficial effects:

[0023] The robot with stable walking provided by this utility model includes a robot body, walking components, and control components. There are two sets of walking components: a first telescopic component and a second telescopic component. One end of each of the first and second telescopic components is hinged to the robot body and they are spaced apart along a first direction. There are also two sets of control components: a first control component and a second control component. One end of the first control component is hinged to the robot body, and the other end is hinged to the first telescopic component. The first control component drives the first telescopic component to swing in the first direction. One end of the second control component is hinged to the robot body, and the other end is hinged to the first telescopic component. The second control component drives the first telescopic component to swing in a second direction. The two control components control the two directions of one walking component respectively. The first and second telescopic components have the same configuration.

[0024] The first telescopic component has two states: State 1 and State 2. In State 1, the second telescopic component is extended and supported on the ground, while the first telescopic component is in a retracted state. In State 2, the second telescopic component is retracted, while the first telescopic component is extended and supported on the ground.

[0025] With its telescopic structure, when using the walking-stable robot provided by this invention, there are two driving modes when it is necessary to drive the robot to walk:

[0026] In the first driving mode, the first telescopic component is first driven to retract towards the robot body from the end furthest away from the robot body. At this time, the second telescopic component is in an extended state and supported on the ground. Then, the control component drives the first telescopic component to swing in the desired direction of movement to a preset angle for the next step, and then extends the first telescopic component until it touches the ground. Then, the second telescopic component retracts. The control component then drives the first telescopic component to change its angle relative to the robot body. Because the end of the first telescopic component furthest from the robot body touches the ground, the robot body rotates relative to the first telescopic component, causing the robot body to move in the desired direction of movement relative to the point of contact. Then, the control component drives the second telescopic component to swing in the desired direction of movement to a preset angle for the next step, and then extends the second telescopic component until it touches the ground. Then, the first telescopic component retracts. The control component then drives the second telescopic component to change its angle relative to the robot body. Because the end of the second telescopic component furthest from the robot body touches the ground, the robot body rotates relative to the second telescopic component, causing the robot body to move in the desired direction of movement relative to the point of contact.

[0027] The second driving mode involves the controller driving the retracting walking component to change its angle, with the robot body moving by the extension and retraction of the walking component. There are two specific scenarios. First, on flat ground or uphill, the first telescopic component's four legs support the robot body. The two front legs of the second telescopic component retract off the ground, driven by the controller to a preset angle for the next step, then extend until they touch the ground. The two hind legs extend and push off the ground, causing the robot body to move in the desired direction relative to the ground. When the angle between the robot body and the first telescopic component changes, and the angle between the hind legs of the first telescopic component and the robot body is less than 90 degrees, the hind legs of the second telescopic component can retract, and the hind legs of the first telescopic component take over pushing off the ground. The second telescopic component then retracts off the ground and is driven by the controller to swing forward to a preset angle for the next step, then extends until it touches the ground. The second telescopic component's four legs then support the robot body, repeating the work of the first telescopic component, again causing the robot body to move in the desired direction relative to the point of contact. On downhill, the roles of the front and rear legs are reversed; the front legs push off the ground to prevent tilting forward, and retracting the front legs allows the robot body to move forward.

[0028] In this way, the first and second telescopic components are alternately extended, shortened, and rotated in a cyclical manner, thereby achieving the purpose of moving the robot body in the desired direction. The alternating support of the first and second telescopic components on the ground makes the robot more stable during movement. Therefore, by setting up two sets of walking components, the robot with stable walking provided by this utility model has better balance when moving on uneven surfaces.

[0029] The first and second driving modes can be used together or used separately. Attached Figure Description

[0030] The accompanying drawings, which are included to provide a further understanding of the embodiments of the present invention and form part of this application, do not constitute a limitation thereof. In the drawings:

[0031] Figure 1 A schematic diagram of the structure of a walking-stabilized robot provided in an embodiment of this utility model;

[0032] Figure 2 Another structural schematic diagram of the walking-stabilized robot provided in this embodiment of the utility model;

[0033] Figure 3 Another structural schematic diagram of the walking-stabilized robot provided in this embodiment of the utility model;

[0034] Figure 4 A schematic diagram of the installation structure of the walking component and the control component is provided for an embodiment of this utility model.

[0035] The attached diagram shows the following components and their corresponding names: 1-robot body, 2-first telescopic component, 3-second telescopic component, 4-control component, 41-first drive component, 42-second drive component, 5-bottom support. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of this utility model are only used to explain this utility model and are not intended to limit this utility model.

[0037] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly or indirectly attached to that other component. When a component is referred to as being "connected to" another component, it can be directly or indirectly connected to that other component.

[0038] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0039] Example

[0040] This embodiment provides a robot with stable walking ability to solve the technical problem of poor balance of robots in the prior art when moving on uneven surfaces. The robot with stable walking ability includes a robot body 1, a walking assembly, and a control assembly 4, wherein:

[0041] The robot body 1 contains a power supply component, a walking component, and a control component 4, all of which are electrically connected to the power supply component via wiring.

[0042] The walking components consist of two sets: a first telescopic component 2 and a second telescopic component 3. One end of both the first telescopic component 2 and the second telescopic component 3 is hinged to the robot body 1 and they are spaced apart along a first direction. The first telescopic component 2 has two states: State 1 and State 2.

[0043] State 1: The second telescopic component 3 is extended and supported on the ground, while the first telescopic component 2 is in the retracted state.

[0044] State 2: The second telescopic component 3 is retracted, and the first telescopic component 2 is in an extended state and supported on the ground.

[0045] By setting up two sets of walking components, when one set of walking components moves, the other walking component stands upright on the ground. In this way, the robot with stable walking provided by this utility model embodiment moves more smoothly and has better balance performance.

[0046] The control components 4 consist of two sets: a first control component and a second control component. One end of the first control component is hinged to the robot body 1, and the other end is hinged to the first telescopic component 2. The first control component is used to drive the first telescopic component 2 to swing in a first direction. One end of the second control component is hinged to the robot body 1, and the other end is hinged to the first telescopic component 2. The second control component is used to drive the first telescopic component 2 to swing in a second direction. In this way, the first direction and the second direction are driven by the two sets of control components 4 respectively. The first telescopic component 2 and the second telescopic component 3 have the same configuration, which facilitates the control of the rotation direction of the two sets of walking components.

[0047] With its telescopic structure, when using the walking-stable robot provided by this invention, there are two driving modes when it is necessary to drive the robot to walk:

[0048] In the first driving mode, the first telescopic component is first driven to retract towards the robot body from the end furthest away from the robot body. At this time, the second telescopic component is in an extended state and supported on the ground. Then, the control component drives the first telescopic component to swing in the desired direction of movement to a preset angle for the next step, and then extends the first telescopic component until it touches the ground. Then, the second telescopic component retracts. The control component then drives the first telescopic component to change its angle relative to the robot body. Because the end of the first telescopic component furthest from the robot body touches the ground, the robot body rotates relative to the first telescopic component, causing the robot body to move in the desired direction of movement relative to the point of contact. Then, the control component drives the second telescopic component to swing in the desired direction of movement to a preset angle for the next step, and then extends the second telescopic component until it touches the ground. Then, the first telescopic component retracts. The control component then drives the second telescopic component to change its angle relative to the robot body. Because the end of the second telescopic component furthest from the robot body touches the ground, the robot body rotates relative to the second telescopic component, causing the robot body to move in the desired direction of movement relative to the point of contact.

[0049] The second driving mode involves the controller driving the retracting walking component to change its angle, with the robot body moving by the extension and retraction of the walking component. There are two specific scenarios. First, on flat ground or uphill, the first telescopic component's four legs support the robot body. The two front legs of the second telescopic component retract off the ground, driven by the controller to a preset angle for the next step, then extend until they touch the ground. The two hind legs extend and push off the ground, causing the robot body to move in the desired direction relative to the ground. When the angle between the robot body and the first telescopic component changes, and the angle between the hind legs of the first telescopic component and the robot body is less than 90 degrees, the hind legs of the second telescopic component can retract, and the hind legs of the first telescopic component take over pushing off the ground. The second telescopic component then retracts off the ground and is driven by the controller to swing forward to a preset angle for the next step, then extends until it touches the ground. The second telescopic component's four legs then support the robot body, repeating the work of the first telescopic component, again causing the robot body to move in the desired direction relative to the point of contact. On downhill, the roles of the front and rear legs are reversed; the front legs push off the ground to prevent tilting forward, and retracting the front legs allows the robot body to move forward.

[0050] In this way, the first and second telescopic components are alternately extended, shortened, and rotated in a cyclical manner, thereby achieving the purpose of moving the robot body in the desired direction. The alternating support of the first and second telescopic components on the ground makes the robot more stable during movement. Therefore, by setting up two sets of walking components, the robot with stable walking provided by this utility model has better balance when moving on uneven surfaces.

[0051] The first and second driving modes can be used together or used separately.

[0052] An optional implementation of this embodiment is as follows: The walking component includes three telescopic members, each of which is hinged to the robot body 1. The line connecting any two of the three telescopic members in the second direction is located on different straight lines. That is, multiple telescopic members are located at the vertices of the same polygon. The number of sides of the polygon is equal to the number of telescopic members. The first direction and the second direction are set perpendicular to each other. In this way, by setting the three telescopic members, the robot body 1 is supported on the ground, reducing the probability of the robot body 1 tipping over.

[0053] Alternatively, the number of telescopic components is four sets, and the four sets of telescopic components are located at the four vertices of the same rectangle. In this way, by setting four telescopic components and having them located at the four vertices of the same rectangle, the robot body 1 can be more stably supported on the ground, further reducing the probability of the robot body 1 tipping over.

[0054] Optionally, the telescopic component is hinged to the robot body 1 via a spherical universal joint. The spherical universal joint enables the telescopic component to move more flexibly, and also provides strong load-bearing capacity and good wear resistance.

[0055] Optionally, the telescopic component is a first telescopic piston rod. The telescopic piston rod has a strong load-bearing capacity, a compact structure, and can extend and retract in multiple stages, thus achieving a longer working stroke.

[0056] An optional implementation of this embodiment is as follows: it also includes a spherical or near-spherical bottom support 5. The bottom support 5 can be detachably installed on the end of each first telescopic piston rod away from the robot body 1. In this way, by setting the bottom support 5, the contact area with the ground is increased, so that the robot body 1 can be more stably supported on the ground.

[0057] Optionally, the bottom support 5 is connected to the telescopic component by bolts, which makes it easier to replace the bottom support 5 by means of a detachable installation.

[0058] An optional implementation of this embodiment is as follows: The control component 4 includes two driving components, namely a first driving component 41 and a second driving component 42. One end of the first driving component 41 is hinged to the robot body 1, and the other end is hinged to the end of the steel sleeve of the telescopic component. The first driving component 41 and the telescopic component are spaced apart along a first direction. The first driving component 41 is used to drive the telescopic component to swing in the first direction. By setting the first driving component 41, the telescopic component can swing in the first direction with the connection point between the telescopic component and the robot body 1 as the center.

[0059] One end of the second driving member 42 is hinged to the robot body 1, and the other end is hinged to the end of the steel sleeve of the telescopic member. The second driving member 42 and the telescopic member are spaced apart along the second direction. The second driving member 42 is used to drive the telescopic member to swing in the second direction. The first direction and the second direction are perpendicular to each other. By setting the second driving member 42, the telescopic member can swing in the second direction with the connection point between the telescopic member and the robot body 1 as the center. In this way, through the cooperation of the hinged telescopic member, the first driving member 41 and the second driving member 42, the telescopic member can rotate in any direction.

[0060] Optionally, the driving component is a second telescopic piston rod. The second telescopic piston rod facilitates the control of the direction of rotation of the telescopic component by controlling its extension and retraction.

[0061] An optional implementation of this embodiment is as follows: it also includes a controller, which is electrically connected to the telescopic component and the drive component. The controller is used to control the movement of the telescopic component and the drive component. By setting the controller, it is easier to control the extension, travel and rotation direction of the telescopic component.

[0062] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this utility model. It should be understood that the above description is only a specific embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

Claims

1. A walking robot with stable movement, characterized in that, include: Robot body (1), walking component and control component (4). The walking assembly includes a first telescopic assembly (2) and a second telescopic assembly (3), one end of the first telescopic assembly (2) and the second telescopic assembly (3) are both hinged to the robot body (1) and are spaced apart along a first direction; The control component (4) includes a first control component and a second control component. One end of the first control component is hinged to the robot body (1), and the other end is hinged to the first telescopic component (2). The first control component is used to drive the first telescopic component (2) to swing back and forth. One end of the second control component is hinged to the robot body (1), and the other end is hinged to the first telescopic component (2). The second control component is used to drive the first telescopic component (2) to swing left and right. The first control component and the second control component control two directions of one of the walking components respectively. The second telescopic component (3) has the same configuration as the first telescopic component (2). The walking assembly includes a first telescopic assembly (2) and a second telescopic assembly (3), and has states one and two: In state one, the second telescopic component (3) is extended and supported on the ground, while the first telescopic component (2) is in a retracted state; In state two, the second telescopic component (3) is retracted, and the first telescopic component (2) is in an extended state and supported on the ground.

2. The walking-stabilized robot according to claim 1, characterized in that, The walking assembly includes telescopic components, all of which are hinged to the robot body (1).

3. A walking-stabilized robot according to claim 2, characterized in that, The number of telescopic components is in two groups, namely the first telescopic component (2) and the second telescopic component (3), with four components in each group, and each telescopic component is located at the four vertices of the same rectangle.

4. A walking-stabilized robot according to claim 3, characterized in that, The telescopic component is hinged to the robot body (1) via a spherical universal joint.

5. A walking-stabilized robot according to claim 4, characterized in that, The telescopic component of the traveling component is a first telescopic piston rod, which has a steel sleeve and an extending and retracting piston rod.

6. A walking-stabilized robot according to claim 5, characterized in that, It also includes a bottom support, which is detachably mounted on the end of each of the first telescopic piston rods away from the robot body (1).

7. A walking-stabilized robot according to claim 6, characterized in that, The bottom support is connected to the first telescopic piston rod by bolts.

8. A walking-stabilized robot according to claim 2, characterized in that, The control component (4) includes two driving components, namely a first driving component (41) and a second driving component (42). One end of the first driving component (41) is hinged to the robot body (1), and the other end is hinged to the end of the steel sleeve of the telescopic component. The first driving component (41) and the telescopic component are spaced apart along a first direction. The first driving component (41) is used to drive the telescopic component to swing in the first direction. One end of the second drive member (42) is hinged to the robot body (1), and the other end is hinged to the end of the steel sleeve of the telescopic member. The second drive member (42) and the telescopic member are spaced apart along the second direction. The second drive member (42) is used to drive the telescopic member to swing in the second direction, and the first direction and the second direction are perpendicular to each other.

9. A walking-stabilized robot according to claim 8, characterized in that, The driving component is a second telescopic piston rod, which has a steel sleeve and a piston rod that extends and retracts.

10. A walking-stabilized robot according to claim 9, characterized in that, It also includes a controller, which is electrically connected to the telescopic component and the drive component, and the controller is used to control the stroke and direction of the telescopic component.

Images