Adjustable lifting leg for quadruped robot

Abstract

The utility model relates to robot technical field, and disclose adjustable lifting leg for quadruped robot, including device main body, still including fixedly connected with the first fixed seat of device main body, the first rotating seat of rotation connection on the first fixed seat, the first rotating link of rotation connection on the first rotating seat, the second rotating link of rotation connection on the first rotating link, the first telescopic link of fixed connection on the second rotating link. In use wheel type fast movement and quadruped walking mode are combined, through adjusting third rotating link rotation, according to different terrain condition flexibly change movement mode, when equipment faces flat terrain, through moving wheel body work and move, make robot fast and stable movement, face complex terrain, through adjusting quadruped mode let equipment can shuttle freely in various complex terrain, successfully complete the task, in this way fully promote the overall applicability, so as to face different task demand.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to adjustable lifting legs for quadruped robots. Background Technology

[0002] As an important branch of the field of bionic robots, quadruped robots integrate knowledge from multiple disciplines such as mechanical design, motion control, perception and decision-making. With their strong terrain adaptability and flexible movement, they have broad application prospects in fields such as complex environment detection, rescue, and military applications.

[0003] In terms of mobility, the limitations of traditional robots in terms of movement methods and functions make it difficult for them to play their due role in complex and ever-changing environments. For example, common wheeled robots can move quickly and stably on flat, smooth surfaces and are highly efficient in performing tasks such as transportation and patrol. However, once they encounter complex terrain, the robots may be unable to move forward. Even in disaster relief sites, robots are needed to quickly traverse rubble to find survivors, carry relief supplies, and even provide simple medical assistance. In such cases, the limitations of robots with a single mode of movement are further amplified. Therefore, it is necessary to improve quadruped robots by using adjustable and height-adjustable legs to solve the above problems. Utility Model Content

[0004] To overcome the problem that robots are unable to perform their intended function in complex and ever-changing environments, thus affecting the required work.

[0005] The technical solution of this utility model is as follows: an adjustable lifting leg for a quadruped robot, including a main body, a first fixed seat fixedly connected to the main body, a first rotating seat rotatably connected to the first fixed seat, a first rotating rod rotatably connected to the first rotating seat, a second rotating rod rotatably connected to the first rotating rod, a first telescopic rod fixedly connected to the second rotating rod, a first sliding rod fixedly connected to the first telescopic rod, a support leg fixedly connected to the first sliding rod, a third rotating rod rotatably connected to the support leg, a movable wheel body disposed at one end of the third rotating rod, and a limiting component disposed on the support leg. The first sliding rod is slidably connected to the second rotating rod, and the rotation of the third rotating rod is limited by the limiting component.

[0006] Preferably, the first fixed seat has a limiting groove at the relative position of the first rotating seat, and the first rotating seat is rotatably connected to the groove.

[0007] Preferably, the second rotating rod has a limiting groove at the relative position of the first sliding rod, and the first sliding rod is slidably connected to the groove.

[0008] Preferably, a limiting groove is formed in the first rotating rod at the relative position of the second rotating rod, and the second rotating rod is rotatably connected to the groove.

[0009] Preferably, a first motor is fixedly connected to the main body of the device, and the orientation of the first rotating seat is adjusted by the operation of the first motor. The first rotating seat is fixedly connected to the output end of the first motor. A second motor is fixedly connected to the first rotating seat. A first gear is fixedly connected to the output end of the second motor. A second gear meshes with the first gear. The second gear is fixedly connected to the first rotating rod. A second rotating seat is rotatably connected to the first rotating rod. A third rotating seat is rotatably connected to the second rotating rod. A second telescopic rod is fixedly connected between the third rotating seat and the second rotating seat. The rotation of the second rotating rod is adjusted by the operation of the second telescopic rod.

[0010] Preferably, the limiting assembly includes a first limiting plate fixedly connected to the support leg, a second limiting plate fixedly connected to the support leg, a second fixed seat fixedly connected to the support leg, a second sliding rod slidably connected to the second fixed seat, a fixed plate fixedly connected to one end of the second sliding rod, a first spring fixedly connected between the fixed plate and the second fixed seat, a pull rod fixedly connected to the end of the second sliding rod away from the fixed plate, and a limiting block fixedly connected to the pull rod. The limiting block is snapped onto the third rotating rod to restrict the rotation of the third rotating rod, and the first limiting plate and the second limiting plate limit the rotation range of the third rotating rod.

[0011] Preferably, the third rotating rod has a slot at the relative position of the limiting block, and the limiting block is engaged with the slot.

[0012] Preferably, the second fixed seat has a limiting groove at the relative position of the second sliding rod, and the second sliding rod is slidably connected to the groove.

[0013] The beneficial effects of this utility model are:

[0014] 1. When in use, the wheeled rapid movement and quadruped walking mode are combined. By adjusting the rotation of the third rotating rod, the movement mode can be flexibly changed according to different terrain conditions. When the device faces flat terrain, it moves by moving the main body of the wheel, so that the robot can move quickly and smoothly. When facing complex terrain, the quadruped mode can be adjusted to allow the device to move freely in various complex terrains and complete the task smoothly, thereby fully improving the overall applicability to meet different task requirements.

[0015] 2. The design of the robot's support legs is ingeniously integrated with the concept of bionics, mimicking the four-legged structure of a spider. This allows the robot to maintain stable walking when facing different terrains and environments, greatly expanding the robot's application scenarios. Whether in field exploration, disaster relief, or military reconnaissance, the robot can rely on its excellent environmental adaptability. Attached Figure Description

[0016] Figure 1 This is a structural schematic diagram of one embodiment of the adjustable lifting leg for the quadruped robot of this utility model;

[0017] Figure 2 for Figure 1 A schematic diagram of the unfolded structure of the third rotating rod;

[0018] Figure 3 for Figure 1 A schematic diagram of the structure of the first fixed base and its connected components;

[0019] Figure 4 for Figure 1 A schematic diagram of the structure of the first rotating rod and its connected components;

[0020] Figure 5 This is a schematic diagram of the limiting component of this utility model.

[0021] Explanation of reference numerals in the attached drawings: 1. Main body of the device; 21. First fixed seat; 22. First rotating seat; 23. First rotating rod; 24. Second rotating rod; 25. First telescopic rod; 26. First sliding rod; 27. Support leg; 28. Third rotating rod; 29. ​​Moving wheel body; 210. First motor; 211. Second motor; 212. First gear; 213. Second gear; 214. Second rotating seat; 215. Third rotating seat; 216. Second telescopic rod; 31. First limiting plate; 32. Second limiting plate; 33. Second fixed seat; 34. Second sliding rod; 35. Fixed plate; 36. First spring; 37. Pull rod; 38. Limiting block. Detailed Implementation

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0023] Please see Figure 1 - Figure 5This utility model provides an embodiment of an adjustable lifting leg for a quadruped robot, comprising a main body 1, and further comprising a first fixed base 21 fixedly connected to the main body 1, a first rotating base 22 rotatably connected to the first fixed base 21, a first rotating rod 23 rotatably connected to the first rotating base 22, a second rotating rod 24 rotatably connected to the first rotating rod 23, a first telescopic rod 25 fixedly connected to the second rotating rod 24, a first sliding rod 26 fixedly connected to the first telescopic rod 25, a support leg 27 fixedly connected to the first sliding rod 26, a third rotating rod 28 rotatably connected to the support leg 27, and a movable rod at one end of the third rotating rod 28. The robot has a wheel body 29 and a limiting component mounted on the support leg 27. The first sliding rod 26 is slidably connected to the second rotating rod 24. The limiting component limits the rotation of the third rotating rod 28. In actual use, when facing flat terrain, the robot moves by rotating the third rotating rod 28 and limiting its rotation by the limiting mechanism. When facing rugged terrain, the robot moves by adjusting the third rotating rod 28 and retracting it. The first telescopic rod 25 then pushes the first sliding rod 26 to adjust the position of the support leg 27. The robot moves on all four legs by rotating the first rotating seat 22, the first rotating rod 23, and the second rotating rod 24.

[0024] Please see Figure 1 - Figure 4In this embodiment, the first fixed seat 21 has a limiting groove at a position relative to the first rotating seat 22. The first rotating seat 22 is rotatably connected to the groove, which restricts the rotation of the first rotating seat 22 and prevents it from tilting and disengaging from the first fixed seat 21, thus affecting the robot's movement. The second rotating rod 24 has a limiting groove at a position relative to the first sliding rod 26, which is slidably connected to the groove, restricting the sliding of the first sliding rod 26 and preventing it from sliding too much and disengaging from the second rotating rod 24. The first rotating rod 23 has a limiting groove at a position relative to the second rotating rod 24, which is rotatably connected to the groove, restricting the rotation of the second rotating rod 24 and preventing it from rotating too much and disengaging from the first rotating rod 23, thus affecting the robot's movement. A first motor 210 is fixedly connected to the main body 1. The motor 210 adjusts the orientation of the first rotating seat 22. The first rotating seat 22 is fixedly connected to the output end of the first motor 210. A second motor 211 is fixedly connected to the first rotating seat 22. A first gear 212 is fixedly connected to the output end of the second motor 211. A second gear 213 meshes with the first gear 212. The second gear 213 is fixedly connected to the first rotating rod 23. A second rotating seat 214 is rotatably connected to the first rotating rod 23. A third rotating seat 215 is rotatably connected to the second rotating rod 24. A second telescopic rod 216 is fixedly connected between the third rotating seat 215 and the second rotating seat 214. The second telescopic rod 216 adjusts the rotation of the second rotating rod 24. Through the corresponding connected components, the first rotating seat 22, the first rotating rod 23, and the second rotating rod 24 are driven to rotate. By incorporating bionics into the robot structure and imitating the four-legged structure of a spider, the robot's environmental adaptability is greatly improved, enabling it to adapt to complex terrain.

[0025] Please see Figure 1 , Figure 2 , Figure 5In this embodiment, the limiting assembly includes a first limiting plate 31 fixedly connected to the support leg 27, a second limiting plate 32 fixedly connected to the support leg 27, a second fixed seat 33 fixedly connected to the support leg 27, a second sliding rod 34 slidably connected to the second fixed seat 33, a fixed plate 35 fixedly connected to one end of the second sliding rod 34, a first spring 36 fixedly connected between the fixed plate 35 and the second fixed seat 33, a pull rod 37 fixedly connected to the end of the second sliding rod 34 away from the fixed plate 35, and a limiting block 38 fixedly connected to the pull rod 37. The limiting block 38 is snapped onto the third rotating rod 28 to restrict the rotation of the third rotating rod 28. The first limiting plate 31 and the second limiting plate 32 limit the rotation range of the third rotating rod 28. The first spring 36 provides a pushing force to the fixed plate 35, causing the limiting block 38 to engage more securely with the third rotating rod 28, thus restricting the rotation of the third rotating rod 28. The third rotating rod 28 has a slot at the relative position of the limiting block 38, and the limiting block 38 is engaged with the slot. By adjusting the engagement of the limiting block 38 with different slots, the rotation of the third rotating rod 28 can be adjusted and restricted, thereby changing the movement mode and increasing the applicability of the device. The second fixed base 33 has a limiting groove at the relative position of the second sliding rod 34, and the second sliding rod 34 is slidably connected to the groove. The groove restricts the sliding of the second sliding rod 34, preventing the second sliding rod 34 from rotating or tilting during sliding, which would affect the engagement between the limiting block 38 and the third rotating rod 28.

[0026] During operation, in actual use, when facing flat terrain, pulling the lever 37 causes the second sliding rod 34 to slide on the second fixed seat 33. As the second sliding rod 34 slides, the limiting block 38 disengages from the third rotating rod 28. When the third rotating rod 28 rotates, one side of the third rotating rod 28 engages with the second limiting plate 32. At this time, the other slot of the third rotating rod 28 corresponds to the position of the limiting block 38. After releasing the lever 37, the first spring 36 provides a pushing force to the fixed plate 35, pushing the second sliding rod 34 back to its original position. This causes the limiting block 38 to re-engage with the third rotating rod 28, thus restricting the third rotating rod 28. Subsequently, the moving wheel body 29... To enable the robot to move, when facing rugged terrain, the limiting block 38 is readjusted and raised. After adjusting the rotation of the third rotating rod 28 so that the third rotating rod 28 is in contact with the first limiting plate 31, the pull rod 37 is released so that the limiting block 38 is re-engaged with the third rotating rod 28. The robot then moves by touching the ground with the support leg 27. During movement, the first motor 210 drives the first rotating seat 22 to rotate, and the second motor 211 drives the first gear 212 to rotate. When the first gear 212 rotates, it drives the first rotating rod 23 to rotate on the first rotating seat 22 through the cooperation of the second gear 213. The second telescopic rod 216 drives the second rotating rod 24 to rotate, thus enabling the robot to move on all four legs.

[0027] Through the above steps, the wheeled rapid movement and quadruped walking modes are combined during use. By adjusting the rotation of the third rotating rod 28, the movement mode can be flexibly changed according to different terrain conditions. This solves the problem that the robot is unable to play its due role in complex and ever-changing environments, which affects the required work.

Claims

1. A quadruped robot with adjustable lifting legs, comprising a main body (1), characterized in that: It also includes a first fixed seat (21) fixedly connected to the main body (1) of the device, a first rotating seat (22) rotatably connected to the first fixed seat (21), a first rotating rod (23) rotatably connected to the first rotating seat (22), a second rotating rod (24) rotatably connected to the first rotating rod (23), a first telescopic rod (25) fixedly connected to the second rotating rod (24), a first sliding rod (26) fixedly connected to the first telescopic rod (25), a support leg (27) fixedly connected to the first sliding rod (26), a third rotating rod (28) rotatably connected to the support leg (27), a movable wheel body (29) provided at one end of the third rotating rod (28), and a limiting component provided on the support leg (27). The first sliding rod (26) is slidably connected to the second rotating rod (24), and the rotation of the third rotating rod (28) is limited by the limiting component.

2. The adjustable lifting leg for a quadruped robot according to claim 1, characterized in that: The first fixed seat (21) has a limiting groove at the relative position of the first rotating seat (22), and the first rotating seat (22) is rotatably connected to the groove.

3. The adjustable lifting leg for a quadruped robot according to claim 1, characterized in that: The second rotating rod (24) has a limiting groove at the relative position of the first sliding rod (26), and the first sliding rod (26) is slidably connected to the groove.

4. The adjustable lifting leg for a quadruped robot according to claim 1, characterized in that: The first rotating rod (23) has a limiting groove at the relative position of the second rotating rod (24), and the second rotating rod (24) is rotatably connected to the groove.

5. The adjustable lifting leg for a quadruped robot according to claim 1, characterized in that: A first motor (210) is fixedly connected to the main body (1) of the device. The first motor (210) adjusts the orientation of the first rotating seat (22). The first rotating seat (22) is fixedly connected to the output end of the first motor (210). A second motor (211) is fixedly connected to the first rotating seat (22). A first gear (212) is fixedly connected to the output end of the second motor (211). A second gear (213) meshes with the first gear (212). The second gear (213) is fixedly connected to the first rotating rod (23). A second rotating seat (214) is rotatably connected to the first rotating rod (23). A third rotating seat (215) is rotatably connected to the second rotating rod (24). A second telescopic rod (216) is fixedly connected between the third rotating seat (215) and the second rotating seat (214). The rotation of the second rotating rod (24) is adjusted by the operation of the second telescopic rod (216).

6. The adjustable lifting leg for a quadruped robot according to claim 1, characterized in that: The limiting assembly includes a first limiting plate (31) fixedly connected to the support leg (27), a second limiting plate (32) fixedly connected to the support leg (27), a second fixed seat (33) fixedly connected to the support leg (27), a second sliding rod (34) slidably connected to the second fixed seat (33), a fixed plate (35) fixedly connected to one end of the second sliding rod (34), a first spring (36) fixedly connected between the fixed plate (35) and the second fixed seat (33), a pull rod (37) fixedly connected to one end of the second sliding rod (34) away from the fixed plate (35), and a limiting block (38) fixedly connected to the pull rod (37). The limiting block (38) is snapped onto the third rotating rod (28) to limit the rotation of the third rotating rod (28). The first limiting plate (31) and the second limiting plate (32) limit the rotation range of the third rotating rod (28).

7. The adjustable lifting leg for a quadruped robot according to claim 6, characterized in that: The third rotating rod (28) has a slot at the relative position of the limiting block (38), and the limiting block (38) is snapped into the slot.

8. The adjustable lifting leg for a quadruped robot according to claim 6, characterized in that: The second fixed seat (33) has a limiting groove at the relative position of the second sliding rod (34), and the second sliding rod (34) is slidably connected to the groove.

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