Calf telescopic multi-modal quadruped robot dog

Abstract

The utility model discloses a kind of shank telescopic multi-modal four-foot machine dog, belong to the technical field of robot.The machine dog includes main body structure, amplitude mechanism, thigh, shank and multi-modal foot sole;Main body structure is cuboid frame, internal integration battery and control system, front and rear end are connected amplitude mechanism through ear plate;Amplitude mechanism is used to adjust foot bottom spacing, thigh is realized rotary motion by swivel module, shank is driven to realize telescopic action using linear motor, multi-modal foot sole integrates hollow foot, wheel assembly, support frame and spring, and can be realized the automatic switching of foot type and wheeled motion by the mechanical cooperation of shank telescoping with thigh, support frame.The utility model changes shank motion from rotation to linear motion, simplifies drive and transmission structure, realizes lightweight design, simultaneously utilizes shank action to realize wheel-foot quick switching, significantly improves the multi-scene adaptability of machine dog, and can be widely applied to complex terrain movement, multi-task operation and the like scene.

Description

Technical Field

[0001] This utility model belongs to the field of robot technology, specifically relating to a multimodal quadruped robot dog with retractable lower legs. Background Technology

[0002] In today's era of rapid technological advancement, robotics, as a cutting-edge field integrating multiple disciplines, is profoundly changing people's production and lifestyles. Robot dogs, as an important branch of robotics, have received significant attention from both academia and industry due to their unique advantages and broad application prospects.

[0003] From an application perspective, in the industrial sector, traditional inspection work often faces challenges such as harsh environments, high labor intensity, low efficiency, and high safety risks. For example, in industrial environments with high temperatures, high pressures, and high radiation, manual inspections not only threaten workers' health but also struggle to guarantee accuracy and timeliness. Robotic dogs, equipped with LiDAR, cameras, and gas sensors, can autonomously navigate complex industrial environments, accurately collect data, and monitor the environment, significantly improving the accuracy and timeliness of inspections and ensuring the safe operation of facilities. In the field of public safety and rescue, the lives of rescue personnel are often severely threatened in emergencies such as natural disasters and fires. Robotic dogs can replace rescue personnel in entering high-risk environments such as toxic, oxygen-deficient, and collapse-prone areas for reconnaissance and search and rescue operations. They can preemptively penetrate complex structural environments, intelligently detect objects and harmful gases from all angles, and transport rescue supplies and equipment to assist in rescue efforts, buying valuable time for rescue operations.

[0004] Although quadruped robot dogs have been applied in many fields, existing technology still has certain limitations. The feet mostly use a single leg or wheel structure, resulting in a relatively limited range of motion and an inability to quickly switch between different motion modes, thus limiting their applicable scenarios. For example, legged bionic structures have strong obstacle-crossing capabilities but are slow and energy-intensive; wheeled structures are fast and energy-efficient but lack obstacle-crossing ability and stability. Furthermore, the lower legs of bionic structures use a rotary mechanism, requiring powerful drive motors. When the drive motor is mounted at the forearm's rotation point, the distance between the motor's center of gravity and the thigh's rotation center significantly increases the energy consumption of the thigh drive motor. Conversely, mounting the forearm drive motor at the thigh's rotation point requires additional transmission structures, increasing the overall weight.

[0005] Therefore, this utility model addresses the problems faced by the aforementioned quadruped robot dogs by developing a multimodal quadruped robot dog with retractable lower legs, which is of great significance for improving the robot dog's mobility and reducing overall costs. Summary of the Invention

[0006] The purpose of this invention is to provide a multimodal quadruped robot dog with retractable lower legs that can quickly switch between legs and wheels, ensuring the robot dog's adaptability to various scenarios. This multimodal quadruped robot dog changes the movement pattern of its lower legs from rotational to linear motion, simplifies the drive motor and transmission structure, achieves a lightweight design, and integrates the wheel components within the foot structure. By controlling the extension and retraction of the forearms, it can quickly switch between legged and wheeled structures, significantly improving its motion adaptability.

[0007] To achieve the above objectives, the present invention adopts the following design scheme: A multimodal quadruped robot dog with retractable lower legs consists of a main structure, a variable amplitude mechanism, thighs, lower legs, and multimodal feet. Figure 1 As shown.

[0008] The main structure is a cubic frame, which integrates a battery and control system to provide power and control operation. A lug plate is fixed at the front and rear ends, and two through circular holes are symmetrically opened along the axis on each lug plate. The luffing module of the luffing mechanism is inserted into the circular holes from the inside to the outside to form four drive joints. Several threaded holes are evenly distributed around the circular holes for fixing the luffing mechanism to the lug plate with fasteners.

[0009] The luffing mechanism includes a luffing module and connecting components, such as... Figure 2 As shown, the system is used to adjust the distance between the soles of the feet to adapt to different terrains and ensure stable movement. The variable amplitude module includes a drive motor, a reducer, a transmission component, a rotary encoder, a position sensor, and a modular housing. The drive motor outputs power through the reducer and the transmission component, while the rotary encoder and position sensor provide real-time feedback of motion parameters. The connector is a ring structure with a truncated cone integrally formed on its outer side. A connection hole is provided at the center of the truncated cone, which is fixed to the output end of the variable amplitude module by fasteners. The ring surface of the connector has multiple mounting holes evenly distributed circumferentially for connecting to the rotary module of the thigh.

[0010] The thigh includes a rotating module, a leg body, and a guide rail, such as Figure 3 As shown, this device enables the rotational movement of the thigh and coordinates with the lower leg to complete multimodal movements. The rotational module includes a drive motor, a reducer, a transmission assembly, a rotary encoder, a position sensor, and a modular housing. The drive motor drives the thigh to rotate around the joint via the transmission assembly, and the sensor provides real-time position information. The leg body is a trapezoidal plate with an arc at one end, which matches the output end of the rotational module and is fixed with bolts. The leg body has six pre-drilled threaded holes for fixing a guide rail. The guide rail is a rectangular structure with a length less than the length of the leg body. Wedge-shaped grooves (for guidance) are provided on both sides of the guide rail, and the bottom is fixed to the threaded holes of the leg body with bolts. A linear motor stator is bonded to the top surface of the guide rail, and the stator length is adapted to the maximum stroke of the lower leg.

[0011] The lower leg includes a linear motor, a connecting plate, and a trapezoidal plate, used to realize telescopic movements, and works in conjunction with the thigh and the amplitude-changing mechanism to complete forward, backward, translational, crawling, and standing movements; the stator of the linear motor is fixed to the top surface of the guide rail of the thigh, and the mover is fixedly connected to the connecting plate; the connecting plate has a C-shaped structure, and its inner side cooperates with the wedge-shaped groove of the guide rail to form a sliding pair, which can slide back and forth along the guide rail; one end of the trapezoidal plate is fixed to the connecting plate by bolts and extends and retracts synchronously with the mover of the linear motor; the other end has a strip-shaped groove to limit the sliding stroke of the support frame of the multimodal foot.

[0012] The multimodal foot includes a hollow foot, wheel assembly, support frame, and springs, such as Figure 4 As shown, this system is used to automatically switch between legged and wheeled motion. The hollow leg has a cubic structure with a cavity at the bottom (slightly larger than the wheel assembly) and an ear plate with a connecting hole at the top, which is fixed to the trapezoidal plate of the lower leg by bolts. The wheel assembly is an integrated hub motor and wheel, which can be independently driven to roll. The support frame has a Z-shaped structure, with one end rotatably connected to the wheel assembly and the other end extending through the hollow leg into the strip groove of the lower leg and sliding along the groove. The spring is sleeved on the outside of the support frame, with one end connected to the support... The frame is fixed, and the other end is fixed to the trapezoidal plate of the lower leg. In its natural state, the spring is in a stretched state, and the elastic force retracts the wheel assembly into the cavity of the hollow foot (foot mode). When it is necessary to switch to the wheel mode, the lower leg is controlled to retract, the lower end of the thigh contacts the support frame and presses down, overcoming the spring force to push the wheel assembly out of the cavity, and the hub motor is started to achieve rolling. When it is necessary to switch back to the foot mode, the lower leg is controlled to extend, the thigh disengages from the support frame, and the spring force drives the wheel assembly to retract into the cavity, completing the mode switching.

[0013] Through the aforementioned utility model process, a multimodal quadruped robot dog with retractable lower legs that can quickly switch between wheels and legs is developed, which can improve traffic capacity and reduce overall costs.

[0014] Advantages and positive effects of this utility model: 1. The lower legs are driven by linear motors to achieve extension and retraction. Compared with the traditional rotating lower leg structure, the complex rotating transmission components are eliminated, the drive motor and transmission structure are simpler, the overall weight of the legs is effectively reduced, and the robot dog's movement flexibility and energy efficiency are improved.

[0015] 2. The multimodal foot achieves wheel assembly retraction and extension through the mechanical coordination of the lower leg extension and retraction with the thigh and support frame, aided by spring force, eliminating the need for a dedicated mode-switching drive mechanism. The switching process is completed solely through the extension and retraction of the lower leg, resulting in rapid response and a compact structure, reducing system complexity and failure rate.

[0016] 3. The legged movement mode can adapt to complex terrains such as walking, crawling, and standing (e.g., rugged roads, steps), while the wheeled movement mode can achieve rapid rolling (e.g., on flat roads). The flexible switching between the two modes allows the robot dog to cope with diverse scenario requirements, significantly improving its environmental adaptability and task execution range.

[0017] 4. The variable amplitude mechanism can adjust the distance between the feet, and together with the coordinated control of the thigh rotation module and the lower leg extension, combined with the rotation encoder and position sensor integrated in each module, it realizes closed-loop control of motion parameters, ensuring the robot dog's posture stability and precise movements in different motion states.

[0018] 5. The simplification of the transmission structure reduces the number of parts and lowers manufacturing costs; wheel-foot switching requires no additional power and is achieved solely through mechanical coordination and spring force, reducing energy consumption and improving the overall range of the machine. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of a multimodal quadruped robot dog with retractable lower legs according to the present invention.

[0020] Figure 2 This is a schematic diagram of the amplitude-changing mechanism of a multimodal quadruped robot dog with telescopic lower leg, according to the present invention.

[0021] Figure 3 This is a schematic diagram of the thigh of a multimodal quadruped robot dog with a retractable lower leg, according to the present invention.

[0022] Figure 4 This is a schematic diagram of the multimodal feet of a retractable lower leg multimodal quadruped robot dog according to the present invention.

[0023] 1-Main structure; 2-Luffing mechanism; 2.1-Luffing module; 2.2-Connecting component; 3-Thigh; 3.1-Slewing module; 3.2-Leg body; 3.3-Guide rail; 4-Lower leg; 4.1-Linear motor; 4.2-Connecting plate; 4.3-Trapezoidal plate; 5-Multimodal foot; 5.1-Hollow foot; 5.2-Wheel assembly; 5.3-Support frame; 5.4-Spring Detailed Implementation

[0024] 1. Overall structural assembly relationship The multimodal quadruped robot dog with telescopic lower legs described in this utility model has a main structure that serves as the overall support base. The front and rear ear plates are connected to four legs via four luffing mechanisms (each leg consists of a thigh, lower leg, and multimodal foot connected sequentially). The connecting parts of the luffing mechanisms are fixed to the rotation module of the thigh, the guide rail of the thigh engages with the stator of the linear motor in the lower leg, and the trapezoidal plate of the lower leg connects to the hollow foot of the multimodal foot, forming a complete motion chain. The control system is integrated into the main structure and is electrically connected to the luffing mechanisms, the thigh rotation module, the lower leg linear motor, and the hub motor of the multimodal foot, respectively, to achieve closed-loop control of motion parameters.

[0025] 2. Multimodal motion implementation methods (1) Foot-based motion mode When the robot dog walks, crawls, or stands, the control system keeps the lower legs extended: at this time, the spring is stretched, and the elastic force retracts the wheel assembly into the cavity of the hollow foot, and the bottom (foot surface) of the hollow foot contacts the ground to form foot support.

[0026] Forward / backward: The distance between the left and right legs is adjusted by the amplitude-changing mechanism. The rotation module of the thigh drives the thigh to swing around the joint, which, together with the extension and contraction of the lower leg, enables the legs to take alternating steps. Translation: Control the same-side leg to swing synchronously, and the opposite-side leg to adjust in the opposite direction, combined with the extension and contraction of the lower leg to compensate for displacement; Standing: The thighs and calves of the four legs extend in coordination, raising the main structure to a preset height and maintaining a stable posture through position sensors.

[0027] (2) Wheel motion mode When the robot dog needs to move quickly, it switches to wheeled mode: the control system controls the lower legs to retract, the lower part of the thighs contacts the support frame and continuously presses down, overcoming the spring force to push the wheel assembly out of the hollow feet until the wheels contact the ground and support the weight of the entire machine. At this time, the hub motor starts, controlling the speed and steering of the four wheels (differential control achieves steering) to achieve rapid rolling.

[0028] (3) Mode switching process Foot-based → Wheel-based: Lower leg retraction → Thigh presses down on support frame → Wheel assembly extends → Hub motor starts; Wheel type → Foot type: The hub motor stops → the lower leg extends → the thigh separates from the support frame → the spring pulls the wheel assembly back into the receiving cavity → the hollow foot touches the ground.

[0029] 3. Key parameters and advantages The amplitude-changing mechanism has an adjustment range of 0-200mm, which can adapt to channels or terrains of different widths; The maximum extension and retraction range of the lower leg is 150mm, which meets the needs of wheel-foot switching and gait adjustment. The spring constant is 500N / m, ensuring that the wheel assembly is stably stored in the foot position, and that only 50-80N of pressure from the lower leg is needed to push out the wheel when switching. Compared with existing technologies, this invention does not require an additional wheel-foot switching drive device. It achieves automatic mode switching through the mechanical cooperation of the lower leg extension and retraction with the thigh and support frame, simplifying the structure and reducing energy consumption.

[0030] This embodiment is only a preferred embodiment of the present utility model and does not limit the protection scope of the present utility model. All equivalent modifications or substitutions made based on the technical principles of the present utility model shall be deemed to fall within the protection scope of the present utility model.

Claims

1. A multimodal quadruped robot dog with retractable lower legs, characterized in that, Including the main structure, amplitude-changing mechanism, thigh, calf, and multimodal foot; The main structure is a cubic frame, which integrates a battery and control system. A lug plate is fixed at the front and rear ends. Each lug plate has two through circular holes symmetrically opened along the axis. The luffing module of the luffing mechanism is inserted into the circular holes from the inside to the outside to form four drive joints. Several threaded holes are evenly distributed around the circular holes for fixing the luffing mechanism to the lug plate with fasteners. The luffing mechanism includes a luffing module and a connector. The luffing module includes a drive motor, a reducer, a transmission assembly, a rotary encoder, a position sensor, and a modular housing. The drive motor outputs power through the reducer and the transmission assembly, and the rotary encoder and position sensor provide real-time feedback of motion parameters. The connector is a ring structure with a truncated cone integrally formed on its outer side. A connection hole is provided at the center of the truncated cone, which is fixed to the output end of the luffing module by fasteners. Multiple mounting holes are evenly distributed around the ring surface of the connector for connecting to the rotary module of the thigh. The thigh includes a rotary module, a leg body, and a guide rail. The rotary module includes a drive motor, a reducer, a transmission assembly, a rotary encoder, a position sensor, and a modular housing. The drive motor drives the thigh to rotate around the joint via the transmission assembly, and the sensor provides real-time position information. The leg body is a trapezoidal plate with an arc at one end, which matches the output end of the rotary module and is fixed with bolts. The leg body has six pre-drilled threaded holes for fixing the guide rail. The guide rail is a rectangular structure with a length less than the length of the leg body. It has wedge-shaped grooves on both sides and is fixed to the bottom of the leg body with bolts through the threaded holes. A linear motor stator is bonded to the top surface of the guide rail, and the length of the stator is adapted to the maximum stroke of the lower leg. The lower leg includes a linear motor, a connecting plate, and a trapezoidal plate. The stator of the linear motor is fixed to the top surface of the guide rail of the thigh, and the mover is fixedly connected to the connecting plate. The connecting plate has a C-shaped structure, and its inner side cooperates with the wedge-shaped groove of the guide rail to form a sliding pair, which can slide back and forth along the guide rail. One end of the trapezoidal plate is fixed to the connecting plate by bolts and extends and retracts synchronously with the mover of the linear motor. The other end has a strip-shaped groove to limit the sliding stroke of the support frame of the multimodal foot. The multimodal foot includes a hollow foot, a wheel assembly, a support frame, and a spring. The hollow foot has a cubic structure with a receiving cavity at the bottom, slightly larger than the wheel assembly, and an ear plate with a connection hole at the top, which is fixed to the trapezoidal plate of the lower leg by bolts. The wheel assembly is an integrated wheel hub motor. The support frame has a Z-shaped structure, with one end rotatably connected to the wheel assembly and the other end extending through the hollow foot into the strip groove of the lower leg and sliding along the groove. The spring is sleeved on the outside of the support frame, with one end fixed to the support frame and the other end fixed to the trapezoidal plate of the lower leg. In its natural state, the spring is in a stretched state, and the elastic force retracts the wheel assembly into the receiving cavity of the hollow foot. When the lower leg retracts, the lower end of the thigh contacts the support frame and presses down, overcoming the spring force to push the wheel assembly out of the receiving cavity. When the lower leg extends, the thigh disengages from the support frame, and the spring force causes the wheel assembly to retract into the receiving cavity.

2. The multimodal quadruped robot dog with retractable lower legs according to claim 1, characterized in that, The control system is electrically connected to the amplitude-changing mechanism, the thigh rotation module, the calf linear motor, and the hub motor of the multi-modal foot, respectively, to realize closed-loop control of motion parameters.

3. The multimodal quadruped robot dog with retractable lower legs according to claim 1, characterized in that, The adjustment range of the amplitude-changing mechanism is 0-200mm.

4. The multimodal quadruped robot dog with retractable lower legs according to claim 1, characterized in that, The maximum extension and retraction range of the lower leg is 150mm.

5. The multimodal quadruped robot dog with retractable lower legs according to claim 1, characterized in that, The spring constant is 500 N / m.

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