Quadruped robot system

Abstract

A quadruped robot system is disposed on a placement surface. The quadruped robot system includes a quadruped robot body, a rotating mechanism and a mechanical arm. The quadruped robot body includes a head. The rotating mechanism is disposed on the head of the quadruped robot body. The rotating mechanism includes a fixed member and a rotating member disposed on the fixed member and capable of rotating relative to the fixed member. The mechanical arm is connected to the rotating member of the rotating mechanism. The rotating member drives the mechanical arm to rotate to a first position or a second position. The first position and the second position are different in height from the placement surface.

Description

Technical Field

[0001] This utility model relates to a robot system, and more particularly to a quadruped robot system. Background Technology

[0002] There are several different types of robots on the market, such as quadruped robots. The main structure of a quadruped robot includes the robot body and robotic arms. The robot body has four limbs and a body section, with the limbs connected to the two side walls of the body section. Generally, the robotic arms are mounted on the back of the body section, allowing them to face upwards and forwards to perform actions such as picking up objects. In addition, quadruped robots also have a camera device for collecting environmental data. The camera lens is often mounted near the robotic arm to facilitate determining the relative position of objects and the robotic arm.

[0003] However, the aforementioned configuration limits the robotic arm's operating angle and easily obstructs the camera's field of view. Specifically, if the robotic arm is located on the back of the body, with the rear half facing upwards and forwards, only the front half can bend downwards, thus hindering downward operating angles. For example, the robotic arm can only grasp objects located on the ground (i.e., below the body), but struggles to perform other, more subtle movements. Furthermore, when the front half of the robotic arm bends downwards, it also obstructs the camera's field of view, indicating room for improvement. Utility Model Content

[0004] In view of the above-mentioned problems, the main objective of this utility model is to provide a quadruped robot system, which includes a quadruped robot body, a rotating mechanism and a robotic arm. By means of the structure of the rotating mechanism and its connection with the quadruped robot body and the robotic arm, the problem of existing quadruped robots being limited by certain operating angles can be solved.

[0005] To achieve the above objectives, this utility model provides a quadruped robot system, placed on a mounting surface. The quadruped robot system includes a quadruped robot body, a rotating mechanism, and a robotic arm. The quadruped robot body includes a head. The rotating mechanism is disposed at the head of the quadruped robot body. The rotating mechanism includes a fixing member and a rotating member disposed on the fixing member and rotatable relative to the fixing member. The robotic arm is connected to the rotating member of the rotating mechanism. The rotating member drives the robotic arm to rotate to a first position or a second position. The height of the first position and the second position from the mounting surface is different.

[0006] In one embodiment of this invention, the quadruped robot body further includes a body portion and four limb portions connected to the body portion. A head is connected to the body portion and includes an image extraction device. A rotating mechanism is disposed on the head and surrounds the image extraction device.

[0007] In one embodiment of this utility model, the fixing member includes an annular track. The rotating mechanism further includes a drive gear and a transmission gear that mesh with each other. The drive gear is disposed on the fixing member. The transmission gear is disposed on the annular track and connected to the rotating member. When the drive gear drives the transmission gear to rotate within the annular track, the transmission gear drives the rotating member to rotate.

[0008] In one embodiment of this invention, the rotating component further includes a connecting platform. The robotic arm also includes a connecting base located at one end of the robotic arm. The connecting base is disposed on the connecting platform.

[0009] In one embodiment of this invention, when the robotic arm is in a first position, the connecting base is at a first height distance from the placement surface. When the robotic arm is in a second position, the connecting base is at a second height distance from the placement surface. The first height is greater than the second height.

[0010] In one embodiment of this utility model, the robotic arm further includes a first arm portion, a second arm portion, and a joint structure. One end of the first arm portion is pivotally connected to a connecting base. The joint structure connects the first arm portion and the second arm portion respectively.

[0011] In one embodiment of this utility model, the robotic arm has a retracted state, a bent state, and an extended state. When the robotic arm is in the retracted state, the first arm portion and the second arm portion are parallel to each other and overlap. When the robotic arm is in the bent state, the first arm portion and the second arm portion have an angle between them and are located on the front side of the quadruped robot body; when the robotic arm is in the extended state, the first arm portion, the joint structure, and the second arm portion extend in approximately the same direction and do not overlap.

[0012] In one embodiment of this utility model, the robotic arm rotates between a first position and a second position in a bent state.

[0013] In one embodiment of this invention, the robotic arm further includes multiple functional modules. These functional modules are alternatively disposed at the end of the second arm furthest from the joint structure.

[0014] In one embodiment of this utility model, the plurality of functional modules include a clamp, a lawnmower blade, or a vacuum cleaner.

[0015] As described above, the quadruped robot system according to this utility model includes a quadruped robot body, a rotating mechanism, and a robotic arm. The rotating mechanism is disposed on the quadruped robot body, and the robotic arm is connected to a rotating component of the rotating mechanism. The rotating component can drive the robotic arm to rotate to a first position or a second position. The first position and the second position are at different heights from a placement surface. Since the robotic arm can be driven to the first or second position at different heights by the rotating component of the rotating mechanism, it can perform corresponding functional actions at different heights, thus increasing the operating range and angle of the robotic arm. Furthermore, since the robotic arm can perform operational actions at a lower height, it can avoid obstructing the field of view of the image extraction device and avoid affecting the quadruped robot system's detection of relevant environmental information. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of a quadruped robot system in a first position and in a folded state, according to an embodiment of the present invention.

[0017] Figure 2 for Figure 1 The diagram shows a partial exploded view of the quadruped robot system.

[0018] Figure 3 for Figure 1 The diagram shows the robotic arm in the first position and in a bent state.

[0019] Figure 4 for Figure 3 The diagram shows the robotic arm rotating to the second position and transitioning into a bent state.

[0020] Figure 5 for Figure 3 The diagram shows the robotic arm transitioning to its extended state in the first position.

[0021] Figure 6 for Figure 5 The diagram shows a quadruped robot system performing one of its specific functions.

[0022] Figure 7 for Figure 4 The diagram shows the robotic arm transitioning to an extended state in the second position and performing another specific function.

[0023] Figure 8 for Figure 7 The diagram shown is a schematic of replacing the robotic arm with another functional module.

[0024] Figure 9 for Figure 7 The diagram shown illustrates the replacement of the robotic arm with another functional module.

[0025] The annotations in the attached figures are explained as follows: Quadruped robot system 1 Quadruped robot body 10 Body Part 11 Limbs 12 Head 13 Image extraction device 131 Rotating mechanism 20 Fastener 21 Circular track 211 Rotating component 22 Connection Platform 221 Drive gear 23 Transmission gear 24 Ball bearing 241 robotic arm 30 Connecting base 31 First arm 32 Second arm 33 Joint structure 34 Functional modules 35, 35a, 35b First Height H1 Second Height H2 Detailed Implementation

[0026] To better understand the technical content of this utility model, preferred embodiments are described below.

[0027] Figure 1 This is a schematic diagram of a quadruped robot system in the first position and in a folded state, according to an embodiment of the present invention. Figure 2 for Figure 1 Please refer to the partially exploded diagram of the quadruped robot system shown below. Figure 1 and Figure 2 As shown. The quadruped robot system 1 of this embodiment includes a quadruped robot body 10, a rotating mechanism 20, and a robotic arm 30. The quadruped robot body 10 is one of the main structural components of the quadruped robot system 1, and it includes a body part 11, limb parts 12, and a head 13. The limb parts 12 are respectively connected to two opposite sidewalls of the body part 11. The structure of the body part 11 and the limb parts 12 of the quadruped robot body 10 and the functions they can achieve are common knowledge in the field of quadruped robots and will not be described in detail here. The head 13 is connected to the body part 11 and includes an image extraction device 131. In this embodiment, the quadruped robot system 1 includes a rotating mechanism 20, which can be disposed at the head 13 of the quadruped robot body 10. The robotic arm 30 is connected to the rotating mechanism 20, such that the robotic arm 30 is also located at the head 13 of the quadruped robot body 10.

[0028] In this embodiment, the rotating mechanism 20 includes a fixed member 21 and a rotating member 22. The fixed member 21 is disposed at the head 13. The rotating member 22 is disposed on the fixed member 21 and is rotatable relative to the fixed member 21. Figure 2 As shown, the fixing member 21 includes an annular track 211. Correspondingly, the rotating member 22 is also an annular structure. Preferably, the rotating mechanism 20 is disposed at the head 13 and surrounds the image extraction device 131. Specifically, the annular track 211 of the fixing member 21 surrounds the image extraction device 131, while the annular rotating member 22 is fitted around the outer periphery of the image extraction device 131.

[0029] The rotating member 22 is connected to the fixed member 21 and can rotate relative to the fixed member 21. Preferably, the rotating mechanism 20 of this embodiment further includes a drive gear 23 and a transmission gear 24 that mesh with each other. The drive gear 23 is disposed on the fixed member 21. In this embodiment, the drive gear 23 is located on the upper side of the fixed member 21, and is also close to the upper side of the head 13 and the upper side (or back) of the body part 11. The fixed member 21 includes an annular track 211, and the transmission gear 24 is disposed on the annular track 211 and connected to the rotating member 22. Specifically, the transmission gear 24 of this embodiment is also an annular structure, disposed on the annular track 211 of the fixed member 21, and connected to the rotating member 22. The transmission gear 24 and the rotating member 22 can be connected to each other by means of, but not limited to, engaging, snapping, or adhesive. Furthermore, the transmission gear 24 meshes with the drive gear 23, so it can be driven to rotate by the drive gear 23. At this time, the transmission gear 24 can simultaneously drive the rotating member 22 to rotate relative to the fixed member 21. Preferably, the transmission gear 24 also includes a plurality of balls 241 that are in contact with the annular track 211. When the drive gear 23 rotates, it drives the transmission gear 24 to rotate within the annular track 211. Simultaneously, the transmission gear 24 drives the rotating component 22 connected to it to rotate within the annular track 211. That is, it rotates clockwise or counterclockwise within the annular track 211.

[0030] Furthermore, the robotic arm 30 is connected to the rotating component 22 of the rotating mechanism 20, and can thus be driven by the rotating component 22 to different positions, allowing the robotic arm 30 to perform different functions and corresponding actions at different positions. Preferably, the rotating component 22 in this embodiment also includes a connecting platform 221, which is located on the outer side wall of the annular rotating component 22 and protrudes away from the fixed component 21 to form a platform structure. Correspondingly, the robotic arm 30 also includes a connecting base 31, which is located at one end of the robotic arm 30. The connecting base 31 is disposed on the connecting platform 221. When the rotating component 22 of the rotating mechanism 20 rotates, it can drive the robotic arm 30 to rotate to different positions.

[0031] Figure 3 for Figure 1 The diagram shown illustrates the robotic arm in its first position and in a bent state. Figure 4 for Figure 3 The diagram shown illustrates the robotic arm rotating to the second position and transitioning into a bent state. Please refer to the provided text. Figure 1 , Figure 3 and Figure 4 As shown. For example, the rotating component 22 can drive the robotic arm 30 to rotate to a first position (e.g., Figure 3 (as shown) or a second position (such as) Figure 4 (As shown). When the robotic arm 30 is in the first position and the second position, its height from a placement surface (e.g., the ground) is different. In this embodiment, the first position can be the position of the connecting platform 221 and the connecting base 31 near the upper side (near the back) of the head 13, while the second position can be the position of the connecting platform 221 and the connecting base 31 near the lower side (near the abdomen) of the head 13. Specifically, when the robotic arm 30 is in the first position, as... Figure 3 As shown, the connecting base 31 is at a first height H1 distance from the placement surface. When the robotic arm 30 is in the second position, as... Figure 4 As shown, the connecting base 31 is separated from the placement surface by a second height H2. In this embodiment, the first height H1 is greater than the second height H2. In other embodiments, the rotating member 22 can also drive the robotic arm 30 to rotate to the first position (e.g., Figure 3 (as shown) and the second position (as shown) Figure 4 The present invention does not limit the other positions between (as shown).

[0032] Figure 5 for Figure 3 The diagram shown illustrates the robotic arm transitioning from its first position to its extended state. Please refer to the provided text. Figure 1 , Figure 3 , Figure 4 and Figure 5 As shown. Preferably, the robotic arm 30 of this embodiment further includes a first arm portion 32, a second arm portion 33, and a joint structure 34. One end of the first arm portion 32 is pivotally connected to the connecting base 31. The joint structure 34 connects the first arm portion 32 and the second arm portion 33 respectively. Specifically, in this embodiment, the two opposite ends of the first arm portion 32 are pivotally connected to the connecting base 31 and the joint structure 34 respectively. In this embodiment, the joint structure 34 is a plate with a length shorter than the first arm portion 32 and the second arm portion 33, and the two opposite ends of the joint structure 34 also have pivots to be pivotally connected to the first arm portion 32 and the second arm portion 33 respectively. Through the aforementioned structure, the first arm portion 32 can rotate relative to the connecting base 31, and the angle between the first arm portion 32 and the second arm portion 33 can be adjusted by the joint structure 34, so that the robotic arm 30 has a retracted state (e.g., Figure 1 As shown), a bent state (such as...) Figure 3 and Figure 4 As shown), and an extended state (such as Figure 5 (As shown).

[0033] like Figure 1 As shown, when the robotic arm 30 is in the retracted state, the first arm portion 32 and the second arm portion 33 are parallel to each other and overlap. Preferably, the robotic arm 30 is also located in the first position when in the retracted state. Specifically, when the robotic arm 30 is in the retracted state, the connecting platform 221 and the connecting base 31 are close to the upper side of the head 13, such that the first arm portion 32 and the second arm portion 33 overlap on the upper side of the head 13 and the body portion 11 (i.e., above the back). Figure 3 As shown, the robotic arm 30 can be flipped forward to form a bent state. Specifically, the first arm 32 flips forward about the connecting base 31, so that the main structure of the robotic arm 30 is located on the front side of the quadruped robot body 10. Then, the joint structure 34 creates an angle between the first arm 32 and the second arm 33 to form a bent state, i.e., from... Figure 1 Switch to Figure 3 In other words, when the robotic arm 30 is in a bent state, there is an angle between the first arm portion 32 and the second arm portion 33, and it is located on the front side of the quadruped robot body 10. In this embodiment, the robotic arm 30 rotates between the first position and the second position in a bent state, that is, in Figure 3 and Figure 4 Rotate between them.

[0034] When the quadruped robot system 1 needs to perform a specific function, the second arm 33 extends forward (i.e., away from the first arm 32) around the joint structure 34, making the first arm 32 adjacent to the second arm 33 to form an extended state, for example... Figure 5 As shown. Specifically, the first arm 32, the joint structure 34, and the second arm 33 extend generally in one direction and do not overlap. Furthermore, since the quadruped robot system 1 of this embodiment has a rotation mechanism 20, the robotic arm 30 can be in an extended state in either a first position or a second position. Figure 5 The robotic arm 30 shown transitions from the first position to the extended state, i.e., from... Figure 3 Switch to Figure 5 The state.

[0035] Figure 6 for Figure 5 The diagram shows a quadruped robot system performing one of its specific functions. Figure 7 for Figure 4 The diagram shows the robotic arm transitioning to an extended state in the second position and performing another specific function. Figure 8 for Figure 7The diagram shown is an illustration of replacing the robotic arm with another functional module; and Figure 9 for Figure 7 Please refer to the schematic diagram showing the replacement of the robotic arm with another functional module. Figure 6 , Figure 7 , Figure 8 and Figure 9 As shown. In this embodiment, the robotic arm 30 also includes multiple functional modules 35, 35a, and 35b. The functional modules 35a and 35b can be referenced first. Figure 8 and Figure 9 As shown, multiple functional modules 35, 35a, and 35b are alternatively disposed at the end of the second arm 33 away from the joint structure 34. That is, functional modules 35, 35a, and 35b are alternatively disposed at the end of the second arm 33. The quadruped robot system 1 of this embodiment can select and replace different functional modules 35, 35a, and 35b according to the desired function.

[0036] First Figures 1 to 7 Taking the functional module 35 shown as an example, the functional module 35 can be a gripper used to grasp a target object and perform corresponding actions. Since the quadruped robot system 1 of this embodiment has a rotating mechanism 20, and the robotic arm 30 can be driven to a first position or a second position by the rotating member 22, it can perform actions at relatively high heights, such as... Figure 6 The door-opening action shown allows the robotic arm 30 to transition from the first position to an extended state to perform the door-opening action. For some low-height actions, such as... Figure 7 The robotic arm 30 can be extended from the second position to perform the picking action by picking up a target object (such as a bottle or can) from the ground. Furthermore, since the robotic arm 30 in this embodiment is extended from the bottom edge of the image extraction device 131 (i.e., the second position) to perform the function, it will not obstruct the field of view of the image extraction device 131, and thus will not affect the detection of relevant environmental information by the quadruped robot system 1.

[0037] Additionally, when other functions are required, different functional modules 35a and 35b can be used instead. For example... Figure 8 As shown, functional module 35a can also be a lawnmower blade. When weeding is required, functional module 35a can be used to perform the weeding function. Figure 9 As shown, functional module 35b can be a vacuum cleaner. When there is a cleaning need, functional module 35b can be replaced. In other embodiments, functional modules 35, 35a, and 35b can be modules for other different functions in addition to the listed clamps, lawnmower blades, and vacuum cleaners. This utility model is not limited to these.

[0038] In summary, the quadruped robot system according to this utility model includes a quadruped robot body, a rotating mechanism, and a robotic arm. The rotating mechanism is disposed on the quadruped robot body, and the robotic arm is connected to a rotating component of the rotating mechanism. The rotating component can drive the robotic arm to rotate to a first position or a second position. The first position and the second position are at different heights from a placement surface. Since the robotic arm can be driven to different heights by the rotating component of the rotating mechanism to the first or second position, it can perform corresponding functional actions at different heights, thus increasing the operating range and angle of the robotic arm. Furthermore, since the robotic arm can perform operational actions at a lower height, it can avoid obstructing the field of view of the image extraction device and avoid affecting the quadruped robot system's detection of relevant environmental information.

[0039] It should be noted that the above embodiments are examples for ease of illustration, and the scope of the claims of this utility model should be determined by the claims, and not limited to the above embodiments.

Claims

1. A quadruped robot system, placed on a placement surface, characterized in that, The quadruped robot system includes: A quadruped robot body, including a head; A rotating mechanism is disposed at the head of the quadruped robot body. The rotating mechanism includes a fixed member and a rotating member disposed on the fixed member and rotatable relative to the fixed member; and A robotic arm is connected to the rotating component of the rotating mechanism. The rotating component drives the robotic arm to rotate to a first position or a second position. The first position and the second position are at different heights from the placement surface.

2. The quadruped robot system as described in claim 1, characterized in that, The quadruped robot body also includes a body part and four limbs connected to the body part. The head is connected to the body part and includes an image extraction device. The rotating mechanism is disposed on the head and surrounds the image extraction device.

3. The quadruped robot system as described in claim 1, characterized in that, The fixed component includes an annular track, and the rotating mechanism also includes a drive gear and a transmission gear that mesh with each other. The drive gear is disposed on the fixed component, and the transmission gear is disposed on the annular track and connected to the rotating component. When the drive gear drives the transmission gear to rotate within the annular track, the transmission gear simultaneously drives the rotating component to rotate.

4. The quadruped robot system as described in claim 1, characterized in that, The rotating component also includes a connecting platform, and the robotic arm also includes a connecting base located at one end of the robotic arm, with the connecting base disposed on the connecting platform.

5. The quadruped robot system as described in claim 4, characterized in that, When the robotic arm is in the first position, the connecting base is at a first height distance from the placement surface; when the robotic arm is in the second position, the connecting base is at a second height distance from the placement surface, and the first height is greater than the second height.

6. The quadruped robot system as described in claim 4, characterized in that, The robotic arm also includes a first arm, a second arm, and a joint structure. One end of the first arm is pivotally connected to the connecting base, and the joint structure connects the first arm and the second arm respectively.

7. The quadruped robot system as described in claim 6, characterized in that, The robotic arm has a retracted state, a bent state, and an extended state. When the robotic arm is in the retracted state, the first arm and the second arm are parallel to each other and overlap. When the robotic arm is in the bent state, the first arm and the second arm are at an angle and are located on the front side of the quadruped robot body. When the robotic arm is in the extended state, the first arm, the joint structure, and the second arm extend in one direction and do not overlap.

8. The quadruped robot system as described in claim 7, characterized in that, The robotic arm rotates between the first position and the second position in the bent state.

9. The quadruped robot system as described in claim 6, characterized in that, The robotic arm also includes multiple functional modules that are alternatively located at the end of the second arm that is away from the joint structure.

10. The quadruped robot system as described in claim 9, characterized in that, The multifunctional modules include a clamp, a lawnmower blade, or a vacuum cleaner.

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