A quadrupedal bio-inspired robot

Abstract

The utility model discloses a four -legged bionic robot relates to bionic robot technical field, including front fuselage and rear fuselage, is equipped with the directional connection subassembly between front fuselage and rear fuselage, and the directional connection subassembly is used for connecting front fuselage and rear fuselage and adjusting the included angle size between front fuselage and rear fuselage, and the tail of rear fuselage is equipped with the balance tail, and the balance tail is used for maintaining the dynamic balance when front fuselage and rear fuselage are advancing, and the inside of front fuselage and rear fuselage all are equipped with double -shaft motor A. Through two double -shaft motor A simultaneous drive four mechanical legs rotation, make the two mechanical legs of front side stretch out to the front while, the two mechanical legs of rear side simultaneously kick, in this way, can tow this robot like feline fast forward leapfrog running, greatly promote its advancing speed, and the buffer spring set between buffer plate and mechanical leg can buffer when foot cover and ground touch, reduce the impact that mechanical leg suffers.

Description

Technical Field

[0001] This utility model relates to the field of bionic robot technology, and in particular to a quadrupedal bionic robot. Background Technology

[0002] A quadrupedal bionic robot is an intelligent robot that mimics the locomotion of quadrupedal animals. It moves using four mechanical legs and possesses excellent terrain adaptability and stability. With its biomimetic structure, flexible movement, and intelligent interaction characteristics, quadrupedal bionic robots can be widely used in various fields, from industrial inspection to companionship, with diverse and continuously expanding functions.

[0003] Common quadrupedal bionic robots often use alternating legs to move, which requires complex algorithms and results in slow running speeds, making it difficult to meet the needs of rapid movement. At the same time, the rapid movement of quadrupedal bionic robots leads to a significant increase in the frequency of contact between their feet and the ground. Each time the mechanical legs touch the ground, they are subjected to a reverse impact. The lack of shock absorption structures makes the mechanical legs susceptible to damage during long-term running, affecting the overall lifespan of the quadrupedal bionic robot. Utility Model Content

[0004] The purpose of this application is to provide a quadrupedal bionic robot to solve the problem mentioned in the background art that common quadrupedal bionic robots often use alternating legs to complete their movement. This not only requires relatively complex algorithms, but also results in a slow running speed, which is difficult to meet the needs of quadrupedal bionic robots for rapid movement.

[0005] To achieve the above objectives, this application provides the following technical solution: a quadrupedal bionic robot, comprising a front body and a rear body, wherein a reversing connection assembly is installed between the front body and the rear body, the reversing connection assembly being used to connect the front body and the rear body and adjust the included angle between the front body and the rear body, a balancing tail is installed at the tail of the rear body, the balancing tail being used to maintain the dynamic balance of the front body and the rear body during movement, a dual-axis motor A is installed inside both the front body and the rear body, the two output shafts of the dual-axis motor A are connected to mechanical legs through couplings, foot sleeves are fixedly fitted on the feet of the mechanical legs, a buffer plate is rotatably connected to the foot sleeves through pins, and a set of buffer springs is fixed between the buffer plate and the mechanical leg.

[0006] Furthermore, a camera is installed at the head of the front fuselage.

[0007] Furthermore, the reversing connection assembly includes a connecting seat and a U-shaped seat, the connecting seat being fixedly installed at the head of the rear fuselage and the U-shaped seat being fixedly installed at the tail of the front fuselage.

[0008] Furthermore, a dual-axis motor B is installed inside the connecting seat, and the output shaft of the dual-axis motor B is connected to the U-shaped seat through a coupling.

[0009] Furthermore, the balancing tail includes several U-shaped plates, which are arranged linearly from head to tail. The first U-shaped plate is fixedly installed at the tail of the rear fuselage. A pin is fixed between the upper and lower inner walls of the U-shaped plate, and adjacent U-shaped plates are rotatably connected by the pin.

[0010] Furthermore, a tail plate is sleeved on the outside of the tail pin.

[0011] In summary, the technical effects and advantages of this utility model are as follows: In this invention, two dual-axis motors A simultaneously drive the four mechanical legs to rotate, causing the two front mechanical legs to extend forward while the two rear mechanical legs push off simultaneously. In this way, the robot can be propelled to run forward quickly like a feline, greatly increasing its speed. The buffer springs installed between the buffer plate and the mechanical legs can cushion the impact when the foot covers touch the ground, reducing the impact on the mechanical legs, protecting their safety, and extending the robot's service life to a certain extent.

[0012] In this invention, a dual-axis motor B drives the U-shaped base to rotate, causing a change in the angle between the connecting base and the dual-axis motor B. This allows the front and rear bodies to change their angle, enabling the robot to change its direction of travel to meet usage requirements. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the embodiments or the prior art will be briefly introduced below.

[0014] Figure 1 This is a three-dimensional structural diagram of a quadrupedal bionic robot according to an embodiment of this application; Figure 2 This is a diagram showing the connection relationship between the front fuselage, rear fuselage, steering linkage assembly, and balance tail in the embodiments of this application. Figure 3 This is a diagram showing the positional relationship between the rear fuselage, dual-axis motor A, connecting seat, and dual-axis motor B in an embodiment of this application. Figure 4 This is a diagram showing the connection relationship between the mechanical leg, foot sleeve, buffer plate, and buffer spring in the embodiments of this application.

[0015] In the diagram: 1. Front fuselage; 2. Rear fuselage; 3. Dual-axis motor A; 4. Mechanical leg; 5. Foot sleeve; 6. Buffer plate; 7. Buffer spring; 8. Camera; 9. Connecting seat; 10. Dual-axis motor B; 11. U-shaped seat; 12. U-shaped plate; 13. Pin; 14. Tail plate. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0017] Example: Reference Figure 1-4 The illustrated quadrupedal bionic robot includes a front body 1 and a rear body 2. A reversing connection assembly is installed between the front body 1 and the rear body 2. The reversing connection assembly is used to connect the front body 1 and the rear body 2 and adjust the angle between the front body 1 and the rear body 2. A camera 8 is installed at the head of the front body 1, and a balancing tail is installed at the tail of the rear body 2. The balancing tail is used to maintain the dynamic balance of the front body 1 and the rear body 2 when moving. A dual-axis motor A3 is installed inside the front body 1 and the rear body 2. The two output shafts of the dual-axis motor A3 are connected to mechanical legs 4 through couplings. Foot sleeves 5 are fixedly fitted on the feet of the mechanical legs 4. A buffer plate 6 is rotatably connected to the foot sleeve 5 through a pin. A set of buffer springs 7 is fixed between the buffer plate 6 and the mechanical leg 4. A lithium battery pack is installed inside the front body 1, and an electronic control module is installed inside the rear body 2. The display module on the main controller is wirelessly connected to the camera 8, and the electronic control module is wirelessly connected to the main controller. Two dual-axis motors A3 simultaneously drive the four mechanical legs 4 to rotate, so that the two front mechanical legs 4 extend forward while the two rear mechanical legs 4 push off simultaneously. In this way, the robot can be pulled to run forward quickly like a feline, greatly increasing its speed. The buffer springs 7 set between the buffer plate 6 and the mechanical legs 4 can buffer when the foot sleeves 5 touch the ground, reducing the impact on the mechanical legs 4 and protecting their safety.

[0018] The reversing connection assembly includes a connecting seat 9 and a U-shaped seat 11. The connecting seat 9 is fixedly installed at the head of the rear fuselage 2, and the U-shaped seat 11 is fixedly installed at the tail of the front fuselage 1. A dual-axis motor B10 is installed inside the connecting seat 9. The output shaft of the dual-axis motor B10 is connected to the U-shaped seat 11 through a coupling. The electronic control module is wirelessly connected to the dual-axis motor A3 and the dual-axis motor B10. The U-shaped base 11 is rotated by the dual-axis motor B10, which causes the angle between the connecting base 9 and the dual-axis motor B10 to change. In this way, the angle between the front body 1 and the rear body 2 can change, allowing the robot to change its direction of travel.

[0019] The balance tail includes multiple U-shaped plates 12, which are arranged linearly from head to tail. The first U-shaped plate 12 is fixedly installed at the tail of the rear fuselage 2. A pin 13 is fixed between the upper and lower inner walls of the U-shaped plate 12. Adjacent U-shaped plates 12 are rotatably connected by the pin 13. A tail plate 14 is sleeved on the outside of the tail pin 13. By setting a balancing tail at the rear of the rear fuselage 2, the U-shaped plate 12 and tail plate 14 on the balancing tail can swing due to inertia when the robot turns, so as to maintain the dynamic balance of the robot during high-speed jumping and running.

[0020] Working principle of this utility model: During movement, the main controller remotely controls the operation of the electronic control module, which in turn controls two dual-axis motors A3 and one dual-axis motor B10 to operate according to a pre-written program. The lithium battery pack powers the dual-axis motors A3, camera 8, and dual-axis motor B10. Camera 8 captures images in the direction of travel and remotely transmits the images to the display module on the main controller to help the operator better control the robot's movement. During movement, the dual-axis motor A3 on the front body 1 drives the two front mechanical legs 4 to rotate and extend forward, while the dual-axis motor A3 on the rear body 2 drives the two rear mechanical legs 4 to rotate and push backward, causing the robot to lunge forward using the counter-propulsion. Before landing, the dual-axis motor A3 on the front body 1 drives the two front mechanical legs 4 to rotate in the opposite direction to reset, and the dual-axis motor A3 on the rear body 2 drives the two rear mechanical legs 4 to rotate in the opposite direction and extend forward. After the foot sleeves 5 on the mechanical legs 4 touch the ground, the buffer plate 6 contacts the ground, and the buffer spring 7 provides cushioning, reducing direct damage to the mechanical legs 4. Then, the robot repeats the above actions to form a continuous forward jumping running, greatly increasing its own speed.

[0021] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A quadrupedal bionic robot, comprising a front body (1) and a rear body (2), characterized in that: A reversing connection assembly is installed between the front fuselage (1) and the rear fuselage (2). The reversing connection assembly is used to connect the front fuselage (1) and the rear fuselage (2) and adjust the angle between the front fuselage (1) and the rear fuselage (2). A balance tail is installed at the tail of the rear fuselage (2). The balance tail is used to maintain the dynamic balance of the front fuselage (1) and the rear fuselage (2) when they are moving. A dual-axis motor A (3) is installed inside both the front fuselage (1) and the rear fuselage (2). The two output shafts of the dual-axis motor A (3) are connected to mechanical legs (4) through couplings. A foot sleeve (5) is fixedly fitted on the foot of the mechanical leg (4). A buffer plate (6) is rotatably connected to the foot sleeve (5) through a pin. A set of buffer springs (7) is fixed between the buffer plate (6) and the mechanical leg (4).

2. The quadrupedal bionic robot according to claim 1, characterized in that: A camera (8) is installed at the head of the front fuselage (1).

3. A quadrupedal bionic robot according to claim 1, characterized in that: The reversing connection assembly includes a connecting seat (9) and a U-shaped seat (11). The connecting seat (9) is fixedly installed at the head of the rear fuselage (2), and the U-shaped seat (11) is fixedly installed at the tail of the front fuselage (1).

4. A quadrupedal bionic robot according to claim 3, characterized in that: The connecting seat (9) is equipped with a dual-axis motor B (10), and the output shaft of the dual-axis motor B (10) is connected to the U-shaped seat (11) through a coupling.

5. A quadrupedal bionic robot according to claim 1, characterized in that: The balance tail includes several U-shaped plates (12), which are arranged linearly from head to tail. The first U-shaped plate (12) is fixedly installed at the tail of the rear fuselage (2). A pin (13) is fixed between the upper and lower inner walls of the U-shaped plate (12), and adjacent U-shaped plates (12) are rotatably connected by the pin (13).

6. A quadrupedal bionic robot according to claim 5, characterized in that: A tail plate (14) is sleeved on the outside of the pin (13) at the tail end.

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