CN106737578B - A kind of quadruped robot - Google Patents
A kind of quadruped robot Download PDFInfo
- Publication number
- CN106737578B CN106737578B CN201611158787.XA CN201611158787A CN106737578B CN 106737578 B CN106737578 B CN 106737578B CN 201611158787 A CN201611158787 A CN 201611158787A CN 106737578 B CN106737578 B CN 106737578B
- Authority
- CN
- China
- Prior art keywords
- leg
- machine body
- twisting
- quadruped robot
- driving motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 230000033001 locomotion Effects 0.000 claims description 42
- 230000005540 biological transmission Effects 0.000 claims description 31
- 239000011248 coating agent Substances 0.000 claims description 7
- 238000000576 coating method Methods 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 abstract 3
- 230000009471 action Effects 0.000 description 11
- 210000001364 upper extremity Anatomy 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000008602 contraction Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of quadruped robots, including：Cylindricality body；Symmetrical two twisting bodies for being connected to Base of Turbines body side surface, twist body joint surface and the shape of Base of Turbines body side surface match；It is connected to telescopic arm of each twisting body backwards to cylindricality body one side both ends, telescopic arm is connected with the first driving motor of twisting body；It is connected to the flexible leg pedestal backwards to twisting body one end, leg pedestal is installed with the second driving motor；It is connected to leg exercise mechanism of the leg pedestal backwards to cylindricality body one side both ends, leg exercise mechanism includes leg driving gear and leg exercise main body, leg driving gear is electrically connected with the second driving motor and its rotation axis is identical as telescopic arm length direction, and the drive shaft of leg driving gear is connected with leg exercise body normal.The quadruped robot of the offer of the present invention can adapt to the environment of complicated geographical feature.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a quadruped robot.
Background
The existing mobile robot mainly includes a wheel type mobile robot, a crawler type mobile robot, and a foot type mobile robot. Compared with a wheel type mobile robot and a crawler type mobile robot, the foot type mobile robot has more advantages in practical application because the foot type mobile robot can be more suitable for environments with complicated geographic characteristics, such as different concave-convex shapes, gullies, vertical and horizontal shapes and the like. The foot robot has strong adaptability to the environment, so that the foot robot can replace a human to perform a lot of complicated operations.
The foot robot comprises a biped robot, a quadruped robot, a hexapod robot, an octapod robot and the like, wherein the quadruped robot is widely applied due to the characteristics of high stability, low motion complexity and the like. However, the prior art quadruped robots are designed primarily to take into account only a flat ground environment. A quadruped robot, such as that shown in fig. 1, which is commonly used in the prior art, includes a robot main body 101, and frames 102 connected to front and rear ends of the robot main body 101, respectively, and right and front leg-shaped traveling mechanisms 1031, 1032, 1033, 1034 are connected to both sides of the frames 102, respectively, wherein each frame 102 is provided therein with a driving motor and a driving shaft 1021 for driving the respective leg-shaped traveling mechanisms. As can be seen from fig. 1, the quadruped robot can easily walk straight by being driven by the driving shaft 1021, so as to adapt to a flat ground environment; and complex actions such as turning, crossing and the like are difficult to achieve, so that the method is difficult to adapt to complex geographic environments with uneven concavity and convexity, ravines and verticals in real scenes.
Disclosure of Invention
The invention aims to provide a technical scheme of a quadruped robot, which aims to solve the problem that the quadruped robot in the prior art introduced in the background technology is difficult to adapt to the environment with complicated geographic characteristics, such as uneven concavity and convexity, gully and vertical and horizontal in a real scene.
In order to solve the technical problems, the invention provides the following technical scheme:
the present invention provides a quadruped robot, comprising: a cylindrical body; the two twisting machine bodies are symmetrically connected to the side surface of the cylindrical machine body through connecting and fixing rods, and the shape of the joint surface of the twisting machine bodies is matched with that of the side surface of the cylindrical machine body; the telescopic arms are connected to two ends of one surface, back to the cylindrical machine body, of each twisting machine body, and each telescopic arm is electrically connected with the first driving motor in each twisting machine body; the leg base is connected to one end, back to the twisting machine body, of the telescopic arm, and a second driving motor is fixedly arranged in the leg base; connect in the shank motion at shank base one side both ends of cylindricality organism, wherein, shank motion includes shank drive gear and shank motion main part, shank drive gear with the second driving motor electricity is connected, shank drive gear's axis of rotation with shank motion main part links to each other perpendicularly.
Preferably, the leg part exercising body includes: the leg transmission vertical rod is fixedly connected with a rotating shaft of the leg driving gear; the leg transmission cross rod is connected with the leg transmission vertical rod; the leg fixing block is connected with the leg transmission cross bar; and the leg-shaped rod piece is connected with the leg fixing block.
Preferably, the leg fixing block is movably connected to the leg-shaped rod, and the leg moving mechanism further includes:
the leg swing connecting rod is arranged below the leg fixing block and movably connected with the leg rod piece, and a sliding block is fixedly arranged at one end, far away from the leg rod piece, of the leg swing connecting rod;
and the sliding rail is fixedly arranged in the middle position of one surface of the leg base, which is back to the cylindrical machine body, and the sliding rail is sleeved with the sliding block.
Preferably, the quadruped robot further comprises: and the third driving motor is arranged inside the leg base and electrically connected with the sliding block.
Preferably, the quadruped robot further comprises: and the sliding block limiting stopper is fixedly arranged along the length direction of the sliding rail.
Preferably, the connection fixing bar includes: the body fixing vertical rods are respectively and fixedly arranged on the upper end face of each twisting body, and the body fixing vertical rods of the two twisting bodies are connected through a body fixing cross rod; the machine body fixing cross rod is fixedly arranged on the upper end surface of the cylindrical machine body and passes through the circle center of the upper end surface of the cylindrical machine body.
Preferably, the body fixing cross bar comprises two body fixing sub cross bars connected with two body fixing vertical bars of the twisting body, wherein one ends of the two body fixing sub cross bars are connected with the circle center of the upper end surface of the cylindrical body.
Preferably, the cylindrical body comprises: a rotating shaft of the first rotating gear is vertical to the upper bottom surface and the lower bottom surface of the cylindrical machine body;
the twisting machine body comprises: the rotating shaft of the second rotating gear is vertical to the upper bottom surface and the lower bottom surface of the twisting machine body and is meshed with the first rotating gear; wherein,
the detector is fixedly arranged on the upper bottom surface of the cylindrical machine body.
Preferably, the quadruped robot further comprises: a waterproof coating the cylindrical body, the twisting body and the leg base.
Preferably, the quadruped robot further comprises: and the circular sheet is fixedly arranged at the tail end of each leg-shaped rod piece, and the circular surface of the circular sheet is vertical to the leg-shaped rod piece.
The technical scheme of the invention provides a quadruped robot with the following working process:
the cylindrical machine body is connected with the two twisting machine bodies through the connecting and fixing rod pieces to form a machine body of the quadruped robot, and the machine body has the functions of connecting other structures and stabilizing the quadruped robot; the cylindrical body and the body formed by the two twisting bodies are matched with other mechanisms to realize the operations of turning, crossing, advancing and the like of the quadruped robot. Set up first driving motor in the wrench movement organism to be connected with two flexible arms with the one side of wrench movement organism dorsad cylindricality organism, under first driving motor's drive, flexible arm can realize flexible function, thereby cooperate with other mechanisms and realize four-footed robot's the operation such as gos forward and retreat. The end of the telescopic arm is connected with the leg base, the second driving motor is arranged in the leg base, the leg driving gear rotates in the leg movement mechanism driven by the second driving motor, and the whole leg movement mechanism can be driven to move up and down. This shank drive gear of second driving motor drive through on the shank base rotates, and the axis of rotation of this shank drive gear can drive shank motion and be the ascending motion of vertical side to realize reciprocating of shank motion of four-footed robot, and cooperate with other mechanisms and can make four-footed robot accomplish actions such as strideing across. And the four telescopic arms, the leg base and the leg movement mechanism are matched together, so that the steering operation of the quadruped robot can be realized.
Through the working process, the quadruped robot provided by the technical scheme of the invention can realize the actions of advancing, rotating, crossing and the like, so that the quadruped robot can move in the environment with complicated geographic characteristics of unevenness in a real scene.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a block diagram of a quadruped robot shown in the prior art;
FIG. 2 is a block diagram of a quadruped robot, shown in an exemplary embodiment of the present invention;
FIG. 3 is a block diagram of a cylindrical body shown in the embodiment of FIG. 2;
FIG. 4 is a block diagram of a twisting body shown in the embodiment of FIG. 2;
fig. 5 is a block diagram of a leg exercising mechanism shown in the embodiment of fig. 2.
The correspondence of the respective structures shown in fig. 1 to 5 with the reference numerals is as follows:
101-robot main body, 102-frame, 1021-drive shaft, 1031-right front leg walking mechanism, 1032-left front leg walking mechanism, 1033-left rear leg walking mechanism, 1034-right rear leg walking mechanism, 1-cylindrical machine body, 11-first rotating gear, 12-detector, 2-connecting fixed rod piece, 21-machine body fixed vertical rod, 22-machine body fixed cross rod, 3-twisting machine body, 31-first driving motor, 32-fourth driving motor, 33-second rotating gear, 4-telescopic arm, 41-right front telescopic arm, 42-left front telescopic arm, 43-right rear telescopic arm, 44-left rear telescopic arm, 5-leg base, 51-second driving motor, 6-leg movement mechanism, 61-leg driving gear, 62-leg moving body, 621-leg transmission vertical rod, 622-leg transmission cross rod, 623-leg fixing block, 624-leg rod, 6241-right front side leg rod, 6242-left front side leg rod, 6243-right rear side leg rod, 6244-left rear side leg rod, 63-leg swinging connecting rod, 631-sliding block, 64-sliding rail, 641-sliding block limit stopper, 65-leg transmission gear, 7-third driving motor, 8-waterproof coating and 9-circular sheet.
Detailed Description
The technical scheme of the quadruped robot provided by the embodiment of the invention solves the problem that the quadruped robot in the prior art introduced in the background technology is difficult to adapt to complex geographical environments with uneven concavity and convexity, vertical and horizontal gully in a real scene.
In order to make the technical solutions in the embodiments of the present invention better understood and make the above objects, features and advantages of the embodiments of the present invention more comprehensible, the technical solutions in the embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a quadruped robot according to an exemplary embodiment of the present invention. As shown in fig. 2, the quadruped robot provided by the embodiment of the present invention includes:
a cylindrical body 1, the cylindrical body 1 being a core member of the quadruped robot in the present embodiment. The upper bottom surface of the cylindrical body 1 is fixedly provided with a detector 12.
In addition, in cooperation with the cylindrical body 1, as shown in fig. 2, the quadruped robot further comprises: two twisting machine bodies 3 symmetrically connected with the side surface of the cylindrical machine body 1 through a connecting and fixing rod piece 2, the shape of the joint surface of the twisting machine bodies 3 is matched with the shape of the side surface of the cylindrical machine body 1,
as shown in fig. 2 and 3, the cylindrical housing 1 includes a first rotating gear 11, and a rotating shaft of the first rotating gear 11 is perpendicular to the upper and lower bottom surfaces of the cylindrical housing 1; correspondingly, as shown in fig. 2 and 4, the twisting body 3 includes a fourth driving motor 32, and a second rotating gear 33 electrically connected to the fourth driving motor 32, and a rotating shaft of the second rotating gear 33 is perpendicular to the upper and lower bottom surfaces of the twisting body 3. Through the drive of fourth driving motor 32, second rotating gear 33 can rotate, cooperate with first rotating gear 11, because the axis of rotation of first rotating gear 11 is perpendicular with the upper and lower bottom surface of cylindricality organism 1, then under the circumstances of fourth driving motor 32 drive second rotating gear 33 pivoted, will drive first rotating gear 11, first rotating gear 11 will drive whole cylindricality organism 1 through the axis of rotation and rotate, thereby make the detector 12 that the last bottom surface of cylindricality organism 1 set firmly can rotate, can scan four sufficient robot all ring edge borders.
Among them, as a preferred embodiment, as shown in fig. 2, the connection fixing rod 2 includes: the body fixing vertical rods 21 are respectively and fixedly arranged on the upper end surface of each twisting body 3, and the body fixing vertical rods 21 of the two twisting bodies 3 are connected through a body fixing cross rod 22; the machine body fixing cross rod 22 is fixedly arranged on the upper end surface of the cylindrical machine body 1 and passes through the circle center of the upper end surface of the cylindrical machine body 1. By fixing the vertical bars 21 fixed to the body of the twisting body 3 and the horizontal bars 22 fixed to the body of the cylindrical body 1, the cylindrical body 1 and the twisting body 3 can be connected to each other, thereby preventing the cylindrical body 1 from falling off during the movement of the quadruped robot. Preferably, the body fixing cross bar 22 includes two sections of body fixing sub cross bars (not marked in the figure) respectively connected to the two body fixing vertical bars 21 of the twisting body 3, wherein one ends of the two sections of body fixing sub cross bars, which are close to each other, are respectively connected to the circle center of the upper end surface of the cylindrical body 1.
The quadruped robot further comprises: the telescopic arms 4 are connected to two ends of one surface of each twisting machine body 3, which is opposite to the cylindrical machine body 1, and each telescopic arm 4 is electrically connected with the first driving motor 31 in the twisting machine body 3;
telescopic arm 4 is connected with the both ends of every wrench movement organism 3 one side of cylindricality organism 1 dorsad, and its end-to-end connection shank base 5 drives this telescopic arm 4 through the first driving motor 31 in the wrench movement organism 3, and the four-footed robot can realize actions such as extension and shrink to mutually support with other mechanisms, realize the four-footed robot advance, retreat and turn to operations such as.
A leg base 5 connected to one end of the telescopic arm 4 opposite to the twisting machine body 3, wherein a second driving motor 51 is fixedly arranged in the leg base 5;
and a leg movement mechanism 6 connected to both ends of one side of the leg base 5 facing away from the cylindrical body 1, wherein the leg movement mechanism 6 includes a leg driving gear 61 and a leg movement body 62, the leg driving gear 61 is electrically connected to the second driving motor 51, and a rotation shaft of the leg driving gear 61 is vertically connected to the leg movement body 62.
The leg driving gear 61 is driven to rotate by the second driving motor 51, and the rotating shaft of the leg driving gear 61 is vertically connected with the leg moving body 62, so that the leg driving gear 61 can drive the leg moving body 62 to move up and down through the rotating shaft of the leg driving gear 61, and the operations of crossing, advancing, turning and the like of the quadruped robot can be realized through the mutual cooperation with other mechanisms (such as the telescopic arm 4 and the twisting machine body 3), and the quadruped robot can be adapted to various rugged scenes with complicated geographical characteristic environments.
In summary, in the four-footed robot in the embodiment, the cylindrical body 1 and the two twisting bodies 3 are connected by the connecting and fixing rod 2 to form the body of the four-footed robot, and the four-footed robot has the functions of connecting other structures and stabilizing the four-footed robot; the cylindrical body 1 and the body formed by the two twisting bodies 3 are matched with other mechanisms to realize the operations of turning, crossing, advancing and the like of the quadruped robot. Set up first driving motor 31 in the wrench movement organism 3 to every wrench movement organism 3 is connected with two flexible arms 4 in the one side of cylindricality organism 1 dorsad, and under first driving motor 31's drive, flexible arm 4 can realize flexible function, thereby cooperatees with other mechanisms and realizes the four-footed robot advance and retreat the operation such as. The end of the telescopic arm 4 is connected with a leg base 5, a second driving motor 51 is arranged in the leg base 5, and the leg driving gear 61 in the leg movement mechanism 6 is driven by the second driving motor 51 to rotate, so that the leg movement main body 62 can be driven to move up and down. The leg driving gear 61 is driven to rotate by the second driving motor 51 on the leg base 5, and the rotating shaft of the leg driving gear 61 drives the leg moving body 62 to move in the vertical direction, so that the leg moving mechanism 6 of the quadruped robot moves up and down, and the quadruped robot can complete actions such as crossing by matching with other mechanisms. And the four telescopic arms 4, the leg base 5 and the leg movement mechanism 6 are matched together, so that the steering operation of the quadruped robot can be realized.
Through the mechanism and the movement mode, the quadruped robot in the embodiment can realize the actions such as advancing, rotating and spanning, so that the quadruped robot can move in an environment with various rugged and ravine complicated geographic features in a real scene.
As shown in fig. 5, the leg exercising body 62 includes: a leg transmission vertical bar 621 fixedly connected to the rotation shaft of the leg driving gear 61; a leg transmission cross bar 622 connected to the leg transmission vertical bars 621; a leg fixing block 623 connected to the leg transmission rail 622; and a leg-shaped lever 624 connected to the leg fixing block 623. The leg fixing block 623 is a triangular block, two included angles of the triangular block are fixedly connected with the leg transmission cross rod 622, and the other included angle of the triangular block is movably connected with the leg-shaped rod 624.
Leg transmission montant 621 mutually supports with shank transmission horizontal pole 622 and shank fixed block 623, stable parallelogram structure has been constituted, the axis of rotation through leg drive gear 61 is connected with leg transmission montant 621, under the drive of second driving motor 51, leg drive gear 61's axis of rotation drives leg transmission montant 621 shank transmission horizontal pole 622 and rotates, and leg transmission montant 621 drives leg transmission horizontal pole 622 again and rotates, the lift of leg transmission horizontal pole 622 through shank fixed block 623 control leg form member 624, thereby realize lifting up and descending of whole shank motion mechanism 6, and then realize the action such as the advancing and striding over of four-legged robot. To adapt to environments with complex geographical features that are rugged.
Wherein, leg motion 6 still includes: a leg transmission gear 65 engaged with the leg driving gear 61, and a rotation shaft of the leg transmission gear 65 is fixedly connected with the leg transmission vertical bar 621.
When the leg-shaped lever 624 crosses an obstacle, in addition to the lifting or lowering process of the leg-shaped lever 624, the leg-shaped lever 624 can move inward or outward, as shown in fig. 5, the leg fixing block 623 is movably connected to the leg-shaped lever 624, and the leg moving mechanism 6 further includes:
a leg swing connecting rod 63 arranged below the leg fixing block 623 and movably connected with the leg-shaped rod 624, wherein one end of the leg swing connecting rod 63 is fixedly provided with a sliding block 631;
and the sliding rail 64 is fixedly arranged at the middle position of one surface of the leg base 5, which is back to the cylindrical machine body, and the sliding rail 64 is sleeved with the sliding block 631.
The leg swing connecting rod 63 is movably connected with the leg member 624, and is sleeved with the sliding rail 64 on the leg base 5 through a sliding block 631 fixed at one end, and in the process of lifting or descending the leg member 624, the leg swing connecting rod 63 can drive the leg member 624 to swing, so that the inward contraction and outward expansion operation of the leg member 624 can be realized, and the actions of crossing obstacles and the like can be realized.
In order to drive the leg-shaped rods 624 to contract inward or expand outward, as shown in fig. 2, the quadruped robot further comprises: and a third driving motor 7 disposed inside the leg base 5 and electrically connected to the slider 631.
The third driving motor 7 is disposed inside the leg base 5, and is electrically connected to the sliding block 631 through the third driving motor 7, so as to drive the sliding block 631 to move along the sliding rail 64, thereby controlling the inward contraction or outward expansion of the leg-shaped rod 624.
In addition, in order to avoid the excessive movement of the leg-shaped rod member 624 inward or outward, as shown in fig. 4, the quadruped robot further comprises: a sliding block limiting stopper 641 is fixedly disposed along the length direction of the sliding rail 64.
The quadruped robot provided by the embodiment of the invention can walk on normal land and can move underwater. In order to avoid the interference of the underwater environment on the electrical components of the robot, as shown in fig. 2, the quadruped robot provided by the embodiment of the present invention further includes: a waterproof coating 8 covering the cylindrical body 1, the twisting body 3, and the leg base 5. By arranging the waterproof coating 8, the quadruped robot provided by the embodiment of the invention can realize amphibious motion.
In addition, the operating environment of the quadruped robot in the embodiment of the present invention may be too soft, and the quadruped robot may sink into the ground and be difficult to get rid of the ground when being in ground environments such as swamps, mud lands, and underwater silt, so as to be a preferred embodiment, as shown in fig. 2, the quadruped robot in the embodiment of the present invention further includes: a circular plate 9 fixed to the end of each leg member 624, the circular surface of the circular plate 9 being perpendicular to the leg members 624.
In summary, the quadruped robot provided by the embodiment of the present invention can realize the actions of advancing, rotating, crossing, and the like, and therefore can move in an environment with complicated geographic features such as various irregularities and ravines in a real scene.
The four-legged robot provided by the embodiment of the invention has the following advancing process: when the quadruped robot starts, the first driving motor 31 drives the right front telescopic arm 41 of the quadruped robot to extend, and drives the left front telescopic arm 42 to relatively extend for a certain distance, so that the left front leg-shaped rod 6242 of the quadruped robot stands on the original place and is not moved; and the right end of the front leg base 5 is moved forward. Meanwhile, the second driving motor 51 drives the leg driving gear 61 in the right front side leg movement mechanism 6 to rotate and drives the leg transmission gear 65 to rotate, so that the leg transmission vertical rod 621 further rotates the leg transmission cross rod 622, so that the triangular leg fixing block 623 rotates, further the right front side leg rod 6241 is lifted to a certain height from the ground, at the moment, the sliding block 631 on the leg swing connecting rod 63 slides on the sliding rail 64 under the driving of the third driving motor 7, and therefore the leg swing connecting rod 63 moves the right front side leg rod 6241, and the right front side leg rod 6241 is kept in a vertical state. At the same time, the left rear leg movement mechanism of the quadruped robot, which is opposite to the right front leg movement mechanism in the diagonal direction, performs the same action as the right front leg movement mechanism, so that the left rear leg bar 6244 is lifted off the ground. Then, the first driving motor 31 drives the left rear telescopic arm 44 to shorten and drives the right rear telescopic arm 43 to relatively shorten for a certain distance, so that the right rear leg-like bar 6243 stands still on the ground and the left end of the rear leg base 5 moves forward. Then, the leg driving gear 61 on the right front leg movement mechanism and the leg driving gear 61 on the left rear leg movement mechanism 6 are respectively driven to rotate by the second driving motor 51, and the action opposite to the original transmission process is executed, so that the right front leg bar 6241 and the left rear leg bar 6244 are reversely lowered for a certain distance to the ground. Meanwhile, the left front leg-shaped rod 6242 and the right rear leg-shaped rod 6243 which are kept in place before are driven by the second driving motor 51 to be lifted off the ground by the respective leg driving gears 61, at this time, the first driving motor 31 drives the right front telescopic arm 41 to contract for a certain distance, the left front telescopic arm 42 extends for a certain distance, the left rear telescopic arm 44 extends for a certain distance, and the right rear telescopic arm 43 shortens for a certain distance, so that the cylindrical body 1 moves to the middle position, the left end of the rear leg base moves forward, the right front leg-shaped rod 6241 and the left rear leg-shaped rod 6244 are kept in place at the same time, and the left front leg-shaped rod 6242 and the right rear leg-shaped rod 6243 are controlled to move forward, so that the four-foot robot moves forward. Wherein the side facing inwards in fig. 2 is the right side and the side marked with the waterproof coating 8 is the rear side.
In the anticlockwise turning process of the quadruped robot provided by the embodiment of the invention, the second driving motor 51 operates to drive the right front side leg-shaped rod 6241 of the robot to lift, and simultaneously, the right front side telescopic arm 41 extends to drive the right front side leg-shaped rod 6241 to move forwards; after moving forward for a certain distance, the second driving motor 51 drives the right front leg 6241 to land; the second driving motor 51 drives the left front leg-shaped rod 6242 of the robot to lift up, and the left front telescopic arm 42 shortens to drive the left front leg-shaped rod 6242 to move backwards; then the second driving motor 51 drives the left front leg-shaped rod 6242 to land; the second driving motor 51 drives the left rear leg 6244 of the robot to lift up, and at the same time, the left front telescopic arm 42 extends, the body composed of the cylindrical body 1 and the twisting body 3 rotates counterclockwise through the reaction force, and at the same time, the left rear telescopic arm 44 extends, and after the body rotates a certain angle, the left rear leg 6244 falls to the ground; the right rear leg-shaped rod part 6243 of the robot is driven to lift by the second driving motor 51, and the right rear telescopic arm 43 is controlled to be shortened, so that the quadruped robot can realize turning after the right rear telescopic arm 43 is shortened by a certain distance. And finally, the telescopic distances of the front telescopic arm and the rear telescopic arm of the four-legged robot are adjusted to restore the original lengths by being respectively matched with the leg movement mechanisms 6.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments.
The above-described embodiments of the present invention do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A quadruped robot, comprising:
a cylindrical body (1);
the two twisting machine bodies (3) are symmetrically connected to the side surface of the cylindrical machine body (1) through connecting and fixing rod pieces (2), and the shape of the joint surface of the twisting machine bodies (3) is matched with that of the side surface of the cylindrical machine body (1);
the telescopic arms (4) are connected to two ends of one surface, back to the cylindrical machine body (1), of each twisting machine body (3), and each telescopic arm (4) is electrically connected with a first driving motor (31) in each twisting machine body (3);
the leg base (5) is connected to one end, back to the twisting machine body (3), of the telescopic arm (4), and a second driving motor (51) is fixedly arranged in the leg base (5);
connect in shank base (5) shank motion (6) of both ends of cylindricality organism (1) one side dorsad, wherein, shank motion (6) include shank drive gear (61) and shank motion main part (62), shank drive gear (61) with second driving motor (51) electricity is connected, the axis of rotation of shank drive gear (61) with shank motion main part (62) link to each other perpendicularly.
2. The quadruped robot according to claim 1, characterized in that the leg moving body (62) comprises:
a leg transmission vertical bar (621) fixedly connected with the rotating shaft of the leg driving gear (61);
a leg transmission cross bar (622) connected with the leg transmission vertical bar (621);
a leg fixing block (623) connected to the leg transmission rail (622); and the number of the first and second groups,
and the leg-shaped rod piece (624) is connected with the leg fixing block (623).
3. The quadruped robot as claimed in claim 2, characterized in that the leg fixing block (623) is movably connected with the leg lever (624), and the leg moving mechanism (6) further comprises:
a leg swinging connecting rod (63) which is arranged below the leg fixing block (623) and is movably connected with the leg rod piece (624), wherein one end of the leg swinging connecting rod (63) far away from the leg rod piece (624) is fixedly provided with a sliding block (631);
and the sliding rail (64) is fixedly arranged on one surface of the leg base (5) back to the cylindrical machine body (1), and the sliding rail (64) is sleeved with the sliding block (631).
4. The quadruped robot of claim 3, further comprising:
and a third driving motor (7) which is arranged inside the leg base (5) and is electrically connected with the slide block (631).
5. The quadruped robot of claim 3, further comprising: and the sliding block limiting stopper (641) is fixedly arranged along the length direction of the sliding rail (64).
6. The quadruped robot according to claim 1, characterized in that the connecting and fixing link (2) comprises:
the body fixing vertical rods (21) are respectively and fixedly arranged on the upper end surface of each twisting body (3), and the body fixing vertical rods (21) of the two twisting bodies (3) are connected through a body fixing cross rod (22);
the machine body fixing cross rod (22) is fixedly arranged on the upper end face of the cylindrical machine body (1) and passes through the circle center of the upper end face of the cylindrical machine body (1).
7. The quadruped robot as claimed in claim 6, characterized in that the body fixing cross bar (22) comprises two sections of body fixing sub cross bars connected with the body fixing vertical bars (21) of the two twisting bodies (3), wherein one ends of the two sections of body fixing sub cross bars are respectively connected with the circle center of the upper end surface of the cylindrical body (1).
8. The quadruped robot of claim 1, wherein,
the cylindrical body (1) comprises: the rotating shaft of the first rotating gear (11) is vertical to the upper bottom surface and the lower bottom surface of the cylindrical machine body (1);
the twisting machine body (3) further comprises: a fourth driving motor (32) and a second rotating gear (33) electrically connected with the fourth driving motor (32), wherein a rotating shaft of the second rotating gear (33) is vertical to the upper bottom surface and the lower bottom surface of the twisting machine body (3) and is meshed with the first rotating gear (11); wherein,
the upper bottom surface of the cylindrical machine body (1) is fixedly provided with a detector (12).
9. The quadruped robot of claim 1, further comprising:
a waterproof coating (8) respectively coating the cylindrical body (1), the twisting body (3) and the leg base (5).
10. The quadruped robot of claim 2, further comprising:
and the round piece (9) is fixedly arranged at the tail end of each leg-shaped rod piece (624), and the round surface of the round piece (9) is perpendicular to the leg-shaped rod pieces (624).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611158787.XA CN106737578B (en) | 2016-12-15 | 2016-12-15 | A kind of quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611158787.XA CN106737578B (en) | 2016-12-15 | 2016-12-15 | A kind of quadruped robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106737578A CN106737578A (en) | 2017-05-31 |
| CN106737578B true CN106737578B (en) | 2018-11-13 |
Family
ID=58889136
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611158787.XA Expired - Fee Related CN106737578B (en) | 2016-12-15 | 2016-12-15 | A kind of quadruped robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737578B (en) |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108789368A (en) * | 2017-07-30 | 2018-11-13 | 高苑 | A kind of collapsible underwater robot of lifting type |
| CN107352004B (en) * | 2017-07-30 | 2018-06-19 | 乐清市华尊电气有限公司 | A kind of synchronous folding or the underwater robot for stretching two folding landing legs |
| CN107444588B (en) * | 2017-07-31 | 2018-06-22 | 乐清市华尊电气有限公司 | A kind of portable robot that itself can be supportted from the ground |
| CN108791770A (en) * | 2017-07-31 | 2018-11-13 | 苏州元有讯电子科技有限公司 | portable robot |
| CN107416067A (en) * | 2017-09-25 | 2017-12-01 | 王莎莎 | A kind of architectural engineering utilizes the environmentally friendly implement of solar energy |
| CN108393865B (en) * | 2018-01-24 | 2020-06-05 | 山东大学 | Series-parallel hybrid robot leg configuration, walking robot and motion method thereof |
| CN108545123B (en) * | 2018-03-29 | 2020-07-03 | 苏州大学 | Lower limb structure of foot type robot |
| CN108791562B (en) * | 2018-06-11 | 2020-07-31 | 山东大学 | Steering device and quadruped robot comprising same |
| CN111208811B (en) * | 2018-11-22 | 2024-06-21 | 北京奇虎科技有限公司 | Narrow slit escaping method, device and equipment of sweeping robot and readable storage medium |
| CN109623781B (en) * | 2018-11-29 | 2021-07-20 | 西安理工大学 | Jumping robot based on dielectric elastomer drive |
| CN109590990B (en) * | 2018-12-21 | 2021-12-28 | 天津市路道科技有限公司 | Twisting structure of large-scale machine monster |
| CN110126938A (en) * | 2019-05-24 | 2019-08-16 | 北京深醒科技有限公司 | A kind of quadruped robot suitable for security protection patrol |
| CN110480608B (en) * | 2019-08-19 | 2024-06-21 | 长安大学 | Bionic robot with double-drive parallel buffer legs and parallel flexible trunk |
| CN112298396B (en) * | 2020-12-03 | 2022-09-23 | 哈尔滨工业大学（威海） | Photoelectric hybrid-driven foot type electrostatic adsorption wall-climbing robot |
| CN112874656B (en) * | 2021-03-23 | 2023-03-31 | 上海智能制造功能平台有限公司 | Leg mechanism of robot and robot |
| CN113001523A (en) * | 2021-04-09 | 2021-06-22 | 山东大学 | Four-foot double-arm robot and operation mode thereof |
| CN114348135B (en) * | 2021-12-23 | 2023-02-28 | 燕山大学 | Six-foot wheel-leg-track hybrid mobile robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1947960A (en) * | 2006-10-26 | 2007-04-18 | 华南理工大学 | Environment-identification and proceeding work type real-man like robot |
| CN101870311A (en) * | 2010-07-07 | 2010-10-27 | 南京航空航天大学 | Nine-degree of freedom four-footed simulating crawling robot |
| CN201633803U (en) * | 2010-04-23 | 2010-11-17 | 山东大学 | Hydraulically-driven four-leg robot travel mechanism provided with centroid adjusting device |
| JP2012157968A (en) * | 2011-02-02 | 2012-08-23 | Kochi Univ Of Technology | Multiform robot |
| CN103465991A (en) * | 2013-09-23 | 2013-12-25 | 南京理工大学 | Simple type quadruped robot |
| KR20140081770A (en) * | 2014-05-27 | 2014-07-01 | 성균관대학교산학협력단 | Gear connection mechanism of walking robot, and driving force transfer mechanism of walking robot, and two degree-of-freedom mechanism of walking robot, and biomimetic walking robot having kinetic waling funciton of the same mechanism |
-
2016
- 2016-12-15 CN CN201611158787.XA patent/CN106737578B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1947960A (en) * | 2006-10-26 | 2007-04-18 | 华南理工大学 | Environment-identification and proceeding work type real-man like robot |
| CN201633803U (en) * | 2010-04-23 | 2010-11-17 | 山东大学 | Hydraulically-driven four-leg robot travel mechanism provided with centroid adjusting device |
| CN101870311A (en) * | 2010-07-07 | 2010-10-27 | 南京航空航天大学 | Nine-degree of freedom four-footed simulating crawling robot |
| JP2012157968A (en) * | 2011-02-02 | 2012-08-23 | Kochi Univ Of Technology | Multiform robot |
| CN103465991A (en) * | 2013-09-23 | 2013-12-25 | 南京理工大学 | Simple type quadruped robot |
| KR20140081770A (en) * | 2014-05-27 | 2014-07-01 | 성균관대학교산학협력단 | Gear connection mechanism of walking robot, and driving force transfer mechanism of walking robot, and two degree-of-freedom mechanism of walking robot, and biomimetic walking robot having kinetic waling funciton of the same mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106737578A (en) | 2017-05-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106737578B (en) | A kind of quadruped robot | |
| CN101870311B (en) | Nine-degree of freedom four-footed simulating crawling robot | |
| CN107554637B (en) | Six-foot obstacle crossing robot | |
| CN107128375B (en) | Mobile chassis for wheel-track switching | |
| CN105292298B (en) | It is a kind of to merge transport and three sections of body formula Hexapod Robots of operation function | |
| CN105599818B (en) | Barrier-surpassing robot | |
| CN105151153A (en) | Wheel-foot hybrid mode hexapod robot moving platform | |
| CN110466637B (en) | Single-shaft-driven four-foot all-directional climbing robot and control method thereof | |
| CN106585761A (en) | Horse-imitating gait planar connection rod type quadruped walking robot | |
| CN109178135B (en) | Dual-drive mode closed-chain leg mechanism | |
| CN205469357U (en) | A multi -functional imitative ant robot for crossing over obstacle | |
| CN110682976B (en) | Multi-degree-of-freedom mechanical wheel leg structure of wheel leg combined type mobile robot | |
| CN104890760B (en) | A kind of imitative dinosaur robot | |
| CN214460737U (en) | Exquisite type engineering construction robot | |
| CN112590968A (en) | Six-foot wheel-leg type crawling robot | |
| CN104354784B (en) | A kind of biped robot of quick walk | |
| CN210063193U (en) | Robot running mechanism with mechanical unbalance prevention function | |
| CN208842509U (en) | A kind of hexapod robot of multi link driving | |
| CN209535274U (en) | A kind of multi-foot robot that gait is advanced with wheeled conversion of advancing | |
| CN106863278B (en) | Wheel-leg type 3-PUU parallel mobile robot | |
| CN111532354B (en) | Walking device with multiple movement modes | |
| CN113602528A (en) | Reconfigurable wheel leg moving device for Mars detection | |
| CN107651033A (en) | A kind of leg wheel hybrid hydraulic pedipulator | |
| CN111483533B (en) | Omnidirectional movement bionic quadruped robot with variable configuration | |
| CN214356356U (en) | Six-foot wheel-leg type crawling robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181113 Termination date: 20191215 |