CN111516774B - But biped four-footed integration real-time switch foot formula robot - Google Patents
But biped four-footed integration real-time switch foot formula robot Download PDFInfo
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- CN111516774B CN111516774B CN202010390682.7A CN202010390682A CN111516774B CN 111516774 B CN111516774 B CN 111516774B CN 202010390682 A CN202010390682 A CN 202010390682A CN 111516774 B CN111516774 B CN 111516774B
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- 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
Abstract
The invention relates to the field of foot robots, in particular to a novel foot robot design with double-foot and four-foot walking postures. The overall structure of the device can be composed of a metal trunk, a first front arm assembly, a second front arm assembly, a front supporting plate, a rear supporting plate, a first rear arm assembly and a second rear arm assembly; the robot has compact structure, high-speed moving capability in a four-foot state and upper limb operation capability in a two-foot state, can switch walking modes in real time, realizes the characteristics of quick movement of the four-foot robot and high operation capability of the two-foot robot, and reduces the overall quality of the robot; meanwhile, the forward joints of the knee joint and the hip joint can continuously rotate for 360 degrees, so that the foot type robot eliminates the distinction of head, tail, abdomen, back, left and right, can complete the posture exchange of front and back, up and down and left and right in real time, and realizes the omnibearing action form conversion. The novel invention design enhances the adaptability and functionality of the foot type robot, so that the foot type robot has wider social application prospect.
Description
Technical Field
The invention relates to the field of foot robots, in particular to a design of a foot robot with walking postures of double feet and four feet.
Background
The foot type robot is commonly used for executing patrol security protection, replacing tasks of working in various extreme environments by human beings, searching life signs during earthquake relief, exploring obstacles in space and the like, and compared with walking with two feet, the walking stability of the foot type robot is enhanced by the characteristic of four-foot walking. Although mobility performance is improved, operational performance is reduced; the biped robot only walks by few limbs, and the movement and stability of the biped robot are inferior to those of a quadruped robot, but the biped robot with an upper limb mechanism can realize the operation tasks which are difficult to complete at present. The biped and quadruped robot capable of switching walking gaits in real time, which is designed by the invention, has different forelimb and hind limb structures, can switch walking modes and operation capabilities in real time according to task requirements, realizes the characteristics of quick movement of the quadruped robot and high operation capability of the biped robot, can reduce the overall quality and simultaneously improves the adaptability and functionality of the robot to the environment.
Disclosure of Invention
The invention aims to solve the problem of designing a foot type robot with integrated double feet and four feet and capable of switching in real time, which has a compact structure and has high-speed moving capability in a four-foot state and upper limb operation capability in a double-foot state.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides a but biped four-footed integration real-time switch foot formula robot which characterized in that: the overall structure of the device can be composed of a metal trunk, a first front arm assembly, a second front arm assembly, a front supporting plate, a rear supporting plate, a first rear arm assembly and a second rear arm assembly; wherein, the front supporting plate and the rear supporting plate are connected with the two sides of the metal trunk in the longitudinal direction through bolts; the first forearm assembly and the second forearm assembly are respectively connected with the front supporting plate and are symmetrically distributed along the transverse short direction relative to the metal trunk; the first rear arm component and the second rear arm component are respectively connected with the rear supporting plate and are symmetrically distributed along the transverse short direction relative to the metal trunk.
The first rear arm component of the motor consists of a first leg component, a connecting rod, a fourth motor shell, a third motor reducer component and a fixed sheet metal; the fixed sheet metal is fixedly connected with the rear supporting plate through bolts, a fourth motor shell is fixed on the fixed sheet metal, a third motor reducer assembly is connected in the fourth motor shell, and an output shaft of the third motor reducer assembly is in key connection with a through hole at one end of the connecting rod; the through hole at the other end of the connecting rod is connected with the first leg component by a key; the two through holes are vertically arranged in space, so that the first rear arm assembly has yaw rotation and pitching rotation freedom degrees in space; the structural composition and assembly mode of the second rear arm assembly are completely consistent with that of the first rear arm assembly.
The first forearm assembly of the robot consists of a second leg assembly, a second connecting rod, a fourth motor reducer assembly and a third motor shell; the output shaft of the motor of the second leg assembly is connected with the middle through hole of the second connecting rod through a key, and the shaft end of the second connecting rod passes through the through hole on one side of the front support plate and is connected with the output shaft of the fourth motor reducer assembly; the third motor shell is arranged on the fourth motor reducer component to play a role in protection and support; the middle through hole and the shaft end of the second connecting rod are vertically arranged in space, so that the first forearm assembly has spatial roll rotation and pitching rotation freedom degrees; the second forearm assembly is constructed and assembled in substantially the same manner as the first forearm assembly.
The first leg component of the leg-type electric scooter consists of a first motor shell, a second motor shell, a first motor reducer component, a second motor reducer component, a thigh component, a chain, a first chain wheel, a second chain wheel, a shank component and a pin; an output shaft of the first motor reducer component is in key connection with the thigh member, and the first chain wheel, the second chain wheel and the chain form a transmission component and are arranged in the inner deep groove of the thigh member; the first chain wheel is in key connection with an output shaft of the second motor reducer assembly, and the pin sequentially passes through the second chain wheel, the round end through hole of the shank member and the through hole of the thigh member; the shank member is welded with the second chain wheel, so that the shank member can rotate around the thigh member under the drive of the chain; at the same time, the thigh member can rotate around the central axis of the first motor housing; the second leg assembly is constructed and assembled in exactly the same manner as the first leg assembly.
The first and second front arm assemblies and the first and second rear arm assemblies are different in arrangement of rotational degrees of freedom, and although the first and second front arm assemblies and the first and second rear arm assemblies are of three-degree-of-freedom structures, the rotational directions of the first degrees of freedom of the connection of the front arm assemblies and the rear arm assemblies with the trunk are not the same, so that the robot can walk in a four-foot robot form, and can also be switched to a two-foot robot using the two legs of the first and second rear arm assemblies as walking legs and the first and second front arm assemblies as operation mechanical arms.
Compared with the prior art, the invention has the following beneficial effects: compared with the prior art, the invention has the following beneficial effects: according to the invention, through different front and rear arm structural designs, the foot type robot has two working states of double arms and four feet, and simultaneously has high-speed movement and low-speed high-operation capacity, and the states can be switched in real time; meanwhile, the forward joints of the knee joints of the crus and the hip joints of the thighs can continuously rotate for 360 degrees, so that the foot type robot eliminates the distinction of head, tail, abdomen, back and left and right, can complete the exchange of front and back, up and down and left and right postures of the foot type robot in real time, and realize the real-time conversion of omnibearing action forms. The design of the invention enhances the adaptability and functionality of the foot type robot, so that the foot type robot has wide social application prospect.
Drawings
FIG. 1 is a schematic view of a legged robot;
FIG. 2 is an isometric view of a legged robot configuration;
FIG. 3 is a schematic view of a leg assembly;
FIG. 4 is an exploded schematic view of the leg assembly;
FIG. 5 is a schematic view of a first rear arm assembly;
FIG. 6 is a schematic view of a first forearm assembly;
FIG. 7 is a schematic view of a biped state;
FIG. 8 is a schematic diagram of a four-footed state;
in the figure: the metal front arm assembly comprises a metal trunk (1), a first front arm assembly, a second front arm assembly, a front support plate (3), a rear support plate (4), a first rear arm assembly, a second rear arm assembly, a first motor shell, a second motor shell, a third motor shell (6-1, 6-2, 6-3), a first motor reducer assembly, a second motor reducer assembly, a third motor reducer assembly, a fourth motor reducer assembly (7-1, 7-2, 7-3, 7-4), a thigh component (8), a chain (9), a first chain wheel, a second chain wheel (10-1, 10-2), a shank component (11), a pin (12), a first leg assembly, a second leg assembly (13-1, 13-2), a connecting rod (14), a.
Detailed Description
The invention is further explained with reference to the drawings.
The invention aims to solve the problem of designing a foot type robot with integrated double feet and four feet and capable of switching in real time, which has a compact structure and has high-speed moving capability in a four-foot state and upper limb operation capability in a double-foot state.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a biped and quadruped integrated robot capable of switching foot type in real time is shown in figure 1, and is characterized in that: the overall structure of the device can be composed of a metal trunk (1), a first front arm assembly (2-1), a second front arm assembly (2-2), a front support plate (3), a rear support plate (4), a first rear arm assembly (5-1), a second rear arm assembly (5-2); wherein, the front supporting plate (3) and the rear supporting plate (4) are connected with the two sides of the metal trunk (1) in the longitudinal direction through bolts; the first forearm assembly (2-1) and the second forearm assembly (2-2) are respectively connected with the front support plate (3) and are symmetrically distributed along the transverse short direction relative to the metal trunk (1); the first and second rear arm components (5-1, 5-2) are respectively connected with the rear support plate (4) and are symmetrically distributed along the transverse short direction about the metal trunk (1), as shown in figure 2.
The first rear arm assembly (5-1) of the legged robot consists of a first leg assembly (13-1), a connecting rod (14), a fourth motor shell (15), a third motor reducer assembly (7-3) and a fixed sheet metal (16), and is shown in fig. 5. The fixed sheet metal (16) is fixedly connected with the rear supporting plate (4) through bolts, a fourth motor shell (15) is fixed on the fixed sheet metal (16), a third motor reducer component (7-3) is connected in the fourth motor shell (15), and an output shaft of the third motor reducer component (7-3) is in key connection with a through hole at one end of the connecting rod (14); the through hole at the other end of the connecting rod (14) is connected with the first leg component (13-1) by a key; the two through holes are vertically arranged in space, so that the first rear arm assembly (5-1) has yaw rotation and pitch rotation freedom degrees in space; the structural composition and the assembly mode of the second rear arm component (5-2) are completely consistent with those of the first rear arm component (5-1);
a first front arm assembly (2-1) of the robot is composed of a second leg assembly (13-2), a second connecting rod (17), a fourth motor reducer assembly (7-4) and a third motor shell (6-3), and is shown in figure 6; wherein the motor output shaft of the second leg component (13-2) is connected with the middle through hole of the second connecting rod (17) through a key, and the shaft end of the second connecting rod (17) passes through the through hole at one side of the front support plate (3) and is connected with the output shaft of the fourth motor reducer component (7-4); the third motor shell (6-3) is arranged on the fourth motor reducer component (7-4) to play a role in protection and support; the middle through hole and the shaft end of the second connecting rod (17) are vertically arranged in space, so that the first forearm assembly (2-1) has spatial roll rotation and pitch rotation freedom degrees; the second forearm component (2-2) is constructed and assembled in a manner identical to that of the first forearm component (2-1);
the first leg assembly (13-1) of the legged robot is shown in fig. 3, with a corresponding exploded view in fig. 4. The assembly consists of a first motor shell (6-1), a first motor reducer assembly (6-2), a second motor reducer assembly (7-1, 7-2), a thigh member (8), a chain (9), a first chain wheel (10-1), a second chain wheel (10-2), a shank member (11) and a pin (12); an output shaft of the first motor reducer component (7-1) is in key connection with the thigh member (8), and the first chain wheel (10-1), the second chain wheel (10-2) and the chain (9) form a transmission component and are arranged in a deep groove in the thigh member (8); the first chain wheel (10-1) is in key connection with an output shaft of the second motor reducer component (7-2), and the pin (12) sequentially passes through the second chain wheel (10-2), a round end through hole of the shank component (11) and a through hole of the thigh component (8); the shank member (11) is welded with the second chain wheel (10-2), so that the shank member (11) can rotate around the thigh member (8) under the transmission of the chain (9); at the same time, the thigh member can rotate around the central axis of the first motor housing (6-1); the second leg assembly (13-2) is constructed and assembled in exactly the same manner as the first leg assembly (13-1).
The first and second front arm assemblies (2-1, 2-2) and the first and second rear arm assemblies (5-1, 5-2) of the foot robot are different in arrangement of rotational degrees of freedom, and although the first and second front arm assemblies and the first and second rear arm assemblies (5-1, 5-2) are of three-degree-of-freedom structures, the rotational directions of the first degrees of freedom of the front arm assemblies and the first degrees of freedom of the rear arm assemblies connected with the trunk are not consistent, so that the robot can walk in a four-foot robot form (see fig. 8), and can be switched to a two-foot robot with the first and second front arm assemblies (5-1, 5-2) as walking legs (see fig. 7) and the first and second front arm assemblies (2-1, 2-2) as operation mechanical arms.
Compared with the prior art, the invention has the following beneficial effects: according to the invention, through different front and rear arm structural designs, the foot type robot has two working states of double arms and four feet, and simultaneously has high-speed movement and low-speed high-operation capacity, and the states can be switched in real time; meanwhile, the forward joints of the knee joints of the crus and the hip joints of the thighs can continuously rotate for 360 degrees, so that the foot type robot eliminates the distinction of head, tail, abdomen, back and left and right, can complete the exchange of front and back, up and down and left and right postures of the foot type robot in real time, and realize the real-time conversion of omnibearing action forms. The design of the invention enhances the adaptability and functionality of the foot type robot, so that the foot type robot has wide social application prospect.
Claims (2)
1. The utility model provides a but biped four-footed integration real-time switch foot formula robot which characterized in that: the overall structure of the device can be composed of a metal trunk (1), a first front arm assembly (2-1), a second front arm assembly (2-2), a front support plate (3), a rear support plate (4), a first rear arm assembly (5-1), a second rear arm assembly (5-2);
wherein, the front supporting plate (3) and the rear supporting plate (4) are connected with the two sides of the metal trunk (1) in the longitudinal direction through bolts; the first forearm assembly (2-1) and the second forearm assembly (2-2) are respectively connected with the front support plate (3) and are symmetrically distributed along the transverse short direction relative to the metal trunk (1); the first rear arm assembly and the second rear arm assembly (5-1, 5-2) are respectively connected with the rear supporting plate (4) and are symmetrically distributed along the transverse short direction relative to the metal trunk (1);
the first rear arm component (5-1) of the legged robot consists of a first leg component (13-1), a connecting rod (14), a fourth motor shell (15), a third motor reducer component (7-3) and a fixed sheet metal (16); the fixed sheet metal (16) is fixedly connected with the rear supporting plate (4) through bolts, a fourth motor shell (15) is fixed on the fixed sheet metal (16), a third motor reducer component (7-3) is connected in the fourth motor shell (15), and an output shaft of the third motor reducer component (7-3) is in key connection with a through hole at one end of the connecting rod (14); the through hole at the other end of the connecting rod (14) is connected with the first leg component (13-1) by a key; the two through holes are vertically arranged in space, so that the first rear arm assembly (5-1) has yaw rotation and pitch rotation freedom degrees in space; the structural composition and the assembly mode of the second rear arm component (5-2) are completely consistent with those of the first rear arm component (5-1);
a first front arm assembly (2-1) of the robot is composed of a second leg assembly (13-2), a second connecting rod (17), a fourth motor reducer assembly (7-4) and a third motor shell (6-3); wherein the motor output shaft of the second leg component (13-2) is connected with the middle through hole of the second connecting rod (17) through a key, and the shaft end of the second connecting rod (17) passes through the through hole at one side of the front support plate (3) and is connected with the output shaft of the fourth motor reducer component (7-4); the third motor shell (6-3) is arranged on the fourth motor reducer component (7-4) to play a role in protection and support; the middle through hole and the shaft end of the second connecting rod (17) are vertically arranged in space, so that the first forearm assembly (2-1) has spatial roll rotation and pitch rotation freedom degrees; the second forearm component (2-2) is constructed and assembled in a manner identical to that of the first forearm component (2-1);
the first leg assembly (13-1) of the legged robot consists of a first motor shell (6-1), a second motor shell (6-2), a first motor reducer assembly (7-1), a second motor reducer assembly (7-2), a thigh member (8), a chain (9), a first chain wheel (10-1), a second chain wheel (10-2), a shank member (11) and a pin (12); an output shaft of the first motor reducer component (7-1) is in key connection with the thigh member (8), and the first chain wheel (10-1), the second chain wheel (10-2) and the chain (9) form a transmission component and are arranged in a deep groove in the thigh member (8); the first chain wheel (10-1) is in key connection with an output shaft of the second motor reducer component (7-2), and the pin (12) sequentially passes through the second chain wheel (10-2), a round end through hole of the shank component (11) and a through hole of the thigh component (8); the shank member (11) is welded with the second chain wheel (10-2), so that the shank member (11) can rotate around the thigh member (8) under the transmission of the chain (9); at the same time, the thigh member can rotate around the central axis of the first motor housing (6-1); the second leg component (13-2) is completely the same as the first leg component (13-1) in structural composition and assembly mode;
the first and second front arm components (2-1, 2-2) and the first and second rear arm components (5-1, 5-2) of the foot type robot are different in arrangement of rotational degrees of freedom, and although the first and second front arm components and the first and second rear arm components (5-1, 5-2) are of three-degree-of-freedom structures, the rotational directions of the first degree of freedom of the connection of the front arm components and the rear arm components with the trunk are different, so that the robot can walk in a four-foot robot form, and can be switched to a two-foot robot using two legs of the first and second rear arm components (5-1, 5-2) as walking legs and using the first and second front arm components (2-1, 2-2) as operation mechanical arms, so that the integration of four feet can be switched in real time.
2. The biped and quadruped integrated real-time switchable foot robot as claimed in claim 1, wherein: the front joints of the knee joints of the crus and the front joints of the hip joints of the thighs of the first leg assembly (13-1) and the second leg assembly (13-2) can continuously rotate for 360 degrees, the design enables the foot type robot to eliminate the distinction of head, tail, abdomen, back and left and right, the interchange of the front posture, the back posture, the up posture, the down posture and the left posture and the right posture of the foot type robot can be completed in real time, and the real-time conversion of the omnibearing action form is realized.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010390682.7A CN111516774B (en) | 2020-05-09 | 2020-05-09 | But biped four-footed integration real-time switch foot formula robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010390682.7A CN111516774B (en) | 2020-05-09 | 2020-05-09 | But biped four-footed integration real-time switch foot formula robot |
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| Publication Number | Publication Date |
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| CN111516774A CN111516774A (en) | 2020-08-11 |
| CN111516774B true CN111516774B (en) | 2021-04-30 |
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| CN202010390682.7A Expired - Fee Related CN111516774B (en) | 2020-05-09 | 2020-05-09 | But biped four-footed integration real-time switch foot formula robot |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112623060A (en) * | 2020-12-25 | 2021-04-09 | 哈尔滨工业大学 | Mobile and wearable dual-mode robot |
| CN113618750B (en) * | 2021-08-06 | 2024-02-27 | 上海大学 | Humanoid robot with high dynamic quadruped motion mode and double-arm working mode |
| CN113815746A (en) * | 2021-10-20 | 2021-12-21 | 深圳鹏行智能研究有限公司 | Large-load foot type robot and leg mechanism |
| WO2023225814A1 (en) * | 2022-05-23 | 2023-11-30 | 北京小米机器人技术有限公司 | Quadruped robot, control method thereof, and apparatus |
Citations (4)
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| CN107651041A (en) * | 2017-10-30 | 2018-02-02 | 山东大学 | A kind of single leg structure of electronic quadruped robot |
| CN109857131A (en) * | 2019-03-11 | 2019-06-07 | 山东职业学院 | A kind of two foot-four-footed posture changing control method of legged type robot |
| CN109986579A (en) * | 2019-04-28 | 2019-07-09 | 山东大学 | Multi-mode moves imitative primate robot |
| CN210478873U (en) * | 2019-08-30 | 2020-05-08 | 福州大学 | Twelve-degree-of-freedom bionic quadruped robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10253855B2 (en) * | 2016-12-15 | 2019-04-09 | Boston Dynamics, Inc. | Screw actuator for a legged robot |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107651041A (en) * | 2017-10-30 | 2018-02-02 | 山东大学 | A kind of single leg structure of electronic quadruped robot |
| CN109857131A (en) * | 2019-03-11 | 2019-06-07 | 山东职业学院 | A kind of two foot-four-footed posture changing control method of legged type robot |
| CN109986579A (en) * | 2019-04-28 | 2019-07-09 | 山东大学 | Multi-mode moves imitative primate robot |
| CN210478873U (en) * | 2019-08-30 | 2020-05-08 | 福州大学 | Twelve-degree-of-freedom bionic quadruped robot |
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Granted publication date: 20210430 |