CN112319647A - Multi-rod quadruped robot - Google Patents
Multi-rod quadruped robot Download PDFInfo
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- CN112319647A CN112319647A CN202011233458.3A CN202011233458A CN112319647A CN 112319647 A CN112319647 A CN 112319647A CN 202011233458 A CN202011233458 A CN 202011233458A CN 112319647 A CN112319647 A CN 112319647A
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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
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Abstract
The invention provides a multi-rod quadruped robot, which comprises a machine body bracket and mechanical legs; the mechanical leg comprises a shock absorbing device, a connecting assembly and a supporting device; the connecting assembly is connected with the supporting device; the shock absorbing device is arranged between the connecting component and the supporting device and is connected with the connecting component and the supporting device; when the mechanical leg is in contact with the ground; the ground counteracts a part of the reaction force of the mechanical legs and is counteracted by the shock absorbing device; the other part of the reaction force is transmitted to the upper bracket through the lower bracket; then the vibration is transmitted to the shock absorbing device by the upper bracket to be offset; thus, the reaction force of the ground to the mechanical leg can be fully counteracted; the acting force is prevented from being transmitted to the machine body bracket; the damping effect is good; when the fuselage cradle carries a load; the mechanical legs need to bear larger pressure; buffering is carried out through setting up shock absorber, reduces the pressure that the mechanical leg needs to bear, and then has the unstable condition of swing to take place when avoiding moving.
Description
Technical Field
The invention relates to the field of robots, in particular to a multi-rod quadruped robot.
Background
Quadruped robots have been a research focus in the field of robots. The quadruped robot has the advantages of strong bearing capacity, high qualitative performance, simple structure and high reliability, and can be better adapted to various complex terrains. Based on the basic idea of bionics, the body shape and the motion shape of quadruped organisms (mammals) are deeply researched, and the bionic robot which can realize the basic performance of the quadruped robot, for example, the bionic robot can realize smooth gait walking, keep walking stability, have certain bearing capacity and the like and has the characteristic of low cost is researched. The rapid development of the bionic technology is generating greater and greater influence on the aspects of human life, and the robot is required to have higher action flexibility and adaptability to various complex environments.
In chinese application No. 201710067849.4; a four-footed bionic robot is disclosed in patent document with publication number 2019.4.12; the robot comprises a control system and a mechanical system, wherein the mechanical system comprises two trunks and waist adjusting motors arranged between the two trunks and used for adjusting the swinging of the two trunks, the two trunks are connected with two leg mechanisms, each leg mechanism comprises a multi-degree-of-freedom parallel mechanism and a driving motor for driving the parallel mechanism to swing, the swing axis of the parallel mechanism is parallel to the swing axis of the two trunks, and the control system coordinately controls the waist adjusting motors and the driving motors to realize the continuous swinging of the two trunks and the four leg mechanisms so as to realize jumping motion.
The buffer mechanism of the bionic robot is arranged at the tail end of the third connecting rod; the third connecting rod is contacted with the ground through a buffer mechanism; the impact force is counteracted through the deformation of the buffer mechanism, when the third buffer mechanism deforms, the buffer mechanism is not stably contacted with the ground, the supporting strength of the buffer mechanism is reduced, and the stability of the third connecting rod is poor; the third connecting rod has poor supporting effect on the robot; the robot has the risk of side turning when moving; potential safety hazards exist; meanwhile, when the leg structure of the robot continuously swings and moves rapidly; the risk of rollover may be amplified; meanwhile, when the robot bears a load; when the leg structure is lifted, certain pressure is generated; the buffer mechanism of the bionic robot is only connected with the third connecting rod; the buffer mechanism can only play a role in buffering when the robot falls to the ground; the buffering mechanism can not buffer the pressure generated by lifting the leg structure, and the bionic robot has short service life.
Disclosure of Invention
The invention provides a multi-rod quadruped robot which does not affect the supporting strength during buffering and has good stability.
In order to achieve the purpose, the technical scheme of the invention is as follows: a multi-rod quadruped robot comprises a body bracket and mechanical legs; the fuselage support comprises a transverse support and a longitudinal support; the mechanical leg group comprises more than one mechanical leg; the adjacent mechanical legs are connected through a longitudinal support; the adjacent mechanical leg groups are connected through a transverse bracket; the mechanical leg comprises a driving device, a shock absorption device, a connecting assembly and a supporting device; the driving device is rotationally connected with the transmission piece; the transmission part is rotationally connected with the connecting component, and the connecting component is rotationally connected with the supporting device; the shock absorbing device is arranged between the connecting component and the supporting device and is rotationally connected with the connecting component and the supporting device;
the connecting assembly comprises an upper bracket and a lower bracket; the upper bracket and the lower bracket are rotationally connected through a fixing piece; an included angle is formed between the upper bracket and the lower bracket;
the upper bracket comprises a first bracket, a second bracket, a connecting seat and an upper end support piece; the first bracket and the second bracket are arranged in parallel; one end of the first bracket is rotatably connected with the fixing piece; the other end of the first bracket is rotationally connected with the driving device; the connecting seat and the upper end support piece are both arranged on the first bracket and are positioned between the driving device and the fixing piece; the upper end support piece is positioned above the connecting seat; one end of the second bracket is rotatably connected with the fixing piece; the other end of the second bracket penetrates through the connecting seat to be rotatably connected with the upper end support piece;
the lower bracket comprises a lower end support piece, a third bracket and a fourth bracket; one end of the third bracket and one end of the fourth bracket are respectively connected with the fixing piece; the other ends of the third bracket and the fourth bracket are respectively connected with the lower end support piece; the lower end support piece is rotationally connected with the supporting device;
the shock absorbing device comprises a shock absorbing upper part, a shock absorbing lower part and a shock absorbing support; the shock-absorbing upper part and the shock-absorbing lower part are both arranged on the shock-absorbing support; the shock-absorbing upper part is connected with the connecting seat; the lower shock-absorbing component is rotatably connected with the supporting device.
According to the arrangement, the mechanical legs are connected through the longitudinal support, and the mechanical leg groups are connected through the transverse support, so that the support strength and the stability of the mobile device are good; the driving device and the supporting device are connected through the connecting assembly; the driving device drives the supporting device to move; by arranging the shock absorbing device; therefore, the mechanical legs are firstly buffered when contacting the ground; the connecting component and the supporting component are connected with the shock absorbing device; when the mechanical leg is in contact with the ground; a part of the reaction force of the ground to the mechanical leg is counteracted by the shock absorbing device; the other part of the reaction force is transmitted to the upper bracket through the lower bracket; then the vibration is transmitted to the shock absorbing device by the upper bracket to be offset; thus, the reaction force of the ground to the mechanical leg can be fully counteracted; the acting force is prevented from being transmitted to the machine body bracket; the damping effect is good; when the fuselage cradle carries a load; the mechanical legs need to bear larger pressure; buffering is carried out through setting up shock absorber, reduces the pressure that the mechanical leg needs to bear, and then has the unstable condition of swing to take place when avoiding moving.
Meanwhile, the pressure of the upper bracket on the lower bracket when the mechanical leg is lifted can be reduced; the service life is effectively prolonged; meanwhile, the shock absorbing device is arranged between the connecting component and the supporting device; the shock absorbing device is not in direct contact with the ground; so that the mechanical legs are in rigid contact with the ground; the stability is good.
The device is characterized in that a driving device and a transmission piece, the transmission piece and a connecting assembly, the connecting assembly and a supporting device which are connected in a rotating manner are arranged; the driving device, the transmission part, the connecting component and the supporting device can move relatively; when the driving device drives the transmission part to move, the transmission part can drive the connecting component to move, and the connecting component can drive the supporting device to move; this achieves the movement of the mechanical legs. The mechanical leg has good flexibility.
Further, the first bracket and the third bracket form a first included angle; the second bracket and the fourth bracket form a second included angle; the angle of the second included angle is greater than the angle of the first included angle.
Due to the arrangement, the first bracket and the third bracket as well as the second bracket and the fourth bracket are rotationally connected; a movable range exists between the first bracket and the third bracket and between the second bracket and the fourth bracket; when the mechanical leg moves forward; the mechanical legs can perform actions similar to the knee bending of the human body; therefore, the first bracket and the third bracket, and the second bracket and the fourth bracket are close to each other; the second included angle is positioned at the rear end of the first included angle; the movable ranges between the first bracket and the third bracket and between the second bracket and the fourth bracket are limited by the second included angle; meanwhile, the included angle with a large angle has a larger moving range than the included angle with a small angle; setting the angle of the second included angle to be larger than that of the first included angle; therefore, the approaching amplitude between the first bracket and the third bracket and between the second bracket and the fourth bracket is larger; the mechanical leg has good flexibility.
Furthermore, two upper end supporting pieces are arranged, and the two upper end supporting pieces are symmetrically arranged relative to the first support; the first bracket and the second bracket are connected between the two upper end supporting pieces; the two fixing pieces are symmetrically arranged relative to the first support; the first bracket, the second bracket, the third bracket and the fourth bracket are connected between the two fixing pieces; the two lower end supporting pieces are symmetrically arranged around the third bracket; the third support and the fourth support are connected between the two lower end support pieces.
The arrangement is realized through symmetrically arranged upper end supporting pieces and fixing pieces; therefore, the clamping effect on the first support and the second support is good; through symmetrically arranged lower end support members; therefore, the clamping effect on the third support and the fourth support is good; this enables stable connection.
Further, the supporting device comprises a supporting piece; the shock-absorbing lower part is connected with a shock-absorbing connecting piece, and the shock-absorbing connecting piece is movably connected with the supporting piece; the number of the supporting pieces is two; the two supporting pieces are symmetrically arranged relative to the lower bracket; the supporting part comprises a first supporting part, a second supporting part and a third supporting part; one end of the first support part is connected with one end of the second support part and is obliquely arranged; the other end of the second supporting part is connected with one end of the third supporting part and is obliquely arranged.
The above arrangement, by means of symmetrically arranged support members; a first supporting connecting shaft and a second supporting connecting shaft are arranged between the two supporting pieces; therefore, the structural stability of the supporting device is good; the first support part, the second support part and the third support part are obliquely arranged to form a shape similar to the foot of a human body, so that the contact area between the support part and the ground is large while the stability is ensured; the movement is stable.
Further, the connecting seat comprises a connecting support plate and a connecting piece; the two connecting support plates are symmetrically arranged relative to the connecting piece and are connected with the connecting piece and the first bracket; the shock-absorbing upper part is connected with the connecting piece.
The connecting support plate is arranged; the acting force of the first bracket is transmitted to the connecting piece through the connecting support plate; and then transferred to the suspension upper member.
Furthermore, a reinforcing part is connected between the two connecting support plates, the two lower end support parts and the two support parts.
In the arrangement, the reinforcing piece is arranged; further improving the structural stability of the mechanical leg.
Further, the transverse support is provided with an ultrasonic obstacle avoidance module.
Through the arrangement, the ultrasonic obstacle avoidance module is arranged, so that the robot can automatically make corresponding postures and actions according to the detected front information.
Furthermore, an infrared module is arranged on the supporting piece.
Above setting, through setting up the infrared module, can prevent that the mechanical leg from stepping on spaciously, avoid when the robot is in the eminence operation, step on spaciously because of unable discernment edge, fall from the eminence and lead to danger.
Further, the mechanical leg further comprises a first bearing device and a second bearing device; first bearing devices are connected between the first support and the fixing piece, between the second support and the upper end support piece, between the upper end support piece and the transmission piece, and between the shock absorption connecting piece and the supporting piece; and second bearing devices are connected between the first bracket and the driving support, between the first bracket and the upper end support piece, between the first bracket and the connecting support plate and between the lower end support piece and the support piece. The rotation is realized by arranging the bearing device, so that the rotation effect is good.
Further, the first bearing device comprises a first fixed part, a first bearing and a first rotating shaft; two first fixing pieces are arranged; more than one first bearing is arranged; a first fixing member fixed to one end of the first rotating shaft; the first bearing is arranged between the two first fixing pieces;
the second bearing device comprises a second fixed piece, a second bearing and a second rotating shaft; two second bearings are arranged; more than one second fixing piece is arranged; a second bearing is mounted on one end of the second rotating shaft; the second fixing piece is fixed between the two second bearings. For the connection between the two connecting pieces, when the end part of one connecting piece is connected with the middle position of the other connecting piece, the second bearing device is adopted for convenient connection, so that different parts of the mechanical leg can be connected by selecting proper bearing devices; is convenient to use.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a side view of the present invention.
Fig. 3 is a schematic perspective view of the mechanical leg of the present invention.
Fig. 4 is a schematic perspective view of another perspective view of the mechanical leg of the present invention.
Fig. 5 is a schematic perspective view of the supporting device of the present invention.
Fig. 6 is a side view of the support member of the present invention.
Fig. 7 is a schematic perspective view of the connecting base of the present invention.
FIG. 8 is an exploded view of the suspension of the present invention.
Fig. 9 is a schematic perspective view of a first bracket according to the present invention.
Fig. 10 is a perspective view of a second bracket according to the present invention.
Fig. 11 is an enlarged view of a in fig. 3.
Fig. 12 is an enlarged view of b in fig. 3.
Fig. 13 is an enlarged view of c in fig. 3.
Fig. 14 is an enlarged view of d in fig. 4.
Fig. 15 is an enlarged view of e in fig. 4.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-15; a multi-rod quadruped robot comprises a machine body bracket 2 and a mechanical leg group; the mechanical leg group comprises more than one mechanical leg; in the present embodiment; two groups of mechanical legs are arranged; the group of mechanical legs is provided with two mechanical legs; the mechanical legs 1 are provided with four in total. The fuselage airframe 2 includes lateral supports 22 and longitudinal supports 21. The adjacent mechanical legs 1 are connected through a longitudinal support 21; adjacent mechanical leg groups are connected by a transverse bracket 22. The support strength and stability of the mobile device are improved by arranging the transverse bracket 22 and the longitudinal bracket 21. The transverse support 22 is provided with an ultrasonic barrier avoidance module (not shown in the figures). By arranging the ultrasonic obstacle avoidance module, the robot can automatically make corresponding postures and actions according to the detected front information.
The mechanical leg 1 comprises a driving device 11, a shock absorbing device 12, a connecting assembly 13 and a supporting device 14; the driving device 11 is connected with the connecting assembly 13 through a transmission piece 15, and the connecting assembly 13 is connected with the supporting device 14; the suspension device 12 is disposed between the connecting member 13 and the supporting device 14 and connected to the connecting member 13 and the supporting device 14. The driving device 11 is rotatably connected with the transmission member 15, the transmission member 15 is rotatably connected with the connecting assembly 13, the connecting assembly 13 is rotatably connected with the supporting device 14, the shock absorbing device 12 is rotatably connected with the supporting device 14, and the shock absorbing device 12 is rotatably connected with the connecting assembly 13.
Two driving devices are arranged; the two driving devices 11 are symmetrically arranged about the connecting assembly 13; each drive means 11 comprises a drive support 111 and a drive motor 112. The driving motor 112 is mounted on the driving support 111; in the present embodiment, two transmission members 15 are provided, and the two transmission members 15 are symmetrically arranged about the connecting assembly 13; a transmission part is connected with a driving motor; the two driving motors 12 drive the transmission members to synchronously rotate.
The connecting assembly 13 includes an upper bracket and a lower bracket; the upper bracket is rotatably connected with the fixing piece 16; the fixing piece 16 is connected with the lower bracket; an included angle is formed between the upper support and the lower support. The upper bracket includes a first bracket 131, a second bracket 132, a connecting seat 133, and an upper end leg 134; the first bracket 131 and the second bracket 132 are arranged in parallel; one end of the first bracket 131 is connected to the fixing member 16; the other end of the first bracket 131 is connected with the driving support 111; the connecting seat 133 and the upper end support 134 are both mounted on the first bracket 131 and between the driving device 11 and the fixing member 16; upper leg 134 is located above connecting seat 133; one end of the second bracket 132 is connected to the fixing member 16; the other end of the second bracket 132 is rotatably connected to the upper end support 134 through the connecting seat 133.
The lower bracket includes a lower end leg 135, a third bracket 136, and a fourth bracket 137; one ends of the third bracket 136 and the fourth bracket 137 are respectively connected with the fixing member 16; the other ends of the third bracket 136 and the fourth bracket 137 are connected to the lower end leg 135, respectively; the lower end support member 135 is rotatably connected with the support device 14; the first bracket 131 and the third bracket 136 form a first included angle; the second bracket 132 and the fourth bracket 137 form a second included angle; the angle of the second included angle is greater than the angle of the first included angle. Because the first bracket 131 is rotatably connected with the third bracket 136 and the second bracket 132 is rotatably connected with the fourth bracket 137; a movable range exists between the first bracket 131 and the third bracket 136, and between the second bracket 132 and the fourth bracket 137; when the mechanical leg moves forward; the mechanical legs can perform actions similar to the knee bending of the human body; so that the first bracket 131 and the third bracket 136, and the second bracket 132 and the fourth bracket 137 approach each other; the second included angle is positioned at the rear end of the first included angle; the movable ranges between the first bracket 131 and the third bracket 136 and between the second bracket 132 and the fourth bracket 137 are limited by the second included angle; meanwhile, the included angle with a large angle has a larger moving range than the included angle with a small angle; setting the angle of the second included angle to be larger than that of the first included angle; so that the approach between the first bracket 131 and the third bracket 136, and between the second bracket 132 and the fourth bracket 137 is larger; the mechanical leg has good flexibility. The fixing piece 16 and the lower end support piece 135 are respectively connected with the two ends of the third bracket 136 and the fourth bracket 137; the connection is thus stable.
The number of the fixing pieces 16 is two; the two fixing members are symmetrically disposed about the first bracket 131; the first bracket 131, the second bracket 132, the third bracket 136 and the fourth bracket 137 are connected between the two fixing members 16; one of the fixing members is rotatably connected to one side of the first bracket 131, the second bracket 132, the third bracket 136 and the fourth bracket 137; the other fixing member is rotatably coupled to the other sides of the first, second, third and fourth brackets 131, 132, 136 and 137.
The end of the upper leg 134 remote from the first leg 131 is rotatably connected to the transmission member 15. In this implementation; two upper support members 134 are provided, which are symmetrically disposed about the connecting assembly 13, and the first and second brackets 131 and 132 are connected between the two upper support members 134. One upper end support piece is rotatably connected with one side of the first support and one side of the second support; the other upper end support piece is rotatably connected with the other side of the first bracket and the other side of the second bracket.
Two lower end support members 135 are provided; the two lower end supports are symmetrically arranged about the third bracket 136; the third bracket 136 and the fourth bracket 137 are connected between the lower end supports 135.
Through the symmetrically arranged upper end support 134 and the fixing piece 16; thus, the clamping effect on the first bracket 131 and the second bracket 132 is good; by symmetrically disposed lower end supports 135; thus, the clamping effect on the third bracket 136 and the fourth bracket 137 is good; this enables stable connection.
The suspension device 12 includes a suspension upper part 121, a suspension lower part 122, and a suspension mount 123; the upper shock absorbing part 121 and the lower shock absorbing part 122 are both mounted on the shock absorbing mount 123; the shock absorbing upper part 121 is connected with the connecting seat 133; the suspension lower part 122 is connected to the support device 14. An upper accommodating cavity (not shown) and a lower accommodating cavity (not shown) are arranged in the shock absorbing support 123; the suspension upper member 121 includes a first suspension link 1211 and a first suspension member 1212; the lower suspension member 122 includes a second suspension link 1221 and a second suspension 1222; the first shock absorbing element 1212 is disposed in the upper receiving cavity and abuts against the first shock absorbing rod; the first shock attachment rod 1211 is connected to the connection member 1332; the second shock absorbing member 1222 is disposed in the lower receiving cavity and abuts against the second shock absorbing connecting rod 1221; the second shock connecting rod 1221 is connected to the supporting device 14. In the present embodiment; the shock absorbing support 123 is a sleeve; the first 1212 and second 1222 shock absorbing members are steel springs.
The supporting device 14 includes a support 141; the number of the supporters 141 is two; the two supporting pieces are symmetrically arranged relative to the lower bracket; both the lower end support member 135 and the shock attachment member 147 are movably connected to the support member. The support 141 comprises a first support part 144, a second support part 145 and a third support part 146; one end of the first support part 144 is connected with one end of the second support part 145 and is obliquely arranged; the other end of the second support part 145 is connected with one end of the third support part 146 and is obliquely arranged; the second supporting part 145 is provided with a first supporting hole 1451; the third supporting portion 146 is provided with a second supporting hole 1461. By symmetrically arranged supports 141; (ii) a Thus, the structural stability of the supporting device 14 is good; meanwhile, the contact area of the support member 141 and the ground is large; the movement is stable.
The support means 14 comprise an infrared module (not shown in the figures) for obstacle avoidance. The infrared module is installed on the wall surface of the supporting plate. In this embodiment, the infrared module is an infrared sensor. Through setting up the infrared module, can prevent that mechanical leg 1 from stepping on spaciously, avoid when the robot is in the eminence operation, step on spaciously because of unable discernment edge, fall from the eminence and lead to danger.
In the present embodiment; reinforcing members 17 are connected between two connecting brackets 1331, two lower end supports 135 and two support members 141. By providing a reinforcement 17; the structural stability of the mechanical leg 1 is further improved.
The first bearing device 18 connects the first bracket 131 to the fixed member 16, the second bracket 132 to the upper end support 134, the upper end support 134 to the transmission member 15, and the suspension link 147 to the support member 141.
The first bracket 131 and the drive mount 111, the first bracket 131 and the upper end support 134, the first bracket 131 and the connecting support 1331, and the lower end support 135 and the support 141 are connected by the second connecting bearing device 19.
The first bearing device 18 includes a first fixing member 181, a first bearing 182, and a first rotating shaft 183; two first fixing members 181 are provided; the first bearing 182 is provided with more than one; a first fixing member is fixed to one end of the first rotating shaft 183; the first bearing 182 is installed between the first fixing members.
As shown in fig. 13; where the first bracket 131 is connected to the mount 16; the first bearing 182 is provided with one; the first bracket 131 and the fixing member 16 are both mounted on the first rotating shaft 183; the first bracket 131 is connected with the first bearing 182; a fixing member 16 is connected to a first fixing member 181 and disposed between the first bracket 131 and the first fixing member 181.
As shown in fig. 15; where the second bracket 132 is connected to the mount 16; the first bearing 182 is provided with one; the second bracket 132 and the fixing member 16 are both mounted on the first rotating shaft 183; the second bracket 132 is connected with the first bearing 182; a fixing member 16 is connected to a first fixing member 181 and disposed between the second bracket 132 and the first fixing member 181.
As shown in fig. 14; where second bracket 132 joins upper leg 134; the first bearing 182 is provided with one; the second bracket 132 and the upper end support 134 are both mounted on the first rotating shaft 183; the second bracket 132 is connected with the first bearing 182; an upper end support 134 is connected to a first fixing member 181 and disposed between the second bracket 132 and the first fixing member 181.
As shown in fig. 5 and 6; where the suspension links 147 are connected to the support member 141; the first bearing 182 is provided with one; the first rotating shaft 183 penetrates through the second support hole 1461; the suspension link 147 and the support member 141 are both mounted on the first rotating shaft 183; the shock-absorbing connecting member 147 is connected to the first bearing 182; a supporting member 141 is connected with a first fixing member 181; the first fixing member 181 is disposed between the support member 141 and the suspension link 147.
As shown in fig. 14; at the connection of the upper end support 134 with the transmission member 15; two first bearings 182 are provided; the two first bearings are arranged between the two first fixing pieces; the transmission member 15 and the upper end support 134 are both mounted on the first rotating shaft 183; an upper support 134 is connected to a first bearing 182; a transmission member 15 is connected to a first fixing member 181; the upper end leg 134 is disposed between the first bearing 182 and the first fixing member 181.
The second bearing device 19 includes a second mount 191, a second bearing 182, and a second rotating shaft 193; the second bearings 192 are provided in two; more than one second fixing piece 191 is arranged; a second bearing is installed at one end of the second rotating shaft 193; the second fixing member 191 is fixed between the two second bearings. In the present embodiment; the first bracket 131 is provided with a first mounting through groove 1311, a second mounting through groove 1312, and a third mounting through groove 1313.
As shown in fig. 11; where the first bracket 131 is connected to the drive mount 111; one second fixing member 191 is provided; the first bracket 131 and the driving bracket 111 are both mounted on the second rotating shaft 193; the second fixing piece 191 is installed in the first installation through groove 1311; a drive support 111 is connected to a second bearing 192; the second bearing 192 is disposed between the driving bearing 111 and the first bracket 131.
As shown in fig. 12; where first bracket 131 joins upper leg 134; one second fixing member 191 is provided; the first bracket 131 and the upper end support 134 are both mounted on the second rotating shaft 193; the second fixing piece 191 is mounted in the second mounting through groove 1312; the first bracket 131 is connected with the second fixing member 191; an upper leg 134 is connected to a second bearing 192; the upper end support 134 is disposed between the second bearing 192 and the first bracket 131.
As shown in fig. 12; where the first bracket 131 is connected with the connecting strip 1331; one second fixing member 191 is provided; the first bracket 131 and the connecting plate 1331 are both mounted on the second rotating shaft 193; the second fixing piece 191 is mounted in the third mounting through groove 1313; the first bracket 131 is connected with the second fixing member 191; a connecting strap 1331 connected to a second bearing 192; second bearing 192 is disposed between connection 1331 and first bracket 131.
As shown in fig. 3, 5, 6; at the junction of the lower leg 135 and the support 141; two second fixing pieces 191 are provided; the second rotating shaft 193 penetrates through the first support hole 1451; the lower end support 135 and the support 141 are both mounted on the second rotating shaft 193; a lower end support 135 is connected to a second fixing member 191; a support 141 is connected with a second bearing 192; the two second fixing pieces 191 are arranged between the two lower end supporting pieces 135; the second bearing 192 is disposed between the support member 141 and the lower end leg 135.
The first bearing device 18 and the second bearing device 19 are arranged to realize rotation, so that the rotation effect is good; meanwhile, the first bracket 131 is connected with the driving support 111, the first bracket 131 is connected with the upper end support 134, the first bracket 131 is connected with the connecting support plate 1331, and the lower end support 135 is connected with the support 141 by using the second bearing device 19; the middle part of one connecting piece is connected with the end part of the other connecting piece, so that the connection can be conveniently realized by adopting the second bearing device, and different parts of the mechanical leg can be connected by selecting proper bearing devices; is convenient to use.
The driving device 11 and the supporting device 14 are connected through the connecting assembly 13; the driving motor 112 drives the transmission member 15 to rotate around the driving motor 112; the transmission member 15 drives the upper end support 134 to swing; the upper end support 134 drives the first bracket 131 and the second bracket 132 to swing respectively; the first bracket 131 and the second bracket 132 rotate with respect to the fixed member 16; the fixing piece 16 drives the third bracket 136 and the fourth bracket 137 to move; the third bracket 136 and the fourth bracket 137 drive the supporting device 14 to swing; thereby realizing the bending and the unfolding of the mechanical legs. When the mechanical legs move, the supporting devices of the rear legs rotate upwards, the front legs are kept still, then the rear legs are kept still, the supporting devices of the front legs rotate upwards, and therefore the supporting devices of the front legs have intervals before moving, and therefore the robot moves.
By providing the shock absorbing device 12; therefore, the mechanical leg 1 is firstly buffered when contacting with the ground; the connecting assembly 13 and the support assembly are connected to the suspension device 12; when the mechanical leg 1 is in contact with the ground; a part of the reaction force of the ground to the mechanical leg 1 is counteracted by the suspension device 12; the other part of the reaction force is transmitted to the upper bracket through the lower bracket; and then transferred from the upper bracket to the suspension device 12 is cancelled.
Thus, the reaction force of the ground to the mechanical leg 1 can be fully counteracted; the transmission of the force to the fuselage cradle 2 is avoided; the damping effect is good; when the fuselage cradle carries a load; the mechanical legs need to bear larger pressure; the shock absorption device is arranged for buffering, so that the pressure to be borne by the mechanical legs is reduced, and the situation that the swinging is unstable during movement is avoided; meanwhile, the pressure of the upper bracket on the lower bracket when the mechanical leg is lifted can be reduced; the service life is effectively prolonged; meanwhile, the shock absorbing device 12 is arranged between the connecting component 13 and the supporting device 14; the suspension device 12 does not directly contact the ground; so that the mechanical leg 1 is in rigid contact with the ground; the stability is good. The upper bracket and the lower bracket which form an included angle are arranged; the structure of the connecting assembly 13 is stable; the bearing effect is good; and thus the load capacity of the mechanical leg 1 can be improved.
Claims (9)
1. A multi-bar quadruped robot is characterized in that: comprises a machine body bracket and a mechanical leg; the fuselage support comprises a transverse support and a longitudinal support; the mechanical leg group comprises more than one mechanical leg; the adjacent mechanical legs are connected through a longitudinal support; the adjacent mechanical leg groups are connected through a transverse bracket; the mechanical leg comprises a driving device, a shock absorption device, a connecting assembly and a supporting device; the driving device is rotationally connected with the transmission piece; the transmission part is rotationally connected with the connecting component, and the connecting component is rotationally connected with the supporting device; the shock absorbing device is arranged between the connecting component and the supporting device and is rotationally connected with the connecting component and the supporting device;
the connecting assembly comprises an upper bracket and a lower bracket; the upper bracket and the lower bracket are rotationally connected through a fixing piece; an included angle is formed between the upper bracket and the lower bracket;
the upper bracket comprises a first bracket, a second bracket, a connecting seat and an upper end support piece; the first bracket and the second bracket are arranged in parallel; one end of the first bracket is rotatably connected with the fixing piece; the other end of the first bracket is rotationally connected with the driving device; the connecting seat and the upper end support piece are both arranged on the first bracket and are positioned between the driving device and the fixing piece; the upper end support piece is positioned above the connecting seat; one end of the second bracket is rotatably connected with the fixing piece; the other end of the second bracket penetrates through the connecting seat to be rotatably connected with the upper end support piece;
the lower bracket comprises a lower end support piece, a third bracket and a fourth bracket; one end of the third bracket and one end of the fourth bracket are respectively connected with the fixing piece; the other ends of the third bracket and the fourth bracket are respectively connected with the lower end support piece; the lower end support piece is rotationally connected with the supporting device;
the shock absorbing device comprises a shock absorbing upper part, a shock absorbing lower part and a shock absorbing support; the shock-absorbing upper part and the shock-absorbing lower part are both arranged on the shock-absorbing support; the shock-absorbing upper part is connected with the connecting seat; the lower shock-absorbing component is rotatably connected with the supporting device.
2. The multi-bar quadruped robot of claim 1, wherein: the two upper end supporting pieces are symmetrically arranged around the first support; the first bracket and the second bracket are connected between the two upper end supporting pieces; the two fixing pieces are symmetrically arranged relative to the first support; the first bracket, the second bracket, the third bracket and the fourth bracket are connected between the two fixing pieces; the two lower end supporting pieces are symmetrically arranged around the third bracket; the third support and the fourth support are connected between the two lower end support pieces.
3. The multi-bar quadruped robot of claim 2, wherein: the supporting device comprises a supporting piece; the shock-absorbing lower part is connected with a shock-absorbing connecting piece, and the shock-absorbing connecting piece is movably connected with the supporting piece; the number of the supporting pieces is two; the two supporting pieces are symmetrically arranged relative to the lower bracket; the supporting part comprises a first supporting part, a second supporting part and a third supporting part; one end of the first support part is connected with one end of the second support part and is obliquely arranged; the other end of the second supporting part is connected with one end of the third supporting part and is obliquely arranged.
4. The multi-bar quadruped robot of claim 3, wherein: the connecting seat comprises a connecting support plate and a connecting piece; the two connecting support plates are symmetrically arranged relative to the connecting piece and are connected with the connecting piece and the first bracket; the shock-absorbing upper part is connected with the connecting piece.
5. The multi-bar quadruped robot of claim 4, wherein: the two connecting support plates, the two lower end support pieces and the two support pieces are connected with a reinforcing piece.
6. The multi-bar quadruped robot of claim 1, wherein: the transverse support is provided with an ultrasonic obstacle avoidance module.
7. The multi-bar quadruped robot of claim 3, wherein: the support member is provided with an infrared module.
8. The multi-bar quadruped robot of claim 5, wherein: the mechanical leg further comprises a first bearing device and a second bearing device; first bearing devices are connected between the first support and the fixing piece, between the second support and the upper end support piece, between the upper end support piece and the transmission piece, and between the shock absorption connecting piece and the supporting piece; and second bearing devices are connected between the first bracket and the driving support, between the first bracket and the upper end support piece, between the first bracket and the connecting support plate and between the lower end support piece and the support piece.
9. The multi-bar quadruped robot of claim 8, wherein: the first bearing device comprises a first fixed part, a first bearing and a first rotating shaft; two first fixing pieces are arranged; more than one first bearing is arranged; a first fixing member fixed to one end of the first rotating shaft; the first bearing is arranged between the two first fixing pieces;
the second bearing device comprises a second fixed piece, a second bearing and a second rotating shaft; two second bearings are arranged; more than one second fixing piece is arranged; a second bearing is mounted on one end of the second rotating shaft; the second fixing piece is fixed between the two second bearings.
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| CN114291182A (en) * | 2022-01-06 | 2022-04-08 | 无锡陆吾智能科技有限公司 | Light-duty high performance four-footed robot |
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| CN112319647B (en) | 2023-10-03 |
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