CN112874651B

CN112874651B - Four-foot robot

Info

Publication number: CN112874651B
Application number: CN202110156200.6A
Authority: CN
Inventors: 张巍; 任泰衡; 杨泽一; 王泽�; 谌骅
Original assignee: Shenzhen Zhuji Power Technology Co ltd
Current assignee: Shenzhen Zhuji Power Technology Co ltd
Priority date: 2021-02-04
Filing date: 2021-02-04
Publication date: 2024-02-02
Anticipated expiration: 2041-02-04
Also published as: CN112874651A

Abstract

The invention discloses a quadruped robot which comprises a machine body, an energy supply structure, a hip, a thigh, a shank and a walking part, wherein the machine body comprises a first framework and a second framework, the energy supply structure is arranged in the first framework, the hip is connected with the second framework, a second driving piece is used for driving a thigh body to rotate, a third driving piece is used for driving the shank body to rotate relative to the thigh body, a fourth driving piece is used for driving the walking wheel to rotate, and an auxiliary wheel can rotate along with the rotation of the walking wheel. According to the invention, the first framework and the second framework are disassembled and assembled to realize the disassembly and assembly between the leg structure and the energy supply structure, so that the later maintenance of the robot is facilitated, the leg structure can move forwards in a kneeling posture or creeping state, the overall height of the leg structure can be changed by changing the walking posture, and the application scene is wider.

Description

Four-foot robot

Technical Field

The invention relates to the technical field of robots, in particular to a quadruped robot.

Background

The quadruped robot is a mobile robot with high adaptability and practical application value to complex terrains, can replace human on duty or transport and supply in a limited environment, and is widely applied to military, education and daily life. In the related art, the walking form of the robot is single, the robot cannot adapt to the walking requirements of different scenes, and different modules are crossed and interfered, so that the robot is not beneficial to installation, disassembly and later maintenance.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides the quadruped robot which can walk in different forms and is convenient for later maintenance.

According to an embodiment of the present invention, a four-legged robot includes:

the machine body comprises a first framework and a second framework arranged at the end part of the first framework;

the energy supply structure is arranged in the first framework;

the hip part comprises a first mounting seat and a first driving piece, the first driving piece is mounted in the first framework, the first mounting seat is mounted in the second framework, and the first driving piece is used for driving the first mounting seat to rotate;

the thigh part is connected with the first mounting seat and comprises a thigh body and a second driving piece, and the second driving piece is used for driving the thigh body to rotate;

a lower leg including a lower leg body and a third drive member for driving the lower leg body to rotate relative to the thigh body;

the walking part is arranged at one end, far away from the thigh body, of the shank body, and comprises a walking wheel and a fourth driving piece, and the fourth driving piece is used for driving the walking wheel to rotate;

the shank portion further comprises an auxiliary wheel, the auxiliary wheel is rotatably connected with the shank body, and the auxiliary wheel can rotate along with the rotation of the travelling wheel.

The quadruped robot provided by the embodiment of the invention has at least the following beneficial effects:

the quadruped robot is provided with the first framework for installing the energy supply structure and the second framework for installing the leg structure, so that the main motion module and the static module are mutually separated to form a multi-module structure with obvious distribution limit, the leg structure and the energy supply structure are supported by the first framework and the second framework, the leg structure and the energy supply structure can be disassembled and assembled by disassembling the first framework and the second framework, the replacement and the maintenance are relatively convenient, and the later maintenance of the robot is facilitated; in addition, through the contained angle between third driving piece adjustment thigh body and the shank body, make leg structure present different postures, the thigh can be under the drive of second driving piece motion, make leg structure walk with standing the form, the walking wheel can rotate under the drive of fourth driving piece, make leg structure can advance with kneeling or creeping the state, therefore leg structure can walk with different postures, can change leg structure's overall height through changing walking posture, the application scene is comparatively extensive.

According to some embodiments of the invention, the thigh section comprises a second mount connected with the thigh body, the second driving member is accommodated inside the first mount, and the third driving member is accommodated inside the second mount.

According to some embodiments of the invention, the first skeleton comprises an end cover and a plurality of connecting frames, the connecting frames are arranged at intervals and enclose a mounting space, the mounting space is used for accommodating the energy supply structure, and the end cover is connected to the end parts of the connecting frames.

According to some embodiments of the invention, the second skeleton comprises a support frame and a support plate, the first mounting seat is mounted on the support frame, and two ends of the support frame are respectively connected with the end cover and the support plate.

According to some embodiments of the invention, the lower leg body has a support section that is conformable to a side of the thigh body and is adapted to support the thigh body.

According to some embodiments of the invention, the thigh comprises an end seat, the end seat covers the second mounting seat, the shank comprises a first rotating shaft, the first rotating shaft is accommodated in the end seat, one end of the first rotating shaft is connected with the third driving piece, and the other end of the first rotating shaft is rotatably connected with the end seat.

According to some embodiments of the invention, the lower leg further comprises a second rotating shaft, the second rotating shaft is connected with the thigh body, an insertion groove is formed in the end portion of the lower leg body, and the second rotating shaft can enter and exit the insertion groove from an opening of the insertion groove.

According to some embodiments of the invention, the thigh body includes two opposite thigh pieces, two ends of the second shaft are respectively connected with the thigh pieces, and an end of the shank body is accommodated between the two thigh pieces.

According to some embodiments of the invention, the first mount comprises two first mounts in the shape of shells, the two first mounts abutting to form the first mount.

According to some embodiments of the invention, the second mounting seat comprises two second mounting pieces, the second mounting pieces are hollow, and the two second mounting pieces are arranged in parallel and combined to form the second mounting seat.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The invention is further described with reference to the accompanying drawings and examples, in which:

FIG. 1 is a schematic diagram of a four-legged robot according to one embodiment of the present invention;

FIG. 2 is a schematic view of an embodiment of the fuselage of FIG. 1;

FIG. 3 is a schematic view of the configuration of the hip of FIG. 1;

FIG. 4 is a schematic view of the thigh and calf portion of FIG. 1 in a motion profile;

FIG. 5 is a schematic view of the thigh and calf portion of FIG. 4 in another form of movement;

FIG. 6 is an exploded view of one embodiment of the thigh and calf section of FIG. 4;

fig. 7 is an exploded view of another embodiment of the thigh and calf section of fig. 4.

Reference numerals: fuselage 100, the first skeleton 110, end caps 111, connectors 112, bottom plates 113, partitions 114, heat-dissipating elements 115, outer shell 116, the second skeleton 120, support frames 121, support plates 122; an energy supply structure 200; the hip 300, the first mounting seat 310, the first mounting piece 311, the first driving piece 320, the third limiting assembly 330, the third sensing element 331 and the third limiting piece 332; thigh 400, thigh body 410, thigh piece 411, second driver 420, second mount 430, second mount 431, first boss 4311, second boss 4312, end mount 440, mount cap 450, first spacing assembly 460, first spacing piece 461, first sensing element 462; shank 500, shank body 510, support section 511, socket 512, third driver 520, auxiliary wheel 530, first shaft 540, second shaft 550, plug 560, synchronizing wheel 570, tensioning wheel 580, second spacing assembly 590, second inductive element 592, second spacing 591; a walking part 600, a walking wheel 610, a fourth driving part 620 and a third mounting seat 630.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.

In the description of the present invention, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.

In the description of the present invention, the meaning of a number is one or more, the meaning of a number is two or more, and greater than, less than, exceeding, etc. are understood to exclude the present number, and the meaning of a number is understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.

In the description of the present invention, the descriptions of the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Referring to fig. 1, in an embodiment of the present invention, there is provided a four-legged robot including a body 100, an energy supply structure 200, and a leg structure, the body 100 including a first frame 110 and a second frame 120, the second frame 120 being mounted to an end of the first frame 110, the first frame 110 being used to mount the energy supply structure 200, the second frame 120 being used to mount the leg structure, the energy supply structure 200 being capable of providing power support for movement of the leg structure, so that the robot changes a shape or walks. The energy supply structure 200 does not need autonomous movement, and after being fixed in the first framework 110, the energy supply structure 200 keeps a static state relative to the first framework 110, and can supply electric energy to the leg structure or send movement instructions to the leg structure, and the leg structure is a main movement module, and the movement of the leg structure can drive the robot to integrally move forwards; the energy supply structure 200 and the leg structure are arranged on different frameworks, so that a main motion module and a static module in the robot are separated, modular installation is realized, the energy supply structure 200 and the leg structure are assembled and supported by the first framework 110 and the second framework 120, the first framework 110 and the second framework 120 can be mutually detached, the leg structure and the energy supply structure 200 can be detached and assembled by assembling and disassembling the first framework 110 and the second framework 120, the operation is convenient, and the disassembly and the assembly and the later maintenance between different modules of the robot are convenient.

The leg structure comprises a hip 300, a thigh 400, a shank 500 and a walking part 600, wherein the hip 300 comprises a first mounting seat 310 and a first driving piece 320, the first mounting seat 310 is mounted in the second framework 120, and the first driving piece 320 is used for being connected with the first mounting seat 310 and driving the first mounting seat 310 to rotate so as to enable the leg structure to open or return to the outer side of the robot; the thigh 400 is connected with the first mounting seat 310, so that the thigh 400 can rotate along with the rotation of the first mounting seat 310, the thigh 400 comprises a thigh body 410 and a second driving piece 420, the second driving piece 420 is connected with the thigh body 410 and is used for driving the thigh body 410 to rotate, the thigh body 410 is compatible with lateral opening and returning movement of the hip 300 and swinging relative to the hip 300, and the thigh body 410 can be lifted and fallen by swinging so as to facilitate the walking of a robot; the lower leg 500 is rotatably connected with the thigh 400, and the lower leg 500 can move along with the thigh 400, so that the lower leg 500 can lift up and fall along with the thigh 400, and referring to fig. 1 and 6, the lower leg 500 includes a lower leg body 510 and a third driving member 520, and the third driving member 520 is used for driving the lower leg body 510 to rotate relative to the thigh body 410, so as to adjust an included angle between the thigh body 410 and the lower leg body 510, and change the overall height and shape of the leg structure.

When the lower leg body 510 is fully unfolded or unfolded to a certain angle with respect to the thigh body 410, the leg structure is in a standing state (fig. 4), and when the lower leg body 510 is folded to a certain angle with respect to the thigh body 410 or is fully attached to the thigh body 410, the leg structure is in a kneeling state or creeping state (fig. 5), so that the leg structure is in different postures by adjusting the angle between the thigh body 410 and the lower leg body 510. It should be noted that, when the leg structure walks in the standing posture, the second driving member 420 and the third driving member 520 act simultaneously to drive the thigh body 410 and the shank body 510 to rotate, so that the leg structure moves forward, when the leg structure walks in the kneeling posture or the creeping state, the included angle between the thigh body 410 and the shank body 510 is smaller, and when the thigh body 410 rotates, the first driving member 320 needs to provide a larger torque for the thigh body 410 to rotate, so that the walking energy consumption is higher, and the shank body 510 interferes with the ground, so that the leg structure cannot move forward; for the above situation, in this embodiment, the leg structure further includes a walking portion 600, the walking portion 600 is mounted at one end of the shank body 510 far away from the thigh body 410, the walking portion 600 includes a walking wheel 610 and a fourth driving member 620, the first driving member 320 is used for driving the walking wheel 610 to rotate, the shank portion 500 further includes an auxiliary wheel 530, the auxiliary wheel 530 is rotatably connected to the shank body 510, the walking wheel 610 will drive the shank body 510 to move when rotating, the auxiliary wheel 530 supports the shank body 510 and rotates along with the rotation of the walking wheel 610, and at this time, the walking wheel 610 provides power for the leg structure to move in a kneeling or creeping state.

Therefore, the quadruped robot provided by the embodiment of the invention is provided with the first framework 110 for installing the energy supply structure 200 and the second framework 120 for installing the leg structure, so that the main motion module and the static module are mutually separated to form a multi-module structure with obvious distribution limit, the leg structure and the energy supply structure 200 are supported by combining the first framework 110 with the second framework 120, the disassembly and assembly between the leg structure and the energy supply structure 200 can be realized by disassembling and assembling the first framework 110 and the second framework 120, the replacement and the maintenance are more convenient, and the later maintenance of the robot is facilitated; in addition, the angle between the thigh body 410 and the shank body 510 is adjusted by the third driving member 520, so that the thigh 400 can move under the driving of the second driving member 420, the thigh structure can walk in a standing state, the traveling wheel 610 can rotate under the driving of the fourth driving member 620, and the thigh structure can move in a kneeling state or a creeping state, therefore, the thigh structure can walk in different postures, the overall height of the thigh structure can be changed by changing the walking posture, and the application scene is wider.

In one embodiment of the present invention, the first skeleton 110 is installed at two ends of the first skeleton 110, and the leg structures are installed at two sides of the first skeleton 110, so that the body 100, the energy supply structure 200, and the leg structures are combined to form the quadruped robot. The standing state refers to the state that the thigh body 410 is fully extended relative to the shank body 510, but not exactly parallel to the thigh body; the kneeling state refers to that the thigh body 410 is completely attached to the upper portion of the shank body 510, the thigh body 410 and the shank body 510 can not rotate, and the leg structure is driven to move forward as a whole by the rotation of the travelling wheel 610; the creeping state refers to that the thigh body 410 and the shank body 510 are folded to form a certain angle, the rotation energy consumption of the thigh body 410 is high, the auxiliary wheel 530 is needed for supporting, and the traveling wheel 610 provides power to move forward in the creeping state.

Referring to fig. 4 and 5, the shank body 510 has a supporting section 511, the supporting section 511 is located in the middle of the shank body 510 and between the auxiliary wheel 530 and the travelling wheel 610, the upper surface of the supporting section 511 is convex, the lower surface of the supporting section 511 is concave, the upper surface of the supporting section 511 can be attached to the lower side of the thigh body 410 to support the thigh body 410, the lower surface of the supporting section 511 is concave to avoid interference between the shank body 510 and the ground, and the shank body 510 moves forward under the support of the auxiliary wheel 530 and the travelling wheel 610. By providing the support section 511, the thigh body 410 can be attached to the upper side of the shank body 510 at a certain inclination angle, and is supported by the shank body 510, so that other components in the leg structure are prevented from interfering with the ground. To reduce vibration during walking of the leg structure in a kneeling position, and to alleviate collision between the thigh body 410 and the calf body 510, a cushion may be provided on the upper surface of the support section 511. Referring to fig. 2, the first frame 110 includes an end cover 111 and a plurality of connection frames 112, the end cover 111 is mounted at an end of the connection frames 112, and the plurality of connection frames 112 are spaced apart and bound into a mounting space in which the energy supply structure 200 can be mounted, such that the energy supply structure 200 is fixed in the first frame 110. The connecting frames 112 are arranged at intervals, so that the first framework 110 is in a frame type structure, the weight of the first framework 110 is reduced on the basis of realizing the installation of the energy supply structure 200 by the first framework 110, and the energy supply structure 200 can enter an installation space from the adjacent connecting frames 112, so that the installation is more convenient; the size of the gap between adjacent connectors 112 may be selected based on the particular installation requirements of the energizing structure 200.

Specifically, the connection frame 112 is wound around the outer surface of the end cover 111 along a circle, so that the connection frame 112 is combined into a cylindrical cavity or a prismatic cavity to fit the energy supply structure 200. The end cover 111 supports the tip of link 112 to guarantee the structural strength of first skeleton 110, and make first skeleton 110 form a complete atress system, energy supply structure 200 mountable is on link 112, energy supply structure 200 accessible screw thread fastening's mode realization is fixed with the installation of link 112, energy supply structure 200 is to the load accessible link 112 that first skeleton 110 applyed transmits to end cover 111, messenger's first skeleton 110 atress homogenization, avoid first skeleton 110 stress concentration, optimize the atress performance of first skeleton 110.

In order to improve the stability of the installation of the energy supply structure 200 in the first framework 110, the first framework 110 further comprises a bottom supporting plate 113, the bottom supporting plate 113 is located at the bottom of the first framework 110, the two sides of the bottom supporting plate 113 are connected with connecting frames 112, the energy supply structure 200 is installed on the bottom supporting plate 113, the bottom supporting plate 113 supports the energy supply structure 200, and the bottom supporting plate 113 is provided with a relatively flat installation plane, so that the energy supply structure 200 can be stably installed in the first framework 110. In addition, the bottom plate 113 bears the load applied by the energy supply structure 200, and transmits the stress to other connecting frames 112 or end covers 111 through the connecting frames 112 connected with the bottom plate, so that the stress of the first framework 110 is more uniform.

The energy supply structure 200 comprises a power supply element, a power distributor, a control unit and other components, wherein the power supply element is electrically connected with the power distributor, the control unit and the leg structure through cables, the power supply element is used for providing power support for the leg structure, the control unit and other components to maintain the normal operation of the components, and the power supply element can be a battery; the control unit is used for receiving detection information of different detection elements in the robot, motion parameters of the driving element and the like, and sending instructions to the driving element and the detection elements through processing so as to enable the robot to execute corresponding actions, and the control unit can be a PLC control system and the like.

In order to balance the energy supply structure 200 in the first framework 110, the components in the energy supply structure 200 may be symmetrically installed in the first framework 110, in addition, the first framework 110 further includes a plurality of partitions 114, the partitions 114 may be connected with the connecting frame 112 and located between the two end covers 111, and the partitions 114 may assist the end covers 111 to support the connecting frame 112, so as to further improve the structural strength of the first framework 110; the partition 114 is disposed in the installation space, the partition 114 divides the installation space into a plurality of areas, and different types of energy supply structures 200 can be installed in different areas of the installation space, so that different components in the energy supply structures 200 are reasonably distributed. In one embodiment of the present invention, since the power supply element has a larger weight than other components, the power supply element may be disposed in the middle region of the installation space, and other components in the power supply structure 200 are installed at both sides of the power supply element, so that the power supply structure is balanced within the first frame 110.

The energy supply structure 200 generates heat during operation, so as to facilitate heat dissipation of the energy supply structure 200, the first framework 110 is mounted on the plurality of heat dissipation elements 115, and is configured to dissipate heat of the energy supply structure 200. In one embodiment of the present invention, the heat dissipation elements 115 are installed on both sides and the bottom of the first framework 110, so that the heat dissipation elements 115 dissipate heat from different areas of the energy supply structure 200, and optimize the heat dissipation effect. The heat dissipation element 115 may be a fan, a wind wheel, or the like.

Referring to fig. 1 (in order to facilitate the observation of the internal structure of the first framework 110, a part of the housing 116 is hidden in fig. 1), the outer surface of the first framework 110 is further covered with the housing 116, and the housing 116 can protect the functional structure from being damaged due to the influence of the external environment. The housing 116 is provided with a plurality of heat dissipation holes corresponding to the corresponding positions of the heat dissipation elements 115, so that heat inside the housing 116 is discharged from the heat dissipation holes.

The second framework 120 comprises a support frame 121 and a support plate 122, two ends of the support frame 121 are respectively connected with the end cover 111 and the support plate 122, and the end cover 111 and the support plate 122 are combined to support the support frame 121, so that the second framework 120 has enough structural strength; through the connection of the support frame 121 and the end cover 111, the second framework 120 is combined with the first framework 110 to form a complete stress system, the leg structure is arranged on the support frame 121, and the load applied to the support frame 121 by the leg structure can be transferred to the first framework 110 through the end cover 111, so that the whole stress of the first framework 110 and the second framework 120 is uniform.

The two ends of the first frame 110 may be respectively provided with a plurality of supporting frames 121 to be matched with the thigh structure, and the plurality of supporting frames 121 may share the same supporting plate 122, so that the adjacent supporting frames 121 are connected to each other and can mutually transmit stress, so that two sides of the machine body 100 are balanced.

It should be noted that, the first skeleton 110 and the second skeleton 120 may be made of an aluminum alloy, which has the advantages of corrosion resistance, low density and high strength, and can meet the requirements of light weight and high structural strength of the first skeleton 110 and the second skeleton 120.

Referring to fig. 3, the hip 300 includes a first mounting seat 310 and a first driving member 320, wherein the first driving member 320 may be a motor, or the like, the first driving member 320 is mounted inside the first frame 110 and connected with the second frame 120, two ends of the first mounting seat 310 are rotatably connected with the second frame 120, and the second frame 120 supports the first mounting seat 310 to enable the first mounting seat 310 to rotate stably.

Specifically, the two ends of the first mounting seat 310 are respectively connected with the end cover 111 and the supporting plate 122 in a rotating way, and the end cover 111 and the supporting plate 122 are combined to support the first mounting seat 310, so that one end of the first mounting seat 310 is prevented from being suspended, and the first mounting seat 310 is prevented from shaking in the rotating process. In addition, after the first mounting seat 310 is detached from the first driving element 320 and the support 121 is detached from the end cover 111, the hip 300 and the machine body 100 can be detached, and the operation is convenient. The second frame 120 receives the load of the first mount 310 and slight vibration during rotation, and is transferred to the first frame 110 through the end cover 111, so that the force of the body 100 is more uniform.

Referring to fig. 3 and 4, the thigh 400 is connected with the hip 300 and can be rotated synchronously with the rotation of the first mount 310, so that the thigh 400 is opened to the outside by a certain angle to adjust the overall walking height of the robot. The thigh 400 includes a second mounting seat 430 and a second driving member 420, the second driving member 420 is mounted inside the first mounting seat 310, so that the hip 300 is connected with the thigh 400, and the compactness of the structural connection between the hip 300 and the thigh 400 can be improved.

The second driving member 420 is connected with the second mounting seat 430 and is used for driving the second mounting seat 430 to rotate, the whole thigh 400 can rotate a certain angle relative to the hip 300 in the rotation process of the second mounting seat 430, and the robot can integrally move forward through the reciprocating rotation of the second mounting seat 430 and the cooperation of a plurality of leg structures. In addition, since the second driving part 420 is connected to the first mounting base 310 to couple the hip 300 and the thigh 400, the hip 300 and the thigh 400 can be simultaneously moved, so that the robot can simultaneously adjust the traveling height during the forward traveling.

Referring to fig. 6, the thigh 400 includes a thigh body 410 and an end seat 440 which are detachably connected, the end seat 440 is covered on the second mounting seat 430, the end seat 440 can rotate along with the rotation of the second mounting seat 430 and drive the thigh body 410 to rotate relative to the hip 300, and the thigh body 410 swings relative to the hip 300 to make the robot move forward. Specifically, the end of the thigh body 410 is abutted with the end of the end seat 440 and is locked by threads, so that the thigh body and the end seat are convenient to disassemble and assemble.

The lower leg 500 includes a third driving part 520 and a lower leg body 510, and the third driving part 520 is installed in the second installation seat 430, so that the lower leg 500 is connected with the thigh 400, and the lower leg 500 is compatible with the swing of itself, the movement of the thigh 400 and the movement of the hip 300, so that the robot has high walking flexibility, the compactness of the connection of the thigh 400 and the lower leg 500 is improved, and the second installation seat 430 protects the third driving part 520, and the third driving part 520 is prevented from being influenced by the external environment.

In order to improve the convenience of assembling and disassembling the second driving member 420 and the third driving member 520, in an embodiment of the present invention, the first mounting seat 310 includes two first mounting members 311, the two first mounting members 311 are all in a shell-like structure, the two first mounting members 3111 are mutually abutted to form the first mounting seat 310, and the second driving member 420 can be detached from or mounted on the first mounting seat 310 by assembling and disassembling the first mounting members 311; the second mounting seat 430 includes two second mounting members 431, and the two second mounting members 431 are abutted to form the second mounting seat 430, and the third driving member 520 can be detached from or mounted on the second mounting seat 430 by dismounting the second mounting member 431. Since the rotation axis of the hip 300 and the thigh 400 are not parallel, the first attachment 311 is attached and detached along the rotation axis direction of the first driver 320, and the second attachment 431 is attached and detached along the rotation axis direction of the second driver 420.

The end surface of one second mounting member 431 is provided with a first boss 4311, the end surface of the other second mounting member 431 is provided with a second boss 4312, the first boss 4311 is used for being connected with the second driving member 420, and the second boss 4312 is used for being connected with the end seat 440, so that the second mounting seat 430 is used as a transition part between the hip 300 and the thigh 400, thereby realizing the connection between the hip 300 and the thigh 400, providing a mounting space for the third driving member 520, improving the integration degree of the hip 300, the thigh 400 and the shank 500, and optimizing the connection compactness of the hip 300, the thigh 400 and the shank 500. Specifically, the first boss 4311 and the second boss 4312 are in a ring shape or a semicircular shape, and a plurality of mounting holes are uniformly distributed on the first boss 4311 and the second boss 4312 along the profile extending direction of the first boss 4311 and the second boss 4312, and locking of the first boss 4311 and the second driving member 420 and locking of the second boss 4312 and the end seat 440 can be achieved by arranging threaded fasteners in the mounting holes.

The third driving member 520 is integrated in the second mounting seat 430, so that the driving member is prevented from being disposed at the outer side of the leg portion of the robot, so that the robot is tidier, a certain transmission distance is provided between the third driving member 520 and the lower leg body 510, in an embodiment of the present invention, referring to fig. 6 and 7, the lower leg 500 includes a first rotating shaft 540 and a second rotating shaft 550, the first rotating shaft 540 is connected with the third driving member 520 and rotates under the driving of the third driving member 520, the second rotating shaft 550 is fixed at the end portion of the thigh body 410, the lower leg body 510 is rotatably connected with the second rotating shaft 550, and the first rotating shaft 540 and the second rotating shaft 550 realize power transmission through a transmission structure such as a transmission belt, so that the second rotating shaft 550 synchronously rotates along with the first rotating shaft 540, so as to realize the swing of the lower leg body 510 relative to the thigh body 410.

One end of the first rotating shaft 540 is connected with the third driving member 520, the other end of the first rotating shaft 540 is rotatably connected with the end seat 440, and the end seat 440 and the third driving member 520 respectively support the two ends of the first rotating shaft 540, so that the first rotating shaft 540 rotates stably. The thigh body 410 is hollow, one end of the end seat 440 is stepped, the end of the end seat 440 can be inserted into the thigh body 410, and the end cover 111 is fixed to the end of the thigh body 410 by providing a mounting hole at the end of the thigh body 410 and locking a threaded fastener into the mounting hole, and the mounting hole can be wound around the end of the thigh body 410. The shank 500 further includes a plug 560, two ends of the second rotating shaft 550 are fixedly connected with the plug 560, a counter bore for installing the plug 560 is formed in the thigh body 410, and a mounting hole is formed in the plug 560 and the thigh body 410, and a threaded fastener is locked into the mounting hole to realize the fixed connection of the second rotating shaft 550 and the thigh body 410.

Specifically, the lower leg 500 may further include a synchronous belt (not shown) and two synchronous wheels 570, where the two synchronous wheels 570 are fixedly connected with the first rotating shaft 540 and the second rotating shaft 550 respectively, the synchronous belt is wound on the two synchronous wheels 570, and the two synchronous wheels 570 synchronously rotate through power transmission of the synchronous belt, so that synchronous rotation of the first rotating shaft 540 and the second rotating shaft 550 is achieved, and power transmission efficiency of the lower leg 500 is improved. The synchronous belt and the synchronous wheel 570 are adopted for power transmission, so that the rotation stability of the first rotating shaft 540 and the second rotating shaft 550 can be improved; in addition, the thigh body 410 can be further provided with a tensioning wheel 580, and the tensioning wheel 580 can tension the synchronous belt, so that the power transmission efficiency of the synchronous belt is further improved.

It should be noted that, the manner of power transmission is provided by the conveyor belt, the conveyor belt can pass through the thigh body 410, the exposure of the conveyor belt is avoided, and the compactness of the structural connection can be improved. In addition, the third driving member 520 and the synchronizing wheel 570 are mounted between the end seat 440 and the second mounting member 431, and the end seat 440 is wrapped on the outer sides of the third driving member 520 and the first rotating shaft 540, so that the third driving member 520 and the first rotating shaft 540 are prevented from being influenced by external environments. The thigh 400 further includes a mounting cover 450, and the mounting cover 450 is provided outside the end seat 440 to protect the end seat 440 and the third driver 520.

The synchronizing wheel 570 is embedded in the shank, a plurality of mounting holes are formed in the surface of the synchronizing wheel 570 and the surface of the shank body 510 along the circumferential direction of the synchronizing wheel 570, and a threaded fastener is arranged in each mounting hole, so that the synchronizing wheel 570 and the shank body 510 can be locked, and the shank body 510 can rotate synchronously along with the synchronizing wheel 570. The second rotating shaft 550 is arranged in the synchronizing wheel 570 in a penetrating way and is fixedly connected with the thigh body 410, the end part of the shank body 510 is provided with the inserting groove 512, the inserting groove 512 is provided with an opening, the second rotating shaft 550 can enter and exit the inserting groove 512 from the opening, so that the shank body 510 is separated from the thigh body 410 or assembled with the thigh body 410, and the disassembly and assembly are convenient.

In addition, the thigh body 410 includes two thigh pieces 411, the gap between the two thigh pieces 411 forms an installation space, the timing belt, the tensioning wheel 580, etc. can be installed in the installation space, the end of the shank body 510 and the timing wheel 570 are located between the two thigh pieces 411, and two ends of the second rotating shaft 550 are fixedly connected with the two mounting plates respectively, so that the thigh body 410 and the shank body 510 can be assembled conveniently.

Referring to fig. 1 and 4, the walking part 600 includes a third mounting seat 630, the walking wheel 610 is rotatably connected with the third mounting seat 630, the third mounting seat 630 is detachably connected with the shank body 510, and the walking part 600 can be detached or installed according to the movement requirement of the robot; the fourth driving element 620 may be a driving component such as a motor or a motor, and the fourth driving element 620 is directly connected to the walking wheel 610 to rotate the walking wheel 610, or a gear for performing power transmission, such as a bevel gear with adjustable rotation direction, is included in the walking part 600, or a braking element for braking the walking wheel 610 is further included in the walking part 600, so that the excessive rotation angle of the walking wheel 610 is avoided, or when the leg structure walks in a standing posture, the rotation of the walking wheel 610 is stopped, and the walking wheel is advanced through the cooperation of the thigh 400 and the shank 500.

In order to avoid the excessive rotation angle of the thigh 400, the shank 500 and the hip 300, which affects the normal walking of the leg structure, the thigh 400, the shank 500 and the hip 300 are provided with limiting components. Specifically, referring to fig. 4, the thigh 400 includes a first limiting assembly 460, the first limiting assembly 460 includes a first limiting member 461 and a first sensing element 462, the first sensing element 462 is mounted on the first mounting seat 310, the first limiting member 461 is mounted on the second mounting seat 430 and rotates along with the second driving member 420, the first sensing element 462 can sense the first limiting member 461 passing through the first limiting member and send an instruction to the second driving member 420 through the control system, and the second driving member 420 stops driving the second mounting seat 430. Referring to fig. 5, the lower leg 500 includes a second limiting assembly 590, the second limiting assembly 590 includes a second sensing element 592 and a second limiting member 591, the second sensing element 592 is mounted on the lower side of the thigh body 410, the second limiting member 591 is mounted on the upper side of the lower leg body 510, the second sensing element 592 can sense the second limiting member 591 passing therethrough and issue a command to the third driving member 520 through the control system, and the third driving member 520 stops driving the lower leg body 510, thereby preventing the thigh body 410 and the lower leg body 510 from being excessively folded. Referring to fig. 3, the hip 300 includes a third limiting assembly 330, the third limiting assembly 330 includes a third sensing element 331 and a third limiting member 332, the third sensing element 331 is mounted on the end cover 111, the third limiting member 332 is connected with the first mounting seat 310, the third sensing element 331 can sense the third limiting member 332 passing through the third sensing element 331 and send an instruction to the first driving member 320 through the control system, and the first driving member 320 stops driving the first mounting seat 310, so as to avoid the thigh 400 from being opened too much. The first sensing element 462, the second sensing element 592 and the third sensing element 331 can be selected from photoelectric sensors, position sensors, etc.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present invention. Furthermore, embodiments of the invention and features of the embodiments may be combined with each other without conflict.

Claims

1. Four-legged robot, its characterized in that includes:

the energy supply structure is arranged in the first framework;

four leg structures are arranged on the machine body, and each leg structure comprises a hip part, a thigh part, a shank part and a walking part;

a lower leg including a lower leg body and a third drive member for driving the lower leg body to rotate relative to the thigh body; the shank part also comprises an auxiliary wheel, and the auxiliary wheel is rotationally connected with the shank body;

the upper surface of the supporting section is convex, the lower surface of the supporting section is concave, the lower side of the thigh body is attached to the upper surface of the supporting section after shrinkage, and a buffer cushion is arranged on the upper surface of the supporting section;

the auxiliary wheel is arranged at one end, close to the thigh body, of the lower surface of the supporting section, and can rotate along with the rotation of the travelling wheel;

the robot can change the walking posture among three postures of standing posture, kneeling posture and creeping posture;

when the robot is in a standing posture, the walking wheels are grounded, the auxiliary wheels are not grounded, the thigh body is not attached to the supporting section, and the thigh body and the calf body are driven to rotate to walk through the second driving piece and the third driving piece;

when the robot is in a kneeling posture, the travelling wheels are attached to the ground, the thigh body is attached to the supporting section, and the travelling wheels are driven to travel only through the fourth driving piece;

when the robot is in a creeping posture, the travelling wheels and the auxiliary wheels are attached to the ground, the thigh body and the shank body are mutually folded to form a certain included angle, the travelling wheels are driven to travel only through the fourth driving piece, and the auxiliary wheels are used for supporting;

in the above-mentioned posture, the four leg structures are respectively driven by the first driving element to open and rotate outwards relative to the machine body, or to reset and adjust the height of the machine body.

2. The quadruped robot of claim 1, wherein the thigh includes a second mount, the second mount is coupled to the thigh body, the second drive is received within the first mount, and the third drive is received within the second mount.

3. The quadruped robot of claim 1 or 2, wherein the first frame includes an end cap and a plurality of connection frames, the connection frames are arranged at intervals and enclose a mounting space, the mounting space is used for accommodating the energy supply structure, and the end cap is connected to an end of the connection frames.

4. The quadruped robot of claim 3, wherein the second framework comprises a support frame and a support plate, the first mounting seat is mounted on the support frame, and two ends of the support frame are respectively connected with the end cover and the support plate.

5. The quadruped robot of claim 2, wherein the thigh includes an end seat, the end seat covers the second mounting seat, the shank includes a first rotating shaft, the first rotating shaft is accommodated in the end seat, one end of the first rotating shaft is connected with the third driving member, and the other end of the first rotating shaft is rotatably connected with the end seat.

6. The quadruped robot of claim 1 or 2, wherein the lower leg portion further comprises a second rotating shaft, the second rotating shaft is connected with the thigh body, an insertion groove is formed in the end portion of the lower leg body, and the second rotating shaft can enter and exit the insertion groove from an opening of the insertion groove.

7. The quadruped robot of claim 6 wherein the thigh body includes two opposite thigh members, two ends of the second shaft are connected to the thigh members, respectively, and an end of the shank body is received between the two thigh members.

8. The quadruped robot of claim 1 wherein the first mount includes two first shell-like mounts, the two first mounts interfacing to form the first mount.

9. The quadruped robot of claim 2 wherein the second mount includes two second mounts, the second mounts being hollow in the interior, the two second mounts being arranged side-by-side and combined to form the second mount.