CN113291389B - Four-legged robot with transformable form - Google Patents
Four-legged robot with transformable form Download PDFInfo
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- CN113291389B CN113291389B CN202110717535.0A CN202110717535A CN113291389B CN 113291389 B CN113291389 B CN 113291389B CN 202110717535 A CN202110717535 A CN 202110717535A CN 113291389 B CN113291389 B CN 113291389B
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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Abstract
The invention discloses a quadruped robot with a changeable form, which comprises: the robot comprises mechanical legs, a robot trunk and a modular mechanical arm; the mechanical legs are connected with the robot trunk; the modularized mechanical arm is placed on the robot trunk and is connected with the mechanical legs after being detached. The walking mode of the quadruped robot can be changed through leg shape reconstruction, the quadruped robot can adapt to different environments quickly, and the moving and cross-country capabilities are improved; by adding a wheel type moving mode, the four-legged robot can move quickly on a flat road surface; the modularized mechanical arm can convert the mechanical legs of the quadruped robot into the mechanical arm through the interface, and the operation capacity of the quadruped robot is improved under the condition that the mechanical arm is not additionally added.
Description
Technical Field
The invention relates to the field of robots, in particular to a quadruped robot with a changeable form.
Background
Although the wheeled robot has the characteristics of high speed and high stability, the moving range of the wheeled robot is limited, and most of the wheeled robots can only run indoors or on flat roads. With the development of science and technology, people deeply research terrains such as rainforests, mountains and glaciers, and the defects of the wheel type robot become more and more obvious. The quadruped robot has stronger off-road performance, can easily cross rugged terrains such as gullies, jungles and deserts, has larger moving space compared with a wheeled robot, can meet the requirements of various tasks such as jungles exploration and polar scientific investigation, but has poorer maneuverability and slower moving speed. In addition, the quadruped robot can be used for tasks which cannot be completed or are dangerous by human beings, such as Mars detection, nuclear electric field inspection, explosive-handling rescue and the like.
As shown in fig. 1 to 5, the quadruped robot has leg configurations with various structures, such as a front elbow and back knee, a front knee and back knee, a front elbow and back elbow, a front knee and back elbow, a crawling posture and the like, and the different leg configurations have different advantages in different environments such as stairs, slopes, gravel roads and the like, for example, a crawling gait can be easily performed on a bronze drum gravel road due to the low height of the crawling gait, but the operations of going stairs, climbing slopes and the like are not easy to perform.
When the current quadruped robot completes a task, a mechanical arm is often required to be added, and the operations of opening a door, grabbing and the like are completed through the mechanical arm. However, in this case, the weight of the quadruped robot is additionally increased, the load capacity of the quadruped robot is reduced, and the stability of the robot is affected.
The knee joint of the prior four-foot robot can only adopt one configuration and can not change the configuration. The robot can not flexibly adapt to various complex environments, and the requirement on the control algorithm of the robot is high when the robot passes through a special road.
A common problem of the quadruped robot is that the moving speed is slow compared with a wheeled robot, so that some researchers mount wheels on the quadruped robot; most of the current wheels are arranged on the knee joints or the soles of the quadruped robots, and the wheels are low in position and high in gravity center and are not suitable for quick movement.
Disclosure of Invention
In order to make up for the defects of low moving speed and poor operation capability in the prior art, the invention provides a quadruped robot with a changeable form.
The technical problem of the invention is solved by the following technical scheme:
the invention provides a quadruped robot with a changeable form, which comprises: the robot comprises mechanical legs, a robot trunk and a modular mechanical arm; the mechanical legs are connected with the robot trunk; the modularized mechanical arm is placed on the robot trunk and is connected with the mechanical leg after being detached.
In some embodiments, the mechanical leg comprises: the robot comprises a robot foot end, a first joint and a first connecting arm; the robot foot end is connected with the first connecting arm through the first joint; each first joint is driven by a motor.
In some embodiments, the robot torso comprises: the robot comprises a driving wheel, a driven wheel, a driving motor, a screw motor, a robot platform, a mechanical arm fixing clamping groove and a mechanical arm propelling device; the driving wheel is provided with the driving motor, and the driving motor and the driven wheel are used for realizing the rapid movement of the quadruped robot; the robot platform is arranged on the driving wheel and the driven wheel and is used for mounting mechanical legs and a platform of a modularized mechanical arm; the mechanical arm fixing clamping groove is arranged on the robot platform and used for fixing a modularized mechanical arm; the mechanical arm propelling device is arranged on the robot platform and used for installing mechanical legs when the mechanical legs are switched into the modular mechanical arms, and the screw motor drives the modular mechanical arms to move back and forth.
In some embodiments, the modular robotic arm comprises: the mechanical claw, the second connecting arm and the second joint are arranged on the base; the mechanical claw is a tail end execution structure and is connected with the second connecting arm; each second joint is driven by a motor.
In some embodiments, the interface of the modular robotic arm comprises a communication plug and a connection slot to enable connection with a robotic leg.
In some embodiments, the connection means at the end of the mechanical leg comprises a communication interface, a rotating latch; the communication interface is connected with the communication bolt on the modularized mechanical arm, and the rotary bolt is inserted into the connecting clamping groove of the modularized mechanical arm so as to realize stable connection of the mechanical leg and the modularized mechanical arm.
In some embodiments, different reconstruction modes of the quadruped robot are achieved by first joint changes of the mechanical legs; when the No. 1, 2, 3 and 4 mechanical legs are bent outwards, the quadruped robot is reconstructed into a first mode of front knee and rear elbow; when the No. 1 and No. 2 mechanical legs are bent inwards and the No. 3 and No. 4 mechanical legs are bent outwards, the quadruped robot is reconstructed into a front elbow and back elbow mode: when the No. 1, 2, 3 and 4 mechanical legs bend inwards, the quadruped robot is reconstructed into a second mode of the front knee and the rear elbow: when the No. 1 and No. 2 mechanical legs are bent outwards and the No. 3 and No. 4 mechanical legs are bent inwards, the quadruped robot is reconstructed into a front knee and back knee mode.
In some embodiments, when the robot foot end foot falling points of the No. 1, 2, 3 and 4 mechanical legs are moved outwards, the center of the robot is moved downwards, and the quadruped robot is reconstructed into a crawling mode in the state of the first mode of the front knee and the rear elbow; when in the state of crawling the mode, pack up on the robot platform with 1, 2, 3, 4 # mechanical legs, make the wheel contact with ground, the four-footed robot reconsitution is wheeled mode: when in the wheel mode, the mechanical legs are connected with the modularized mechanical arm through the interfaces to form the mechanical arm, and the quadruped robot is reconstructed into the mechanical arm operation mode.
In some embodiments, the different reconstruction modes may be switched between.
Compared with the prior art, the invention has the advantages that: the modularization arm can pass through the interface with the mechanical leg of quadruped robot and convert the arm into, improves the operating capability of quadruped robot under the condition of not additionally increasing the arm.
In some embodiments, the beneficial effects of the present invention compared to the prior art include: the walking mode of the quadruped robot can be changed through leg shape reconstruction, the quadruped robot can adapt to different environments quickly, and the moving and cross-country capabilities are improved; the rapid movement of the quadruped robot on a flat road surface can be realized by adding a wheel type movement mode.
Drawings
FIG. 1 is a schematic view of a standing configuration of the prior art;
FIG. 2 is a schematic diagram of a prior art quadruped robot I;
FIG. 3 is a schematic diagram of a quadruped robot in the prior art;
FIG. 4 is a schematic diagram of a prior art quadruped robot;
FIG. 5 is a schematic diagram four of a prior art quadruped robot;
FIG. 6 is a front view of a configuration-transformable quadruped robot in an embodiment of the invention;
FIG. 7 is a side view of a configuration-transformable quadruped robot in accordance with an embodiment of the present invention;
FIG. 8 is a front view of a mechanical leg of the configuration-changeable quadruped robot according to the embodiment of the present invention;
FIG. 9 is a side view of the mechanical legs of a configuration-transformable quadruped robot in accordance with an embodiment of the present invention;
FIG. 10 is a perspective view of the robot torso of the configuration-transformable quadruped robot in accordance with an embodiment of the present invention;
FIG. 11 is a cross-sectional view of a robot torso of the configuration-transformable quadruped robot in accordance with an embodiment of the present invention;
FIG. 12 is a front view of a robotic arm of the configuration-changeable quadruped robot in an embodiment of the present invention;
FIG. 13 is a side view of a robotic arm of a configuration-transformable quadruped robot in accordance with an embodiment of the present invention;
FIG. 14 is a first schematic view of a mechanical leg end connecting device of a configuration-convertible quadruped robot according to an embodiment of the present invention;
FIG. 15 is a schematic view II of a mechanical leg end connecting device of a configuration-changeable quadruped robot according to an embodiment of the present invention;
FIG. 16 is a schematic view of the connection process of the configuration-changeable quadruped robot according to the embodiment of the present invention;
FIG. 17 is a schematic diagram of a reconfiguration process of the configuration transformable quadruped robot in accordance with an embodiment of the present invention;
FIG. 18 is a schematic diagram of the front knee and the rear elbow of the configuration-changeable quadruped robot according to the embodiment of the invention;
FIG. 19 is a schematic diagram of the anterior elbow and posterior elbow of a transformable quadruped robot in accordance with an embodiment of the present invention;
FIG. 20 is a schematic diagram of the front knee and the rear elbow of the configuration-changeable quadruped robot according to the embodiment of the invention;
FIG. 21 is a schematic diagram of the front knee and the rear knee of a configuration-changeable quadruped robot according to an embodiment of the present invention;
FIG. 22 is a schematic view of a crawling mode of a configuration-changeable quadruped robot according to an embodiment of the present invention;
FIG. 23 is a schematic view of a wheel mode of a configuration-convertible quadruped robot in accordance with an embodiment of the present invention;
FIG. 24 is a schematic view of the operation mode of the robotic arm of the configuration convertible quadruped robot in accordance with the embodiments of the present invention;
fig. 25 is a schematic state switching diagram of the configuration-changeable quadruped robot according to the embodiment of the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings and preferred embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that the terms of orientation such as left, right, up, down, top and bottom in the present embodiment are only relative concepts to each other or are referred to the normal use state of the product, and should not be considered as limiting.
The quadruped robot has the problems of low moving speed, poor operation capability and the like although having strong cross-country obstacle avoidance capability, so the invention aims to design the quadruped robot with the functions of quick moving capability, leg type reconstruction capability and mechanical claw-leg switching. Compared with the knees and the soles, the trunk area of the quadruped robot is larger, larger wheels can be installed, and the quadruped robot has stronger power. The invention provides a quadruped robot structure with reconfigurable leg configurations, which can adjust the leg configurations according to different environments so as to smoothly pass through various complex terrains; in addition, the mechanical leg joint is designed to be deformable, and the mechanical leg can be switched into a mechanical claw which can be independently operated by replacing the joint to complete various tasks.
The invention mainly comprises a wheel type structure capable of driving the quadruped robot to move rapidly, a leg structure capable of changing the configuration, and a joint component capable of directly switching between a mechanical claw and a mechanical leg, wherein the wheel type structure capable of driving the quadruped robot to move rapidly can realize the rapid movement of the quadruped robot on a flat road surface, the leg structure capable of changing the configuration can realize the change of the leg configuration of the quadruped robot under different environments, and the leg configuration can be more flexibly passed through different environments by changing the leg configuration. A joint capable of directly switching between a mechanical claw and a mechanical leg can solve the problem that a quadruped robot lacks an end effector, and the mechanical leg is switched to a mechanical claw mode when the mechanical claw needs to work, so that the end operation is completed.
The invention can be applied to the tasks of rescue and relief work, off-road detection, object grabbing and the like. The functions of the device are as follows: 1. the leg configuration switching function of the quadruped robot is realized; 2. the robot has the function of switching between wheeled movement and legged robots; 3. the four-legged robot has the function of switching the mechanical legs and the mechanical claws.
Referring to fig. 6 and 7, the reconfigurable quadruped robot of the embodiment of the invention comprises mechanical legs, a robot trunk and modular mechanical arms. The mechanical legs 1 are connected with the robot body 2; the modularized mechanical arm 3 is placed on the robot body 2 and is connected with the mechanical legs 1 after being detached; also comprises a driving wheel, a driving wheel 21 and a driven wheel 22.
Referring to fig. 8 and 9, the robot leg 1 includes: a robot foot end 11, a first joint 12 and a first connecting arm 13; the robot foot end 11 is connected with a first connecting arm 13 through a first joint 12; the mechanical leg 1 has three degrees of freedom, and each first joint 12 is driven by a motor; a mechanical leg and robot torso interface 16 is also included.
Referring to fig. 10, 11, the robot trunk 2 includes: the robot comprises a driving wheel 21, a driven wheel 22, a driving motor 23, a screw motor 24, a robot platform 25, a mechanical arm fixing clamping groove 26 and a mechanical arm propelling device 27; the driving wheel 21 is provided with a driving motor 23, and the driving wheel and the driven wheel 22 are used for realizing the rapid movement of the quadruped robot; the robot platform 25 is arranged on the driving wheel 21 and the driven wheel 22 and is used for installing the mechanical legs 1 and the platform of the modularized mechanical arm 3; the mechanical arm fixing clamping groove 26 is arranged on the robot platform 25 and used for fixing the modular mechanical arm 3; the mechanical arm propulsion device 27 is mounted on the robot platform 25 and used for mounting when the mechanical leg 1 is switched to the modular mechanical arm 3, and the screw motor 24 drives the modular mechanical arm 3 to move back and forth.
Referring to fig. 12, 13, the modular robot arm 3 includes: a gripper 31, a second connecting arm 32, and a second joint 33; the mechanical claw 31 is an end executing structure and is connected with the second connecting arm 32; each second joint 33 is motor driven and the modular robot arm comprises three second joints. In order to realize connection with the mechanical legs, the interface of the modular mechanical arm 3 comprises three communication bolts and three connecting clamping grooves; a modular robot arm and robot leg interface 36 is also included.
Referring to fig. 14 and 15, the connecting device at the tail end of the mechanical leg is shown, and the connecting device at the tail end of the mechanical leg 1 comprises a communication interface 14 and a rotating bolt 15; the communication interface 14 is connected with a communication bolt on the modular mechanical arm 3, the rotary bolt 15 is inserted into a connecting clamping groove of the modular mechanical arm 3, and the stable connection between the mechanical leg 1 and the modular mechanical arm 3 is realized through the rotation of the rotary bolt of the motor; also included are motor 17, rotary latch gear 151, and motor gear 171.
Fig. 16 is a schematic diagram of a connection process of the configuration-changeable quadruped robot according to the embodiment of the present invention.
Referring to fig. 17, different reconfiguration modes of the quadruped robot, such as a-anterior knee posterior elbow first mode, B-anterior elbow posterior elbow mode, C-anterior knee posterior elbow second mode, D-anterior knee posterior knee mode, E-crawling mode, F-wheel mode, G-robot arm operation mode, can be realized by the change of the leg joints.
Referring to fig. 18, when the mechanical legs No. 1, 2, 3, 4 are bent outward, the quadruped robot is reconstructed into the first mode a of the front knee and the rear elbow.
Referring to fig. 19, when the No. 1 and No. 2 robot legs are bent inward and the No. 3 and No. 4 robot legs are bent outward, the quadruped robot is reconstructed to the anterior-posterior elbow mode B.
Referring to fig. 20, when the mechanical legs No. 1, 2, 3, 4 are bent inward, the quadruped robot is reconstructed into the second mode C of the front knee and the rear elbow.
Referring to fig. 21, when the mechanical legs No. 1 and No. 2 are bent outward and the mechanical legs No. 3 and No. 4 are bent inward, the quadruped robot is reconstructed into the anterior-knee-posterior-knee mode D.
Referring to fig. 22, in the state of the first mode of the front knee and the rear elbow, the robot foot end 11 of the robot leg nos. 1, 2, 3 and 4 is moved outward, the center of the robot is moved downward, and the quadruped robot is reconfigured to the crawling mode E.
Referring to fig. 23, in the crawling mode, the four-footed robot is reconfigured to the wheeled mode F by retracting the mechanical legs No. 1, 2, 3, and 4 onto the robot platform 25 and bringing the wheels into contact with the ground.
Referring to fig. 24, in the wheel mode, the robot leg 1 is connected to the modular robot arm 3 through the interface to form a robot arm, and the quadruped robot is reconfigured into the robot arm operation mode G.
Fig. 25 is a schematic diagram of state switching of the configuration-changeable quadruped robot according to the embodiment of the present invention, and switching can be performed between different reconfiguration modes.
The walking mode of the quadruped robot can be changed through leg shape reconstruction, the quadruped robot can adapt to different environments quickly, and the moving and cross-country capabilities are improved; the rapid movement of the quadruped robot on a flat road surface can be realized by adding a wheel type movement mode. The modularized mechanical arm can convert the mechanical legs of the quadruped robot into the mechanical arm through the interface, and the operation capacity of the quadruped robot is improved under the condition that the mechanical arm is not additionally added. The quadruped robot with the leg type reconstruction function can be directly switched in different walking modes; the modular mechanical arm structure is adopted, so that the conversion from mechanical legs to mechanical arms is realized; the movable wheels are arranged on the robot body, so that the wheel type movement of the quadruped robot is realized; a new quadruped robot structure is proposed.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several equivalent substitutions or obvious modifications can be made without departing from the spirit of the invention, and all the properties or uses are considered to be within the scope of the invention.
Claims (6)
1. A configuration transformable quadruped robot, characterized by comprising:
the robot comprises mechanical legs (1), a robot trunk (2) and a modular mechanical arm (3);
the mechanical legs (1) are connected with the robot trunk (2);
the modularized mechanical arm (3) is placed on the robot trunk (2), and is connected with the mechanical leg (1) after being detached;
different reconstruction modes of the quadruped robot are realized through the change of the first joint (12) of the mechanical leg (1);
when the No. 1, 2, 3 and 4 mechanical legs are bent outwards, the quadruped robot is reconstructed into a first mode of the front knee and the rear elbow;
when the No. 1 and No. 2 mechanical legs are bent inwards and the No. 3 and No. 4 mechanical legs are bent outwards, the quadruped robot is reconstructed into a front elbow and back elbow mode:
when the No. 1, 2, 3 and 4 mechanical legs bend inwards, the quadruped robot is reconstructed into a second mode of the front knee and the rear elbow:
when the No. 1 and No. 2 mechanical legs are bent outwards and the No. 3 and No. 4 mechanical legs are bent inwards, the quadruped robot is reconstructed into a front knee and back knee mode;
when in the first mode of the front knee and the rear elbow, the foot end (11) of the robot with No. 1, 2, 3 and 4 mechanical legs is moved outwards, the center of the robot moves downwards, and the quadruped robot is reconstructed into a crawling mode;
when the robot is in a crawling mode, the mechanical legs 1, 2, 3 and 4 are folded on the robot platform (25) to enable the wheels to be in contact with the ground, and the quadruped robot is reconstructed into a wheel mode:
when the robot is in a wheel mode, the mechanical leg (1) is connected with the modular mechanical arm (3) through an interface to form a mechanical arm, and the quadruped robot is reconstructed into a mechanical arm operation mode;
thereby the four-legged robot with the transformable form has the following functions: the leg configuration switching function of the quadruped robot, the wheel type movement and leg type robot switching function and the mechanical leg and mechanical claw switching function of the quadruped robot are realized;
the mechanical leg (1) comprises: a robot foot end (11), a first joint (12) and a first connecting arm (13);
the robot foot end (11) is connected with the first connecting arm (13) through the first joint (12);
each first joint (12) is driven by a motor.
2. The transformable quadruped robot of claim 1, wherein:
the robot trunk (2) includes: the robot comprises a driving wheel (21), a driven wheel (22), a driving motor (23), a screw motor (24), a robot platform (25), a mechanical arm fixing clamping groove (26) and a mechanical arm propelling device (27);
the driving wheel (21) is provided with the driving motor (23), and the driving wheel and the driven wheel (22) are used for realizing the rapid movement of the quadruped robot;
the robot platform (25) is arranged on the driving wheel (21) and the driven wheel (22) and is used for mounting platforms of the mechanical legs (1) and the modular mechanical arm (3);
the mechanical arm fixing clamping groove (26) is arranged on the robot platform (25) and used for fixing the modular mechanical arm (3);
the mechanical arm propelling device (27) is arranged on the robot platform (25) and used for installing the mechanical legs (1) when the modular mechanical arms (3) are switched, and the screw motor (24) drives the modular mechanical arms (3) to move back and forth.
3. The transformable quadruped robot of claim 1, wherein:
the modular robot arm (3) comprises: a mechanical claw (31), a second connecting arm (32) and a second joint (33);
the mechanical claw (31) is a tail end execution structure and is connected with the second connecting arm (32);
each second joint (33) is driven by a motor.
4. The transformable quadruped robot of claim 1, wherein:
the interface of modularization arm (3) includes communication bolt, connection slot to realize being connected with mechanical leg (1).
5. The transformable quadruped robot of claim 4, wherein:
the connecting device at the tail end of the mechanical leg (1) comprises a communication interface (14) and a rotary bolt (15);
the communication interface (14) is connected with the communication bolt on the modular mechanical arm (3), and the rotary bolt (15) is inserted into the connecting clamping groove of the modular mechanical arm (3) so as to realize stable connection between the mechanical leg (1) and the modular mechanical arm (3).
6. The transformable quadruped robot of claim 1, wherein:
the different reconstruction modes can be switched.
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| CN114367996A (en) * | 2022-02-21 | 2022-04-19 | 南京理工大学 | Cutter damage in-situ detection and tool changing robot |
| CN115042892A (en) * | 2022-05-23 | 2022-09-13 | 南京航空航天大学 | Rope-driven flexible crawling machine device |
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