CN114291182B - Four-foot robot - Google Patents
Four-foot robot Download PDFInfo
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- CN114291182B CN114291182B CN202210013236.3A CN202210013236A CN114291182B CN 114291182 B CN114291182 B CN 114291182B CN 202210013236 A CN202210013236 A CN 202210013236A CN 114291182 B CN114291182 B CN 114291182B
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Abstract
The invention discloses a light high-performance quadruped robot, which comprises a machine body, wherein crotch joints are arranged at four corners of the machine body, a thigh fixing frame is arranged on an output shaft of each crotch joint, thigh joints and shank joints are rotatably arranged at one side, far away from the machine body, of each thigh fixing frame, and each thigh joint is arranged in front of each shank joint; the invention is suitable for the technical field of four-foot robots, the integration level of each joint is high, the size is relatively small, and the device can work in narrow space, demonstration exhibition stand and other scenes more flexibly; the whole weight is light, the structure is compact, the stress is reasonable, the movement performance is improved, and the service life is prolonged to a certain extent.
Description
Technical Field
The invention belongs to the technical field of four-legged robots, and particularly relates to a four-legged robot.
Background
At present, common walking robots are widely applied in a two-foot type, a four-foot type and a six-foot type. The four-foot walking robot has the advantages of simple and flexible mechanism, strong bearing capacity, good stability, good application prospect in many aspects such as rescue and relief work, exploration, entertainment, military and the like, and development and work are always valued at home and abroad.
The existing four-legged robots are roughly divided into: a large-sized four-foot robot taking a direct current brushless motor and a speed reducer as joints and a small-sized four-foot robot taking a steering engine as joints. The large four-foot robot has large overall size, the joint mass is large due to the fact that the motor, the speed reducer and the driver are not integrated, and in addition, the robot body is made of alloy materials, so that the robot is large and heavy overall, and high requirements on control performance and safety are met; the overall size of the small four-foot robot is small, but the joint steering engine is difficult to provide rapid large driving force due to the large transmission ratio, so that the motion performance is poor, and the motions such as jumping, rapid movement and the like are difficult to realize.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a quadruped robot.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a quadruped robot comprising:
the thigh fixing frame is provided with thigh joints and shank joints in a rotating mode on one side, far away from the machine body, of the thigh fixing frame, and the thigh joints are arranged in front of the shank joints;
the thigh joint is provided with a second shank connecting rod and a thigh connecting rod, one end, far away from the thigh joint, of the thigh connecting rod is provided with a fourth shank connecting rod, the tail end of the fourth shank connecting rod is a foot end, the head end of the fourth shank connecting rod is connected with the second shank connecting rod through a third shank connecting rod, and the shank joint is connected with the second shank connecting rod through a first shank connecting rod.
Preferably, any of the calf joints is in driving connection with the output shaft of its corresponding crotch joint.
Preferably, the thigh connecting rod is rotatably connected with one end of the shank connecting rod near the head end of the shank connecting rod.
Preferably, the four lower leg connecting rods are rotatably connected with the three lower leg connecting rods, the two lower leg connecting rods with the three lower leg connecting rods, the first lower leg connecting rod with the lower leg joint, and the first lower leg connecting rod with the second lower leg connecting rod.
Preferably, the machine body adopts a rectangular structure, clamping grooves are formed in four corners of the machine body, and the crotch joint is arranged in the clamping grooves.
Preferably, a control circuit board is arranged at the top of the machine body, and the movement and the pose of the robot are controlled by controlling the crotch joint.
Preferably, a battery is arranged at the bottom of the machine body and is used for providing electric energy for the robot.
Preferably, the machine body, the shank connecting rod IV, the shank connecting rod III, the shank connecting rod II and the shank connecting rod I are all made of carbon fiber board materials, are subjected to structural stress simulation, and are subjected to hollowed-out treatment.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
in the invention, the integration level of each joint is high, the size is relatively small, and the invention can work in the scenes such as narrow space, demonstration exhibition stand and the like more flexibly; the leg connecting rod has the advantages of light overall weight, compact structure, reasonable stress, improved movement performance, prolonged service life to a certain extent, small inertia of the leg due to the design of the leg connecting rod, good quick response capability in control and easiness in establishment of a control model; through optimization of the parameters of the connecting rod, each joint has smaller force in normal working space, and the burden of the joint is reduced.
Drawings
FIG. 1 is a schematic view of the overall structure of a four-legged robot according to the present invention;
fig. 2 is a side view of a four-legged robot of the present invention.
Reference numerals: 1. a control circuit board; 2. a body; 3. a crotch joint; 4. thigh and calf fixing frames; 5. a lower leg joint; 6. a first shank link; 7. a lower leg connecting rod III; 8. a second shank connecting rod; 9. thigh links; 10. a shank link IV; 11. thigh joints; 12. and a battery.
Detailed Description
An embodiment of a quadruped robot according to the present invention is further described below with reference to fig. 1-2. The four-legged robot of the present invention is not limited to the description of the following embodiments.
Example 1:
the embodiment provides a specific implementation manner of a quadruped robot, as shown in fig. 1-2, including:
the device comprises a machine body 2, crotch joints 3 are arranged at four corners of the machine body 2, a thigh fixing frame 4 is arranged on an output shaft of the crotch joints 3, thigh joints 11 and shank joints 5 are rotatably arranged on one side, far away from the machine body 2, of the thigh fixing frame 4, and the thigh joints 11 are arranged in front of the shank joints 5;
the thigh joint 11 is provided with a second shank connecting rod 8 and a thigh connecting rod 9, one end, far away from the thigh joint 11, of the thigh connecting rod 9 is provided with a fourth shank connecting rod 10, the tail end of the fourth shank connecting rod 10 is a foot end, the head end of the fourth shank connecting rod 10 is connected with the second shank connecting rod 8 through a third shank connecting rod 7, and the shank joint 5 is connected with the second shank connecting rod 8 through a first shank connecting rod 6.
Further, any one of the calf joints 5 is in driving connection with the output shaft of its corresponding crotch joint 3.
Further, the thigh link 9 is rotatably connected with one end of the shank link IV 10 near the head end thereof.
Further, the four lower leg connecting rods 10 and the three lower leg connecting rods 7, the two lower leg connecting rods 8 and the three lower leg connecting rods 7, the first lower leg connecting rod 6 and the lower leg joint 5, and the first lower leg connecting rod 6 and the second lower leg connecting rod 8 are all in rotary connection.
Further, the machine body 2 adopts a rectangular structure, the four corners of the machine body are provided with clamping grooves, and the crotch joint 3 is arranged in the clamping grooves.
Further, a control circuit board 1 is arranged on the top of the machine body 2, and the movement and the pose of the robot are controlled by controlling the crotch joint 3.
Further, a battery 12 is provided at the bottom of the body 2 for supplying power to the robot.
Furthermore, the machine body 2, the shank connecting rod IV 10, the shank connecting rod III 7, the shank connecting rod II 8 and the shank connecting rod I6 are made of carbon fiber board materials, are subjected to structural stress simulation, and are subjected to hollowed-out treatment.
Furthermore, the four lower leg connecting rods 10, the three lower leg connecting rods 7, the two lower leg connecting rods 8 and the first lower leg connecting rod 6 are subjected to parameterization treatment, so that the size and the connection of the four lower leg connecting rods are optimized.
Working principle: as shown in fig. 1-2, wherein:
control circuit board 1: is fixed on the top of the machine body 2, drives 12 joints and controls the movement and the pose of the robot.
And the machine body 2: the 4 crotch joints 3, the control circuit board 1 and the battery 12 are connected to serve as a robot frame for supporting and connecting.
Crotch joint 3: is fixed on the body 2 to provide crotch freedom for the quadruped robot.
Thigh and calf fixing frame 4: the outer part is connected to the output shaft of the crotch joint 3 and the inner part is used for fixing the lower leg joint 5 and the thigh joint 11 as the actuators of the crotch joint.
Shank joint 5: is fixed on a thigh and shank fixing frame 4 to provide shank freedom for the quadruped robot.
Shank link one 6: the two ends are respectively connected with the output shaft of the shank joint 5 and the shank connecting rod II 8, so as to play a role in transmitting the movement and the force of the shank.
Shank link three 7: the two ends are respectively connected with the second shank connecting rod 8 and the fourth shank connecting rod 10, so as to play a role in transmitting the movement and the force of the shank.
Shank link two 8: one end is connected with the first shank connecting rod 6 and the third shank connecting rod 7, and the other end is connected with the thigh connecting rod 9, so as to play a role in transmitting the movement and the force of the shank.
Thigh link 9: the two ends are respectively connected with the thigh joint 11 and the shank connecting rod IV 10, which plays a role in transmitting the movement and the force of the thighs and the shanks.
Shank link IV 10: one end is connected with a shank link three 7, and the middle is connected with a thigh link 9 as an end execution component of the robot leg.
Thigh joint 11: is fixed on a thigh fixing frame 4 to provide thigh freedom for the quadruped robot.
Battery 12: is fixed on the lower side of the machine body 2 and provides electric energy for the robot.
In the invention, the integration level of each joint is high, the size is relatively small, and the invention can work in the scenes such as narrow space, demonstration exhibition stand and the like more flexibly; the leg connecting rod has the advantages of light overall weight, compact structure, reasonable stress, improved movement performance, prolonged service life to a certain extent, small inertia of the leg due to the design of the leg connecting rod, good quick response capability in control and easiness in establishment of a control model; through optimization of the parameters of the connecting rod, each joint has smaller force in normal working space, and the burden of the joint is reduced.
The foregoing is a further detailed description of the invention in connection with the preferred embodiments, and it is not intended that the invention be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.
Claims (8)
1. A quadruped robot comprising:
the novel leg bending machine comprises a machine body (2), wherein crotch joints (3) are arranged at four corners of the machine body (2), a thigh fixing frame (4) is arranged on an output shaft of the crotch joints (3), a thigh joint (11) and a shank joint (5) are rotatably arranged on one side, away from the machine body (2), of the thigh fixing frame (4), and the thigh joint (11) is arranged in front of the shank joint (5);
be provided with shank connecting rod two (8) and thigh connecting rod (9) on thigh joint (11), the one end that thigh connecting rod (9) kept away from thigh joint (11) is provided with shank connecting rod four (10), the end of shank connecting rod four (10) is the foot end, be connected through shank connecting rod three (7) between the head end of shank connecting rod four (10) and shank connecting rod two (8), be connected through shank connecting rod one (6) between shank connecting rod two (8).
2. A quadruped robot according to claim 1, wherein: any one of the lower leg joints (5) is in transmission connection with the output shaft of the corresponding crotch joint (3).
3. A quadruped robot according to claim 1, wherein: the thigh connecting rod (9) is rotatably connected with one end, close to the head end, of the shank connecting rod IV (10).
4. A quadruped robot according to claim 1, wherein: the four (10) and the three (7) and the two (8) and the three (7) and the first (6) and the second (5) and the first (6) and the second (8) are all connected by rotation.
5. A quadruped robot according to claim 1, wherein: the machine body (2) adopts a rectangular structure, clamping grooves are formed in four corners of the machine body, and the crotch joint (3) is arranged in the clamping grooves.
6. A quadruped robot according to claim 1, wherein: the top of the machine body (2) is provided with a control circuit board (1), and the movement and the pose of the robot are controlled by controlling the crotch joint (3).
7. A quadruped robot according to claim 1, wherein: the bottom of the machine body (2) is provided with a battery (12) for providing electric energy for the robot.
8. A quadruped robot according to claim 1, wherein: the machine body (2), the shank connecting rod IV (10), the shank connecting rod III (7), the shank connecting rod II (8) and the shank connecting rod I (6) are made of carbon fiber board materials, are subjected to structural stress simulation, and are subjected to hollowed-out treatment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210013236.3A CN114291182B (en) | 2022-01-06 | 2022-01-06 | Four-foot robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210013236.3A CN114291182B (en) | 2022-01-06 | 2022-01-06 | Four-foot robot |
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| Publication Number | Publication Date |
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| CN114291182A CN114291182A (en) | 2022-04-08 |
| CN114291182B true CN114291182B (en) | 2023-07-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210013236.3A Active CN114291182B (en) | 2022-01-06 | 2022-01-06 | Four-foot robot |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115848530A (en) * | 2023-02-14 | 2023-03-28 | 七腾机器人有限公司 | Robot foot joint |
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| CN114291182A (en) | 2022-04-08 |
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