CN114348142B - Indoor service type intelligent four-foot bionic mechanical dog - Google Patents
Indoor service type intelligent four-foot bionic mechanical dog Download PDFInfo
- Publication number
- CN114348142B CN114348142B CN202210162583.2A CN202210162583A CN114348142B CN 114348142 B CN114348142 B CN 114348142B CN 202210162583 A CN202210162583 A CN 202210162583A CN 114348142 B CN114348142 B CN 114348142B
- Authority
- CN
- China
- Prior art keywords
- connecting rods
- main body
- steering engine
- angle connecting
- control board
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 66
- 230000001276 controlling effect Effects 0.000 claims abstract description 10
- 238000000034 method Methods 0.000 claims abstract description 10
- 230000008569 process Effects 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims description 30
- 230000007246 mechanism Effects 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 11
- 210000001364 upper extremity Anatomy 0.000 description 10
- 230000008901 benefit Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000011229 interlayer Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Landscapes
- Toys (AREA)
Abstract
The invention particularly discloses an indoor service type intelligent quadruped bionic mechanical dog which comprises a main body, wherein the upper side surface of the front end of the main body is fixedly provided with a head, the front end of the head is provided with an image acquisition unit for acquiring image data of a target object, the upper side of the head is provided with a mechanical arm for grabbing and conveying the target object, four corners of the lower side of the main body are respectively provided with legs for driving the main body to walk, the main body is also provided with a main control board and a power supply unit which is respectively connected with the main control board, the image acquisition unit, the mechanical arm and the legs and is used for supplying power, and the main control board is used for controlling actions of the legs and the mechanical arm and controlling the image acquisition unit to acquire and process the image data of the target object. The bionic mechanical dog can track an object target, grasp and carry the object in a designated area, can adapt to various terrains, can automatically avoid obstacles to advance in the walking process, and has the characteristics of good stability and high operability.
Description
Technical Field
The invention relates to the technical field of bionic machinery, in particular to an indoor service type intelligent quadruped bionic mechanical dog.
Background
Currently, ground robots with mobility can be classified into wheels, crawler-type, etc. When the robot runs on the soft and rugged ground, if the functions of the robot are seriously affected by the wheels at the bottom of the wheel type robot, compared with the wheel type robot, the advantages of the crawler type robot are mainly reflected in the field, the crawler arranged at the bottom enables the robot to run on the soft and rugged ground, but the crawler type robot has relatively low speed, low efficiency and large movement noise; when the earth surface is uneven and knocked, the body of the robot is severely swayed. Based on the above, the above-described deficiencies of the mechanical structural designs of the various mobile robots are considered.
Based on the method, a person skilled in the art obtains a heuristic by observing the walking form of the animal, designs a foot-type movement machine mechanism by simulating and researching the walking form of the animal, has the outstanding advantages of good balance, low requirement on the road surface, flexible movement by reasonable machine structural design under rugged field terrain environment, and obvious advantage, but the function of the intelligent robot is single at present, and the structure of the intelligent robot is complex, so the indoor service type intelligent four-foot bionic mechanical dog which has good stability and can adapt to complex terrains is designed.
Disclosure of Invention
In order to solve the technical problems, the invention provides the indoor service type intelligent quadruped bionic mechanical dog which can track a target and grasp and carry objects in a designated area, is suitable for various terrains and can automatically avoid obstacles in the walking process, and has the characteristic of good stability.
The invention provides an indoor service type intelligent quadruped bionic mechanical dog which comprises a main body, wherein the upper side surface of the front end of the main body is fixedly provided with a head, the front end of the head is provided with an image acquisition unit for acquiring image data of a target object, the upper side of the head is provided with a mechanical arm for grabbing and conveying the target object, four corners of the lower side of the main body are respectively provided with legs for driving the main body to walk, the main body is also provided with a main control board and a power supply unit which is respectively connected with the main control board, the image acquisition unit, the mechanical arm and the legs and is used for supplying power, and the main control board is used for controlling actions of the legs and the mechanical arm and controlling the image acquisition unit to acquire and process the image data of the target object.
Preferably, each shank all includes first steering wheel, two first connecting rods, the second steering wheel, two second connecting rods, right angle connecting rod and contained angle connecting rod, the upper end and the main part downside fixed connection of first steering wheel, two first connecting rod parallel arrangement, and the upper end of two first connecting rods respectively with the steering wheel both sides fixed connection who sets up on the first steering wheel, the lower extreme of two first connecting rods respectively with the steering wheel both sides fixed connection on the second steering wheel, right angle connecting rod is fixed in the rudder frame of second steering wheel and is located the below of first steering wheel, the upper end and the right angle connecting rod of contained angle connecting rod are connected and are used for fixed right angle connecting rod, the lower extreme of contained angle connecting rod is fixed in the middle part of second connecting rod, two second connecting rod parallel arrangement and the upper end of two second connecting rods all are fixed in the lower extreme of second steering wheel.
Preferably, the lower end parts of the second connecting rods are respectively provided with an anti-slip foot sleeve for increasing friction force.
Preferably, the mechanical arm comprises a base, a first U-shaped support, a second U-shaped support, two third connecting rods and two fourth connecting rods, wherein the base is arranged on the head and can rotate on the horizontal plane of the upper side of the head, the first U-shaped support is fixed on the base and is rotatably provided with a third steering engine, the lower end of the second U-shaped support is provided with a fourth steering engine, the upper end of the second U-shaped support is provided with a fifth steering engine, the two third connecting rods are arranged in parallel, one ends of the two third connecting rods are connected with the third steering engine, the other ends of the two third connecting rods are connected with the fourth steering engine, the two fourth connecting rods are arranged in parallel, one ends of the two fourth connecting rods are connected with the fifth steering engine, and the other end ends of the two fourth connecting rods are provided with mechanical clamps for clamping a target object.
Preferably, the mechanical clamp comprises a sixth steering engine and a clamping mechanism which are fixedly connected, the mechanical clamp is fixedly connected with the other end parts of the two fourth connecting rods through the sixth steering engine and is used for driving the clamping mechanism positioned at the front end of the sixth steering engine, the clamping mechanism comprises a support frame, a transmission rod, two right-angle connecting rods, a first gear and a second gear which are meshed and connected, the support frame is fixedly arranged at the front end of the sixth steering engine, the first gear and the second gear are rotatably arranged on the support frame in parallel, a first included angle connecting rod is arranged on the second gear, a second included angle connecting rod which is matched with the first included angle connecting rod and is used for clamping a target object is arranged on the first gear, one end of the transmission rod is fixedly connected with a rudder disc arranged on the sixth steering engine through a vertically arranged middle plastic pipe, the two right-angle connecting rods are arranged in parallel, one end of each right-angle connecting rod is fixed on the side surface of the sixth steering engine, and the other end of each right-angle connecting rod is movably connected with the first included angle connecting rod and the second included angle connecting rod.
Preferably, the front end of main part is equipped with the range finding module that is used for detecting place ahead barrier distance, and range finding module is located the main part front end and is used for detecting place ahead barrier distance, and range finding module's rear end tip inlays and locate in the main part front end, and range finding module is connected with the main control board and is used for carrying out the processing in giving the main control board with range finding module's detection data transmission in order to realize that bionic mechanical dog keeps away the barrier and moves ahead.
Preferably, the head comprises a supporting rod fixedly connected with the main body, the supporting rod is an inverted T-shaped connecting rod, and the image acquisition unit is fixedly arranged at the front end part of the inverted T-shaped connecting rod.
Preferably, the image acquisition unit further comprises a wireless transmission module connected with the image acquisition unit and used for transmitting image data, and the wireless transmission module is fixedly arranged on the main body.
Preferably, the device further comprises a voice control module connected with the main control board and used for receiving external voice information, and the voice control modules are fixedly arranged on the main body.
Preferably, the garbage storage box is arranged on the main body and used for storing garbage.
Compared with the prior art, the invention has the advantages that the following aspects are mainly realized:
1. according to the invention, the leg movement of the mechanical dog and the operation of the mechanical arm can be controlled by combining the image acquisition unit and the main control board, so that the object grabbing, visual simulation, image processing, face recognition and moving object tracking are realized, meanwhile, the moving object can be tracked in real time, and the owner can be effectively helped to know the internal conditions of the family, including but not limited to checking the condition of the pet, guaranteeing the property and personal safety of the family and the like.
2. According to the invention, the distance measuring module is arranged to detect the obstacle and the distance thereof in front of the bionic mechanical dog, so that the mechanical dog can be controlled to avoid the obstacle to go around.
3. According to the invention, the man-machine interaction between the owner and the bionic mechanical dog is realized by arranging the voice control module, so that the owner has further control right on the bionic mechanical dog.
4. The multi-degree-of-freedom mechanical arm is arranged, and the multi-joint connecting rod serial structure is adopted, so that the clamping, carrying or state change of a target object, such as garbage carrying, auxiliary object taking, gas switching and the like, can be realized by combining a moving system of the bionic mechanical dog.
Drawings
Figure 1 is a perspective view of an indoor service type intelligent quadruped bionic mechanical dog of the invention,
figure 2 is a bottom view of the body of the present invention,
figure 3 is a front view of the body of the present invention,
figure 4 is a schematic view of the structure of the leg in the present invention,
figure 5 is a schematic view of the mechanical arm structure in the present invention,
fig. 6 is a schematic view of the structure of the mechanical clip of the present invention.
In the figure: 1. an image acquisition unit; 2. a ranging module; 3. a wireless transmission module; 4. a storage box; 5. a main control board; 6. a voice control module; 7. a power supply unit; 8. an inverted T-shaped connecting rod; 110. bionic mechanical dog right front leg; 120. bionic left front leg; 130. bionic mechanical dog right rear leg; 140. bionic mechanical dog left rear leg; 200. a mechanical arm; 111. the first steering engine; 112. the second steering engine; 113. steering wheel; 114. a first link; 115. a right angle connecting rod; 116. an included angle connecting rod; 117. a short plastic rod; 118. a second link; 119. an anti-slip foot cover; 201. a base; 202. the third steering engine; 203. a fourth steering engine; 204. a fifth steering engine; 205. a sixth steering engine; 210. a first U-shaped bracket; 211. a second U-shaped bracket; 230. a third link; 231. a fourth link; 240. a first plastic connection tube; 241. a second plastic connection tube; 250. a first gear; 251. a second gear; 260. a right angle connecting rod; 261. a transmission rod.
Detailed Description
In order to make the technical scheme of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings.
In this embodiment, taking fig. 1 as an example, the vertical paper surface is upward, the vertical paper surface is downward, the vertical paper surface is leftward and forward, the vertical paper surface is rightward and rearward, the vertical paper surface is inward and rightward, and the vertical paper surface is outward and leftward.
As shown in fig. 1-6, an indoor service type intelligent quadruped bionic mechanical dog comprises a main body, wherein the upper side surface of the front end of the main body is fixedly provided with a head, the front end of the head is provided with an image acquisition unit 1 for acquiring image data of a target object, the upper side of the head is provided with a mechanical arm 200 for grabbing and carrying the target object, four corners of the lower side of the main body are respectively provided with legs for driving the main body to walk, the main body is also provided with a main control board 5 and a power supply unit 7 which is respectively connected with the main control board 5, the image acquisition unit 1, the mechanical arm 200 and the legs and is used for controlling actions of the legs and the mechanical arm 200 and controlling the image acquisition unit 1 to acquire and process the image data of the target object.
In this embodiment, the image acquisition unit 1 is a high-definition camera, the main control board 5 includes a first main control board for controlling the movement of the leg and a second main control board for controlling the mechanical arm 200 and the image acquisition unit 1, where the first main control board and the second main control board are arranged on the upper side of the main body in parallel, and the second main control board is located below the voice control module 6, and the leg includes a bionic mechanical dog right front leg 110 located at the right front of the main body lower side, a bionic mechanical dog left front leg 120 located at the left front of the main body lower side, a bionic mechanical dog right rear leg 130 located at the right rear of the main body lower side, and a bionic mechanical dog left rear leg 140 located at the left rear of the main body lower side. The bionic mechanical dog can realize visual simulation, image processing, face recognition, moving target tracking and the like through the image acquisition unit 1 and the main control board 5, and can also track a moving target object in real time, so that owners can be effectively helped to know the internal conditions of families, including but not limited to checking the conditions of pets, guaranteeing the property and personal safety of the families and the like; moreover, the four legs uniformly distributed on the lower side of the main body have the characteristics of good stability and strong loading capacity, can adapt to complex terrains, and can also grasp and carry a specified target object through the mechanical arm 200.
As shown in fig. 1 and 3, each leg portion includes a first steering engine 111, two first connecting rods 114, a second steering engine 112, two second connecting rods 118, a right angle connecting rod 115 and an included angle connecting rod 116, the upper ends of the first steering engines 111 are fixedly connected with the lower side of the main body, the two first connecting rods 114 are arranged in parallel, the upper ends of the two first connecting rods 114 are respectively fixedly connected with two sides of a steering wheel 113 arranged on the first steering engines 111, the lower ends of the two first connecting rods 114 are respectively fixedly connected with two sides of the steering wheel 113 on the second steering engines 112, the right angle connecting rod 115 is fixed on a rudder frame of the second steering engines 112 and is located below the first steering engines 111, the upper ends of the included angle connecting rods 116 are connected with the right angle connecting rods 115 to be used for fixing the right angle connecting rods 115, the lower ends of the included angle connecting rods 116 are fixedly arranged in the middle of the second connecting rods 118, the upper ends of the two second connecting rods 118 are arranged in parallel, the upper ends of the two second connecting rods 118 are respectively fixed at the lower ends of the second steering engines 112, and the lower end parts of the second connecting rods 118 are respectively provided with anti-skidding sleeves 119 for increasing friction force.
In this embodiment, the first steering engine 111 is fixed on the underside of the main body through threads in a lateral lying manner, two second connecting rods 118 are connected through two parallel short plastic rods 117, a triangular stable structure is formed by the right-angle connecting rods 115, the included angle connecting rods 116 and the second connecting rods 118, so that stress can be effectively dispersed, the stability of each leg operation process is ensured, and the friction force between the bionic mechanical dog and the ground can be effectively increased and the stability is further improved through arranging the anti-slip foot sleeves 119 at the lower end parts of the second connecting rods 118.
As shown in fig. 1, fig. 5, and fig. 6, the mechanical arm includes a base 201, a first U-shaped bracket 210, a second U-shaped bracket 211, two third connecting rods 230, and two fourth connecting rods 231, where the base 201 is disposed on the head and can rotate on the horizontal plane of the upper side of the head, the first U-shaped bracket 210 is fixed on the base 201 and is rotatably disposed on the first U-shaped bracket 210, a third steering engine 202 is disposed at the lower end of the second U-shaped bracket 211, a fourth steering engine 203 is disposed at the upper end of the second U-shaped bracket 211, a fifth steering engine 204 is disposed at the upper end of the second U-shaped bracket 211, two third connecting rods 230 are disposed in parallel, one ends of the two third connecting rods 230 are connected with the third steering engine 202, the other ends of the two third connecting rods 230 are connected with the fourth steering engine 203, one ends of the two fourth connecting rods 231 are connected with the fifth steering engine 204, and mechanical clips for clamping the target object are disposed at the other ends of the two fourth connecting rods 231.
The mechanical clamp comprises a sixth steering engine 205 and a clamping mechanism which are fixedly connected, the mechanical clamp is fixedly connected with the other end parts of two fourth connecting rods 231 through the sixth steering engine 205 and is used for driving the clamping mechanism positioned at the front end of the sixth steering engine 205, the clamping mechanism comprises a support frame, a transmission rod 261, two right-angle connecting rods 260 and a first gear 250 and a second gear 251 which are in meshed connection, the support frame is fixedly arranged at the front end of the sixth steering engine 205, the first gear 250 and the second gear 251 are rotatably arranged on the support frame in parallel, a first included angle connecting rod is arranged on the second gear 251, a second included angle connecting rod matched with the first included angle connecting rod and used for clamping a target object is arranged on the first gear 250, one end of the transmission rod 261 is fixedly connected with a steering wheel arranged on the sixth steering engine 205, the other end of the transmission rod 261 is fixedly connected with the second gear 251 and the first included angle connecting rod respectively through a second plastic connecting pipe 241 which is vertically arranged (namely the upper end of the second plastic connecting rod 241 is fixedly connected with the transmission rod 261, and the lower end of the second plastic connecting rod 241 passes through the first included angle connecting rod and is fixedly connected with the second gear 251 at the end part of the second connecting rod), two right-angle connecting rods 260 are arranged in parallel to the first right-angle connecting rods 260, and the two right-angle connecting rods 260 are movably connected with the first right-angle connecting rods 260 respectively.
In this embodiment, the two fourth connecting rods 231 are connected and fixed through the first plastic connecting pipe 240, the mechanical arm 200 is a four-degree-of-freedom folding mechanical arm formed by five steering engines, the sixth steering engine 205 is driven to drive the first included angle connecting rod to move by using the transmission rod 261, at this time, the second gear 251 drives the first gear 250 in meshed connection to rotate, and a mechanical clamp capable of grabbing and sorting the target object in the designated area is formed between the two gears and the two included angle connecting rods, so that grabbing of the target object is realized. Therefore, by arranging the mechanical arm with multiple degrees of freedom and adopting a multi-joint connecting rod serial structure, the clamping and conveying or state change of a target object, such as garbage conveying, auxiliary object taking, gas switching and the like, can be realized by combining a moving system of the bionic mechanical dog.
Wherein, the first included angle connecting rod and the second included angle connecting rod are both 120-degree included angle connecting rods, and the transmission rod 261 is of a two-connecting-rod structure which is movably connected.
As shown in fig. 1, the main body is provided with a ranging module 2, the ranging module 2 is located at the front end of the main body and is used for detecting the distance of a front obstacle, the rear end of the ranging module 2 is embedded in the front end of the main body, and the ranging module 2 is connected with a main control board 5 and is used for processing detection data of the ranging module 2 so as to realize obstacle avoidance and forward movement of the bionic mechanical dog.
In this embodiment, the ranging module 2 is an ultrasonic ranging module, and is fixed in the front end interlayer of the main body through a right angle fixing frame. When the bionic mechanical dog advances, the ultrasonic ranging module 2 receives the returned ultrasonic signals within a set distance and inputs the ultrasonic signals into the main control board 5 for processing, and then the main control board 5 is utilized to control the bionic mechanical dog to realize actions such as crossing, backing, left turning, right turning and the like for obstacle avoidance and detouring.
As shown in fig. 1, the head comprises a support rod fixedly connected with the main body, the support rod is an inverted-T-shaped connecting rod 8, and the image acquisition unit 1 is fixedly arranged at the front end part of the inverted-T-shaped connecting rod 8, so that the connection reliability between the components is ensured.
The image acquisition unit 1 is connected with a wireless transmission module 3 for transmitting image data, and the wireless transmission module 3 is fixedly arranged on the main body. The wireless transmission module 3 is used for realizing the transmission of image data, so that the connection structure is effectively simplified and the reliability of data transmission is ensured.
The voice control system further comprises a voice control module 6 which is connected with the main control board and used for receiving external voice information, and the voice control module 6 is fixedly arranged on the main body.
In this embodiment, the voice control module 6 is a special chip HBR640 for voice recognition, and by setting the voice control module 6, the voice command of the owner can be received in real time, and then the voice command is fed back to the main control board 5 and compared with the preset voice command, so that the corresponding voice command function is realized, the purpose of man-machine interaction is achieved, and the owner has further control right on the bionic mechanical dog.
Wherein, still include the storing box 4 that locates the main part and is used for storing rubbish. In this embodiment, the storage box 4 can temporarily store the target object grabbed by the mechanical clamp, so as to realize the carrying of the target object, and the practicality of the bionic mechanical dog is greatly improved.
In order to better understand the working principle and technical effect of the present invention, the specific operation of the bionic mechanical dog will be described in detail.
Firstly, the power supply unit 7 is started, the bionic mechanical dog is initialized, the main control board 5, the ranging module 2, the voice recognition module 6, the mechanical arm 200, the image acquisition unit 1 and the wireless transmission module 3 are started again, the starting state is kept still to acquire environmental data, when the bionic mechanical dog is initialized, the main control board 5 gives instructions to the steering engine arranged on each leg, the first steering engine 111 and the second steering engine 112 rotate to a designated angle after receiving the instructions, the first connecting rod 114 and the second connecting rod 118 are respectively driven to drive the whole lower limb to rotate, and after the relative included angles of the two included angle connecting rods arranged on the legs reach a proper angle, standing of the bionic mechanical dog is further realized.
The main control board 5 is used for determining the motion state of the bionic mechanical dog through processing the environmental data, if no obstacle exists in front of the bionic mechanical dog, no identifiable garbage can be sent to a forward command through the main control board 5, and the forward motion state can be decomposed into two parts, wherein the first part comprises: the first steering engine 111 on the left front leg 110 and the left rear leg 140 of the bionic mechanical dog drives the first connecting rod 114 to rotate forwards, the second steering engine 112 drives the second connecting rod 118 to rotate backwards after a small delay, at this time, the left front leg 120 and the right rear leg 130 of the bionic mechanical dog remain motionless, and the bionic mechanical dog remains in a balanced standing state at the moment; the second part includes: after three small delays, the first steering engine 111 on the left front leg 120 of the bionic mechanical dog and the right rear leg 130 of the bionic mechanical dog drive the first connecting rod 114 to rotate forwards, the second steering engine 112 after one small delay drives the second connecting rod 118 to rotate backwards, meanwhile, the first steering engine 111 on the right front leg 110 of the bionic mechanical dog and the left rear leg 140 of the bionic mechanical dog drive the first connecting rod 114 to rotate backwards, and meanwhile, the second steering engine 112 drives the second connecting rod 118 and lower limbs (the right angle connecting rod 115, the included angle connecting rod 116, the short plastic pipe 117 and the anti-skid foot sleeve 119) fixed on the second steering engine 112 to rotate backwards, and the time of the four legs in the process is kept synchronous; if the obstacle in front hinders the movement, the movement is similar to the moving way without the obstacle, and only the rotation angle of the left front leg 120 or the right front leg 110 of the bionic mechanical dog is changed to shift the displacement transmission of the bionic mechanical dog, so that the left rotation or the right rotation of the bionic mechanical dog is realized. When a target tracking command is issued to the bionic mechanical dog through the main control board 5, the image acquisition unit 1 recognizes a moving target object and adjusts the motion state of the bionic mechanical dog according to the position of the tracking target object in real time.
If the identifiable garbage is found in front, the main control board 5 controls the bionic mechanical dog to move to the vicinity of the identifiable garbage, the mechanical arm 200 is started after the bionic mechanical dog is kept standing, the starting state of the mechanical arm 200 is also divided into three parts, the first part is kept, the base 201 is kept motionless, the third steering engine 202 rotates anticlockwise by about 200 degrees and drives the third connecting rod 230 to drive the upper half part of the bionic mechanical dog to integrally rotate, meanwhile, the fourth steering engine 203 rotates clockwise by about 180 degrees to drive the second U-shaped bracket 211, and the fifth steering engine 204 rotates clockwise by about 90 degrees and drives the fourth connecting rod 231 to drive the mechanical clamp to rotate, so that the mechanical clamp is close to the identifiable garbage; the second part, the sixth steering engine 205 rotates to drive the transmission rod 261 to move, the transmission rod 261 pushes the first included angle connecting rod and the second gear 251 to rotate through the second plastic connecting pipe 241 fixed with the transmission rod 261, the second gear 251 drives the first gear 250 again, the mechanical clamp is closed to clamp garbage, and then the whole mechanical arm 200 is reset except the mechanical clamp; and the third part, the base 201 rotates 180 degrees, after the base 201 is in place, the fourth steering engine 203 rotates anticlockwise by a corresponding angle and drives the second U-shaped bracket 211 to rotate, the fifth steering engine 204 rotates clockwise by a corresponding angle and drives the fourth connecting rod 231 and the mechanical clamp to rotate, so that the upper half part of the mechanical arm 200 moves downwards, and then the sixth steering engine 205 rotates in the opposite direction to open the mechanical clamp to loosen the identifiable rubbish, so that the identifiable rubbish falls into the storage box 4, and the cleaning instruction is ended.
Through the connection of the image acquisition unit 1 and the wireless transmission module 3, the visual angle of the bionic mechanical dog can be obtained in real time through an external upper computer connected with the main control board 5, and the control and environmental observation of the bionic mechanical dog are realized in a long distance.
In the process of starting the bionic mechanical dog, if the bionic mechanical dog receives a relevant language instruction, after finishing the last instruction, the bionic mechanical dog will preferentially execute the received language instruction, and the priority of the upper computer instruction issued by the wireless transmission module 3 is consistent with that of the voice control module 6.
The intelligent four-foot bionic mechanical dog with indoor service provided by the invention is described in detail. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the core concepts of the invention. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (6)
1. The indoor service type intelligent quadruped bionic mechanical dog is characterized by comprising a main body, wherein the upper side surface of the front end of the main body is fixedly provided with a head, the front end of the head is provided with an image acquisition unit (1) for acquiring image data of a target object, the upper side of the head is provided with a mechanical arm (200) for grabbing and carrying the target object, four corners of the lower side of the main body are respectively provided with legs for driving the main body to walk, the main body is also provided with a main control board (5) and a power supply unit (7) which is respectively connected with the main control board (5), the image acquisition unit (1), the mechanical arm (200) and the legs and is used for supplying power, and the main control board (5) is used for controlling actions of the legs and the mechanical arm (200) and controlling the image acquisition unit (1) to acquire and process the image data of the target object;
each leg comprises a first steering engine (111), two first connecting rods (114), a second steering engine (112), two second connecting rods (118), a right-angle connecting rod (115) and an included angle connecting rod (116), wherein the upper ends of the first steering engines (111) are fixedly connected with the lower side surface of a main body, the two first connecting rods (114) are arranged in parallel, the upper ends of the two first connecting rods (114) are respectively fixedly connected with two sides of a steering wheel (113) arranged on the first steering engines (111), the lower ends of the two first connecting rods (114) are respectively fixedly connected with two sides of the steering wheel (113) on the second steering engines (112), the right-angle connecting rods (115) are fixed on a steering frame of the second steering engines (112) and are positioned below the first steering engines (111), the upper ends of the included angle connecting rods (116) are connected with the right-angle connecting rods (115) and are used for fixing the right-angle connecting rods (115), the lower ends of the included angle connecting rods (116) are fixedly arranged in the middle of the second connecting rods (118), the two second connecting rods (118) are arranged in parallel, and the upper ends of the two second connecting rods (118) are fixedly arranged at the lower ends of the second connecting rods (112);
the lower end parts of the second connecting rods (118) are respectively provided with an anti-skid foot sleeve (119) for increasing friction force;
the mechanical arm comprises a base (201), a first U-shaped support (210), a second U-shaped support (211), two third connecting rods (230) and two fourth connecting rods (231), wherein the base (201) is arranged on the head and can rotate on the horizontal plane of the upper side of the head, the first U-shaped support (210) is fixed on the base (201) and is rotationally provided with the third steering engine (202), the lower end of the second U-shaped support (211) is provided with the fourth steering engine (203), the upper end of the second U-shaped support (211) is provided with the fifth steering engine (204), the two third connecting rods (230) are arranged in parallel, one ends of the two third connecting rods (230) are connected with the third steering engine (202), the other ends of the two third connecting rods (230) are connected with the fourth steering engine (203), the two fourth connecting rods (231) are arranged in parallel, one ends of the two fourth connecting rods (231) are connected with the fifth steering engine (204), and the other end parts of the two fourth connecting rods (231) are provided with mechanical clamps for clamping target objects;
the mechanical clamp comprises a sixth steering engine (205) and a clamping mechanism which are fixedly connected, the mechanical clamp is used for driving the clamping mechanism positioned at the front end of the sixth steering engine (205) through the other end part fixedly connected of the sixth steering engine (205) and two fourth connecting rods (231), the clamping mechanism comprises a support frame, a transmission rod (261), two right-angle connecting rods (260) and a first gear (250) and a second gear (251) which are meshed and connected, the support frame is fixedly arranged at the front end of the sixth steering engine (205), the first gear (250) and the second gear (251) are rotatably arranged on the support frame in parallel, a first included angle connecting rod is arranged on the second gear (251), a second included angle connecting rod matched with the first included angle connecting rod and used for clamping a target object is arranged on the first gear (250), one end of the transmission rod (261) is fixedly connected with a rudder disc arranged on the sixth steering engine (205), the other end of the transmission rod (261) is fixedly connected with the second gear (251) and the first included angle connecting rod through a vertically arranged middle plastic pipe (241), the two right-angle connecting rods (260) are arranged in parallel, and the two right-angle connecting rods (260) are respectively movably connected with the first right-angle connecting rods (260) and the second right-angle connecting rods (260).
2. The indoor service type intelligent quadruped bionic mechanical dog according to claim 1, wherein the front end of the main body is provided with a ranging module (2) for detecting the distance of a front obstacle, the rear end part of the ranging module (2) is embedded in the front end of the main body, and the ranging module (2) is connected with a main control board (5) and used for transmitting detection data of the ranging module (2) to the main control board (5) for processing so as to realize obstacle avoidance progress of the bionic mechanical dog.
3. The indoor service type intelligent quadruped bionic mechanical dog according to claim 1, wherein the head comprises a supporting rod fixedly connected with the main body, the supporting rod is an inverted-T-shaped connecting rod (8), and the image acquisition unit (1) is fixedly arranged at the front end part of the inverted-T-shaped connecting rod (8).
4. The indoor service type intelligent quadruped bionic mechanical dog according to claim 1, further comprising a wireless transmission module (3) connected with the image acquisition unit (1) and used for transmitting image data, wherein the wireless transmission module (3) is fixedly arranged on the main body.
5. The indoor service type intelligent quadruped bionic mechanical dog according to claim 1, further comprising a voice control module (6) connected with the main control board (5) and used for receiving external voice information, wherein the voice control module (6) is fixedly arranged on the main body.
6. The indoor service type intelligent quadruped bionic mechanical dog according to claim 1, further comprising a storage box (4) arranged on the main body and used for storing garbage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210162583.2A CN114348142B (en) | 2022-02-22 | 2022-02-22 | Indoor service type intelligent four-foot bionic mechanical dog |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210162583.2A CN114348142B (en) | 2022-02-22 | 2022-02-22 | Indoor service type intelligent four-foot bionic mechanical dog |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114348142A CN114348142A (en) | 2022-04-15 |
| CN114348142B true CN114348142B (en) | 2023-11-24 |
Family
ID=81092821
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210162583.2A Active CN114348142B (en) | 2022-02-22 | 2022-02-22 | Indoor service type intelligent four-foot bionic mechanical dog |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114348142B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115071855B (en) * | 2022-07-07 | 2023-08-04 | 中国恩菲工程技术有限公司 | Large-angle stair upstairs and downstairs device for four-foot mechanical dog and application method of large-angle stair upstairs and downstairs device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008137120A (en) * | 2006-12-04 | 2008-06-19 | Tadano Ltd | Quadrupedal walking work robot |
| CN110153987A (en) * | 2019-06-26 | 2019-08-23 | 东北大学秦皇岛分校 | A kind of intelligent recognition transfer robot and its control method |
| CN111300372A (en) * | 2020-04-02 | 2020-06-19 | 同济人工智能研究院(苏州)有限公司 | Air-ground cooperative intelligent inspection robot and inspection method |
| CN211458067U (en) * | 2019-06-13 | 2020-09-11 | 西安工业大学 | Four-foot bionic picking robot mechanical structure based on steering engine |
| CN112060109A (en) * | 2020-09-29 | 2020-12-11 | 南京工程学院 | Indoor bullet removal robot and working method thereof |
| CN112660263A (en) * | 2020-12-15 | 2021-04-16 | 无锡陆吾智能科技有限公司 | Education system based on bionic quadruped robot |
| CN113771983A (en) * | 2021-08-30 | 2021-12-10 | 北京工业大学 | Bionic quadruped robot based on intelligent evolution motor skill learning |
| CN113858161A (en) * | 2021-10-27 | 2021-12-31 | 中国矿业大学 | Bionic eye-based rail-mounted carrying robot and working method |
-
2022
- 2022-02-22 CN CN202210162583.2A patent/CN114348142B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008137120A (en) * | 2006-12-04 | 2008-06-19 | Tadano Ltd | Quadrupedal walking work robot |
| CN211458067U (en) * | 2019-06-13 | 2020-09-11 | 西安工业大学 | Four-foot bionic picking robot mechanical structure based on steering engine |
| CN110153987A (en) * | 2019-06-26 | 2019-08-23 | 东北大学秦皇岛分校 | A kind of intelligent recognition transfer robot and its control method |
| CN111300372A (en) * | 2020-04-02 | 2020-06-19 | 同济人工智能研究院(苏州)有限公司 | Air-ground cooperative intelligent inspection robot and inspection method |
| CN112060109A (en) * | 2020-09-29 | 2020-12-11 | 南京工程学院 | Indoor bullet removal robot and working method thereof |
| CN112660263A (en) * | 2020-12-15 | 2021-04-16 | 无锡陆吾智能科技有限公司 | Education system based on bionic quadruped robot |
| CN113771983A (en) * | 2021-08-30 | 2021-12-10 | 北京工业大学 | Bionic quadruped robot based on intelligent evolution motor skill learning |
| CN113858161A (en) * | 2021-10-27 | 2021-12-31 | 中国矿业大学 | Bionic eye-based rail-mounted carrying robot and working method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114348142A (en) | 2022-04-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20210147017A1 (en) | Achieving a Target Gait Behavior in a Legged Robot | |
| CN110667722B (en) | Wheel-foot switching robot based on electro-hydraulic hybrid drive and control system | |
| CN114348142B (en) | Indoor service type intelligent four-foot bionic mechanical dog | |
| Hirose et al. | Quadruped walking robots at Tokyo Institute of Technology | |
| CN205408633U (en) | But machine people is plucked to many arms of crawler -type apple of self -contained navigation | |
| CN105706637A (en) | Autonomous-navigation crawler-type multi-mechanical-arm apple picking robot | |
| US10988192B1 (en) | Three-piston ankle mechanism of a legged robot and associated control system | |
| CN108163080B (en) | Electrically driven quadruped robot capable of adapting to high load capacity of complex rugged terrain | |
| CN202608931U (en) | Separable wheel leg composite type robot | |
| CN111976859B (en) | UPS-based parallel-connection wheel-foot mobile robot | |
| CN109515655A (en) | A kind of multi-functional six crawler types underwater robot | |
| CN101758867A (en) | Four-footed walking robot in compound driving mode | |
| US9555846B1 (en) | Pelvis structure for humanoid robot | |
| CN105292298A (en) | Three-section machine body type hexapod robot with transportation function and operation function fused | |
| CN1931653A (en) | Crawler type multiple joint hinged robot suitable for search and detection in coal mine | |
| CN209903226U (en) | Weeding robot | |
| US10179619B1 (en) | Robotic foot sensor | |
| CN114223339B (en) | Robot chassis for multifunctional operation of paddy field and agricultural robot | |
| CN108860340A (en) | Wheel-track combined omni-directional mobile robots | |
| Hirose et al. | A proposal for cooperative robot" Gunryu" composed of autonomous segments | |
| TWI415755B (en) | A hexapod robot and wheel drive shifting device | |
| CN115140214B (en) | Disaster relief hexapod bionic robot | |
| CN116985090A (en) | Intelligent garbage sorting robot | |
| CN218488395U (en) | Bionic crab robot | |
| US20230125422A1 (en) | Control apparatus and control method as well as computer program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |