CN116279903A

CN116279903A - Four-foot robot

Info

Publication number: CN116279903A
Application number: CN202310288523.XA
Authority: CN
Inventors: 周书兴
Original assignee: Guangzhou Institute of Technology
Current assignee: Guangzhou Institute of Technology
Priority date: 2023-03-23
Filing date: 2023-03-23
Publication date: 2023-06-23

Abstract

The invention relates to the technical field of robots, and particularly discloses a quadruped robot which comprises a machine body, a robot body and a robot body, wherein the machine body is provided with a control device; the four leg devices are symmetrically arranged on two sides of the machine body respectively, each leg device comprises a first motor, a first driving rod, a second motor, a second driving rod, a transmission rod and a leg rod, a driving shaft of the first motor is fixedly connected with one end of the first driving rod, a driving shaft of the second motor is fixedly connected with one end of the second driving rod, two ends of the transmission rod are respectively pivoted to the other end of the first driving rod and the end part of the leg rod, the other end of the second driving rod is pivoted to the leg rod, and the leg rod is used for contacting the ground; the control device is used for changing the steering and rotating speed of the first motor and the second motor so as to change the walking gesture. The four-foot robot has good walking stability and high advancing efficiency.

Description

Four-foot robot

Technical Field

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

Background

Quadruped robots are designed to simulate the movements of quadruped animals, such as horses, dogs, cows, sheep legs. Compared with other robots, the four-foot robot is flexible in motion control, has good adaptability to working environments, has good capability of judging things, routes and scenes, has strong weight bearing capability on objects, has good motion and control stability, and has good dynamic walking capability, so that the four-foot robot can be applied to various dangerous, complex and severe environments to work.

However, the joints of each leg of the existing four-legged robot are simple in structure and easy to loosen, the walking steps of the joints are difficult to control through motors, and the problem of poor walking stability exists.

Disclosure of Invention

The aim of the embodiment of the invention is that: the utility model provides a four-legged robot, it can solve the problem that the walking stability is poor among the prior art.

In order to achieve the above purpose, the present application adopts the following technical scheme:

provided is a four-legged robot including:

a body having a control device;

the four leg devices are symmetrically arranged on two sides of the machine body respectively, each leg device comprises a first motor, a first driving rod, a second motor, a second driving rod, a transmission rod and a leg rod, a driving shaft of the first motor is fixedly connected with one end of the first driving rod, a driving shaft of the second motor is fixedly connected with one end of the second driving rod, two ends of the transmission rod are respectively pivoted with the other end of the first driving rod and the end part of the leg rod, and the other end of the second driving rod is pivoted with the leg rod so that the first driving rod, the transmission rod, the leg rod and the second driving rod form a four-bar mechanism, and the end part of the leg rod, which is far away from the transmission rod, is used for contacting the ground;

the control device is respectively in communication connection with the first motor and the second motor, and is used for changing the steering and the rotating speed of the first motor and the second motor so as to enable the leg rod to change the walking posture in front of the machine body.

As a preferred embodiment of the quadruped robot, the robot further comprises: the visual identification device is arranged at the top of the machine body and is in communication connection with the control device, and the visual identification device is used for identifying the terrain in front of the machine body so that the control device can change the walking route according to the terrain in front of the machine body.

As a preferred scheme of the quadruped robot, the visual recognition device comprises a camera, a connecting support and a guide rail, wherein the camera is arranged on the connecting support, the bottom of the connecting support is movably arranged on the guide rail, and the guide rail is fixedly arranged at the top of the machine body.

As a preferable scheme of the quadruped robot, the number of the cameras and the connecting supports is at least two.

As a preferable scheme of the quadruped robot, at least two adjusting holes are formed in the first driving rod, and the end part of the transmission rod is pivoted to one of the adjusting holes.

As a preferable scheme of the quadruped robot, the number of the adjusting holes is more than three, and the distances between the adjacent adjusting holes are equal.

As a preferable scheme of the quadruped robot, the second driving rod is provided with at least two gear holes, the leg device further comprises a connecting rod, and two ends of the connecting rod are respectively fixedly connected with one gear hole and pivoted on the leg rod.

As a preferable mode of the four-legged robot, an end portion of the leg rod, which is far away from the transmission rod, is provided with an elastic portion for contacting the ground.

As a preferable scheme of the quadruped robot, one side of the elastic part, which is close to the ground, is a curved surface.

As a preferable scheme of the quadruped robot, the leg rod is concavely provided with a groove.

The beneficial effects of this application are:

two leg devices, namely four leg devices, are symmetrically arranged on two sides of the machine body respectively, and a control device in the machine body is in communication connection with a first motor and a second motor of the leg devices, so that the control device can change the steering and rotating speeds of the first motor and the second motor of the four leg devices, and the walking gesture is changed, for example, the walking gesture is changed, the walking gesture is turned, the stability is kept on uneven ground, and the walking stability of the quadruped robot is improved.

The leg device comprises a first motor, a first driving rod, a second motor, a second driving rod, a transmission rod and a leg rod, wherein a driving shaft of the first motor is fixedly connected with one end of the first driving rod, a driving shaft of the second motor is fixedly connected with one end of the second driving rod, two ends of the transmission rod are respectively pivoted to the other end of the first driving rod and the end of the leg rod, and the other end of the second driving rod is pivoted to the leg rod, so that the first driving rod, the transmission rod, the leg rod and the second driving rod form a four-bar mechanism. When the driving shaft of the first motor drives the first driving rod to rotate forwards or reversely and the driving shaft of the second motor drives the second driving rod to rotate forwards or reversely, the leg rods are driven to rotate under the mutual constraint of the first driving rod, the transmission rod, the leg rods and the second driving rod, so that the standing or leg stretching action of the four-legged robot is realized. The leg rods of the same group are used as standing fulcra of the machine body, and when the leg rods of the other group do forward movement close to the machine body or reverse movement far away from the machine body, the machine body can move forwards or backwards relative to the ground. When the rotating speeds or the steering directions of the different first motors and the different second motors in the same group are different, the advancing direction of the machine body can be changed, so that the four-foot robot can avoid the obstacle when facing complex terrain.

Therefore, the four-legged robot only needs to control the steering and the rotating speed of the first motor and the second motor of each leg device, the walking path of the four-legged robot can be changed to realize obstacle avoidance, the four-bar mechanism of the leg device has the characteristic of stable transmission, the accurate control of the walking step distance can be realized through the control of the first motor and the second motor, the walking stability is improved, and the advancing efficiency of the four-legged robot is improved.

Drawings

The present application is described in further detail below with reference to the drawings and examples.

Fig. 1 is a schematic structural diagram of a quadruped robot according to an embodiment of the present disclosure.

Fig. 2 is a schematic structural diagram of a leg device according to an embodiment of the present application.

Fig. 3 is a schematic structural view of a leg device according to another embodiment of the present application.

Fig. 4 is a schematic structural diagram of a visual recognition device according to an embodiment of the present application.

Fig. 5 is a schematic diagram of a standing posture of a quadruped robot according to an embodiment of the present disclosure.

Fig. 6 is a schematic diagram of a walking gesture of a quadruped robot according to an embodiment of the present disclosure.

Fig. 7 is a schematic diagram of a walking gesture of a quadruped robot according to another embodiment of the present disclosure.

In the figure:

1. a body;

2. a visual recognition device; 21. a camera; 22. a connecting bracket; 23. a guide rail;

3. leg means; 31. a first motor; 32. a first driving lever; 321. an adjustment aperture; 33. a second motor; 34. a second driving lever; 341. a gear hole; 35. a transmission rod; 36. a leg bar; 361. a groove; 37. an elastic part; 38. and (5) connecting a rod.

Description of the embodiments

In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present application more clear, the technical solutions of the embodiments of the present application are described in further detail below, and it is obvious that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

In the description of the present application, unless explicitly stated and limited otherwise, the terms "connected," "secured" and "fixed" are to be construed broadly, as for example, they may be fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In this application, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, and may also include the first and second features not being in direct contact but being in contact with each other by way of additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

As shown in fig. 1, the present embodiment provides a quadruped robot including:

a body 1 having a control device;

the four leg devices 3, the two leg devices 3 are symmetrically arranged at two sides of the machine body 1 respectively, the leg devices 3 comprise a first motor 31, a first driving rod 32, a second motor 33, a second driving rod 34, a transmission rod 35 and a leg rod 36, a driving shaft of the first motor 31 is fixedly connected with one end of the first driving rod 32, a driving shaft of the second motor 33 is fixedly connected with one end of the second driving rod 34, two ends of the transmission rod 35 are respectively pivoted to the other end of the first driving rod 32 and the end of the leg rod 36, two ends of the second driving rod 34 are respectively pivoted to the first driving rod 32 and the leg rod 36, so that the first driving rod 32, the transmission rod 35, the leg rod 36 and the second driving rod 34 form a four-bar mechanism, and the end of the leg rod 36 far away from the transmission rod 35 is used for contacting the ground;

the control device is respectively in communication connection with the first motor 31 and the second motor 3, and is used for changing the steering direction and the rotating speed of the first motor 31 so as to change the walking posture of the four-legged robot.

According to the four-legged robot walking device, two leg devices 3, namely four leg devices 3, are symmetrically arranged on two sides of the machine body 1, and a control device in the machine body 1 is in communication connection with a first motor 31 and a second motor 33 of the leg devices 3, so that the control device can change the steering and rotating speeds of the first motor 31 and the second motor 33 of the four leg devices 3, the walking posture of the four-legged robot is changed, for example, turning is realized, the stability is kept on uneven ground, and the walking stability of the four-legged robot is improved.

The leg device 3 includes a first motor 31, a first driving rod 32, a second motor 33, a second driving rod 34, a transmission rod 35 and a leg rod 36, wherein a driving shaft of the first motor 31 is fixedly connected with one end of the first driving rod 32, a driving shaft of the second motor 33 is fixedly connected with one end of the second driving rod 34, two ends of the transmission rod 35 are respectively pivoted to the other end of the first driving rod 32 and the end of the leg rod 36, and the other end of the second driving rod 34 is pivoted to the leg rod 36, so that the first driving rod 32, the transmission rod 35, the leg rod 36 and the second driving rod 34 form a four-bar mechanism. When the driving shaft of the first motor 31 drives the first driving rod 32 to rotate forward or backward and the driving shaft of the second motor 33 drives the second driving rod 34 to rotate forward or backward, the leg rod 36 is driven to rotate under the mutual constraint of the first driving rod 32, the transmission rod 35, the leg rod 36 and the second driving rod 34, so that the standing or leg stretching action of the four-legged robot is realized. The forward and backward movement of the machine body 1 relative to the ground can be realized by matching the forward and backward movements of the leg rods 36 of the leg devices 3 of different groups, wherein the leg rods 36 of the same group are used as standing fulcra of the machine body 1, and the forward movement or the backward movement of the leg rods 36 of the other group relative to the machine body 1 can be realized. When the rotation speeds or the rotation directions of the first motor 31 and the second motor 33 which are different in the same group are different, the advancing direction of the machine body 1 can be changed, so that the obstacle avoidance of the four-foot robot when facing complex terrain is realized.

Therefore, the four-legged robot of the present application can change the walking path of the four-legged robot to realize obstacle avoidance by only controlling the steering and rotating speeds of the first motor 31 and the second motor 33 of each leg device 3, and the four-bar mechanism of the leg device 3 has the characteristic of stable transmission, and can realize the accurate control of the walking step through the control of the first motor 31 and the second motor 33, thereby improving the walking stability and the advancing efficiency of the four-legged robot.

For the walking posture control of the four-legged robot, referring to fig. 5, the four leg devices 3 of the four-legged robot are consistent in posture, can be kept stably standing, when the forward or backward movement is required, referring to fig. 6 and 7, the left leg device 3 of the machine body 1 can be named as left one and left two, the right leg device of the machine body 1 can be named as right one and right two, the left one and right two leg rods 36 are extended forward, the end parts of the left two and right one leg rods 36 keep the original position with the ground unchanged, but the first driving rod 32 and the second driving rod 34 follow rotation, and the machine body is kept stable, so that the four-legged robot can be driven to move forward. The left and right leg bars 36 are then extended forward, and the ends of the left and right leg bars 36 remain unchanged from the ground but the first and second drive bars 32, 34 follow the rotation, so that the quadruped robot can be driven further forward. The four-legged robot can be driven to move forward continuously by repeating the steps, and if the forward extension amplitude of the left first or the right second or the left second or the right first is changed, the orientation angle of the machine body 1 can be changed, so that turning is realized. The retraction principle of the quadruped robot is similar, and the embodiment will not be described again.

If the four-legged robot faces uneven terrain, the end part of the leg rod 36 for supporting the body 1 is kept in contact with the ground when the four-legged robot walks by controlling the torque of the first motor 31 and the second motor 33 which are different from each other in the left first motor, the left second motor, the right first motor and the right second motor, so that the balance of the body 1 relative to the ground is maintained, and the effect of improving the walking stability of the four-legged robot is realized.

In one embodiment, referring to the figure, the quadruped robot of the present application further includes a visual recognition device 2 disposed on the top of the machine body 1, the visual recognition device 2 is simultaneously in communication connection with the control device, and the visual recognition device 2 is used for recognizing the terrain in front of the machine body 1, so that the control device changes the walking route by changing the steering direction and the rotation speed of the first motor 31 according to the terrain in front of the machine body 1.

In this embodiment, the visual recognition device 2 may collect the topographic data in front of the machine body 1 through a camera 21, a laser radar, and other visual sensors, and generate two-dimensional or three-dimensional topographic coordinate information through a recognition algorithm in the prior art, where the topographic information includes coordinate information of an obstacle. The control device compares the advancing route of the machine body 1 with the coordinate information of the obstacle in the topographic data, when the advancing route is overlapped with the coordinate information of the obstacle, the steering and rotating speeds of the first motor 31 and the second motor 33 of the leg devices 3 at two sides of the machine body 1 are changed, so that the current advancing route of the machine body 1 is deviated, the overlapping with the coordinate information of the obstacle is avoided, and the obstacle avoidance is realized. The specific control implementation process is the prior art, and this embodiment is not specifically described.

In particular, referring to fig. 4, the visual recognition device 2 includes a camera 21, a connection bracket 22, and a guide rail 23, the camera 21 is disposed on the connection bracket 22, the bottom of the connection bracket 22 is movably disposed on the guide rail 23, and the guide rail 23 is fixedly disposed on the top of the body 1. By changing the position of the bottom of the connecting bracket 22 relative to the guide rail 23, the position of the camera 21 relative to the body 1 can be changed, so that the shooting range of the camera 21 is changed, and the body 1 itself can be prevented from shielding the shooting range of the camera 21.

Further, with continued reference to fig. 4, the number of cameras 21 and connecting brackets 22 is at least two, and the relative positions of the two cameras 21 with respect to the machine body 1 are changed by the at least two connecting brackets 22, so that the shielding of the view caused by the volume of the machine body 1 can be further reduced. Meanwhile, the pictures shot by the two cameras 21 are combined, so that the depth of field of a shot object can be obtained, the three-dimensional coordinate information of the obstacle is calculated, the control device is more beneficial to calculating a new walking route, and the obstacle avoidance effect is improved.

Optionally, the camera 21 can rotate and lift on the connection support 22, specifically, the rotation mechanism and the lifting mechanism (not shown in the figure) can be used, so that the orientation angle of the camera 21 is further changed, and a larger range of view angles can be obtained, which is beneficial to finding a proper walking route.

In one embodiment, the preferred distance between the two cameras 21 is 0 to 40mm, and the height of the cameras 21 relative to the surface of the body 1 is 10 to 40mm.

Alternatively, the connecting bracket 22 is provided with a buckle, the guide rail 23 is provided with a guide groove, and the movable connection of the connecting bracket 22 and the guide rail 23 can be locked by the clamping connection (not shown in the figure) of the buckle and the guide groove, so that the connecting bracket 22 is prevented from derailing.

Preferably, referring to fig. 3, the first driving rod 32 is provided with at least two adjusting holes 321, and an end of the transmission rod 35 is pivotally connected to one of the adjusting holes 321. When the position of the end of the transmission rod 35 relative to the adjustment hole 321 is changed, the length of the arm of force of the first driving rod 32 relative to the transmission rod 35 can be changed, thereby changing the rotation angle of the leg rod 36. Specifically, when the transmission rod 35 is pivoted to the adjustment hole 321 far away from the first motor 31, the rotation angle of the leg rod 36 driven by the driving shaft of the first motor 31 at the same rotation angle is a, and when the transmission rod 35 is pivoted to the adjustment hole 321 near the first motor 31, the rotation angle of the leg rod 36 driven by the driving shaft of the first motor 31 at the same rotation angle is B, and a is greater than B. When the rotation angle of the leg lever 36 is large, the moving distance can be increased.

More preferably, the number of the adjustment holes 321 is more than three, and the intervals between adjacent adjustment holes 321 are equal, so that the designated adjustment holes 321 are uniformly selected according to the speed-shifting requirement, and the problem that the target adjustment holes 321 are difficult to select due to different speed-shifting variation amplitudes between the adjacent adjustment holes 321 is avoided.

Still preferably, referring to fig. 3, at least two gear holes 341 are formed in the second driving rod 34, and the leg device 3 further includes a connecting rod 38, and two ends of the connecting rod 38 are fixedly connected to one gear hole 341 and the pivotally connected leg rod 36, respectively, to achieve the effect of extending the driving force arm of the second driving rod 34, that is, increasing the standing height of the quadruped robot. When the standing height needs to be further increased, the end of the connecting rod 38 is fixedly connected to the gear hole 341, far away from the second motor 33, on the second driving rod 34, so that the length of the rod body formed by the second driving rod 34 and the connecting rod 38 can be further increased. On the contrary, when the standing height of the quadruped robot needs to be reduced, the end of the connecting rod 38 is fixedly connected to the gear hole 341 on the second driving rod 34, which is close to the second motor 33. The connection relationship of the connecting rod 38 to the different gear holes 341 may be changed according to different height requirements.

Similarly, the distances between the adjacent gear holes 341 are equal, so that the connecting rods 38 can be conveniently and rapidly connected to the corresponding gear holes 341 according to the height adjustment requirement, and the debugging process is reduced.

In particular, referring to fig. 2, the end of the leg bar 36 remote from the transmission bar 35 is provided with an elastic portion 37, the elastic portion 37 being capable of directly contacting the ground. The elastic portion 37 can wrap around the end of the leg bar 36 on the one hand, and on the other hand, the elastic portion 37 can increase friction against the ground and reduce impact vibration generated by the elastic portion 37 being driven to move with the ground.

Further, referring to fig. 2, the side of the elastic portion 37 near the ground is curved, so that the contact area of the elastic portion 37 with the ground can be reduced, and the leg device 3 can stand on the uneven ground through the elastic portion 37.

In a preferred embodiment, the elastic portion 37 is made of rubber or silica gel, and the service life of the elastic portion 37 is improved by utilizing the characteristics of insulation and good elastic recovery of the rubber or silica gel. Alternatively, the leg bar 36 is made of aluminum or aluminum alloy, and the weight of the quadruped robot is reduced by utilizing the characteristics of light weight and high strength of aluminum or aluminum alloy.

Optionally, referring to fig. 1, the leg bar 36 is concavely provided with a groove 361, the groove 361 being capable of reducing stress concentration of the leg bar 36 and also providing a deformation space when an end of the leg bar 36 is subjected to vibration impact in contact with the ground to reduce transmission of vibration to the leg bar 36 above the groove 361.

In the description herein, it should be understood that the terms "upper," "lower," "left," "right," and the like are merely for convenience of description and to simplify the operation, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the application. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for providing a special meaning.

In the description herein, reference to the term "one embodiment," "an example," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples.

Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in the foregoing embodiments, and that the embodiments described in the foregoing embodiments may be combined appropriately to form other embodiments that will be understood by those skilled in the art.

The technical principles of the present application are described above in connection with specific embodiments. These descriptions are provided only for the purpose of illustrating the principles of the present application and should not be construed as limiting the scope of the present application in any way. Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification without undue burden from the present disclosure.

Claims

1. A quadruped robot comprising:

a body (1) having a control device;

the four leg devices (3), two leg devices (3) are symmetrically arranged on two sides of the machine body (1), the leg devices (3) comprise a first motor (31), a first driving rod (32), a second motor (33), a second driving rod (34), a transmission rod (35) and a leg rod (36), a driving shaft of the first motor (31) is fixedly connected with one end of the first driving rod (32), a driving shaft of the second motor (33) is fixedly connected with one end of the second driving rod (34), two ends of the transmission rod (35) are respectively pivoted to the other end of the first driving rod (32) and the end of the leg rod (36), and the other end of the second driving rod (34) is pivoted to the leg rod (36) so that the first driving rod (32), the transmission rod (35), the leg rod (36) and the second driving rod (34) form a four-bar mechanism, and the two ends of the leg rod (36) far away from the transmission rod (35) are used for contacting the ground;

the control device is respectively in communication connection with the first motor (31) and the second motor (33), and is used for changing the steering and rotating speeds of the first motor (31) and the second motor (33) so as to change the walking posture.

2. The quadruped robot of claim 1, further comprising: the visual identification device (2) is arranged at the top of the machine body (1) and is in communication connection with the control device, and the visual identification device (2) is used for identifying the terrain in front of the machine body (1) so that the control device can change the walking route according to the terrain in front of the machine body (1).

3. The quadruped robot according to claim 2, wherein the visual recognition device (2) comprises a camera (21), a connecting support (22) and a guide rail (23), the camera (21) is arranged on the connecting support (22), the bottom of the connecting support (22) is movably arranged on the guide rail (23), and the guide rail (23) is fixedly arranged on the top of the machine body (1).

4. A quadruped robot according to claim 3, characterized in that the number of cameras (21) and connecting brackets (22) is at least two.

5. The quadruped robot according to claim 1, wherein the first driving rod (32) is provided with at least two adjusting holes (321), and the end part of the driving rod (35) is pivoted on one of the adjusting holes (321).

6. The quadruped robot of claim 5, wherein the number of the adjusting holes (321) is more than three, and the distances between adjacent adjusting holes (321) are equal.

7. The quadruped robot of claim 5, wherein the second driving rod (34) is provided with at least two gear holes (341), the leg device (3) further comprises a connecting rod (38), and two ends of the connecting rod (38) are respectively fixedly connected to one gear hole (341) and pivoted to the leg rod (36).

8. The quadruped robot according to claim 1, characterized in that an end of the leg bar (36) remote from the transmission bar (35) is provided with an elastic portion (37), the elastic portion (37) being adapted to contact the ground.

9. The quadruped robot of claim 8, wherein the side of the elastic part (37) near the ground is curved.

10. The quadruped robot of any one of claims 1-9, wherein the leg bars (36) are concavely provided with grooves (361).