CN210233037U - Walking leg for voice-controlled quadruped robot - Google Patents

Abstract

The utility model discloses a walking leg for speech control four-footed robot, leg and shank in horizontal thigh, every single move, horizontal thigh one end articulates on the fuselage, and the other end articulates there is leg one end in the every single move, and the leg other end articulates there is the shank in the every single move, and the articulated department in horizontal thigh both ends and every single move in leg and the articulated department of shank equally divide do not install its pivoted horizontal steering wheel of drive, every single move steering wheel one and every single move steering wheel two. The utility model discloses a rotatory walking is realized to the steering wheel, and the walking is nimble, turns to the convenience, still has simple structure, low price and convenient operation swift characteristics.

Description

Walking leg for voice-controlled quadruped robot

Technical Field

The utility model relates to a walking leg for speech control four-footed robot belongs to the robotechnology field.

Background

In practical applications, the legged robot has strong adaptability to the environment and is designed to replace a human to perform many complicated operations. The foot type robot comprises a biped robot, a quadruped robot, a hexapod robot, an octapod robot and the like. Among them, the quadruped robot is widely designed and applied due to the characteristics of high stability, low motion complexity and the like. Aiming at the research conditions at home and abroad, quadruped robots with different structures and different functions are widely designed. More robots controlled by voice appear in service robots, the application of the robots in industry is less, and the supporting legs of the existing four-legged robot are complex in structure, heavy and poor in walking flexibility.

Disclosure of Invention

The to-be-solved technical problem of the utility model is: provides a walking leg for voice control of a quadruped robot, which aims to solve the problems in the prior art.

The utility model discloses the technical scheme who takes does: the walking leg for the voice-controlled quadruped robot comprises a horizontal thigh, a pitching middle leg and a shank, wherein one end of the horizontal thigh is hinged to a robot body, the other end of the horizontal thigh is hinged to one end of the pitching middle leg, the other end of the pitching middle leg is hinged to the shank, and a horizontal steering engine, a pitching steering engine I and a pitching steering engine II which drive the horizontal steering engine, the pitching steering engine I and the pitching steering engine II to rotate are respectively arranged at the hinged position of the two ends of the horizontal thigh and the hinged position.

Preferably, an upper end opening cavity is formed in the inner end of each horizontal thigh, the lower end face of each horizontal thigh is hinged to the machine body, a horizontal steering engine is installed in each cavity, an output shaft of each horizontal steering engine is fixedly connected to the machine body, the outer end of each horizontal thigh is of a double-lug structure, the pitching middle legs are of vertically symmetrical structures, clamping grooves for installing a pitching steering engine I and a pitching steering engine II are formed in the upper end face and the lower end face of each horizontal thigh, two hinged shafts which are respectively hinged to the horizontal thighs and the shanks are arranged on the right end face, and output shafts of the pitching steering engines I and the pitching steering.

Preferably, the horizontal steering engine, the first pitching steering engine and the second pitching steering engine of each walking leg are connected to a controller, the controller is connected to a wireless remote control module through a wireless communication module, and the wireless remote control module comprises a voice recognition module, a liquid crystal display screen, a wireless communication transmitting module and a matrix keyboard.

Preferably, the controller adopts an STC15 single chip microcomputer.

The utility model has the advantages that: compared with the prior art, the utility model discloses a rotatory walking is realized to supporting leg structure steering wheel, and the walking is nimble, turns to the convenience, still has simple structure, low price and convenient operation swift characteristics.

Drawings

FIG. 1 is a perspective view of a frame of a voice controlled quadruped robot;

FIG. 2 is a diagrammatic illustration of a machine leg attachment;

FIG. 3 is a schematic diagram of a voice control module;

FIG. 4 is a schematic diagram of the connection of the controller and the wireless communication module;

FIG. 5 is a schematic top view of a steering engine;

FIG. 6 is a schematic view of the steering engine structure;

FIG. 7 is a circuit schematic of a master control board;

FIG. 8 is a schematic circuit diagram of a steering engine control panel;

FIG. 9 is a schematic circuit diagram of a wireless remote control module;

FIG. 10 is a schematic diagram of a wireless remote control module display screen circuit;

FIG. 11 is a schematic diagram of a matrix keyboard circuit for a wireless remote control module;

FIG. 12 is a circuit schematic of a voice module of the wireless remote control module;

fig. 13 is a flow chart of the wireless remote control of the present invention.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and specific embodiments.

Example 1: as shown in fig. 1-13, the walking leg for voice control of the quadruped robot comprises a horizontal thigh 2, a pitching middle leg 3 and a shank 4, wherein one end of the horizontal thigh 2 is hinged on a machine body 1, the other end of the horizontal thigh is hinged with one end of the pitching middle leg 3, the other end of the pitching middle leg 3 is hinged with the shank 4, and a horizontal steering engine 5, a pitching steering engine I6 and a pitching steering engine II 7 which drive the horizontal thigh 2 to rotate are respectively arranged at the hinged part of the two ends of the horizontal thigh and the hinged part of the pitching middle leg 3 and the shank 4.

Preferably, an upper end opening cavity 201 is arranged inside the inner end of the horizontal thigh 2, the lower end face of the inner end is hinged to the machine body 1, a horizontal steering engine is installed in the cavity 201, an output shaft of the horizontal steering engine is fixedly connected to the machine body 1, the outer end of the horizontal thigh 2 is of a double-lug structure, the pitching middle leg 3 is of an up-and-down symmetrical structure, clamping grooves 301 for installing a pitching steering engine I and a pitching steering engine II are formed in the upper end face and the lower end face of the upper end face and the lower end face of the lower end face, two hinged shafts 302 which are hinged to the horizontal thigh 2 and the lower leg 4 respectively are arranged on the right end face, the output shafts of the pitching steering engine I and the pitching steering engine II face the.

Preferably, the horizontal steering engine of each walking leg, every single pitch steering engine and every single pitch steering engine are connected to the controller, the controller is connected to the wireless remote control module through the wireless communication module, the wireless remote control module comprises a voice recognition module, a liquid crystal display screen, a wireless communication transmitting module and a matrix keyboard, the voice recognition module, the liquid crystal display screen, the wireless communication transmitting module and the matrix keyboard are connected with the remote control controller, wireless remote control can be achieved, the controller adopts an STC15 single chip microcomputer, control is conducted through a voice control chip, and the robot is enabled to execute initial commands in four directions, namely forward, backward, left and right.

Example 2: as shown in fig. 1-13, a voice control quadruped robot comprises a robot body 1, four walking legs are connected at four corners of the robot body 1, each walking leg comprises a horizontal thigh 2, a pitching middle leg 3 and a shank 4, one end of the horizontal thigh 2 is hinged to the robot body 1, the other end of the horizontal thigh 2 is hinged to one end of the pitching middle leg 3, the other end of the pitching middle leg 3 is hinged to the shank 4, and a horizontal steering engine 5, a pitching steering engine I6 and a pitching steering engine II 7 which drive the horizontal steering engine to rotate are respectively installed at the hinged position of the two ends of the horizontal thigh 2 and the hinged position of the pitching middle leg.

Preferably, the machine body 1 is of a hollow structure and comprises an upper plate 101, a lower plate 102 and connecting columns 103, the upper plate 101 and the lower plate 102 are fixedly connected through the four connecting columns 103, four corners of the upper plate 101 and four corners of the lower plate 102 extend outwards to form hinged double lugs 104, and the structure is light in weight, stable and reliable in support, large in walking feet and rapid in walking.

Preferably, an upper end opening cavity 201 is arranged inside the inner end of the horizontal thigh 2, the lower end face of the inner end is hinged on the machine body 1, a horizontal steering engine is installed in the cavity 201, an output shaft of the horizontal steering engine is fixedly connected to the machine body 1 through a steering engine disc, the outer end of the horizontal thigh 2 is of a double-lug structure, the pitching middle leg 3 is of an up-and-down symmetrical structure, the upper end face and the lower end face of the horizontal steering engine are provided with a clamping groove 301 for installing a pitching steering engine I and a pitching steering engine II, the right end face of the horizontal steering engine I and the right end face of the horizontal thigh 2 and the lower leg 4 are provided with two hinged shafts 302 respectively, the output shafts of the pitching steering engine I and the pitching steering engine II face the left end of the pitching middle leg 3 and.

Preferably, the horizontal steering wheel of every walking leg, every single pitch steering wheel and every single pitch steering wheel are all connected to the controller through the serial ports, the controller is connected to wireless remote control module through wireless communication module, wireless remote control module includes a speech recognition module, liquid crystal display, wireless communication emission module and matrix keyboard, speech recognition module, liquid crystal display, wireless communication emission module and matrix keyboard all are connected with remote control controller, speech recognition module passes through the serial ports and is connected with remote control controller, can realize wireless remote control, the controller adopts the STC15 singlechip, control through the voice control chip, let the robot forward, back, left side, four directions in the right side carry out initial command.

When the four-legged robot is used, a voice command is sent out, the wireless communication module receives the voice control command, the controller inputs a control signal to the switch device from the input pin through the received voice command, the controller controls the steering engines according to the received signal, the number of the steering engines is 12 in total, and the four-legged robot can move forwards, backwards, leftwards and rightwards in the same direction through voice control.

In this embodiment, the controller, the wireless communication module, and the steering engine control panel share one power supply, and the controller and the wireless communication module are respectively connected in parallel between two poles of the power supply.

Furthermore, 12 steering engines of the voice-controlled quadruped robot are connected with a power supply through rudder lines, and the power supply provides electric energy.

Further, the controller and the remote control board are powered on, and the voice module working mode is selected through the matrix keyboard on the remote control board, wherein the key s1 is the repeated recognition mode, the key s2 is the single recognition mode, and the key s3 is the exit voice mode.

Further, the display screen adopts LCD12864, shows relevant operating mode's information, and the speech module recognizable instruction has: the system comprises a null command, an on-site standby command, a forward command, a backward command, a left command, a right command and the like, wherein the commands are stored in a voice module in advance through an upper computer.

Further, after the recognition is finished, the code obtained by the recognition is sent to a remote controller of the remote control module through a serial port, and after a valid voice command is recognized, the remote controller packs the recognition code and sends the recognition code to the controller through the nRF24L 01.

And further, the controller obtains a steering engine control two-dimensional array through algorithm calculation, the array is sent to the steering engine through a serial port, and the steering engine is controlled by two groups of I/O ports in parallel according to a certain sequence after being received by the steering engine to control the robot to move.

The main control panel of the controller, the remote control panel of the wireless remote control module and the power supply used by the steering engine control panel are all required to be connected with the voltage stabilizing module, so that the power supply stability is ensured.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention, therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims (4)

1. A walking leg for voice control quadruped robot is characterized in that: leg (3) and shank (4) in horizontal thigh (2), every single move, horizontal thigh (2) one end articulates on fuselage (1), and leg (3) one end in the other end articulates there is every single move, and leg (3) other end articulates in every single move has shank (4), and leg (3) and shank (4) articulated department are equallyd divide and are installed its pivoted horizontal steering wheel (5), every single move steering wheel (6) and every single move steering wheel two (7) of drive in horizontal thigh (2) both ends articulated department and every single move.

2. The walking leg for voice-controlled quadruped robot according to claim 1, wherein: the inner portion of the horizontal thigh (2) is provided with an upper end opening cavity (201), the lower end face is hinged to the machine body (1), a horizontal steering engine is installed in the cavity (201), an output shaft of the horizontal steering engine is fixedly connected to the machine body (1), the outer end of the horizontal thigh (2) is of a double-lug structure, the pitching middle leg (3) is of an up-and-down symmetrical structure, the upper end face and the lower end face are provided with a clamping groove (301) for installing a pitching steering engine I and a pitching steering engine II, the right end face is provided with two hinged shafts (302) which are respectively hinged with the horizontal thigh (2) and the shank (4), and the output shafts of the pitching steering engine I and the pitching steering engine II face the left end of the pitching middle leg (.

3. The walking leg for voice-controlled quadruped robot according to claim 1, wherein: the horizontal steering engine, the first pitching steering engine and the second pitching steering engine of each walking leg are all connected to the controller, the controller is connected to the wireless remote control module through the wireless communication module, and the wireless remote control module comprises a voice recognition module, a liquid crystal display screen, a wireless communication transmitting module and a matrix keyboard.

4. The walking leg for voice-controlled quadruped robot as claimed in claim 3, wherein: the controller adopts STC15 singlechip.

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