CN210680978U - Four-footed robot dog of crawler-type in coordination - Google Patents

Abstract

The utility model provides a four-footed machine dog of crawler-type in coordination, includes the truck main part, connects respectively four limbs legs that can walk and can fold by oneself and rotate on flat road or complicated topography of four tip of truck main part to and connect through the electro-magnet truck that truck main part belly, be used for driving truck main part and four limbs whole at the walking of flat road is in. The utility model discloses a comparatively simple mechanical structure, the walking gesture of the bionical dog class of machine dog simulation to three point support's mode keep balance realizes advancing of fourth leg, circulates in proper order, reaches and gos forward. The four-footed robot dog can be controlled conveniently, move flexibly and adapt to a more complex terrain environment. And when comparatively flat topography, can make four legs use two main joints to realize folding upset as the axle respectively, the focus of four-footed robot reduces, and abdominal tracked vehicle lands, is loaded the body by the tracked vehicle and moves, the energy can be saved.

Description

Four-footed robot dog of crawler-type in coordination

Technical Field

The utility model relates to a machine dog. In particular to a cooperative crawler type quadruped robot dog.

Background

At present, the robot capable of rescuing and supplying under complex terrain is available in China, and the ordinary tracked robot has limitation in motion and cannot adapt to rugged and complex terrain. Compared with a crawler-type robot, the four-legged robot has stronger flexibility, is supported and optimized by means of the crawler and attached to the ground plane to be supported by four points of legs, designs the bionic robot by taking the body of a dog as a prototype, and can break through the limitation of complex space in the postures of squatting, standing, walking, jumping and the like. The back can bear the weight of goods and materials, provides the supply for the person of suffering from a disaster in some natural disasters.

The four-legged robots disclosed in patents CN 109176455 a and CN 109178138A all adopt a mode of hydraulic cylinders and push rods to realize the movement of four sets of robot legs. The leg adopts the structure of hydraulic push rod, though there is certain advantage in the aspect of bearing, the angle range that the leg moved when walking is very little, leads to its stroke less, can not effective the passing through when facing higher barrier.

In the quadruped robot disclosed in patent CN 108749951 a, the leg structure combines the thigh and the shank into one, i.e. the angle of the leg bending is fixed, and although there is a damping spring, the leg lifting is easy to step on or be blocked when encountering uneven terrain. And the degree of freedom of the robot is only one direction, and the turning function can not be realized.

In a three-leg four-foot robot disclosed in patent CN 108639180 a, the sidesway joint module, hip joint and knee joint all adopt motors with different structures.

Disclosure of Invention

The utility model aims to solve the technical problem that a machinery simple structure is provided, the control of being convenient for, the nimble four-footed machine dog of crawler-type in coordination of motion.

The utility model adopts the technical proposal that: the utility model provides a four-footed machine dog of crawler-type in coordination, includes the truck main part, connects respectively four limbs legs that can walk and can fold by oneself and rotate on flat road or complicated topography of four tip of truck main part to and connect through the electro-magnet truck that truck main part belly, be used for driving truck main part and four limbs whole at the walking of flat road is in.

The truck main body comprises a frame front cross beam and a frame rear cross beam, and a plurality of frame upper longitudinal beams connected between the frame front cross beam and the frame rear cross beam upper end edges are connected to frame lower longitudinal beams between the frame front cross beam and the frame rear cross beam lower end edges and support ribs connected between the corresponding frame upper longitudinal beams and the frame lower longitudinal beams, the electromagnet is connected to the lower end face of the frame lower longitudinal beams, and truck steering engine driving mechanisms used for connecting and driving the four limbs to rotate are respectively arranged at the two ends of the frame front cross beam and the two ends of the frame rear cross beam.

Two ends of the front beam of the frame are respectively provided with a front trunk steering engine shaft hole and a front trunk steering engine fixing hole, a rear trunk steering engine shaft hole and a rear trunk steering engine fixing hole are respectively formed at two ends of the rear cross beam of the frame, the trunk steering engine driving mechanism comprises two front trunk steering engines which are respectively arranged at the inner sides of the two ends of the front cross beam of the frame, and two rear truck steering gears respectively arranged at the outer sides of the two ends of the rear frame beam, first output shafts of the two front truck steering gears correspondingly penetrate through front truck steering gear shaft holes formed on the front frame beam and are connected with a front connecting flange plate which is positioned at the outer side of the front frame beam and is used for connecting two limb legs at the front ends of the four limb legs, the second output shaft of two back truck steering gears corresponds to run through and forms back truck steering gear shaft hole on the frame back beam is connected and is located being used for of frame back beam inboard and is connected the back flange dish of two limbs legs in the rear end among four limbs legs.

The four limbs have the same structure, two limbs at the front end and two limbs at the rear end of the four limbs are symmetrically arranged, the two limbs positioned at the same side of the trunk body are arranged in the same direction, each of the four limbs comprises a thigh steering engine connecting piece connected with a front connecting flange plate or a rear connecting flange plate in the trunk steering engine driving mechanism, a thigh steering engine fixedly connected to one side surface of the thigh steering engine connecting piece, an output shaft of the thigh steering engine penetrates through the thigh steering engine connecting piece and is connected with a thigh trunk connecting piece through a thigh steering engine connecting flange plate positioned at the other side surface of the thigh steering engine connecting piece, the thigh connecting piece is fixedly connected with one end of the thigh trunk, the other end of the thigh trunk is fixedly connected with a shank steering engine connecting piece, and one side surface of the shank steering engine connecting piece is fixedly connected with a shank steering engine, an output shaft of the shank steering engine penetrates through the shank steering engine connecting piece and is connected with a shank trunk connecting piece through a shank steering engine connecting flange plate positioned on the other side face of the shank steering engine connecting piece, the shank trunk connecting piece is fixedly connected with one end of a shank trunk, and the other end of the shank trunk is connected with a foot sleeve.

Thigh steering wheel connecting piece including thigh steering wheel connecting plate, thigh steering wheel connecting plate upper portion be provided with through the support floor be used for with preceding flange plate or back flange plate fixed connection's ring flange connecting plate, be formed with the ring flange fixed orifices that is used for fixed preceding flange plate or back flange plate on the ring flange connecting plate, the lower part of thigh steering wheel connecting plate is formed with and is used for running through the thigh steering wheel shaft hole of the output shaft of thigh steering wheel, and be used for fixing the thigh steering wheel fixed orifices of thigh steering wheel.

Shank steering wheel connecting piece including shank steering wheel fixed plate and the integrative thigh trunk adapter sleeve that is used for connecting the thigh trunk that forms in shank steering wheel fixed plate one side, be formed with the lower tip patchhole that is used for inserting thigh trunk lower tip on the thigh trunk adapter sleeve, be formed with a plurality of on the mantle wall of thigh trunk adapter sleeve and be used for fixing the thigh trunk fixed orifices of thigh trunk, be formed with on the shank steering wheel fixed plate and be used for running through shank steering wheel shaft hole of shank steering wheel third output shaft and be used for fixing the shank steering wheel fixed orifices of shank steering wheel.

The thigh trunk connecting piece and the shank trunk connecting piece are identical in structure and respectively comprise a connecting piece main body fixedly connected with the thigh steering engine connecting flange plate or the shank steering engine connecting flange plate, an upper end inserting hole formed in the axial direction of the connecting piece main body and used for being inserted into the upper end of the thigh trunk or the shank trunk, and a trunk fixing hole used for fixing the upper end of the thigh trunk or the shank trunk is formed in the radial direction of the connecting piece main body.

The upper end insertion hole is formed in the connecting piece main body in a penetrating mode, and an auxiliary hole which is convenient for installation of the upper end portion of the thigh trunk or the upper end portion of the shank trunk is formed in the connecting piece main body and perpendicular to the upper end insertion hole.

Preceding flange plate, back flange plate, thigh steering wheel flange plate and shank steering wheel flange plate structure the same, all include the flange dish chassis, the perpendicular outside convex connecting hole that is formed with in flange dish chassis center, the boss axle center is formed with the connecting hole that is used for with the output shaft fixed connection of preceding truck steering wheel or back truck steering wheel or thigh steering wheel or shank steering wheel, the side of boss be formed with the connecting hole link to each other be general in the fixed screw of the output shaft of fixed preceding truck steering wheel or back truck steering wheel or thigh steering wheel or shank steering wheel, be formed with along the circumference on the flange dish chassis a plurality of be used for with thigh steering wheel connecting piece, thigh trunk connecting piece and shank trunk connecting piece fixed connection's flange connecting hole.

The utility model discloses a four-footed machine dog of crawler-type in coordination adopts comparatively simple mechanical structure, realizes that four-footed machine dog can be convenient for control, and nimble motion adapts to comparatively complicated topography environment. When the terrain is relatively flat, the four limbs can be folded and turned over by themselves, and the crawler trolley loads the body to move, so that energy is saved. Under the comparatively complicated environment of topography, the utility model discloses a walking gesture of bionical dog class is simulated to the machine dog to three point support's mode keep balance realizes advancing of fourth leg, circulates in proper order, reaches and gos forward. Except walking with four limbs, through the cooperation of forelimb leg and hind limb leg, can make four legs use two main joints to realize folding as the axle respectively, the focus of four-footed robot reduces, and abdominal tracked vehicle lands, is located the truck steering wheel of truck four ends and can upwards overturn with folding forelimb leg and hind limb leg, breaks away from ground completely, drives the health by the tracked vehicle and gos forward.

The utility model discloses a four-footed machine dog of crawler-type in coordination adopts pure electric motor drive also can realize higher load, and the pneumatic cylinder though can promote the load, but the stroke is limited, and motion ability and flexibility are far away not as late as the motor, displacement by a wide margin of shank can be realized to the motor. For the main joint of two forelimbs legs of the robot of publication No. CN 109176455A and two hind limbs legs relative, it is likely to bump during the motion, the utility model discloses a two main joints set up in the shank structure of machine dog in opposite directions, the effectual step width that has increased during the motion has improved the motion ability.

The utility model discloses a motor is installed to machine dog thigh and shank junction, and the shank can lift up alone or put down, and the motor also is equipped with to thigh and truck junction, can realize the function of turning, has promoted the flexibility of robot greatly to and the variety of gait.

The utility model discloses an every joint assembly of machine dog all is the same motor, and the shank only comprises motor, backbone and connecting piece, and the structure is more simple, and is more convenient during the equipment, also is convenient for maintain and change.

The utility model discloses a leg structure of four-footed machine dog of crawler-type in coordination is more simple reliable for existing four-footed robot, can realize folding and the rotation by oneself. Except walking with four limbs, through the cooperation of forelimb leg and hind limb leg, can make four legs use two main joints to realize folding as the axle respectively, the focus of four-footed machine dog reduces, and abdominal tracked vehicle lands, is located the truck steering wheel of truck four ends and can upwards overturn with folding forelimb leg and hind limb leg, breaks away from ground completely, drives the health by the tracked vehicle and gos forward. Due to the special structure of the legs, the four-foot robot dog can also walk vertically, the posture of the body of the four-foot robot dog is changed by adjusting the angle of the steering engine, two hind legs can be used as supports, the angle of a thigh backbone is changed, and the four-foot robot dog can be vertically erected.

The utility model has the advantages of as follows and positive effect:

1. through the utility model discloses a mechanical structure of motor and connecting piece, the effectual figure that reduces the component, the cost is reduced makes things convenient for the dismouting, is convenient for the maintenance and changes the part.

2. Carbon fiber is selected for use to the shank material, the effectual dead weight that has alleviateed the machine dog, and the motor that adopts big moment of torsion then can promote the heavy burden effect of this machine greatly.

3. Install the tracked vehicle chassis additional at machine dog belly, the effectual consumption that saves the energy, when facing comparatively flat road, can fold four limbs by oneself to make four limbs turn over through transverse connection spare, let the tracked vehicle work by oneself.

4. The mechanical structure of the bionic machine dog is adopted to simulate the gait of dogs so as to achieve the effect of stable movement.

5. The magnetic coding speed reducing motor is selected to serve as the joint of the four-footed robot dog, so that the effect of closed-loop control can be realized, and the motion effect of the four-footed robot dog is more accurate, controllable, flexible and coherent. Can also make four legs use two main joints to realize folding as the axle respectively through the cooperation of forelimb leg and hind limb leg, the focus of four-footed robot reduces, and abdominal tracked vehicle lands, and the truck steering wheel that is located four ends of truck can be with folding forelimb leg and hind limb leg upset upwards, breaks away from ground completely, drives the health by the tracked vehicle and gos forward.

Drawings

Fig. 1 is a schematic diagram of the overall structure of a cooperative track type quadruped robot dog of the present invention;

FIG. 2 is a schematic structural view of the trunk body of the present invention;

FIG. 3 is a top view of the torso body of the present invention;

FIG. 4 is an enlarged partial schematic view of portion B of FIG. 3;

FIG. 5 is an enlarged partial schematic view of portion C of FIG. 3;

fig. 6 is a schematic structural view of a thigh steering engine connecting piece of the utility model;

FIG. 7 is a schematic structural view of a middle leg steering engine connection piece of the present invention;

FIG. 8 is an enlarged partial schematic view of portion D of FIG. 1;

fig. 9 is a schematic structural view of a thigh trunk joint of the present invention;

FIG. 10 is a schematic structural view of a thigh steering engine connecting flange or a shank steering engine connecting flange of the present invention;

fig. 11 is a schematic structural diagram of the four-footed robot dog of the present invention when simulating the walking posture of a bionic dog;

fig. 12 is a schematic structural diagram of a four-footed robot dog limb retracting process of the invention;

fig. 13 is a schematic structural view of the four-footed robot dog crawler trolley carrying the robot dog to move forward.

In the drawings

1: the foot cover 2: shank trunk

3: shank trunk connector 4: shank steering wheel connecting piece

4.1: shank steering engine fixed plate 4.2: thigh trunk connecting sleeve

4.3: lower end portion insertion hole 4.4: thigh trunk fixing hole

4.5: shank steering engine shaft hole 4.6: shank steering engine fixing hole

5: thigh trunk 6: thigh trunk connecting piece

6.1: connector body 6.2: upper end part inserting hole

6.3: trunk fixing hole 6.4: auxiliary hole

7: thigh steering wheel 8: thigh steering wheel connecting piece

8.1: thigh steering wheel connecting plate 8.2: support rib plate

8.3: flange plate connecting plate 8.4: flange fixing hole

8.5: thigh steering wheel shaft hole 8.6: thigh steering wheel fixed orifices

9: trunk body 9.1: frame front beam

9.2: frame rear cross member 9.3: frame upper longitudinal beam

9.4: frame side sill 9.5: support rib plate

9.6: front truck steering engine shaft hole 9.7: front trunk steering engine fixing hole

9.8: rear trunk steering engine shaft hole 9.9: rear trunk steering engine fixing hole

9.10: front torso steering engine 9.11: steering engine for rear trunk

9.12: first output shaft 9.13: front connecting flange

9.14: second output shaft 9.15: rear connecting flange

10: thigh steering wheel connection flange 11: electromagnet

12: the crawler belt trolley 13: shank steering engine

13.1: third output shaft 14: connecting flange plate of shank steering engine

Detailed Description

The following provides a detailed description of a cooperative track type quadruped robot dog according to the present invention with reference to the following embodiments and accompanying drawings.

The utility model discloses a four-footed machine dog of crawler-type in coordination comprises health frame, two forelimb legs and two hind limb legs and a tracked vehicle chassis. Steering engine fixing holes and steering engine shaft extending holes are distributed at four corners of the body frame, and the steering engines for controlling the left and right freedom degrees of the machine dog are fixed on the body frame through screws, so that the machine dog has the ability of moving left and right. Then the two forelimbs and the two hind limbs are fixed on four steering engines controlling the left and right freedom degrees through flange plates. The crawler is connected with the body frame through the electromagnet below the body frame. The steering engine serves as a joint.

As shown in fig. 1, the utility model discloses a four-footed machine dog of crawler-type in coordination, including truck main part 9, connect respectively can walk on flat road or complicated topography and can fold by oneself and four limbs A of rotatory of four tip of truck main part 9 to and connect through electro-magnet 11 truck main part 9 belly, be used for driving truck main part 9 and four limbs A whole crawler 12 of walking on flat road.

As shown in fig. 2, the trunk body 9 includes a frame front beam 9.1 and a frame rear beam 9.2, a plurality of frame upper longitudinal beams 9.3 respectively connected between the upper end edges of the frame front beam 9.1 and the frame rear beam 9.2, a frame lower longitudinal beam 9.4 connected between the lower end edges of the frame front beam 9.1 and the frame rear beam 9.2, and support ribs 9.5 connected between the corresponding frame upper longitudinal beam 9.3 and the frame lower longitudinal beam 9.4, the electromagnet 11 is connected on the lower end surface of the frame lower longitudinal beam 9.4, and trunk steering engine driving mechanisms for connecting and driving the four limbs a to rotate are respectively arranged at the two ends of the frame front beam 9.1 and the two ends of the frame rear beam 9.2.

As shown in fig. 2, a front trunk steering engine shaft hole 9.6 and a front trunk steering engine fixing hole 9.7 are formed at two ends of the frame front cross beam 9.1, and a rear trunk steering engine shaft hole 9.8 and a rear trunk steering engine fixing hole 9.9 are formed at two ends of the frame rear cross beam 9.2. As shown in fig. 3, 4 and 5, the trunk steering engine driving mechanism comprises two front trunk steering engines 9.10 respectively arranged at the inner sides of the two ends of the front frame beam 9.1 and two rear trunk steering engines 9.11 respectively arranged at the outer sides of the two ends of the rear frame beam 9.2, first output shafts 9.12 of the two front trunk steering engines 9.10 correspondingly penetrate through front trunk steering engine shaft holes 9.6 formed in the front frame beam 9.1 and are connected with front connecting flange plates 9.13 which are arranged at the outer sides of the front frame beam 9.1 and are used for connecting two front limbs and two rear limbs in the four limbs A, and second output shafts 9.14 of the two rear trunk steering engines 9.11 correspondingly penetrate through rear trunk steering engine shaft holes 9.8 formed in the rear frame beam 9.2 and are connected with rear connecting flange plates 9.15 which are arranged at the inner sides of the rear frame beam 9.2 and are used for connecting two rear limbs in the four limbs A.

As shown in fig. 1, the four limbs a have the same structure, two front limbs and two rear limbs of the four limbs a are symmetrically arranged, the two limbs at the same side of a trunk body 9 have the same arrangement direction, each of the four limbs a comprises a thigh steering engine connecting part 8 connected with a front connecting flange 9.13 or a rear connecting flange 9.15 of the trunk steering engine driving mechanism, a thigh steering engine 7 fixedly connected to one side of the thigh steering engine connecting part 8, an output shaft of the thigh steering engine 7 penetrates through the thigh steering engine connecting part 8 and is connected with a thigh trunk connecting part 6 through a thigh steering engine connecting flange 10 at the other side of the thigh steering engine connecting part 8, the thigh trunk connecting part 6 is fixedly connected with one end of a thigh trunk 5, and the other end of the thigh trunk 5 is fixedly connected with a shank steering engine connecting part 4, a shank steering engine 13 is fixedly connected to one side face of the shank steering engine connecting piece 4, an output shaft of the shank steering engine 13 penetrates through the shank steering engine connecting piece 4 and is connected with a shank trunk connecting piece 3 through a shank steering engine connecting flange 14 located on the other side face of the shank steering engine connecting piece 4, the shank trunk connecting piece 3 is fixedly connected with one end of a shank trunk 2, the other end of the shank trunk 2 is connected with a foot sleeve 1, and the foot sleeve 1 is made of pvc rubber materials, so that the friction force between the machine dog and a contact surface is increased in the walking and moving process of the machine dog.

As shown in fig. 6, thigh steering wheel connecting piece 8 including thigh steering wheel connecting plate 8.1, thigh steering wheel connecting plate 8.1 upper portion be provided with through support floor 8.2 be used for with preceding flange 9.13 or back flange 9.15 fixed connection's ring flange connecting plate 8.3, be formed with on the ring flange connecting plate 8.3 and be used for fixed preceding flange 9.13 or back flange 9.15's ring flange fixed orifices 8.4, thigh steering wheel connecting plate 8.1's lower part is formed with and is used for running through thigh steering wheel shaft hole 8.5 of thigh steering wheel 7's output shaft to and be used for fixing thigh steering wheel fixed orifices 8.6 of thigh steering wheel 7.

As shown in fig. 7 and 8, the shank steering engine connecting part 4 comprises a shank steering engine fixing plate 4.1 and a thigh trunk connecting sleeve 4.2 which is integrally formed at one side of the shank steering engine fixing plate 4.1 and used for connecting a thigh trunk 5, a lower end inserting hole 4.3 used for inserting the lower end part of the thigh trunk 5 is formed in the thigh trunk connecting sleeve 4.2, a plurality of thigh trunk fixing holes 4.4 used for fixing the thigh trunk 5 are formed in the sleeve wall of the thigh trunk connecting sleeve 4.2, and a shank steering engine shaft hole 4.5 used for penetrating through a third output shaft 13.1 of the shank steering engine 13 and a shank steering engine fixing hole 4.6 used for fixing the shank steering engine 13 are formed in the shank steering engine fixing plate 4.1.

As shown in fig. 9, the thigh trunk connecting part 6 and the shank trunk connecting part 3 have the same structure, and both include a connecting part main body 6.1 fixedly connected with the thigh steering engine connecting flange 10 or the shank steering engine connecting flange 14, an upper end portion inserting hole 6.2 formed along the axial direction of the connecting part main body 6.1 and used for inserting the upper end portion of the thigh trunk 5 or the shank trunk 2, and a trunk fixing hole 6.3 formed in the radial direction of the connecting part main body 6.1 and used for fixing the upper end portion of the thigh trunk 5 or the shank trunk 2.

As shown in fig. 9, the upper end insertion hole 6.2 is formed through the connector body 6.1, and an auxiliary hole 6.4 for conveniently mounting the upper end of the thigh trunk 5 or the shank trunk 2 is formed in the connector body 6.1 perpendicular to the upper end insertion hole 6.2. The auxiliary hole can also be used for assisting the installation of the thigh trunk connecting piece 6 and the shank trunk connecting piece 3 with the thigh steering engine connecting flange plate 10 and the shank steering engine connecting flange plate 14 respectively.

As shown in fig. 10, preceding flange 9.13, back flange 9.15, thigh steering wheel flange 10 and shank steering wheel flange 14 structure the same, all including flange plate chassis 15, flange plate chassis 15 center is perpendicular outside convex being formed with boss 16, 16 axle centers of boss are formed with and are used for with preceding truck steering wheel 9.10 or back truck steering wheel 9.11 or thigh steering wheel 7 or shank steering wheel 13's output shaft fixed connection's connecting hole 17, the side of boss 16 be formed with connecting hole 17 link to each other and be used for the fixed screw 18 of the output shaft of fixed thigh steering wheel 7 or shank steering wheel 13, be formed with a plurality of along the circumference on flange plate 15 be used for with thigh steering wheel connecting piece 8, thigh trunk connecting piece 6 and shank trunk connecting piece 3 fixed connection's connecting hole 19.

The embodiment of the utility model provides an in: the foot cover is a product with the model of 35mm of a round outer cover produced by Yida rubber and plastic product factories; the thigh steering engine, the shank steering engine, the front trunk steering engine and the rear trunk steering engine are 24V magnetic coding super-large torque alloy steering engines of DS555 type manufactured by Dasheng steering engine science and technology Limited company of Dongguan; the electromagnet adopts a product with the model number XDA-40/40/17 produced by Leqing Hao electric company Limited; the crawler car adopts a product with the model number of TS100 produced by Shenzhen Shenlian science and technology Limited.

The working process of the cooperative tracked quadruped robot dog of the present invention is described below by the action of the right forelimb shown in fig. 1: under the environment with more complex terrain, the robot dog of the utility model simulates the walking gesture of the bionic dog to realize the forward movement; in a place with flat terrain, a thigh steering engine 7 controls a thigh trunk 5 to rotate to a horizontal state as shown in fig. 11, and a shank steering engine 13 controls a shank trunk 2 to rotate to a state of forming an included angle of 40-50 degrees with the thigh trunk 5 as shown in fig. 11; then the front trunk steering engine 9.10 controls the thigh steering engine connecting piece 8 to rotate to a horizontal state as shown in figure 12; the thigh steering engine 7 controls the thigh trunk 5 to rotate to drive the shank trunk 2 to be in a state of being lapped on the upper end face of the crawler 12 as shown in fig. 13. The crawler 12 can be landed, the crawler carrying machine dog can move forward, and energy consumption is saved.

Claims (7)

1. The cooperative crawler type quadruped robot dog is characterized by comprising a trunk main body (9), four limbs (A) which are respectively connected with four ends of the trunk main body (9), can walk on a flat road or a complex terrain and can be folded and rotated by oneself, and a crawler trolley (12) which is connected with the abdomen of the trunk main body (9) through an electromagnet (11) and is used for driving the trunk main body (9) and the four limbs (A) to integrally walk on the flat road;

the truck body (9) comprises a frame front cross beam (9.1) and a frame rear cross beam (9.2), a plurality of frame upper longitudinal beams (9.3) respectively connected between the upper end edges of the frame front cross beam (9.1) and the frame rear cross beam (9.2), a frame lower longitudinal beam (9.4) connected between the lower end edges of the frame front cross beam (9.1) and the frame rear cross beam (9.2), and support ribs (9.5) connected between the corresponding frame upper longitudinal beam (9.3) and the frame lower longitudinal beam (9.4), wherein an electromagnet (11) is connected on the lower end surface of the frame lower longitudinal beam (9.4), and truck driving mechanisms used for connecting and driving the four limb steering engine legs (A) to rotate are respectively arranged at the two ends of the frame front cross beam (9.1) and the two ends of the frame rear cross beam (9.2);

the four limbs (A) have the same structure, two front limbs and two rear limbs in the four limbs (A) are symmetrically arranged, the two limbs which are positioned at the same side of the trunk body (9) have the same arrangement direction, the four limbs (A) comprise thigh steering engine connecting pieces (8) which are used for being connected with front connecting flange plates (9.13) or rear connecting flange plates (9.15) in the trunk steering engine driving mechanism, thigh steering engines (7) which are fixedly connected on one side surface of the thigh steering engine connecting pieces (8), output shafts of the thigh steering engines (7) penetrate through the thigh steering engine connecting pieces (8) and are connected with thigh trunk connecting pieces (6) through thigh connecting flange plates (10) positioned on the other side surface of the thigh steering engine connecting pieces (8), and the thigh trunk connecting pieces (6) are fixedly connected with one ends of thigh trunks (5), the other end fixed connection shank steering wheel connecting piece (4) of thigh trunk (5), fixedly connected with shank steering wheel (13) on one side of shank steering wheel connecting piece (4), the output shaft of shank steering wheel (13) runs through shank steering wheel connecting piece (4) are connected shank trunk connecting piece (3) through shank steering wheel connection ring flange (14) that are located shank steering wheel connecting piece (4) another side, the one end of shank trunk connecting piece (3) fixed connection shank trunk (2), podotheca (1) is connected to the other end of shank trunk (2).

2. The cooperative crawler type quadruped robot dog according to claim 1, characterized in that a front trunk steering engine shaft hole (9.6) and a front trunk steering engine fixing hole (9.7) are respectively formed at two ends of a frame front beam (9.1), a rear trunk steering engine shaft hole (9.8) and a rear trunk steering engine fixing hole (9.9) are respectively formed at two ends of a frame rear beam (9.2), the trunk steering engine driving mechanism comprises two front trunk steering engines (9.10) respectively arranged at the inner sides of two ends of the frame front beam (9.1) and two rear trunk steering engines (9.11) respectively arranged at the outer sides of two ends of the frame rear beam (9.2), a first output shaft (9.12) of the two front trunk steering engines (9.10) correspondingly penetrates through a front trunk shaft hole (9.6) formed on the frame front beam (9.1) and is connected with a front limb flange (9.6) which is arranged at the outer side of the frame front beam (9.1) and is used for connecting two front ends of the four legs (A), second output shafts (9.14) of the two rear trunk steering engines (9.11) correspondingly penetrate through and are formed rear trunk steering engine shaft holes (9.8) in the rear cross beam (9.2) of the frame are connected with the inner side of the rear cross beam (9.2) of the frame and are used for connecting rear connecting flange plates (9.15) of two limb legs at the rear ends in the four limb legs (A).

3. The cooperative track type quadruped machine dog according to claim 1, characterized in that the thigh steering engine connecting piece (8) comprises a thigh steering engine connecting plate (8.1), the upper part of the thigh steering engine connecting plate (8.1) is provided with a flange connecting plate (8.3) through a support rib plate (8.2) for being fixedly connected with a front connecting flange (9.13) or a rear connecting flange (9.15), the flange connecting plate (8.3) is provided with a flange fixing hole (8.4) for fixing the front connecting flange (9.13) or the rear connecting flange (9.15), and the lower part of the thigh steering engine connecting plate (8.1) is provided with a thigh steering engine shaft hole (8.5) for penetrating through an output shaft of the thigh steering engine (7) and a thigh fixing hole (8.6) for fixing the thigh steering engine (7).

4. A co-tracked quadruped robot dog according to claim 1, the shank steering engine connecting piece (4) comprises a shank steering engine fixing plate (4.1) and a thigh trunk connecting sleeve (4.2) which is integrally formed at one side of the shank steering engine fixing plate (4.1) and is used for connecting a thigh trunk (5), a lower end insertion hole (4.3) for inserting the lower end part of the thigh trunk (5) is formed on the thigh trunk connecting sleeve (4.2), a plurality of thigh trunk fixing holes (4.4) for fixing the thigh trunks (5) are formed on the sleeve wall of the thigh trunk connecting sleeve (4.2), a shank steering engine shaft hole (4.5) used for penetrating through a third output shaft (13.1) of the shank steering engine (13) and a shank steering engine fixing hole (4.6) used for fixing the shank steering engine (13) are formed in the shank steering engine fixing plate (4.1).

5. The cooperative track type quadruped robot dog according to claim 1, characterized in that the thigh trunk connecting piece (6) and the shank trunk connecting piece (3) are identical in structure and respectively comprise a connecting piece main body (6.1) fixedly connected with the thigh steering engine connecting flange (10) or the shank steering engine connecting flange (14), an upper end inserting hole (6.2) formed along the axial direction of the connecting piece main body (6.1) and used for being inserted into the upper end of the thigh trunk (5) or the shank trunk (2), and a trunk fixing hole (6.3) formed in the radial direction of the connecting piece main body (6.1) and used for fixing the upper end of the thigh trunk (5) or the shank trunk (2).

6. A co-tracked quadruped robot dog according to claim 5, characterized in that the upper end insertion hole (6.2) is formed through the connector body (6.1), and an auxiliary hole (6.4) for conveniently installing the upper end of the thigh trunk (5) or the shank trunk (2) is formed on the connector body (6.1) and perpendicular to the upper end insertion hole (6.2).

7. The cooperative track type quadruped robot dog according to claim 1, characterized in that the front connecting flange (9.13), the rear connecting flange (9.15), the thigh steering engine connecting flange (10) and the shank steering engine connecting flange (14) have the same structure and each comprise a flange chassis (15), a boss (16) is vertically and outwards protruded at the center of the flange chassis (15), a connecting hole (17) for fixedly connecting with an output shaft of the front trunk steering engine (9.10), the rear trunk steering engine (9.11), the thigh steering engine (7) or the shank steering engine (13) is formed at the axis of the boss (16), a fixing screw hole (18) which is connected with the connecting hole (17) and is commonly used for fixing the output shaft of the front trunk steering engine (9.10), the rear trunk steering engine (9.11), the thigh steering engine (7) or the shank steering engine (13) is formed at the side of the boss (16), and a plurality of flange plate connecting holes (19) which are fixedly connected with the thigh steering engine connecting piece (8), the thigh trunk connecting piece (6) and the shank trunk connecting piece (3) are formed on the flange plate chassis (15) along the circumference.

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