CN213138967U

CN213138967U - Eight-degree-of-freedom disc type brushless motor driven quadruped robot

Info

Publication number: CN213138967U
Application number: CN202021535425.XU
Authority: CN
Inventors: 杨恭领; 刘明源; 梁琪明; 梁羽赫; 徐华建; 胡云偲
Original assignee: University of Science and Technology Beijing USTB
Current assignee: University of Science and Technology Beijing USTB
Priority date: 2020-07-29
Filing date: 2020-07-29
Publication date: 2021-05-07
Anticipated expiration: 2030-07-29

Abstract

The utility model belongs to the robot field relates to an eight degree of freedom disk brushless motor drive four-footed robot, and the robot includes fuselage, laser radar subassembly, constructs leg structure and electrical system. The ideal motion form of the four-footed leg part is realized by controlling a group of driving motors of each leg. The utility model has the advantages that: a driving mode of placing a motor on a disc type brushless counter shaft is adopted, and the driving mass ratio is large; the leg part adopts a connecting rod structure, the transmission performance is good and the effective area of the foot end is large under the control of two coaxial driving sources; the left leg and the right leg are in a splayed shape to increase the stability in the process of running and jumping; the rigidity of the leg is increased by a coupling closing mechanism between two driving motors of the leg of the connecting rod structure. The utility model discloses a design, easy dismounting, compact structure are assembled to the modularization, and the fuselage frame is firm light, reasonable in design, can reduce the threshold of entering a door of four-footed robot research, improves four-footed robot's reconnaissance and motion ability.

Description

Eight-degree-of-freedom disc type brushless motor driven quadruped robot

Technical Field

The utility model belongs to the robot field relates to an eight degree of freedom disk brushless motor drive four-footed robot.

Background

The research on the four-legged bionic robot is continuously deepened in the scientific community; with the rapid development of economy in China, the robot has very wide application prospects in the aspects of military affairs, star surface detection, nuclear industry and the like. Besides artificially constructed flat ground and natural flat zones, the earth land surface has various rugged terrains including mountainous regions, hills, cliffs and the like, the traditional wheeled and tracked vehicles are difficult to walk in the complicated terrains, and mammals can walk on the complicated terrains freely, so that the flexibility and strong adaptability of the leg and foot movement mode are fully demonstrated. Therefore, the research on the four feet capable of completing the basic movement of the mammal has very important theoretical significance and wide application prospect.

At present, the recognized quadruped robot is a quadruped robot with 12 degrees of freedom and driven by a hydraulic drive or a large-torque motor, hip joints and knee joints of bionic legs are driven by the hydraulic drive or the large-torque motor, foot end tracks in an effective space are obtained, and gait such as running and jumping are achieved. The four-footed hydraulic robot disclosed in patent CN110562346A can achieve four-footed gait well, but has the problems of low efficiency of the hydraulic actuator, such as viscosity loss in the moving fluid, internal leakage of the servo valve and pressure drop, and in addition, the complexity and the manufacturing threshold of the robot are increased by using hydraulic pressure as power. Twelve motors are used as driving power, on one hand, the whole weight of the robot is heavy, the carrying capacity of a power supply is weakened, the endurance performance is poor, on the other hand, the self weight is large, the motors are difficult to make large-amplitude actions under the existing torque, and only can do low-speed small-amplitude motion. The patent 209972624U discloses four-footed spring robot, whole size is slightly little, adopts steering wheel drive, and the area load ability is weak, and the motion is not nimble enough.

Disclosure of Invention

Problem to prior art exists, the utility model provides a four-footed robot adopts disc brushless motor to directly drive the drive, has eight degrees of freedom, and the mechanism is reasonable, the fuselage is firm light, the drive quality accounts for than big, compact structure, easily realization.

In order to realize the purpose, the technical scheme of the utility model is that: an eight-degree-of-freedom disc type brushless motor driven quadruped robot comprises a frame main body, a laser radar component, an electric control system and a leg structure;

the frame comprises a frame main body, a left leg structure, a right leg structure, a left leg structure and a right leg structure, wherein the 4 leg structures are respectively arranged on the frame main body, the left leg structure and the right leg structure are arranged in a splayed shape, an included angle between the left leg structure and the right leg structure is alpha, and the;

the laser radar component is installed at the front end of the frame main body, and the electric control system is installed on the frame main body and is in control connection with the laser radar component and the leg structure.

Further, the frame body includes: the long plate-shaped cross beam, the short plate-shaped cross beam, the inner long carbon tube, the outer short carbon tube and the limiting block;

the short plate-shaped cross beams are symmetrically arranged, at least 2 long plate-shaped cross beams are arranged between 2 short plate-shaped cross beams, the short plate-shaped cross beams and the long plate-shaped cross beams are connected through at least 4 inner long carbon tubes, the outer short carbon tubes are arranged between the end parts of the 2 long plate-shaped cross beams, and each inner long carbon tube is fixed with the short plate-shaped cross beam and the long plate-shaped cross beam and each outer short carbon tube is fixed with the long plate-shaped cross beam through the limiting blocks;

and the long plate-shaped cross beam, the short plate-shaped cross beam, the inner long carbon tube and the outer short carbon tube are provided with component mounting holes.

Further, the laser radar component comprises a laser radar, an angle-adjustable radar seat, a shock-absorbing spring and a radar support;

the radar support is installed on the short plate-shaped cross beam, the angle-adjustable radar seat is installed on the radar support, a plurality of shock-absorbing springs are arranged between the angle-adjustable radar seat and the radar support, and the laser radar is installed on the angle-adjustable radar seat and connected with the electric control system.

Further, the leg structure includes: the device comprises a first disc type brushless motor, a second disc type brushless motor, a coupler, a first thigh, a second thigh, a first shank, a second shank, a first leg joint, a second leg joint, a third leg joint and a flexible foot;

the first disc type brushless motor and the second disc type brushless motor are connected between the counter shafts through the coupler and fixed on the frame structure, the first end of the first thigh is fixedly connected with the output end of the first disc type brushless motor, and the second end of the first thigh is connected with the first end of the first shank through the first leg joint;

the first end of the second thigh is fixedly connected with the output end of the second disc type brushless motor, the second end of the second thigh is connected with the first end of the second shank through a second leg joint,

the second end part of the second shank is provided with the flexible foot part;

the second end of the first lower leg is connected with the upper end of the flexible foot part at the second end of the second lower leg through a third leg joint,

and the first disc type brushless motor and the second disc type brushless motor are both connected with the electric control system.

Further, the coupler comprises a coupler shaft, a coupler sleeve, a spring collar for the shaft and a deep groove ball bearing;

the end face of the coupling shaft is fixedly connected with the first disc-type brushless motor, the end face of the coupling sleeve is fixedly connected with the second disc-type brushless motor, two deep groove ball bearings are arranged between the coupling sleeve and the coupling shaft, and the coupling shaft and the coupling sleeve can freely rotate around a common central shaft through the fixed positions of a shoulder of the coupling sleeve and the coupling shaft and a spring retainer ring.

Further, the flexible foot part comprises a carbon fiber plate framework, a reinforcing member and a flexible wrapping surface;

one end of the carbon fiber plate framework is fixedly connected with the end part of the second shank, the end part of the other end of the carbon fiber plate framework is provided with the flexible wrapping surface, and a reinforcing member is arranged at the joint of the flexible wrapping surface and the carbon fiber plate framework;

the ground contact surface of the flexible wrapping surface and the axis of the second shank mounting hole form a certain included angle, the included angle is beta, and beta = alpha/2.

Furthermore, the leg joint comprises a joint connecting piece, a bolt, a thrust ball bearing and a locking nut, wherein the thrust ball bearing is arranged in the middle of the joint connecting piece, the bolt penetrates through a connecting hole of the joint connecting piece and the thrust ball bearing, and the bolt is matched with the locking nut to be bolted into a joint rotating pair.

Further, the distance from the first end of the first thigh to the center point of the first leg joint at the fixed connection position of the first disc-type brushless motor is consistent with the distance from the first end of the second thigh to the center point of the second leg joint at the fixed connection position of the second disc-type brushless motor;

the distance from the center point of the first leg joint of the first shank to the center point of the third leg joint is 1.5-2 times that from the fixed joint of the first end of the first thigh and the first disc-type brushless motor to the center point of the first leg joint;

the distance from the center point of the first leg joint to the center point of the third leg joint is 1.5-2 times that from the fixed joint of the first end of the second thigh and the second disc type brushless motor to the center point of the second leg joint;

and the two multiples are kept consistent.

Furthermore, the electric control system comprises a power supply, a power supply control panel, a core processor, an encoder, a gyroscope, a motor driver, an expansion access interface and a wireless data transmission device;

wherein the power control panel, the core processor, the extended access interface and the wireless data transmission unit are all arranged on the PCB, the power supply and the motor driver are arranged on the frame structure, the core processor is respectively connected with the power control panel, the encoder, the gyroscope, the motor driver, the extended access interface and the wireless data transmission unit in a control way,

the power supply supplies power to the gyroscope, the encoder, the motor driver, the laser radar, the expansion access interface, the wireless data transmission unit, the first disc type brushless motor, the second disc type brushless motor, the motor driver and the core processor through the power supply control board.

Furthermore, the left, middle and right sides of the long plate-shaped cross beam are sequentially distributed with three weight reduction structural sections, the periphery of the middle section is in a frame-shaped configuration, the lower parts of the left and right sections are vacant, so that the movable space is increased for the legs, and the plate materials used by the structure are mostly carbon fibers, but not only the plate materials of the cross beam, the square tube and the legs can be replaced by other materials such as glass fibers and acrylic fibers.

The short plate-shaped cross beam is also provided with a weight reduction structural section.

The utility model has the beneficial technical effects that: by adopting the technical scheme, the machine of the utility model adopts the disc type brushless motor to directly drive, has eight degrees of freedom of movement, reasonable mechanism, stable and light frame of the machine body, large proportion of driving mass, compact structure and easy realization;

the design of the five-link mechanism leg realizes the effective control of the position of the foot end, has better transmission performance, large effective area of the foot end and splayed leg, and increases the stability in the running and jumping process. The foot end adopts the carbon fiber framework and the flexible wrapping surface material to provide support and simultaneously ensure the requirements of four-foot shock absorption and friction force, and a coupler closing mechanism is utilized between two motors of each group of link mechanism legs to increase the rigidity of the legs, reduce the deformation of the legs and improve the stress of the motors.

Drawings

Fig. 1 is a schematic structural diagram of the eight-degree-of-freedom four-footed exploration obstacle crossing robot of the utility model.

Fig. 2 is the laser radar component schematic diagram of the eight-degree-of-freedom four-footed exploration obstacle crossing robot of the utility model.

Fig. 3 is a schematic diagram of the link mechanism leg of the eight-degree-of-freedom four-footed exploration obstacle crossing robot of the utility model.

Fig. 4 is the shaft coupling sectioning schematic diagram of the eight-degree-of-freedom four-footed exploration obstacle crossing robot of the utility model.

Fig. 5 is a schematic diagram of a plate-shaped beam of the eight-degree-of-freedom four-footed exploration obstacle crossing robot of the present invention.

Fig. 6 is a schematic view of the front view leg shape of the eight-degree-of-freedom four-legged exploration obstacle crossing robot of the present invention.

Fig. 7 is a schematic top view of the eight-degree-of-freedom four-footed exploration obstacle crossing robot of the present invention.

Fig. 8 is a logic block diagram of an electric control system of the eight-degree-of-freedom four-footed exploration obstacle crossing robot of the utility model.

In the figure:

1-laser radar component, 11-laser radar, 12-radar base, 13-damping spring, 14-radar aluminum frame, 2-leg mechanism, 211-first disk brushless motor, 212-second disk brushless motor, 221-first thigh, 222-second thigh, 23-first shank, 24-second shank, 25-motor base, 26-encoder shaft, 27-leg joint, 271-joint connecting piece, 272-bolt, 273-thrust ball bearing, 274-locking nut, 28-coupler, 281-coupler sleeve, 282-coupler shaft, 283-shaft spring collar, 284-deep groove ball bearing, 29-flexible foot, reinforcing piece 291-292-flexible wrapping surface, 293-carbon fiber plate skeleton, 210-coder, 3-frame body, 31-long plate-shaped beam, 311-carbon tube fixed square hole, 312-beam vacancy, 32-short plate-shaped beam, 33-inner long carbon tube, 34-outer short carbon tube, 35-limited block, 4-electric control system, 41-power supply, 42-power supply control panel, 43-motor driver, 44-gyroscope, 45-core processor, 46-expansion access interface, and 47-wireless data transmission unit.

The specific implementation mode is as follows:

the following detailed description of the embodiments of the present invention is provided in conjunction with the accompanying drawings, but it should be understood that the scope of the invention is not limited to the specific embodiments.

As shown in fig. 1, the utility model relates to an eight degree of freedom disk brushless motor drive four-footed robot, eight degree of freedom disk brushless motor drive four-footed robot includes: the laser radar device comprises a frame body 3, a laser radar component 1, an electric control system 4 and a leg structure 2, wherein the leg structure comprises a driving source and a leg structure;

wherein, the driving source is a first disk brushless motor 211 and a second disk brushless motor 212 which are arranged in axial symmetry, and the leg rigidity is increased between the first disk brushless motor 211 and the second disk brushless motor 212 by using a coupling 28 closing mechanism;

the leg structure adopts a space five-bar structure, the left leg and the right leg are in a splayed shape, and the contact part of the foot and the ground is an inclined plane.

The frame main body 3 is of a frame structure and is used for bearing the fixed leg structure 2, the laser radar component 1 and the electric control system 4, and simultaneously realizing an expansion function or loading a certain weight for transporting lighter objects;

the frame body includes: a long plate-shaped beam 31, a short plate-shaped beam 32, an inner long carbon tube 33, an outer short carbon tube 34 and a limiting block 35;

wherein, 2 short plate-shaped crossbeams 32 are symmetrically arranged, at least 2 long plate-shaped crossbeams 31 are arranged between 2 short plate-shaped crossbeams 32, the short plate-shaped crossbeams 32 and the long plate-shaped crossbeams 31 are connected through the at least 4 inner long carbon tubes 33, the outer short carbon tubes 34 are arranged between the ends of the 2 long plate-shaped crossbeams 32, the inner long carbon tubes 33 and the short plate-shaped crossbeams 31 and the long plate-shaped crossbeams 32, and the outer short carbon tubes 34 and the short plate-shaped crossbeams 31 and the long plate-shaped crossbeams 32 are all fixed through the limiting blocks 35;

the long plate-shaped cross beam 31, the short plate-shaped cross beam 31, the inner long carbon tube 33 and the outer short carbon tube 34 are provided with component mounting holes.

The laser radar component 1 comprises a laser radar 11, a radar support 12, a shock-absorbing spring 13 and a radar support 14;

wherein, radar support 11 installs on short plate form crossbeam 31, radar seat (adjustable angle) 12 is installed on radar support 11, radar seat 12 with be provided with a plurality of suspension springs 13 between radar support 11, laser radar 11 installs on radar seat 12, and with electrical system 4 is connected.

The 4 leg structures 2 are symmetrically arranged at the front end and the rear end of the frame structure in pairs, the included angle between the left and the right leg structures is alpha, and the value range of the alpha is 4-20 degrees;

the leg structure 2 comprises: a first disc brushless motor 211, a second disc brushless motor 212, a coupling 28, a first thigh 221, a second thigh 222, a first shank 23, a second shank 24, a first leg joint, a second leg joint, a third leg joint, and a flexible foot 29;

the first disc brushless motor and the second disc brushless motor are connected between the counter shafts through the coupling 28, the motor base 25 is fixed on the frame structure, the first end of the first thigh 221 is fixedly connected with the output end of the first disc brushless motor 211, and the second end is connected with the first end of the first shank 23 through a first leg joint;

a first end of the second thigh 222 is fixedly connected with an output end of the second disc-type brushless motor 212, a second end of the second thigh 222 is connected with a first end of the second shank 24 through a second leg joint, a second end of the first shank 23 is connected with an upper position of a second part of the second shank 24 through a third leg joint, and an end part of the second end of the second shank 24 is provided with the flexible foot;

the first disc-type brushless motor 211 and the second disc-type brushless motor 212 are both connected with the electronic control system 4.

The coupler comprises a coupler shaft 282, a coupler sleeve 281, a spring collar 283 for the shaft and a deep groove ball bearing 284;

the end surface of the coupling shaft 282 is fixedly connected 211 with the first disc-type brushless motor, the end surface of the coupling sleeve 281 is fixedly connected 212 with the second disc-type brushless motor, and the coupling shaft 282 is provided with the deep groove ball bearing 284 and a shaft spring collar 283 and is indirectly connected with the coupling sleeve 281; the above arrangement allows the coupling shaft 282 and the coupling sleeve 281 to rotate freely about a common central axis.

The flexible foot part comprises a carbon fiber plate framework, a reinforcing member 291 and a flexible wrapping surface 292;

one end of the carbon fiber plate framework 293 is fixedly connected with the end part of the second shank 24, the end part of the other end is provided with the flexible wrapping surface 292, and a reinforcing member 291 is arranged at the joint of the flexible wrapping surface 292 and the carbon fiber plate framework 293;

the ground contact surface of the flexible wrapping surface 292 and the axis of the mounting hole of the second lower leg 24 form a certain included angle, the included angle is beta, and beta = alpha/2.

The leg joint 27 comprises a joint connector 271, a bolt 272, a thrust ball bearing 273 (not shown in the figure) and a lock nut 274, wherein the thrust ball bearing 273 is arranged in the middle of the joint connector 271, the bolt 272 passes through a connecting hole of the joint connector 271 and the thrust ball bearing 273, and is bolted into a joint rotating pair by matching with the lock nut 274.

A first disc brushless motor 211, a second disc brushless motor 212, a coupling 28, a first thigh 221, a second thigh 222, a first shank 23, a second shank 24, a first leg joint, a second leg joint, a third leg joint, and a flexible foot 29;

the distance from the fixed position of the first end of the first thigh 221 and the first disc-type brushless motor 211 to the center point of the first leg joint is the same as the distance from the fixed position of the first end of the second thigh 222 and the second disc-type brushless motor 212 to the center point of the second leg joint;

the distance from the center point of the first leg joint of the first lower leg 23 to the center point of the third leg joint is 1.5-2 times the distance from the fixed joint of the first end of the first upper leg 221 and the first disc-type brushless motor 211 to the center point of the first leg joint;

the distance from the center point of the first leg joint to the center point of the third leg joint is 1.5-2 times that from the fixed joint of the first end of the second thigh 221 and the second disc-type brushless motor 212 to the center point of the second leg joint;

and the two multiples are kept consistent.

The electronic control system 4 comprises a power supply 41, a power supply control board 42, a core processor 45, an encoder 210, a gyroscope 44, a motor driver 43, an extended access interface 46 and a wireless data transmission device 47, as shown in fig. 8;

wherein, the power control board 42, the core processor 45, the extended access interface 46 and the wireless data transmission unit 47 are all installed on the PCB board, the power 41 and the motor driver 43, the encoder 210 and the gyroscope 44 are installed on the frame structure, the core processor 45 is respectively connected with the power control board, the encoder 210, the gyroscope 44, the motor driver 43, the extended access interface 46 and the wireless data transmission unit 47 in a control manner,

Example (b):

as shown in fig. 1, the present embodiment provides an eight-degree-of-freedom four-footed exploration obstacle crossing robot, which has the operation functions of environment exploration, autonomous walking, jumping, and ascending and descending, and has a frame structure provided with four leg structures 2 with two degrees of freedom, thereby simplifying the robot structure while achieving the motion flexibility.

The overall structure of the eight-degree-of-freedom four-footed exploration obstacle crossing robot is shown in figure 1 and comprises: the robot comprises a robot laser radar component 1, a leg structure 2, a frame main body 3, an electric control system 4 and the like, wherein the frame main body 3 is of a rectangular frame structure and provides space for fixing a motor, erecting a radar, a processing system, a motor control system, a power supply and the like, and the laser radar component 1 is fixedly connected with a short plate-shaped cross beam 32 through a radar aluminum frame 14 and is positioned at the front end of a machine body 3; the four legs are respectively fixedly connected with the frame main body 3 through two motor bases 25 and are distributed at four corners of the machine body 3.

The frame body 3 is a frame structure, the frame structure is formed by riveting and installing a long plate-shaped beam 31, a short plate-shaped beam 32, an inner long carbon tube 33, an outer short carbon tube 34, a limiting block 35 and the like, the carbon tube passes through a carbon tube fixing square hole 311 shown in fig. 5, and the limiting block 35 is used for assisting, so that the carbon tube and the beam are fixed in position and are stably connected. Laser radar subassembly 1 comprises laser radar 11, adjustable angle's radar seat 12, shock-absorbing spring 13 and radar aluminium frame 14, and laser radar 11 can detect the barrier position in the plane, and shock-absorbing spring 13 can improve the stability when the radar moves, reduces to lose the frame, as shown in fig. 2. The leg structure 2 is composed of a first disc type brushless motor 211, a second disc type brushless motor 212, a first thigh 221, a second thigh 222, a first shank 23, a second shank 24, a motor base 25, an encoder shaft 26, a leg joint 27, a coupler 28, a flexible foot 29 and an encoder 210, wherein the leg joint 27 comprises a bolt, a thrust ball bearing and a locking bolt. The laser radar component 1 provides a visual field for the robot, and eight brushless motors for driving the legs to move are fixed on the frame main body 3; the leg structures 2 are divided into two groups of four, wherein the two leg mechanisms on the left side are the same, the two leg mechanisms on the right side are the same, and the two groups of legs are arranged in a mirror symmetry manner. By controlling the two disc type brushless motors of each leg, the ideal motion form of the four-legged legs can be realized; the flexible foot portion 29 provides cushioning, support and frictional forces to the four feet.

The flexible foot 29 is composed of a reinforcement 291, a flexible wrapping surface 292 and an internal carbon fiber support plate as shown in fig. 3, the reinforcement 291 makes the connection between the flexible foot (made of silicone rubber) 29 and the second lower leg 24 more stable, and the internal support plate provides a grounding support force for four feet.

The shaft coupling 28 is shown in fig. 4, wherein the shaft coupling sleeve 281 and the shaft coupling shaft 282 are shaft-like workpieces, connecting holes are evenly distributed on end faces of the shaft coupling and are connected with the disc-type brushless motor through bolts, and the distance between two outer end faces of the shaft coupling is equal to the sum of the thicknesses of the three thrust ball bearings for joints, the first shank 23 and the second shank 24. Two deep groove ball bearings 284 are provided between the coupling sleeve and the shaft, and are held in place by shoulders of the coupling sleeve 281 and the coupling shaft 282 and a shaft spring collar 283. The device can ensure the axial coaxiality of the two motors, reduce the deformation of the leg under stress, greatly increase the structural rigidity of the leg of the quadruped robot and improve the stress of the motors.

The cross beam of the frame body 3 is as shown in fig. 5, wherein three weight-reducing structural sections are sequentially distributed on the left, middle and right sides of the long plate-shaped cross beam 31, the periphery of the middle section is in a frame-shaped configuration, and the beam vacant parts 312 are arranged below the left and right sections to increase the movable space for the leg structure 2.

The motor bases of the left and right groups of legs have certain included angles after being installed, as shown in fig. 6, the included angles can make up the defect of the mobility flexibility of the eight-degree-of-freedom robot relative to the twelve-degree-of-freedom robot, so that the robot has certain form deviation margin in the processes of running, jumping and the like, and the robot is effectively prevented from falling down.

In implementation, the laser radar 11 starts to work after the robot enters a predetermined environment, and is used for detecting the position relationship between the robot and an external obstacle and providing a position signal for the core processor 45, so that a position basis is provided for automatic running or remote control walking of a program. The position information of the motor at the moment is known through the data of the identification encoder 210, the motor driver 43 is controlled to work to indirectly control the disc type brushless motor of the leg structure 2 to realize accurate rotation, the movement of the first thigh 221 and the second thigh 222 fixed on the motor shaft can be controlled, then force is transmitted to the lower leg through the leg joint 27, then the flexible foot 29 acts on the ground, and the leg realizes the preset movement through the reaction force. The cooperation of the four legs can enable the robot to complete various complex movements.

The embodiment of the utility model provides a beneficial effect that technical scheme brought is: the utility model discloses an eight degree of freedom quadruped exploration obstacle crossing robot cost of manufacture is lower, but the structure is simple relatively but the effect is better, can produce in large quantities and be used for satisfying bionic robot fan's requirement and training programming control ability, and then can study nature such as focus, load, inertia to the influence of quadruped robot for the development of internal quadruped bionic robot.

The eight-degree-of-freedom disk type brushless motor driven quadruped robot provided by the embodiment of the application is described in detail above. The above description of the embodiments is only for the purpose of helping to understand the method of the present application and its core ideas; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

As used in this specification and the appended claims, certain terms are used to refer to particular components, and various names may be used by a manufacturer of hardware to refer to a same component. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect. The description which follows is a preferred embodiment of the present application, but is made for the purpose of illustrating the general principles of the application and not for the purpose of limiting the scope of the application. The protection scope of the present application shall be subject to the definitions of the appended claims.

It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

The foregoing description shows and describes several preferred embodiments of the present application, but as aforementioned, it is to be understood that the application is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the application as described herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the application, which is to be protected by the claims appended hereto.

Claims

1. An eight-degree-of-freedom disc type brushless motor driven quadruped robot is characterized by comprising a frame main body, a laser radar component, an electric control system and a leg structure;

the frame comprises a frame main body, a left leg structure, a right leg structure and a left leg structure, wherein the 4 leg structures are respectively arranged on the frame main body, the left leg structure and the right leg structure are arranged in an inverted V shape, an included angle between the left leg structure and the right leg structure is alpha, and the value range;

2. The eight-degree-of-freedom disk-type brushless motor-driven quadruped robot according to claim 1, wherein the frame body comprises: the long plate-shaped cross beam, the short plate-shaped cross beam, the inner long carbon tube, the outer short carbon tube and the limiting block;

the short plate-shaped cross beams are symmetrically arranged, at least 2 long plate-shaped cross beams are arranged between 2 short plate-shaped cross beams, the short plate-shaped cross beams are connected with the long plate-shaped cross beams through at least 4 inner long carbon tubes, the outer short carbon tubes are arranged between the end parts of the 2 long plate-shaped cross beams, and each inner long carbon tube is fixed with the short plate-shaped cross beam and the long plate-shaped cross beam and each outer short carbon tube is fixed with the long plate-shaped cross beam through the limiting block;

3. The eight-degree-of-freedom disc-type brushless motor driven quadruped robot of claim 2, wherein the lidar assembly comprises a lidar, an angle-adjustable radar base, a suspension spring and a radar bracket;

4. The eight-degree-of-freedom disk-type brushless motor driven quadruped robot of claim 3, wherein 4 of the leg structures are identical in structure,

each of the leg structures includes: the device comprises a first disc type brushless motor, a second disc type brushless motor, a coupler, a first thigh, a second thigh, a first shank, a second shank, a first leg joint, a second leg joint, a third leg joint and a flexible foot;

5. The eight-degree-of-freedom disc-type brushless motor driven quadruped robot of claim 4, wherein the coupler comprises a coupler shaft, a coupler sleeve, a spring collar for the shaft and a deep groove ball bearing;

the end face of the coupling shaft is fixedly connected with the first disc-type brushless motor, the end face of the coupling sleeve is fixedly connected with the second disc-type brushless motor, two deep groove ball bearings are arranged between the coupling sleeve and the coupling shaft, and the coupling shaft and the coupling sleeve can freely rotate around a common central shaft through the fixing positions of the coupling sleeve and a shoulder of the coupling shaft and a spring retainer ring.

6. The eight-degree-of-freedom disc-type brushless motor driven quadruped robot of claim 5, wherein the flexible foot part comprises a carbon fiber plate skeleton, a reinforcing member and a flexible wrapping surface;

7. The eight-degree-of-freedom disc type brushless motor driven quadruped robot of claim 5 is characterized in that the leg joint comprises a joint connecting piece, a bolt, a thrust ball bearing and a locking nut, the thrust ball bearing is arranged in the middle of the joint connecting piece, the bolt penetrates through a connecting hole of the joint connecting piece and the thrust ball bearing, and the bolt is bolted into a joint rotating pair by matching with the locking nut.

8. The eight-degree-of-freedom disc-type brushless motor driven quadruped robot of claim 5, wherein the distance from the first end of the first thigh where the first disc-type brushless motor is fixedly connected to the center point of the first leg joint is consistent with the distance from the first end of the second thigh where the second disc-type brushless motor is fixedly connected to the center point of the second leg joint;

and the two multiples are kept consistent.

9. The eight-degree-of-freedom disc-type brushless motor driven quadruped robot according to claim 8, wherein the electric control system comprises a power supply, a power supply control board, a core processor, an encoder, a gyroscope, a motor driver, an expansion access interface and a wireless data transmission device;

10. The eight-degree-of-freedom disk-type brushless motor-driven quadruped robot of claim 2, wherein three weight reduction structure sections are sequentially distributed on the left, middle and right sides of the long plate-shaped cross beam, the periphery of the middle section is in a frame-shaped configuration, a gap is formed below the left and right sections, the motion space of legs is enlarged, and the material is carbon fiber.