CN213735269U

CN213735269U - Bionic quadruped robot

Info

Publication number: CN213735269U
Application number: CN202022832718.0U
Authority: CN
Inventors: 董文浩; 张海录; 黄伟斌; 李鹏; 慕随新; 王超; 钟伟煌
Original assignee: Heilongjiang University of Science and Technology
Current assignee: Heilongjiang University of Science and Technology
Priority date: 2020-11-30
Filing date: 2020-11-30
Publication date: 2021-07-20
Anticipated expiration: 2030-11-30

Abstract

A bionic quadruped robot belongs to the technical field of robots. The bionic leg comprises a top cover, a circuit board, a power switch, a main shell, a storage battery, two bionic legs and two steering engines; the utility model discloses a bionic leg device, including main casing body, the steering wheel is all installed at both ends around the main casing body, the output of two steering wheels and two bionic leg upper surface middle part fixed connection drive bionic leg motion, and the horizontal hunting of two bionic legs is realized walking forward or backward, the circuit board is installed in the main casing body and is used for controlling the steering wheel, the battery is for the steering wheel power supply and be equipped with switch on the main casing body outside, be equipped with the data transmission mouth of being connected with the circuit board on the main casing body, top cap and main casing body sealing connection. The utility model discloses simple structure, cost are with low costs, and functional strong has realized to a certain extent that function utilization maximize, price/performance ratio have the improvement that is showing, the utility model discloses not only be fit for the level land and remove, still can operate at complicated topography to a certain extent.

Description

Bionic quadruped robot

Technical Field

The utility model belongs to the technical field of the robot, especially, relate to a multi-functional bionical four-footed robot.

Background

The quadruped robot has good bearing capacity, high stability and strong adaptability to the ground, and can be suitable for various fields such as rescue and relief work, mine clearance, exploration and entertainment and military, thus being concerned by experts and scholars at home and abroad.

However, the existing quadruped robot has the disadvantages of complex structure, high manufacturing cost and weak function.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a multi-functional bionical four-footed robot for solve the problem that above-mentioned background art exists.

The utility model adopts the technical proposal that: the bionic quadruped robot comprises a top cover, a circuit board, a power switch, a main shell, a storage battery, two bionic legs and two steering engines; the utility model discloses a bionic leg device, including main casing body, the steering wheel is all installed at both ends around the main casing body, the output of two steering wheels and two bionic leg upper surface middle part fixed connection drive bionic leg motion, and the horizontal hunting of two bionic legs is realized walking forward or backward, the circuit board is installed in the main casing body and is used for controlling the steering wheel, the battery is for the steering wheel power supply and be equipped with switch on the main casing body outside, be equipped with the data transmission mouth of being connected with the circuit board on the main casing body, top cap and main casing body sealing.

The beneficial effects of the utility model reside in that:

the utility model discloses simple structure, cost are with low costs, and functional strong has realized to a certain extent that function utilization maximize, price/performance ratio have the improvement that is showing, the utility model discloses not only be fit for the level land and remove, still can operate at complicated topography to a certain extent.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the circuit board mounting of the present invention;

FIG. 3 is a schematic view of a detachable moving wheel according to the present invention;

FIG. 4 is a schematic view of a detachable moving wheel of the present invention;

wherein: 1. a top cover; 2. a bionic leg; 21. a support leg; 3. a circuit board; 4. a power switch; 5. a data transmission port; 6. a steering engine; 7. a main housing; 8. a removable moving wheel; 81. a rubber outer tire; 82. a sharp leg; 83. an outer leg; 84. a connecting plate; 85. a main shaft; 86. a rotating shaft; 87. and (5) a stretching plate.

Detailed Description

As shown in fig. 1 to 4, the bionic quadruped robot comprises a top cover 1, a circuit board 3, a power switch 4, a main shell 7, a storage battery, two bionic legs 2 and two steering engines 6; steering wheel 6 is all installed at both ends around main casing body 7, the output of two

steering wheels

6 and 2 upper surface middle part fixed connection of two bionical legs drive bionical leg 2 motions, and the horizontal hunting of two bionical legs 2 is realized walking forward or backward, circuit board 3 is installed in main casing body 7 and is used for controlling steering wheel 6, the battery is for the power supply of steering wheel 6 and be equipped with switch 4 on the main casing body 7 outside, be equipped with the data transmission mouth 5 of being connected with circuit board 3 on the main casing body 7, top cap 1 and main casing body 7 sealing connection.

The top cover 1, the main shell 7 and the two bionic legs 2 are made by adopting a 3D printing technology.

The two bionic legs 2 are U-shaped structures and are supported by the two support legs 21.

The top cover 1 is provided with heat dissipation holes for heat dissipation.

The bionic quadruped robot also comprises four detachable moving wheels 8 and four driving motors; the four detachable moving wheels 8 are respectively rotatably installed on the four supporting legs 21, each detachable moving wheel 8 is driven by a driving motor, and each driving motor is installed on the corresponding supporting leg 21.

Each of the detachable moving wheels 8 includes a rubber outer tire 81, a main shaft 85, a rotating shaft 86, a plurality of sharp legs 82, a plurality of outer legs 83, a plurality of connecting plates 84, and a plurality of extending plates 87; main shaft 85 and the coaxial body coupling of axis of rotation 86, main shaft 85 rotate through axis of rotation 86 and install on corresponding landing leg 21, an organic whole is connected with a plurality of sharp legs 82 on the main shaft 85 outer periphery, every sharp-end of sharp leg 82 all sets up outwards, all seted up the slot on a plurality of outer legs 83 and through the slot cartridge on the sharp leg 82 that corresponds, all inwards be equipped with extension board 87, every on every outer leg 83 side extension board 87 all through bolt demountable installation on main shaft 85, rubber cover 81 suit is on a plurality of outer legs 83, and rubber cover 81 passes through connecting plate 84 and main shaft 85 and goes up bolted connection.

The driving motor is a forward and reverse rotating motor.

The detachable moving wheel 8 can walk through the rubber tire casing 81, the plurality of outer legs 83, or the plurality of sharp legs 82, and the outer legs 83 can be exposed by detaching the rubber tire casing 81, and the sharp legs 82 can be exposed by detaching the outer legs 83.

The rubber outer tire 81 is used for plane walking; the outer leg 83 can rotate under the action of the driving motor, can provide forward or backward power for the bionic leg 2 and is used on the ground with larger resistance; the sharp legs 82 are used on a soil surface where the terrain is relatively complex and can be inserted.

One part of the inner side surface of the rubber outer tire 81 is of a plane structure matched with the outer side surface of the outer leg 83.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A bionic quadruped robot is characterized in that: comprises a top cover (1), a circuit board (3), a power switch (4), a main shell (7), a storage battery, two bionic legs (2) and two steering engines (6); steering wheel (6) are all installed at both ends around main casing body (7), the output of two steering wheels (6) and two bionical leg (2) upper surface middle part fixed connection drive bionical leg (2) motion, install in main casing body (7) and be used for controlling steering wheel (6) circuit board (3), the battery is for steering wheel (6) power supply and be equipped with switch (4) on main casing body (7) outside, be equipped with data transmission mouth (5) of being connected with circuit board (3) on main casing body (7), top cap (1) and main casing body (7) sealing connection.

2. The biomimetic quadruped robot of claim 1, wherein: the two bionic legs (2) are U-shaped structures and are supported by the two support legs (21) on the bionic legs.

3. The biomimetic quadruped robot of claim 1, wherein: the top cover (1) is provided with heat dissipation holes for heat dissipation.

4. The biomimetic quadruped robot of claim 2, wherein: the bionic quadruped robot also comprises four detachable moving wheels (8) and four driving motors; the four detachable moving wheels (8) are respectively rotatably installed on the four supporting legs (21), each detachable moving wheel (8) is driven by a driving motor, and each driving motor is installed on the corresponding supporting leg (21).

5. The biomimetic quadruped robot according to claim 4, characterized in that: each detachable moving wheel (8) comprises a rubber outer tire (81), a main shaft (85), a rotating shaft (86), a plurality of sharp legs (82), a plurality of outer legs (83), a plurality of connecting plates (84) and a plurality of extension plates (87); main shaft (85) and axis of rotation (86) coaxial body coupling, main shaft (85) rotate through axis of rotation (86) and install on landing leg (21) that corresponds, an organic whole is connected with a plurality of sharp legs (82) on main shaft (85) outer periphery, every the pointed end of sharp leg (82) all sets up outwards, all seted up the slot on a plurality of outer legs (83) and through the slot cartridge on corresponding sharp leg (82), all inwards be equipped with extension board (87) on every outer leg (83) a side, every extension board (87) all through bolt demountable installation on main shaft (85), rubber cover tire (81) suit is on a plurality of outer legs (83), and bolted connection is gone up through connecting plate (84) and main shaft (85) in rubber cover tire (81).

6. The biomimetic quadruped robot according to claim 5, characterized in that: and a part of the inner side surface of the rubber outer tire (81) is of a plane structure matched with the outer side surface of the outer leg (83).