CN214648664U - Quadruped robot for teaching - Google Patents

Abstract

The utility model belongs to the technical field of teaching robot, concretely relates to four-footed robot is used in teaching. The quadruped robot comprises a robot body and four legs; each leg comprises a shoulder elbow, a thigh and a shank, and each shoulder elbow, thigh and shank is driven by a steering engine; a power supply, a power supply conversion board and a main control board are arranged in the machine body; the power supply conversion board is connected with the power supply, the main control board and each steering engine and is used for converting voltage provided by the power supply into the power supply required by the main control board and amplifying the control signal output by the main control board to obtain the steering engine driving signal of each steering engine; the quadruped robot is manufactured by 3D printing. This four-footed robot has reduced the cost threshold of structural complexity and four-footed robot research and study, and later maintenance is lower with the maintenance cost moreover, satisfies teaching engineering specialty teaching demand.

Description

Quadruped robot for teaching

Technical Field

The utility model belongs to the technical field of teaching robot, concretely relates to four-footed robot is used in teaching.

Background

With the development of economy and the progress of science and technology, the field of robot research gradually develops to the industries of aerospace, disease examination and treatment, emergency rescue and disaster relief and the like. Among them, the quadruped robot is a hot spot of the current mobile robot research, and the deep research of the quadruped robot is developed successively in various countries, and how large the bionic structure is adopted, such as the dog-shaped quadruped robot. Regarding the quadruped robot, there are spot mini with boston power abroad, come dog with the cosmos science and technology, dead shadow in the deep cloud, Yobogo with Yobobo, and the like, Yobobo, which is excellent, in China.

Come dog complete machine weight of Yu tree science and technology is about 22 kilograms, and the fuselage is 0.5 meters long, and the height of standing is 0.6 meters, and the angle of climbing is about 20 degrees, and load weight is 5 kilograms at most, and walking speed is 0 ~ 0.8m/s, and battery capacity is 10500mAH, and main customer comes from colleges and universities, science and technology museum and big some science and technology companies at home and abroad, and a small amount of science and technology circle personage also can purchase alone. Compared with foreign countries, the price advantage is larger.

The 'absolute shadow' series robot independently researched and developed by Hangzhou cloud deep science and technology reaches an advanced level in international similar products, and a developed high-torque permanent magnet synchronous motor is matched with an integrated design of a high-efficiency precise speed reducing mechanism, a high-precision absolute encoder and a lightweight shell, so that a joint driving module has extremely high torque density, response bandwidth and reverse transmission efficiency, and is suitable for realizing joint driving and force control algorithms of various high-performance robots.

The YoboGo which is commonly cooperated with the intelligence engine innovative science and technology of Shandong Youbanbote and Shenzhen is optimized and improved on the basis of mini cheetah, the mechanical angle feedback is realized without a backup battery, a customized ultra-small crossed roller bearing is adopted on the structure, and the precision and the structural strength of the whole machine are greatly improved. The hardware frame diagram is shown in fig. 1.

Foretell several kinds of machine dogs are metal construction, adopt high-power high moment of torsion direct current brushless servo motor, have that the motion performance is strong and brisk, closed-loop control, characteristics such as action precision height, nevertheless to the teaching training scene of colleges and universities, have following not enough:

1. the structure is complex. The robot dog is provided with the metal body, the number of structural parts is large, the belt transmission structure is adopted between the shank and the thigh, the requirement on the installation process is high, and the robot dog is not beneficial to the disassembly and assembly operation of students on the robot in the practical training process.

2. The electrical connection is complicated. Above-mentioned machine dog control panel adopts the control mode that AI control panel + bottom control panel combine more, and every brushless motor need dispose the motor drive board simultaneously, has increased the complexity of walking the line in the system like this, influences system operation stability simultaneously, and the real in-process of instructing is unfavorable for student's location problem, increases later maintenance and maintenance cost simultaneously.

3. The cost is high. The used brushless motor of above-mentioned machine dog, cost unit price is more than 2000 yuan, and to the machine dog of a 12 axles, motor cost is close 30000, and simultaneously, fuselage, motor structure spare adopt the customization structure more, and purchase and cost of maintenance are higher, to the real scene of instructing of school, if hope accomplish every 2 ~ 3 students distribute a four-footed robot development platform, school's input is too big.

Therefore, it is necessary to provide a quadruped robot suitable for practical teaching.

SUMMERY OF THE UTILITY MODEL

The utility model provides a quadruped robot is used in teaching for solve the problem that the robot among the prior art is not suitable for the teaching usefulness.

For solving the technical problem, the utility model discloses a technical scheme and technical scheme correspond beneficial effect as follows:

the utility model provides a quadruped robot for teaching, which comprises a robot body and four legs;

each leg comprises a shoulder elbow, a thigh and a shank, and each shoulder elbow, thigh and shank is driven by a steering engine;

a power supply, a power supply conversion board and a main control board are arranged in the machine body; the power supply conversion board is connected with the power supply, the main control board and each steering engine and is used for converting voltage provided by the power supply into the power supply required by the main control board and amplifying the control signal output by the main control board to obtain the steering engine driving signal of each steering engine;

the quadruped robot is manufactured by 3D printing.

The beneficial effects of the above technical scheme are: the utility model discloses a four-footed robot of teaching wholly adopts 3D printing technique to make, and every shoulder elbow, thigh and shank respectively by a steering wheel drive, has not only reduced the cost threshold of structural complexity and four-footed robot research and study, and later maintenance is lower with the maintenance cost moreover, satisfies teaching engineering specialty teaching demand.

Further, in order to increase the overall mechanical strength, the 3D printed material is a nylon material.

Furthermore, in order to realize the control of a plurality of steering engines, the power supply conversion plate comprises a main power supply plate and a steering engine adapter plate; the main power panel is connected with a power supply, a main control panel and six steering engines, and is used for converting voltage provided by the power supply into the power supply required by the main control panel and amplifying control signals output by the main control panel to obtain steering engine driving signals of the six steering engines; the main power panel is connected with the steering engine adapter plate, the steering engine adapter plate is connected with the other six steering engines, and therefore control signals output by the main control panel are amplified to obtain steering engine driving signals of the other six steering engines and sent to the steering engine adapter plate.

Furthermore, six steering engines are six steering engines of the lower limbs of the quadruped robot, and the rest six steering engines are six steering engines of the upper limbs.

Further, in order to enable the quadruped robot to obtain external voice information to act on the next step according to the voice information, the quadruped robot further comprises a microphone, the microphone is connected with the main control board and is arranged inside the machine body, and a sound inlet is formed in the machine body.

Further, in order to enable the quadruped robot to obtain external image information so as to perform the next action according to the image information, the quadruped robot further comprises a head and a depth camera, the depth camera is connected with the main control board, and the depth camera is arranged on the head.

Further, in order to display the state of the quadruped robot, the quadruped robot further comprises an indicator light, the indicator light is connected with the main control board, and the indicator light is arranged on the robot body.

Furthermore, in order to configure the main control board conveniently, the quadruped robot further comprises a communication interface, the communication interface is connected with the main control board and is arranged on the robot body, and the communication interface comprises a USB interface and/or an HDMI interface.

Further, the power supply is a lithium battery.

Further, be provided with the interface that charges that is used for charging for the lithium cell on the fuselage.

Drawings

FIG. 1 is a hardware framework diagram of a prior art Expo machine dog;

FIG. 2 is a hardware structure diagram of the quadruped robot for teaching of the present invention;

FIG. 3 is an overall shape diagram of the quadruped robot for teaching of the present invention;

wherein, 1-shoulder elbow, 2-thigh, 3-shank, 4-sound inlet of microphone array, 51-power state indicator, 52-working state indicator, 6-charging inlet;

FIG. 4 is a schematic distribution diagram of the main control board, the main power board and the steering engine adapter board of the quadruped robot for teaching of the present invention;

the steering engine comprises a steering engine adapter plate 7, a main plate 8 and a main power supply plate 9;

fig. 5 is a schematic view of the fixing mode of the microphone array of the quadruped robot for teaching of the present invention;

10-microphone array;

fig. 6 is a schematic view of the LED indicator light and the charging port of the quadruped robot for teaching of the present invention;

wherein, 51-power state indicator lamp, 52-working state indicator lamp, 6-charging port;

fig. 7 is a schematic diagram of the USB interface and the HDMI interface of the quadruped robot for teaching according to the present invention;

11-USB interface, 12-power switch, and 13-HDMI interface;

fig. 8 is a circuit diagram of the present invention converted to 5V voltage;

FIG. 9 is a circuit diagram of a driving portion of a steering engine according to the present invention;

fig. 10 is a circuit diagram of the LED indicator lamp of the present invention;

fig. 11 is a circuit diagram of the battery charging port switching circuit of the present invention;

FIG. 12 is a schematic view of the mutual connection between the steering engine interface on the main power board and the steering engine adapter plate;

fig. 13 is a schematic view of the steering engine interface on the steering engine adapter plate of the present invention.

Detailed Description

The utility model discloses a four-footed robot embodiment is used in teaching, its whole form is shown in figure 3. The whole quadruped robot is formed by 3D printing of a nylon material, is 355mm long and 112mm wide and comprises a head, a body and four legs. The front end face of the machine body is connected with the head, two legs are arranged on two side faces of the outer portion of the machine body respectively, each leg comprises a shoulder elbow 1, a thigh 2 and a shank 3, and each shoulder elbow, thigh and shank is connected with a steering engine. 6 steering gears of the lower limbs (two rear legs) are steering gears 1-6, and 6 steering gears of the upper limbs (two front legs) are steering gears 7-12.

In order to control the quadruped robot, a hardware configuration diagram as shown in fig. 2 is designed. The device comprises a main control board 8, a main power supply board 9, a steering engine adapter board 7, 2S lithium batteries (2 lithium batteries), 12 steering engines, a microphone array 10, a depth camera, two LED indicator lamps, a USB interface 11 and an HDMI interface 13.

The main control board 8 is the core of the whole quadruped robot control, adopts a 1.5Ghz quadruped 64-digit Cortex-A72 processor and has 4GB memory. Be provided with a plurality of power switching circuits and steering wheel drive circuit on the main power board 9, all link to each other with 2S lithium cell, main control board 8, steering wheel 1 ~ 6, steering wheel keysets 7, and steering wheel keysets 7 connects steering wheel 7 ~ 12 to realized: on one hand, the output of the lithium battery can be convertedThe voltage is changed to 5V to supply power to the main control board, and the conversion circuit is realized by a conversion chip IC _ TPS5430DDAR as shown in FIG. 8; on the other hand also through I²The C bus receives and amplifies the control signal output by the main control board, 12 paths of PWM steering engine driving signals are output through a driving IC (integrated circuit) of a main power supply board 9, wherein 6 paths of PWM steering engine driving signals are directly output to 6 steering engines of lower limbs of the quadruped robot, and in addition, 6 paths of PWM steering engine driving signals are led out to a steering engine adapter board and then output to 6 steering engines of upper limbs of the quadruped robot through the steering engine adapter board so as to control the action of the quadruped robot. The circuit diagram of the steering engine driving part is shown in fig. 9, the schematic diagram of the steering engine interface on the steering engine adapter plate is shown in fig. 13, and the schematic diagram of the connection of the steering engine interface on the main power supply plate and the main power supply plate with the steering engine adapter plate is shown in fig. 12. As shown in fig. 4, the main control board 8, the main power supply board 9, and the steering engine adapter board 7 are fixed to the inside of the quadruped robot body by M3 screws.

The main control board is further connected with both the microphone array 10 and the depth camera to acquire external voice information and external image information, so that the main control board can analyze and process the external voice and image to control the four legs to act in a matching manner. As shown in fig. 5, the microphone array is located inside the upper cover plate of the body, and the sound inlet 4 of the microphone array is left on the body. The depth camera is disposed at the four-footed robot head.

The main control board is also connected with two LED indicator lights, namely a power status indicator light 51 and a working status indicator light 52, which are respectively used for displaying the current working status and the power status of the quadruped robot under the control of the main control board, and the circuit thereof is shown in fig. 10. As shown in fig. 6, two LED indicators are disposed on the outer side of the main body, and a charging port 6 is further disposed on the outer side of the main body to facilitate charging of a 2S lithium battery inside the main body, and a battery charging port switching circuit is shown in fig. 11.

In the use process of the quadruped robot teaching platform, the situation that a user needs to use an external keyboard and a liquid crystal display to configure the main control board may occur, so that the quadruped robot is further provided with a USB interface 11 and an HDMI interface 13 which are both connected with the main control board, and the setting positions of the quadruped robot are as shown in FIG. 7 and are arranged on the rear end face of the machine body. A power switch 12 is provided on the rear end surface of the body.

The quadruped robot carries an ROS robot operating system, after the quadruped robot is electrified, an ROS node starts a motor driving node, the driving node outputs PWM according to a received feedback value, so that a steering engine is maintained or driven to act, after the steering engine starting node runs, a program opening command receiving control node, under the node, a program subscribes a user output command topic, switching among stand state, idle state, walk state, speed state and angle state machines is carried out according to topic content program states, in a keyboard node, waiting is carried out, the program circularly waits for the user input state, different state machine switching topics are issued according to key content, and in an LCD node, the program outputs the current running state of the quadruped robot through an LCD.

In this embodiment, the whole power conversion board includes two boards, which are a main power board and a steering engine adapter board, respectively, because the interface on the main power board is not enough, and the remaining steering engines are correspondingly controlled through each interface on the steering engine adapter board. If the structure on the main power supply board can be used for controlling 12 steering engines, a steering engine adapter plate is not needed.

Overall, the utility model discloses a four-footed robot has following characteristics:

1. this four-footed robot wholly adopts 3D to print the material, has reduced structure complexity, and the user equipment of being convenient for has reduced the cost threshold of four-footed robot research and study simultaneously, uses standard steering wheel as power component, is showing to be reduced in servo motor cost, can agree with colleges and universities robot engineering specialty teaching demand better.

2. The high-performance control core and the optimization algorithm are adopted, the current mainstream ROS robot operating system is carried, the movement performance comparable to that of a metal mechanical dog is realized, and meanwhile, voice and vision modules are carried, so that the teaching and practical training requirements of robots in colleges and universities are met.

3. The hardware adopts a modular design, so that the user can conveniently assemble, study and maintain, and the user can conveniently expand and innovate functions while the manual ability of the user is improved.

Claims (10)

1. A quadruped robot for teaching is characterized by comprising a robot body and four legs;

each leg comprises a shoulder elbow, a thigh and a shank, and each shoulder elbow, thigh and shank is driven by a steering engine;

a power supply, a power supply conversion board and a main control board are arranged in the machine body; the power supply conversion board is connected with the power supply, the main control board and each steering engine and is used for converting voltage provided by the power supply into the power supply required by the main control board and amplifying the control signal output by the main control board to obtain the steering engine driving signal of each steering engine;

the quadruped robot is manufactured by 3D printing.

2. The quadruped robot for teaching of claim 1, wherein the 3D printed material is a nylon material.

3. The quadruped robot for teaching of claim 1, wherein the power conversion board comprises a main power board and a steering engine adapter board; the main power panel is connected with a power supply, a main control panel and six steering engines, and is used for converting voltage provided by the power supply into the power supply required by the main control panel and amplifying control signals output by the main control panel to obtain steering engine driving signals of the six steering engines; the main power panel is connected with the steering engine adapter plate, the steering engine adapter plate is connected with the other six steering engines, and therefore control signals output by the main control panel are amplified to obtain steering engine driving signals of the other six steering engines and sent to the steering engine adapter plate.

4. The quadruped robot for teaching of claim 3, wherein six of the steering engines are six steering engines of the lower limbs of the quadruped robot, and the remaining six steering engines are six steering engines of the upper limbs.

5. The quadruped robot for teaching of claim 1, further comprising a microphone, wherein the microphone is connected with the main control board and is arranged inside the robot body, and the robot body is provided with a sound inlet.

6. The quadruped robot for teaching of claim 1, further comprising a head and a depth camera, wherein the depth camera is connected to the main control board, and the depth camera is disposed at the head.

7. The quadruped robot for teaching of claim 1, further comprising an indicator light, wherein the indicator light is connected with the main control board and is arranged on the robot body.

8. The quadruped robot for teaching of claim 1, further comprising a communication interface, wherein the communication interface is connected with the main control board and is arranged on the robot body, and the communication interface comprises a USB interface and/or an HDMI interface.

9. The quadruped robot for teaching of claim 1, wherein the power source is a lithium battery.

10. The quadruped robot for teaching of claim 9, wherein a charging interface for charging a lithium battery is arranged on the robot body.

Images