CN216636660U - Polymorphic four-footed robot - Google Patents

Abstract

The utility model relates to a polymorphic four-legged robot, which comprises a walking and posture changing mechanism, a steering mechanism and a body upper shell, and comprises a normal walking posture, a swinging walking posture, a half-leaning posture, a steering posture and a shell shrinking posture. The walking and posture changing mechanism is connected with the steering mechanism, changes the posture through the walking and posture changing mechanism, and is combined with the steering mechanism to realize the functions of steering and shell shrinking. The utility model is suitable for the complex pipelines to overhaul the pipelines; the device is suitable for disaster areas where mountain stones fall, and realizes the function of transporting materials; the shooting method is suitable for field camouflaging shooting with complex terrain and is used for bulletproof transportation in military; the device has flexible turning capability and unique walking posture, and can be used for auxiliary detection and transportation of large construction machinery. The method has remarkable significance for the modern construction and the intelligent construction of dangerous work species.

Description

Polymorphic four-footed robot

Technical Field

The utility model belongs to the technical field of mobile robots, and particularly relates to a polymorphic quadruped robot.

Background

Mobile robots have been a hotspot in the research field for over a century now and in the near future, with great potential for development and research value. The mobile robots mainly comprise three types, namely a wheel type mobile robot, a crawler type mobile robot and a foot type mobile robot, at present, the most common mobile robots comprise the wheel type mobile robot and the crawler type mobile robot, the technologies of the two types of mobile robots are mature, and the wheel type mobile robot and the crawler type mobile robot have good motion performance on a flat road surface. However, the movement of wheeled and tracked mobile robots over rough roads is still very limited. The mechanical structure design of the quadruped robot is mainly based on bionics, an efficient motion cycle process of an animal is simulated, and the ability of coordinating periodic motion is expected to be realized, so that the bionic machine which can adapt to strange and challenging environments is designed. The research on the legged robot is in the front of the world in developed countries, such as the united states, japan, and canada. The foot type robot series development products are also available in danish, switzerland, japan and korea, and various foot type robots are also successively developed by several domestic universities and companies, such as the Chinese academy, the Western-style society, the Shanghai society, the Qinghua university and the Beijing university of science and technology. However, the foot type still has the following problems: in order to walk flexibly and easily over obstacles, each mechanical foot must have enough freedom to realize efficient and flexible actions, the overall requirements on the robot are higher, and the design is more difficult. The freedom degree of a single leg of the foot type robot is generally 3-6, the foot type robot is quite complex, and the total freedom degree of the whole robot can reach 10-18. This requires a very high precision control of the control system, is computationally complex and difficult and is costly.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects in the prior art, the utility model provides a polymorphic quadruped robot with a new configuration, which has a posture shape variable function, is mechanical equipment suitable for various working occasions and has high bearing capacity.

A multi-form four-legged robot comprises a walking and posture changing mechanism, a steering mechanism and a robot body upper shell, wherein the walking and posture changing mechanism is rotatably connected around the steering mechanism, and the top of the steering mechanism is provided with the robot body upper shell; comprises a normal walking posture, a swinging walking posture, a half-volt posture, a steering posture and a shell shrinking posture;

the walking and posture changing mechanism comprises four legs, the four legs are symmetrically connected to the left side and the right side of the steering mechanism and are symmetrical relative to the front side and the rear side of the steering mechanism, each leg of the walking mechanism comprises a motor, a shank, a cylindrical push rod, a crank, a connecting rod, a leg support, a rocker, a hollow rod and an electric push rod, the leg support is connected to the steering mechanism, the motor is fixed on the leg support, one end of the crank is connected with the output end of the motor, and the other end of the crank is rotatably connected with the connecting rod; the fixed end of the electric push rod is rotatably connected to the leg bracket, and the telescopic end of the electric push rod is rotatably connected with the front end of the shank; two ends of the rocker are respectively connected with the fixed ends of the side link and the electric push rod in a rotating way; two ends of the hollow rod are respectively connected to the rod body of the side link and the electric push rod; one end of the cylindrical push rod is rotatably connected with the inside of the cavity of the hollow rod, and the other end of the cylindrical push rod is rotatably connected to the position, close to the front end of the shank, on the shank;

the steering mechanism comprises a machine body bottom plate, a middle plate, four double-shaft steering engines, four steering engine upper shells and four steering engine lower shells, wherein the steering engine upper shells and the steering engine lower shells are respectively installed on the upper side and the lower side of the middle plate in a centrosymmetric manner through bolts, and the bottoms of the steering engine lower shells are fixed on the machine body bottom plate; the double-shaft steering engine is fixed on the middle plate, and two ends of the double-shaft steering engine are respectively fixed with the upper steering engine shell and the lower steering engine shell; a leg support of a leg in the walking and posture changing mechanism is connected with a double-shaft steering engine; a groove is formed between every two adjacent double-shaft steering engines on the middle plate;

the upper shell of the machine body is connected to the upper part of the upper shell of the steering engine in the steering mechanism through a bolt, and the outer diameter of the upper shell of the machine body is larger than that of the steering mechanism; the upper shell, the middle plate and the bottom plate of the robot body form the body of the robot.

The tail end of the shank is a foot end which is cylindrical, and the center line of the cylinder is parallel to the ground.

The outside of the foot end is sleeved with rubber.

The motor adopts a direct current motor.

And side plates are arranged on the side surfaces of the grooves.

Two shaft ends of the double-shaft steering engine are respectively connected with two ends of the leg support.

The upper shell is dome-shaped.

The cross sections of the steering engine upper shell and the steering engine lower shell are L-shaped, and the double-shaft steering engine is placed in a cavity formed by the steering engine upper shell, the middle plate and the steering engine lower shell.

The length of the shank, the cylindrical push rod, the crank, the side link, the rocker, the hollow rod and the electric push rod in each leg is different; the electric push rod is a pen-type electric push rod, and the motor is arranged inside the electric push rod.

The utility model has the beneficial effects that: the utility model has wide application range: the device is suitable for the complex pipelines to overhaul; the device is suitable for disaster areas where mountain stones fall, and realizes the function of transporting materials; the shooting method is suitable for field camouflaging shooting with complex terrain and is used for bulletproof transportation in military; the device has flexible turning capability and unique walking posture, and can be used for auxiliary detection and transportation of large construction machinery. The method has remarkable significance for the modern construction and the intelligent construction of dangerous work species.

Drawings

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

FIG. 2 is a cross-sectional view of the present invention;

FIG. 3 is a schematic view of the walking and posture changing mechanism of the present invention with the foot end of the leg in contact with the ground;

FIG. 4 is a schematic view of the leg position in the collapsed state of the present invention;

FIG. 5 is a top view of a leg of the walking and posture changing mechanism of the present invention;

FIG. 6 is a view taken along line A-A of FIG. 5;

FIG. 7 is a schematic view of a normal walking state of the present invention;

FIG. 8 is a top view of FIG. 7;

FIG. 9 is a schematic view of the shell shrinking state of the present invention;

FIG. 10 is a top view of FIG. 9;

FIG. 11 is a front view of the half volt state of the present invention;

wherein the content of the first and second substances,

1-walking and posture changing mechanism, 2-steering mechanism, 3-machine body, 4-shank, 5-cylindrical push rod, 6-crank, 7-connecting rod, 8-leg support, 9-rocker, 10-hollow rod, 11-electric push rod, 12-motor, 13-machine body bottom plate, 14-middle plate, 15-machine body upper shell, 16-steering engine lower shell, 17-steering engine upper shell and 18-side plate.

Detailed Description

For better understanding of the present invention, the technical solutions and effects of the present invention will be described in detail by the following embodiments with reference to the accompanying drawings.

As shown in fig. 1-2. The utility model provides a polymorphic four-footed robot, is including walking and changing appearance mechanism 1, steering mechanism 2 and fuselage shell 15, walking and changing appearance mechanism 1 and rotating to be connected around steering mechanism 2, turns to the structure top and sets up fuselage shell 15, and fuselage shell 15 and steering mechanism 2 realize contracting the shell function, polymorphic four-footed robot has walking function, turns to the function and contracts the shell function, including normal walking gesture, swing walking gesture, half volt gesture, turn to the gesture, contract the shell gesture.

The walking and posture changing mechanism 1 comprises four legs, the four legs are symmetrically connected to the left side and the right side of the steering mechanism 2 and are symmetrical relative to the front side and the rear side of the steering mechanism 2, and each leg is provided with a driving part driven by a motor 12 to drive the driving part so as to realize the walking of the whole machine. Each leg of the walking and posture changing mechanism 1 comprises a motor 12, a lower leg 4, a cylindrical push rod 5, a crank 6, a side link 7, a leg support 8, a rocker 9, a hollow rod 10 and an electric push rod 11, and the lower leg 4, the cylindrical push rod 5, the crank 6, the side link 7, the rocker 9, the hollow rod 10 and the electric push rod 11 in each leg are different in length, so that the walking and posture changing mechanism is an important mechanism for realizing the walking of the robot. The cylindrical push rod 5, the crank 6, the side link 7, the leg support 8, the rocker 9, the hollow rod 10 and the electric push rod 11 are seven connecting rods with different sizes, are main components of the walking and posture changing mechanism 1, and realize the walking of the whole robot when the robot works. The leg support 8 is connected to the steering mechanism 2, the motor 12 is fixed on the leg support 8, one end of the crank 6 is connected with the output end of the motor 12 and is used as a driving link of the walking and posture changing mechanism 1, and the other end of the crank 6 is rotationally connected with the side link 7; the fixed end of the electric push rod 11 is rotatably connected to the leg support 8, and the telescopic end of the electric push rod 11 is rotatably connected with the front end of the lower leg 4; two ends of the rocker 9 are respectively connected with the fixed ends of the side link 7 and the electric push rod 11 in a rotating way; two ends of the hollow rod 10 are respectively connected to the rod body of the side link 7 and the electric push rod 11; one end of the cylindrical push rod 5 is rotatably connected with the inside of the cavity of the hollow rod 10, and the other end is rotatably connected with the position, close to the front end of the lower leg 4, on the lower leg 4. The crank 6, the side link 7 and the rocker 9 form a crank rocker mechanism, and the hollow rod 10, the electric push rod 11, the shank 4 and the cylindrical push rod 5 form a parallelogram mechanism. When walking, the motor 12 rotates to drive the crank 6 to do rotary motion, the crank 6 drives the rocker 9 to move through the connecting frame rod 7, the crank rocker mechanism moves to drive the parallelogram mechanism connected with the crank rocker mechanism to move, namely the crank 6 drives the hollow rod 10 to move while moving through the connecting frame rod 7, and the hollow rod 10, the electric push rod 11, the shank 4 and the cylindrical push rod 5 form a parallelogram mechanism, so that the hollow rod 10 moves to drive the cylindrical push rod 5, the electric push rod 11 and the shank 4 to move; there are two ways of lifting the leg: the first is that the electric push rod 11 extends to lift the legs, and the electric push rod 11 contracts to fall the legs; the second is that the motor 12 is driven to do the rotary motion. The two ways realize and amplify the movement of the foot end, thereby realizing the walking of the robot. As shown in fig. 3-6.

The electric push rod 11 is a pen-type electric push rod, and the motor is arranged inside the electric push rod.

The tail end of the shank 4 is a foot end which is cylindrical, and the center line of the cylinder is parallel to the ground. The cylindrical foot end has a simpler structure, is in line contact with the foot end, has stronger adaptability compared with a wheel type, has stronger contact capability with the ground and has good adaptability to a complex terrain environment; and the connection part of the leg body and the crus 4 does not need to be designed with a rotating device. The rubber is sleeved outside the foot end, the foot end can buffer and play a role in buffering when being collided with the ground, the impact of the foot end on an upper machine body is reduced, a foundation is laid for the whole walking of the robot, and the stability of the robot in working can be ensured.

The motor 12 is a direct current motor 12.

The walking and posture changing mechanism 1 comprises two walking gaits, namely a walk gait and a trot gait, and the distance between every two adjacent legs is the same. The motor 12 rotates, four legs in the walking and posture changing mechanism 1 are mutually matched according to working requirements under the driving of the motor 12, and the motor 12 in each leg is mutually independent and mutually matched. When the robot needs to move at a medium and high speed, adopting a trot gait, wherein the medium and high speed is 0.5-0.8 m/s; when low-speed stable movement is required, walk gait is adopted, and the low speed is 0.1-0.5 m/s. Each leg is a single-degree-of-freedom closed chain mechanism, and the foot end track can be determined by one power source.

Wherein trot gait: in the walking process, the four legs are divided into two groups, two legs positioned on the diagonal line form one group, and the walking pace of the two legs in the same group is consistent; the two groups of legs are adjusted by the control motor 12 to have phase difference, so that diagonal walking gait of the bionic animal is realized, and the state is trot gait. When the robot walks with trot gait, a group of legs, namely two legs positioned in the same diagonal direction, are always contacted with the ground during the moving process.

walk gait: according to the walking gait of the quadruped, in the walking process, the leg in the left front or right front direction relative to the walking direction is lifted firstly, the leg in the right back or left back direction relative to the walking direction is lifted when the front leg is in contact with the ground, the leg in the right front or left front direction is lifted when the second leg is in contact with the ground, and finally the leg in the left back or right back direction is lifted. Namely, two legs in the diagonal direction are sequentially lifted and dropped relative to the walking direction in the sequence of the front and the back, and three legs are always kept in contact with the ground in the running process.

The walking and posture changing mechanism 1 has good bearing capacity: the single-degree-of-freedom closed-chain leg structure formed by seven different connecting rods can have larger bearing capacity. The self gravity of the robot and the impact force generated in the advancing process can be dispersed to each rod body to share, so that the robot has good bearing capacity. When the robot is used for carrying articles or being additionally provided with other equipment, the good walking stability of the robot can be ensured. The motion control mode of the walking and posture changing mechanism 1 is simple: the lengths of the connecting rods are determined by a dimension design ant colony optimization method, so that the motion trail of the foot end of the leg mechanism of each leg is elliptical and unchanged when the leg mechanism advances, a complex design algorithm is reduced, and the advancing speed adjustment and the gait adjustment of the robot are realized by adjusting the rotating speeds of the four direct current motors 12 and the phase differences among the four direct current motors 12. For the trot gait, one cycle of rotation of the crank 6 is a walking cycle, in one walking cycle, the left front leg and the right rear leg are in one group, the right front leg and the left rear leg are in one group, the first group of legs can ascend in a half cycle by controlling the rotating speeds of two groups of different phases in one cycle, the other group of legs can contact the ground, the alternate motion of the two groups of legs is realized, and the smooth walking of the trot gait is completed. In a similar way, the four legs are respectively grouped into one group, the walking gait can be sequentially moved by quartering in one period, lifting one leg in each quarter period and contacting the ground by the other three legs.

As shown in fig. 7-8, the steering mechanism 2 includes a body bottom plate 13, a middle plate 14, four double-shaft steering engines, four steering engine upper shells 17 and four steering engine lower shells 16, wherein the steering engine upper shells 17 and the steering engine lower shells 16 are respectively installed on the upper side and the lower side of the middle plate 14 in a centrosymmetric manner through bolts, that is, the steering engine upper shells 17 are installed on the upper side of the middle plate 14 in a centrosymmetric manner, the steering engine lower shells 16 are installed on the lower side of the middle plate 14 in a centrosymmetric manner, the bottoms of the steering engine lower shells 16 are fixed on the body bottom plate 13, and the steering engine upper shells 17 and the steering engine lower shells 16 correspond to each other up and down; the upper shell 17 and the lower shell 16 of the steering engine connect the upper shell 15, the middle plate 14 and the bottom plate 13 of the body together. The double-shaft steering engine is fixed on the middle plate 14, the cross sections of the upper steering engine shell 17 and the lower steering engine shell 16 are L-shaped, the double-shaft steering engine is placed in a cavity formed by the upper steering engine shell 17, the middle plate 14 and the lower steering engine shell 16, and the upper steering engine shell 17 and the lower steering engine shell 16 can well protect the steering engine. Leg support 8 of legs in the walking mechanism 1 is connected with the double-shaft steering engine, and the double-shaft steering engine connected with each leg is mutually independent. Every two adjacent double-shaft steering engines on the middle plate 14 are provided with a groove in a spacing mode, and space is provided for rotation of the legs. The sides of the recess are provided with side plates 18.

Two shaft ends of the double-shaft steering engine are respectively connected with two ends of the leg support 8, and the rotation of the shaft ends of the double-shaft steering engine drives the legs to rotate, so that the robot changes the walking direction.

In the straight-ahead process of the quadruped robot, the double-shaft steering engine does not work; when turned, mimics the crotch joint. When the steering gear needs to be turned, the motor 12 rotates to drive one leg close to the advancing direction to start to be lifted, three legs are in contact with the ground and are not moved, the steering gear starts to rotate in the lifting process to drive the leg supports 8 connected with two shaft ends of the double-shaft steering gear to rotate, and the leg supports 8 enable the whole leg to rotate. After the leg part is lifted to the highest position where the leg part can be lifted, the leg part begins to fall down, when the leg part falls to the ground, the steering engine finishes steering work and turns to an angle needing to rotate, and steering of one leg is completed. After the steering of the first leg is finished, the leg in the diagonal direction with the first leg repeats the steering action of the first leg to steer; after the steering of the second leg is finished, the other leg close to the advancing direction starts to be lifted, and the steering action of the first leg is repeated to steer; and after the fourth leg turns, the last leg repeats the turning action of the first leg to turn, and the rotation of all the legs is finished. The steering mechanism 2 is designed based on the shape of the robot and the arrangement of four legs, so that large-angle flexible steering can be realized. During the whole steering process, three legs are always in contact with the ground.

Based on the design of the robot shell and the arrangement of the four legs, the robot can realize large-angle turning and pivot right-angle turning. During the right-angle turning, the right front leg and the left rear leg are clockwise rotated by 90 degrees by the straight-moving robot, and the left front leg and the right rear leg are anticlockwise rotated by 90 degrees, so that the pivot right-angle turning is realized. During the quarter turn, it is always ensured that three legs are in contact with the ground.

Every two adjacent biax steering gears on steering mechanism 2's the intermediate plate 14 all are provided with the recess between, even the robot carries out the wide-angle and turns to, the leg mechanism can not take place the interference phenomenon yet, therefore there is the rotation space both sides of shank support 8, can realize turning to of wide-angle, for wheeled low-angle turn, the angle of turning of this robot surpasss 120, consequently it can adapt to all kinds of complicated changeable pipelines. Meanwhile, the steering mechanism 2 is simple in structure, the steering mode is simplified, and the four double-shaft steering engines are arranged to respectively drive the four legs to rotate, so that the steering structure of the robot is simplified; the steering is controlled by four steering engines, the steering is simplified, and the multi-angle steering is realized.

The shell shrinking function imitates the shell shrinking of a terrapin, and the shell shrinking function is realized by the combination of the driving of the motor 12 in the walking and posture changing mechanism 1 and the shape of the robot. The steering engine is characterized in that the engine body 3 comprises an engine body upper shell 15 which is connected with a steering engine upper shell 17 through a bolt, the engine body upper shell 15 is hollow, and the outer diameter of the engine body upper shell 15 is larger than that of the steering mechanism 2. The body shell 15, the middle plate 14 and the body bottom plate 13 form the body 3 of the robot. When the robot walks, the electric push rod 11 is in a first limit state, namely a contraction state, and the length is locked and does not change, namely the electric push rod 11 does not participate in the advancing movement through the change of the length and is only used as a rod with the unchanged length. When the shell needs to be contracted, three legs in the walking and posture changing mechanism 1 are always contacted with the ground, the motor 12 drives one leg to be lifted off the ground, the leg rotates anticlockwise to rotate into a groove of the middle plate 14, the motor 12 is just retracted into a cavity between the middle plate 14 and the machine body bottom plate 13, the motor 12 drives the leg to fall down when the leg rotates, and the leg falls to the ground and contacts the ground again; after the first leg turns and lands, the steps are repeated with the leg which is positioned in the diagonal direction, the other two legs turn in sequence after the first leg turns and lands, and finally all the four legs are retracted into the groove. After the four legs are hidden under the body shell 15 of the robot, the electric push rods 11 on the four legs extend simultaneously to reach a second limit position, namely an extension state, at the moment, the angle between the lower leg 4 and the ground is reduced, the height of the robot is reduced, and the gravity center is lowered. As shown in fig. 9-10.

The upper shell 15 of the robot body is designed like a terrapin and is in a dome shape, under the shell-shrinking state, the overlooking view of the robot is circular, and meanwhile, no matter which angle is turned, the robot body can accord with the visual aesthetic feeling.

The shell shrinking function plays two roles: firstly, the camouflage capacity is strong during military reconnaissance; certain trampling can be resisted during field operation; secondly, when the vehicle travels at a place with a risk of falling objects, the anti-impact capability is strong.

The polymorphic quadruped robot comprises five types of movement methods with five postures, and specifically comprises the following steps:

the first method comprises the following steps: normal walking posture: the walking gait and the trot gait are normal walking postures, the height of the robot is the highest, namely the electric push rod 11 is the shortest, and the walking posture and the trot gait are suitable for walking in the flat ground. The upper shell 15 of the machine body is provided with an article taking opening, and articles can be placed inside the upper shell 15 of the machine body, so that the articles can be borne.

And the second method comprises the following steps: swinging the walking attitude: when the robot swings in a walking posture, the steering mechanism 2 and the walking and posture changing mechanism 1 are coordinated, the advancing direction is the direction vertical to the motion plane of the crank-connecting rod-rocker mechanism of the leg, and the front view direction is the advancing direction as shown in fig. 7. The steering and leg lifting are realized in a linkage manner, and the leg in the right front direction or the leg in the left front direction relative to the advancing direction is driven by the double-shaft steering engine to rotate counterclockwise or clockwise by 20-30 degrees in the lifting process. When the legs fall down, the legs in the left-back direction or the legs in the right-back direction start to be lifted, and the legs are driven by the double-shaft steering engine to rotate 20-30 degrees in the advancing direction. The action sequence of the four legs is the same as walk gait, and the rotating angles are the same.

Preferentially, motor 12 is waterproof motor the biax steering wheel is waterproof steering wheel, steering mechanism 2 and the 15 outsides of fuselage shell are provided with waterproof shell and wrap up and have the waterproof coating (not shown in the figure), and when the robot need be through darker water hollow this moment, because fuselage shell 15 is hollow, this kind of gesture can be walked in the aquatic, and four legs carry out the action of above-mentioned swing walking gesture simultaneously this moment, and four legs lift simultaneously and turn to promptly.

And the third is that: steering attitude: driven by the biax steering wheel, according to the actual condition that turns to, the angle that needs the pivoted is accomplished in proper order to four legs, can realize turning to of multiple angle. This configuration is suitable for use on complex roads and is easy to steer, such as a pipe.

And fourthly: half a volt posture: the four electric push rods 11 extend simultaneously, and in the embodiment, the four electric push rods 11 extend simultaneously by 10mm, so that the machine body 3 is lowered. Because the electric push rod 11 extends, the track of the foot end changes, the highest point position where the foot end can be lifted is increased, the trafficability characteristic is improved, and the normal walking posture, the swinging walking posture and the steering posture can be realized. The system can be applied to field shooting or reconnaissance and can also be used for post-disaster search and rescue work. As shown in fig. 11.

And a fifth mode: shell shrinking posture: the electric push rod 11 extends to the maximum length, the height of the robot is reduced, the gravity center is lowered, and the ground is stable; the biax steering wheel drives the leg and rotates to the recess of intermediate lamella 14 in, and four legs all take in under the shell in proper order, and the shank is hidden. When there is a falling object above, the leg can be prevented from being damaged by the shape, and the walking and steering can not be realized in the shape.

The polymorphic four-legged robot provided by the utility model comprises three parts, namely a walking and posture changing mechanism 1, a steering mechanism 2 and a body shell 15, wherein the body shell 15 and the steering mechanism 2 form a whole body 3 of the robot, the three parts jointly form the whole four-legged robot, the three parts are mutually independent and mutually matched, and the three parts can work cooperatively to smoothly complete preset work. The utility model has the following characteristics: firstly, through the ingenious design of organism 3 and walking, the process of marcing is steady, and turning performance is outstanding, can realize the turn to of wide angle. The loading capacity of the robot body is enhanced, a camera, a claw type structure, a manipulator and various sensors can be additionally arranged on the upper shell 15 of the robot body, the robot body can be used as a carrier to work in some environments, different working scenes can be suitable, and the application universality of the robot is good. The device can be used for overhauling in complicated pipelines, transporting materials in disaster areas where mountain stones fall, can also be used for shooting in the field, and is used for bulletproof transportation in the military. Secondly, through the design of the leg structure of the single-degree-of-freedom closed chain and the selection of the DC motor 12 as a driving system for control, only one driving link exists, so that the elliptical foot end track is determined; meanwhile, the mechanism has stronger supporting capability and bearing capability, is superior to the environmental adaptability of the wheeled robot, and is simple and easy to realize the walking control operation due to the single-degree-of-freedom leg design. Has flexible turning capacity and polymorphic deformation capacity. And thirdly, because the steering mechanism 2 is matched with the walking and posture changing mechanism 1 in design, the double-shaft steering engine controls the leg mechanism to rotate, and high-efficiency large-angle or small-angle steering is realized under the condition of needing sharp turning. The device has multiple forms, can be adjusted according to the environment, and improves the obstacle crossing capability and the working efficiency. And fourthly, the shell shrinking function of the terrapin is imitated, so that the robot has stronger defense force than a common robot and has application capability in some dangerous zones. The utility model integrates the multidisciplinary theory including mechanical design and electromechanical control to design a small-sized automatic machine which is widely applied to various occasions including military affairs and pipelines.

Claims (9)

1. A polymorphic quadruped robot, characterized in that: the device comprises a walking and posture changing mechanism, a steering mechanism and a machine body upper shell, wherein the walking and posture changing mechanism is rotationally connected around the steering mechanism, and the top of the steering mechanism is provided with the machine body upper shell; comprises a normal walking gesture, a swinging walking gesture, a half-volt gesture, a steering gesture and a shell shrinking gesture;

the walking and posture changing mechanism comprises four legs, the four legs are symmetrically connected to the left side and the right side of the steering mechanism and are symmetrical relative to the front side and the rear side of the steering mechanism, each leg of the walking and posture changing mechanism comprises a motor, a shank, a cylindrical push rod, a crank, a connecting rod, a leg support, a rocker, a hollow rod and an electric push rod, the leg support is connected to the steering mechanism, the motor is fixed on the leg support, one end of the crank is connected with the output end of the motor, and the other end of the crank is rotatably connected with the connecting rod; the fixed end of the electric push rod is rotatably connected to the leg bracket, and the telescopic end of the electric push rod is rotatably connected with the front end of the shank; two ends of the rocker are respectively connected with the fixed ends of the side link and the electric push rod in a rotating way; two ends of the hollow rod are respectively connected to the rod body of the side link and the electric push rod; one end of the cylindrical push rod is rotatably connected with the inside of the cavity of the hollow rod, and the other end of the cylindrical push rod is rotatably connected to the position, close to the front end of the shank, on the shank;

the steering mechanism comprises a machine body bottom plate, a middle plate, four double-shaft steering engines, four steering engine upper shells and four steering engine lower shells, wherein the steering engine upper shells and the steering engine lower shells are respectively installed on the upper side and the lower side of the middle plate in a centrosymmetric manner through bolts, and the bottoms of the steering engine lower shells are fixed on the machine body bottom plate; the double-shaft steering engine is fixed on the middle plate, and two ends of the double-shaft steering engine are respectively fixed with the upper steering engine shell and the lower steering engine shell; a leg support of a leg in the walking and posture changing mechanism is connected with a double-shaft steering engine; a groove is formed between every two adjacent double-shaft steering engines on the middle plate;

the upper shell of the machine body is connected to the upper part of an upper shell of a steering engine in the steering mechanism through a bolt, and the outer diameter of the upper shell of the machine body is larger than that of the steering mechanism; the upper shell, the middle plate and the bottom plate of the robot body form the body of the robot.

2. The polymorphic quadruped robot of claim 1, wherein: the tail end of the shank is a foot end which is cylindrical, and the center line of the cylinder is parallel to the ground.

3. The polymorphic quadruped robot of claim 2, wherein: the outside of the foot end is sleeved with rubber.

4. The polymorphic quadruped robot of claim 1, wherein: the motor is a direct current motor.

5. The polymorphic quadruped robot of claim 1, wherein: and side plates are arranged on the side surfaces of the grooves.

6. The polymorphic quadruped robot of claim 1, wherein: two shaft ends of the double-shaft steering engine are respectively connected with two ends of the leg support.

7. The polymorphic quadruped robot of claim 1, wherein: the upper shell is dome-shaped.

8. The polymorphic quadruped robot of claim 1, wherein: the cross sections of the upper steering engine shell and the lower steering engine shell are L-shaped, and the double-shaft steering engine is placed in a cavity formed by the upper steering engine shell, the middle plate and the lower steering engine shell.

9. The polymorphic quadruped robot of claim 1, wherein: the length of the shank, the cylindrical push rod, the crank, the side link, the rocker, the hollow rod and the electric push rod in each leg is different; the electric push rod is a pen-type electric push rod, and the motor is arranged inside the electric push rod.

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