CN216636661U

CN216636661U - Four-legged robot for carrying

Info

Publication number: CN216636661U
Application number: CN202123335056.7U
Authority: CN
Inventors: 吴超; 王宏飞; 姜明武
Original assignee: Suzhou Guangge Technology Co Ltd
Current assignee: Suzhou Guangge Technology Co Ltd
Priority date: 2021-12-28
Filing date: 2021-12-28
Publication date: 2022-05-31
Anticipated expiration: 2031-12-28

Abstract

The utility model relates to a quadruped robot for carrying, which comprises a frame, four driving modules and four walking legs, wherein: the frame comprises four cross beams and four connecting plates, the four connecting plates are sequentially arranged along the extending direction of the cross beams, four opposite corners of each connecting plate are respectively connected with the four cross beams, the middle two connecting plates can move on the cross beams, the four connecting plates and the four cross beams form a first accommodating cavity, a second accommodating cavity and a third accommodating cavity, and the first accommodating cavity and the second accommodating cavity are respectively positioned on two sides of the third accommodating cavity; the four driving modules are correspondingly in transmission connection with the four walking legs, and are uniformly arranged in the first accommodating cavity and the second accommodating cavity; the quadruped robot for carrying provided by the utility model can be suitable for carrying various types of external equipment by adjusting the connecting positions of the middle two connecting plates on the cross beam to adjust the size of the third accommodating cavity, can complete tasks such as walking and carrying, and has multiple functions.

Description

Four-legged robot for carrying

Technical Field

The utility model relates to the technical field of robots, in particular to a four-legged robot for carrying.

Background

With the development of economy and the progress of science and technology, the research on robots is deepened more and more, the types of the robots are more and more, the robots can be specifically divided into leg-foot robots, wheel robots and flying robots, compared with the wheel robots and the flying robots, the leg-foot robots have incomparable advantages in the aspects of environmental adaptability and environmental interactivity, can be applied to unstructured complex industrial environments and living scenes, and have wide application prospects in the directions of war industry, routing inspection, logistics and the like. Therefore, research into legged robots has been increasing, and legged robots are classified into biped robots, quadruped robots, and the like according to the number of feet.

But present four-footed robot trade kind is less, and four-footed robot's function singleness is limited to aspects such as walking, integration show product, and four-footed robot's expansibility, can carry on the nature all have very big limitation, can not make four-footed robot be applied to more use scenes.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is necessary to provide a quadruped robot for mounting, which has a single function and has a large limitation in expansibility and mountability.

The utility model provides a carry on and use four-footed robot, includes frame, four drive module, four walking legs, wherein:

the frame comprises four cross beams and four connecting plates, the four connecting plates are sequentially arranged along the extending direction of the cross beams, four opposite corners of each connecting plate are respectively connected to the four cross beams, the middle two connecting plates can move on the cross beams, a first accommodating cavity, a second accommodating cavity and a third accommodating cavity are formed by the four connecting plates and the four cross beams, and the first accommodating cavity and the second accommodating cavity are respectively positioned on two sides of the third accommodating cavity;

the four driving modules are correspondingly in transmission connection with the four walking legs, and the four driving modules are uniformly arranged in the first accommodating cavity and the second accommodating cavity.

The four-legged robot for carrying is characterized in that four connecting plates are sequentially arranged along the extending direction of the cross beams, four opposite angles of each connecting plate are respectively connected with the four cross beams, and the four connecting plates are connected with the four cross beams to form a frame; the middle two connecting plates can move on the cross beam, and the size of the third accommodating cavity can be adjusted by adjusting the connecting positions of the middle two connecting plates on the cross beam, so that the four-legged robot can adapt to the carrying of various types of external equipment, and the carrying performance of the four-legged robot for carrying is expanded; and the four driving modules are uniformly arranged in the first accommodating cavity and the second accommodating cavity and are in transmission connection with the four legs, so that the four legs can be driven to complete tasks such as walking and carrying, and the functions of the carried quadruped robot tend to be diversified.

In one embodiment, through holes penetrating through the thickness of the connecting plate are formed in four opposite corners of the connecting plate, and the cross beam penetrates through the through holes.

In one embodiment, the four opposite corners of the connecting plate are provided with penetrating portions, each penetrating portion comprises a plurality of through holes, and the through holes are distributed at intervals in the radial direction of the cross beam.

In one embodiment, the walking leg comprises a hip joint, a thigh and a shank, and the driving module comprises three driving members, wherein the three driving members are respectively in transmission connection with the hip joint, the thigh and the shank.

In one embodiment, the driving member is a driving motor or a driving cylinder.

In one embodiment, the cross beam and the connecting plate are made of aluminum alloy.

In one embodiment, the cross beam is of an internal hollow structure.

In one embodiment, the four driving modules are detachably fixed in the first accommodating cavity and the second accommodating cavity.

In one embodiment, the power supply module and the control module are both mounted in the third accommodating cavity and are electrically connected with the driving module.

In one embodiment, the detection device further comprises a detection module, wherein the detection module is mounted in the third accommodating cavity and is electrically connected with the control module.

Drawings

Fig. 1 is a schematic structural view of a quadruped robot for carrying provided by the present invention;

FIG. 2 is a front view of a connection plate provided by the present invention;

fig. 3 is a schematic structural view of the quadruped robot for mounting the power module and the control module according to the present invention.

Reference numerals:

100. a quadruped robot for carrying;

110. a frame; 111. a cross beam; 112. a connecting plate; 1121. a through hole; 1122. a penetration part; 113. a first accommodating cavity; 114. a second accommodating cavity; 115. a third accommodating cavity;

120. a drive module; 121. a drive member;

130. a walking leg; 131. a hip joint; 132. a thigh; 133. a lower leg;

140. a power supply module;

150. and a control module.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the utility model.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

The technical scheme provided by the embodiment of the utility model is described below by combining the accompanying drawings.

As shown in fig. 1, the present invention provides a quadruped robot 100 for mounting, and the quadruped robot 100 for mounting includes a frame 110, four driving modules 120, and four walking legs 130.

The frame 110 includes four beams 111 and four connecting plates 112, and the four connecting plates 112 are sequentially arranged along the extending direction of the beams 111. Specifically, four beams 111 are parallel to each other, and four connecting plates 112 are spaced apart in the extending direction of the beams 111. Four opposite corners of the connecting plate 112 are respectively connected to the four beams 111, and the four connecting plates 112 and the four beams 111 are connected to form the frame 110, that is, the frame 110 is in a closed structure. The four connecting plates 112 and the four cross beams 111 form a first accommodating cavity 113, a second accommodating cavity 114 and a third accommodating cavity 115, and the first accommodating cavity 113 and the second accommodating cavity 114 are respectively located at two sides of the third accommodating cavity 115. The middle two connecting plates 112 are movable on the cross beam 111, so that the size of the third accommodating cavity 115 is adjusted by adjusting the connecting positions of the middle two connecting plates 112 on the cross beam 111, and when external equipment with different sizes is carried, the carrying quadruped robot 100 for carrying is not required to be replaced again, carrying of various types of external equipment can be adapted, and carrying performance of the quadruped robot 100 for carrying is expanded.

The four driving modules 120 are correspondingly in transmission connection with the four walking legs 130, and the four driving modules 120 are uniformly arranged in the first accommodating cavity 113 and the second accommodating cavity 114. In other words, each walking leg 130 is connected with one driving module 120, the four driving modules 120 are divided into two groups, and the two groups of driving modules 120 are respectively located in the first accommodating cavity 113 and the second accommodating cavity 114. The four driving modules 120 are in transmission connection with the four walking legs 130, and can drive the four walking legs 130 to complete tasks such as walking and carrying, so that the functions of the quadruped robot 100 for carrying tend to be diversified.

In order to realize the movement of the two middle connecting plates 112 on the cross beam 111, in a preferred embodiment, as shown in fig. 1 and fig. 2, through holes 1121 penetrating through the thickness of the connecting plates are formed at four opposite corners of the connecting plates 112, and the cross beam 111 is inserted into the through holes 1121 to realize the movable connection between the connecting plates 112 and the cross beam 111. Specifically, when two middle connecting plates 112 are manually pushed or shifted, the two middle connecting plates 112 can move on the cross beam 111 in the extending direction of the cross beam 111 to adjust the size of the third accommodating cavity 115, and when external equipment with different sizes is carried, the carrying of external equipment with different types can be adapted without replacing the carrying quadruped robot 100, so that the carrying performance of the quadruped robot 100 for carrying is expanded.

It should be noted that the through hole 1121 may be integrally formed with the connecting plate 112 by extrusion, molding, or the like, so as to simplify the forming process of the connecting plate 112 and save the manufacturing cost of the connecting plate 112. Of course, the through hole 1121 may be formed separately by drilling with an electric drill or other auxiliary tool after the connection plate 112 is molded. In addition, in order to ensure that the connecting plate 112 is movable on the cross beam 111, the diameter of the through hole 1121 should be larger than that of the cross beam 111 to prevent the connecting plate 112 from being jammed when moving on the cross beam 111, which would affect the movement of the connecting plate 112 on the cross beam 111.

In order to further increase the carrying capability of the quadruped robot 100 for carrying, specifically, as shown in fig. 1 and 2, the through-holes 1122 are provided at four diagonal corners of the connecting plate 112, the through-holes 1122 include a plurality of through-holes 1121, and the through-holes 1121 in the through-holes 1122 are spaced apart in the radial direction of the cross beam 111. When the shape or size of the external device to be mounted changes, the cross beam 111 can be inserted into different through holes 1121 to adjust the overall shape of the quadruped robot 100 for mounting, so that the quadruped robot is suitable for mounting different types of external devices, and the mounting performance of the quadruped robot 100 for mounting is improved. In particular, when the quadruped robot 100 for mounting is located in a narrow space such as a duct or a room, the cross beam 111 is inserted into the different through holes 1121 to adjust the overall shape of the quadruped robot 100 for mounting, thereby completing tasks such as walking and transportation in the narrow space.

In order to make the quadruped robot 100 for carrying in an unstructured complex industrial environment and living scene, as shown in fig. 1 and 2, a walking leg 130 includes a hip joint 131, a thigh 132 and a shank 133, and a driving module 120 includes three driving members 121, and the three driving members 121 are in transmission connection with the hip joint 131, the thigh 132 and the shank 133 respectively. The three driving units 121 individually control the hip joints 131, the thighs 132 and the calves 133, so that more walking postures of the walking legs 130 can be unlocked, when the quadruped robot 100 for carrying completes obstacle crossing tasks, the driving units 121 individually control one of the hip joints 131, the thighs 132 and the calves 133, the obstacle crossing of the quadruped robot 100 for carrying can be easily realized, the quadruped robot 100 for carrying can be applied to unstructured complex industrial environments and living scenes, and the applicability of the quadruped robot 100 for carrying is improved.

Specifically, as shown in fig. 1, the driving member 121 is a driving motor or a driving cylinder. In one embodiment, the driving member 121 is a driving motor, an output shaft of the driving motor is in transmission connection with the hip joint 131, or the thigh 132, or the calf 133, and the driving motor outputs power to the corresponding hip joint 131, or the thigh 132, or the calf 133 through the output shaft, so that the walking leg 130 can be driven to complete walking and carrying tasks in various postures. In another embodiment, the driving element 121 is a driving cylinder, an output shaft of the driving cylinder is in transmission connection with the hip joint 131, or the thigh 132, or the calf 133, and the driving cylinder outputs power to the corresponding hip joint 131, or the thigh 132, or the calf 133 through the output shaft, so that the walking leg 130 can be driven to complete walking and carrying tasks in various postures. Of course, in other embodiments, the driving member 121 may be a hydraulic pump or other components capable of outputting power to the walking leg 130, and the utility model is not limited to the specific type of the driving member 121.

In order to achieve a lightweight design of the quadruped robot 100 for mounting, in a preferred embodiment, as shown in fig. 1 and 2, the cross beam 111 and the connecting plate 112 are both made of aluminum alloy. Since the aluminum alloy is easily molded, the manufacturing cost of the cross beam 111 and the connection plate 112 can be saved, and the cross beam 111 and the connection plate 112 can be designed into various shapes according to the requirements of installation space or manufacturing process, etc. On the other hand, the density of aluminum alloy is low, so that the lightweight design of the four-legged robot 100 for mounting can be realized, and particularly, the lightweight design of the device can be satisfied in the high-precision technology fields such as military industry and aerospace. Of course, the specific material of the cross beam 111 and the connecting plate 112 is not limited to the aluminum alloy provided above, and may also be made of a material with high specific strength, such as titanium alloy, magnesium alloy, and the like, and the specific material of the cross beam 111 and the connecting plate 112 is not limited in the present invention, and may be specifically selected by a user according to cost budget, process requirements, and the like.

In order to further reduce the weight of the four-legged robot 100 for mounting, specifically, as shown in fig. 1 and 2, the cross beam 111 has an internal hollow structure, so that the weight of the four-legged robot 100 for mounting can be further reduced, and the weight of the four-legged robot 100 for mounting can be further reduced when the mounting requirement is satisfied.

In order to facilitate maintenance and replacement of the quadruped robot 100 for mounting, in a preferred embodiment, as shown in fig. 1 and 2, the four driving modules 120 are fixed in the first accommodating cavity 113 and the second accommodating cavity 114 by screwing, riveting, or the like. Specifically, the four driving modules 120 are fixed on the connecting plate 112 by screwing, riveting, or the like. When the driving module 120 or the walking leg 130 is damaged, the driving module 120 or the walking leg 130 can be correspondingly detached, so that the driving module 120 or the walking leg 130 can be conveniently maintained and replaced, the quadruped robot 100 for carrying can be prevented from being replaced or scrapped due to the damage of the driving module 120 or the walking leg 130, and great economic loss is brought to a user.

In order to supply power and control the four-footed robot 100 for mounting, in a preferred embodiment, the four-footed robot 100 for mounting further includes a power module 140 and a control module 150, as shown in fig. 1 and 3. The power module 140 is mounted in the third accommodating cavity 115, and the power module 140 is electrically connected to the driving module 120 through a conducting wire, so as to supply power to the driving module 120, thereby implementing the driving function of the driving module 120. The control module 150 is mounted in the third receiving cavity 115, the control module 150 is electrically connected with the driving module 120 through a wire, and the control module 150 controls the posture of the walking leg 130 to change through the driving module 120, so that the quadruped robot 100 for carrying can complete tasks such as walking and carrying.

In order to further expand the functionality of the quadruped robot 100 for mounting, specifically, as shown in fig. 1 and 3, the quadruped robot 100 for mounting further includes a detection module (not shown), the detection module is mounted in the third housing cavity 115, and the detection module and the control module 150 are electrically connected through a lead. The control module 150 controls whether the detection module is started or not, and the detection module can detect the working environment of the quadruped robot 100 for carrying or complete the detection task of the object to be detected so as to further expand the functionality of the quadruped robot 100 for carrying.

It should be noted that, the user can also correspondingly carry other functional modules in the third accommodating cavity 115 according to the requirement, and correspondingly adjust the position of the connecting plate 112 on the cross beam 111 according to the volume of the power module 140, the control module 150, the detection module and the other functional modules after the combination, so as to adapt to the carrying of various types of external devices, and expand the carrying performance of the quadruped robot 100 for carrying.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. The utility model provides a carry on and use quadruped robot which characterized in that, includes frame, four drive module, four walking legs, wherein:

2. The quadruped robot for carrying thereon according to claim 1, wherein through holes penetrating the thickness of the connection plate are formed at four opposite corners of the connection plate, and the cross beam is inserted into the through holes.

3. The quadruped robot for carrying according to claim 2, wherein a through-hole is provided at each of four diagonal positions of the connecting plate, the through-hole comprises a plurality of through-holes, and the through-holes are distributed at intervals in a radial direction of the cross beam.

4. The quadruped robot for carrying of claim 1, wherein the walking legs comprise hip joints, thighs and calves, and the driving module comprises three driving members which are respectively in transmission connection with the hip joints, the thighs and the calves.

5. The quadruped robot for carrying of claim 4, wherein the driving member is a driving motor or a driving cylinder.

6. The quadruped robot for carrying according to claim 1, wherein the cross beam and the connecting plate are both made of aluminum alloy.

7. The quadruped robot for carrying according to claim 6, wherein the cross beam has a hollow structure inside.

8. The quadruped robot for carrying according to claim 1, wherein the four driving modules are detachably fixed in the first accommodating chamber and the second accommodating chamber.

9. The quadruped robot for carrying according to claim 1, further comprising a power module and a control module, wherein the power module and the control module are both carried in the third accommodating chamber and are both electrically connected to the driving module.

10. The quadruped robot for mounting of claim 9, further comprising a detection module mounted in the third housing chamber and electrically connected to the control module.