CN220701223U - Twelve-degree-of-freedom bionic four-foot robot - Google Patents

Abstract

The utility model discloses a twelve-degree-of-freedom bionic quadruped robot, which includes a body part, 4 connecting parts, 4 leg parts and a head part; the front end of the body part is connected to the head part; both sides of the body part are connected symmetrically. There are 2 connecting pieces; each connecting piece connects to a leg piece. The utility model overcomes the respective shortcomings of the series structure and the parallel structure of the quadruped robot in the prior art, achieves a balance between load capacity and flexibility, improves the performance of the legged robot, and reduces the cost.

Description

A twelve-degree-of-freedom bionic quadruped robot

Technical field

The utility model relates to the field of robots, specifically to a twelve-degree-of-freedom bionic quadruped robot.

Background technique

Nowadays, the rapid development of robot technology has improved work efficiency in various fields and improved people's lives to a certain extent. Among them, mobile robots are mainly used in material transportation, navigation and detection, and juvenile education. In the field of mobile robots, the development of wheeled robots and crawler robots has matured, and smart cars equipped with various sensors, controllers or control platforms have become popular in the market. But from another perspective, wheeled robots or crawler robots can only move on flat roads, which greatly limits their application scope. In daily life, it is difficult to have an environment that meets such harsh conditions. Although path planning or navigation technology can more or less make up for this shortcoming, in the face of complex terrain such as steps and steep slopes, wheeled robots or crawler robots Robots haven't adapted yet. At this time, legged robots emerged.

Theoretically, legged robots can move on any complex ground. Therefore, such as post-disaster rescue, material transportation and other tasks that need to be carried out in complex and unknown environments, legged robots can be competent. It can be said that legged robots have broad applications. prospect. There are two important reasons for studying legged robots. The first is the mobility mentioned above. Legged robots can use independent footholds to optimize support and traction, while wheels require a continuous support path. Therefore, the flexibility of legged robots is limited by the best landing spots in the terrain, while the flexibility of wheeled robots is limited by the worst terrain. Another advantage is that the path of the body and the path of the feet can be decoupled, allowing the body and load to move freely and smoothly even if the terrain changes. Among legged robots, quadruped robots are more stable than bipeds and easier to operate than hexapod robots. Therefore, quadruped robots are a typical representative of legged robots.

In 2019, He Bingwei and others proposed a twelve-degree-of-freedom quadruped robot with a rear knee and full elbow leg configuration in "A Bionic Quadruped Robot with Twelve Degrees of Freedom". The leg center of gravity of the leg configuration is kept close to the center of gravity of the body, so it will produce a smaller moment of inertia and have less impact on the simplified model. However, because the distance between the knee joints is too close, high-precision restrictions need to be given during the actual implementation to prevent interference, which is a very dangerous thing. Considering another back-elbow-front-knee leg configuration, it is obvious that it is difficult to collide with the legs, but it is easier to collide with the external environment, and during the implementation process, due to the insufficient mass distribution, , the control system of the simplified model will not produce good control effects, and may lead to problems such as insufficient foot support.

Utility Model Content

The utility model proposes a bionic quadruped robot with twelve degrees of freedom, aiming to overcome the shortcomings of the series structure and parallel structure of quadruped robots in the existing technology, achieve a balance between load capacity and flexibility, and improve the performance of the legged robot. ,cut costs.

The purpose of the present invention is achieved by at least one of the following technical solutions.

A twelve-degree-of-freedom bionic quadruped robot, including a body part, 4 connecting parts, 4 leg parts and a head part;

The front end of the body part is connected to the head part; two connecting parts are symmetrically connected to both sides of the body part; and each connecting part is connected to a leg part.

Furthermore, the body part includes a front steering gear fixing plate, a rear steering gear fixing plate, an outer shell, a chassis plate, and two chassis fixing plates located on both sides of the chassis plate; the outer shell includes an upper shell and a lower shell;

Both chassis fixing plates are provided with slots and a number of screw holes for connecting the upper shell and the lower shell respectively to form the main frame of the robot; the chassis plate is fixed between the slots of the two chassis fixing plates, located inside the main frame of the robot, and is used to carry the corresponding control core board;

The front steering gear fixing plate is connected to the front ends of the two chassis fixing plates respectively, and the rear steering gear fixing plate is connected to the rear ends of the two chassis fixing plates respectively; the front steering gear fixing plate and the rear steering gear fixing plate are provided with a number of threaded holes. , there are two connecting parts connected symmetrically at both ends of the front steering gear fixing plate, and there are two connecting parts connected symmetrically at both ends of the rear steering gear fixing plate.

Further, the connecting component includes a shoulder housing and a first steering gear;

Among them, the first steering gear is fixed in the shoulder shell; the first steering gear is connected to the front steering gear fixing plate or the rear steering gear fixing plate; the shoulder shell is provided with a screw hole for connecting the leg parts;

Through the rotational freedom provided by the first steering gear, the core board is controlled to drive the connecting component to rotate around the front steering gear fixing plate or the rear steering gear fixing plate.

Furthermore, the leg part includes a thigh part and a calf part connected by a steering gear. It adopts a full elbow leg configuration and drives the calf part to move through connecting rod transmission, which improves other traditional leg configurations that are prone to collision with the outside. and the problem of mass distribution not being dense enough, improving stability.

Further, the thigh component includes an inner thigh, a leg shell, a second steering gear and a third steering gear;

The second servo and the third servo are respectively fixed at two ends of the inner thigh, and the leg shell covers the inner thigh, the second servo and the third servo to conceal the connecting wire, the second servo and the third servo;

The second servo is connected to the shoulder housing, and through the rotational freedom provided by the second servo, the core board is controlled to drive the thigh component to rotate around the shoulder housing, and the movement directions of the first servo and the second servo are perpendicular;

The third servo is connected to the calf component through the mounting hole. Through the rotational freedom provided by the third servo, the control core board drives the calf component to rotate around the thigh component to realize various behaviors of the quadruped robot.

Furthermore, screws and nuts are used to fix the connection between the third servo and the inner end of the thigh, which improves the convenience of fixing and increases the overall rigidity of the quadruped robot compared to the traditional hot melt adhesive method. .

Further, the lower leg component includes a long rod and a spherical foot member fixed on the end of the long rod;

Among them, the top of the long rod is connected to the third servo. Through the rotational freedom provided by the third servo, the core board is controlled to drive the long rod to rotate around the end of the thigh component to reduce the inertia tensor of the leg and reduce operating noise. Through connecting rod transmission, the lower leg parts are driven to move, effectively improving the knee joint transmission scheme.

Further, the head component includes a head shell and a depth camera located inside the head shell,

There are a number of mounting holes in the head shell, which are connected to the upper shell and the front steering gear fixing plate respectively, and are fixed in front of the front steering gear fixing plate;

An eye hole is provided at the front end of the head shell, and the depth camera is connected to the core control board for transmitting data obtained from the eye hole.

Furthermore, the head shell adopts an arc-shaped design to make it more in line with bionics. At the same time, the head shell is hollowed out to control the center of gravity of the quadruped robot and facilitate the movement of the quadruped robot.

Further, the chassis board is provided with a power supply connected to the control core board;

Spaces and holes are reserved in the head shell, shoulder shell, front servo fixing plate and rear servo fixing plate, and the corresponding control lines of the depth camera, first servo, second servo and third servo all pass through The corresponding holes are connected to the control core board from the inside to ensure that the connection wires are not exposed.

Compared with the existing technology, the beneficial effects of this utility model are:

By adopting a full elbow leg configuration, the utility model improves the problems that other traditional leg configurations are prone to collision with the outside and the mass distribution is not dense enough, and improves stability. By placing the third steering gear at the calf joint, the utility model reduces the To reduce operating noise, screws and nuts are used to fix the servo joints. Compared with the traditional hot melt adhesive method, it improves the convenience of fixing and increases the overall rigidity of the robot. By arcing the head The linear design makes it more bionic and can be equipped with a depth camera.

Description of drawings

Figure 1 is a schematic structural diagram of a twelve-degree-of-freedom bionic quadruped robot in an embodiment of the present utility model;

Figure 2 is a schematic structural diagram of body parts and connecting parts in an embodiment of the present utility model;

Figures 3a and 3b are respectively a front view and a side view of the leg part in the embodiment of the present utility model;

Fig. 4a and Fig. 4b are respectively a side view and a side bottom view of the head component in the embodiment of the present utility model.

Detailed ways

In the following description, the technical solutions are explained in combination with specific illustrations to fully understand the application of the present utility model. However, the present utility model application can be implemented in many other methods different from those described here. Similar promotion embodiments made by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present utility model.

The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the description. As used in one or more embodiments of this specification and the appended claims, the singular forms "a," "the" and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It will also be understood that the term "and/or" as used in one or more embodiments of this specification refers to and includes any and all possible combinations of one or more of the associated listed items.

Example 1;

A twelve-degree-of-freedom bionic quadruped robot, as shown in Figure 1, includes a body part, 4 connecting parts, 4 leg parts and a head part;

The front end of the body part is connected to the head part; two connecting parts are symmetrically connected to both sides of the body part; each connecting part is connected to a leg part.

As shown in Figures 1 and 2, the body parts include a front steering gear fixing plate 131, a rear steering gear fixing plate 132, a shell, a chassis plate and two chassis fixing plates located on both sides of the chassis plate; the shell includes an upper shell 11 with lower shell 12;

Both chassis fixing plates are provided with slots and a number of screw holes for connecting the upper shell 11 and the lower shell 12 respectively to form the main frame of the robot; the chassis plate is fixed between the slots of the two chassis fixing plates and is located on the robot. The main frame is used to carry the corresponding control core board;

The front steering gear fixing plate 131 is connected to the front ends of the two chassis fixing plates respectively, and the rear steering gear fixing plate 132 is connected to the rear ends of the two chassis fixing plates respectively; the front steering gear fixing plate 131 and the rear steering gear fixing plate 132 are provided with There are a number of threaded holes. The front steering gear fixing plate 131 has two connecting parts connected symmetrically at both ends. The rear steering gear fixing plate 132 has two connecting parts connected symmetrically at both ends.

As shown in Figures 3a and 3b, the connection component includes the shoulder housing 21 and the first steering gear 43;

Among them, the first steering gear 43 is fixed in the shoulder shell 21; the first steering gear 43 is connected to the front steering gear fixing plate 131 or the rear steering gear fixing plate 132; the shoulder shell 21 is provided with screw holes for connecting leg parts. ;

Through the rotational freedom provided by the first steering gear 43 , the core board is controlled to drive the connecting component to rotate around the front steering gear fixing plate 131 or the rear steering gear fixing plate 132 .

As shown in Figures 3a and 3b, the leg component includes a thigh component and a calf component connected by a servo, and adopts a full elbow leg configuration. The calf component is driven to move through a connecting rod transmission, which improves the problems of other traditional leg configurations that are prone to external collisions and insufficient mass distribution, thereby improving stability.

As shown in Figures 3a and 3b, the thigh component includes an inner thigh 311, a leg shell 321, a second steering gear 41 and a third steering gear 42;

The second steering gear 41 and the third steering gear 42 are respectively fixed to the two ends of the inner thigh 311, and the leg housing 321 covers the inner thigh 311, the second steering gear 41 and the third steering gear 42 to cover the connecting wire, the second steering gear 41 and the third steering gear 42;

The second steering gear 41 is connected to the shoulder shell 21. Through the rotational freedom provided by the second steering gear 41, the core board is controlled to drive the thigh component to rotate around the shoulder shell 21, and the relationship between the first steering gear 43 and the second steering gear 41 is The direction of movement is vertical;

The third servo 42 is connected to the lower leg part through the mounting hole. Through the rotational freedom provided by the third servo 42, the core board is controlled to drive the lower leg part to rotate around the thigh part to realize various behaviors of the quadruped robot.

As shown in Figures 3a and 3b, screws and nuts are used to fix the connection between the third servo 42 and the end of the inner thigh 311, which improves the convenience of fixing and improves the convenience of fixing compared with the traditional hot melt adhesive method. Increases the overall stiffness of the quadruped robot.

As shown in Figures 3a and 3b, the lower leg component includes a long rod 331 and a spherical foot member fixed on the end of the long rod 331;

Among them, the top of the long rod 331 is connected to the third steering gear 42. Through the rotational freedom provided by the third steering gear 42, the core board is controlled to drive the long rod 331 to rotate around the end of the thigh component to reduce the inertia tensor of the leg. Reduce operating noise and drive the lower leg parts to move through connecting rod transmission, effectively improving the knee joint transmission scheme.

As shown in FIG. 4a and FIG. 4b , the head component includes a head shell and a depth camera located inside the head shell.

There are a number of mounting holes in the head shell, which are connected to the upper shell 11 and the front steering gear fixing plate 131 respectively, and are fixed in front of the front steering gear fixing plate 131;

An eye hole is provided at the front end of the head shell, and the depth camera is connected to the core control board for transmitting data obtained from the eye hole.

As shown in Figures 4a and 4b, the head shell adopts an arc-shaped design to make it more in line with bionics. At the same time, the head shell is hollowed out to control the center of gravity of the quadruped robot and facilitate the movement of the quadruped robot.

In this embodiment, the chassis board is provided with a power supply connected to the control core board;

Spaces and holes are reserved in the head shell, shoulder shell 21, front steering gear fixing plate 131 and rear steering gear fixing plate 132, depth camera, first steering gear 43, second steering gear 41 and third steering gear 42 The corresponding control lines are connected to the control core board from the inside through the corresponding holes to ensure that the connection lines are not exposed.

In 2019, He Bingwei and others proposed a twelve-degree-of-freedom quadruped robot with a rear knee and full elbow leg configuration in "A Bionic Quadruped Robot with Twelve Degrees of Freedom". The leg center of gravity of the leg configuration is kept close to the center of gravity of the body, so it will produce a smaller moment of inertia and have less impact on the simplified model. However, because the distance between the knee joints is too close, high-precision restrictions need to be given during the actual implementation to prevent interference, which is a very dangerous thing. Considering another back-elbow-front-knee leg configuration, it is obvious that it is difficult to collide with the legs, but it is easier to collide with the external environment, and in the process of implementation, due to the insufficient mass distribution, , the control system of the simplified model will not produce good control effects, and may lead to problems such as insufficient foot support. After weighing the pros and cons, the utility model chooses a relatively stable full elbow leg configuration. At the same time, the quadruped robot proposed by He Bingwei and others uses belt drive, but the present utility model places the third steering gear 42 at the junction of the inner thigh and the calf to reduce the inertia tensor of the leg, and drives it through connecting rod transmission. The calf parts move, effectively improving the knee joint transmission scheme.

Example 2:

In this embodiment, the models of the first steering gear 43 , the second steering gear 41 and the third steering gear 42 are SPT5425LV.

Example 3:

In this embodiment, the model of the control core board is the HiWonder Technology 24-channel steering gear control board.

The structure and driving mode of the present utility model have been introduced in detail above. This description is only suitable for helping to understand the principles of the utility model. For those skilled in the art, they can make ideas based on the above technical solutions. The content of this description should not be understood as an explanation of the present utility model. Utility model restrictions.

The above embodiments are preferred embodiments of the present utility model, but the implementation of the present utility model is not limited by the above embodiments. Any other changes, modifications, and substitutions may be made without departing from the spirit and principles of the present utility model. , combination, and simplification should all be equivalent replacement methods, and are all included in the protection scope of the present utility model.

The preferred embodiments of the present invention disclosed above are only used to help understand the present invention and its core ideas. For those of ordinary skill in the art, there will be changes in specific application scenarios and implementation operations based on the ideas of the present utility model, and this description should not be construed as a limitation of the present utility model. The invention is limited only by the claims and their full scope and equivalents.

Claims (1)

1. A twelve-degree-of-freedom bionic quadruped robot, characterized by: including a body part, 4 connecting parts, 4 leg parts and a head part; The front end of the body part is connected to the head part; two connecting parts are symmetrically connected to both sides of the body part; each connecting part is connected to a leg part; The body parts include a front steering gear fixing plate (131), a rear steering gear fixing plate (132), a shell, a chassis plate, and two chassis fixing plates located on both sides of the chassis plate; the shell includes an upper shell (11) and a lower shell. (12); Both chassis fixing plates are provided with slots and a number of screw holes for connecting the upper shell (11) and the lower shell (12) respectively to form the main frame of the robot; the chassis plate is fixed between the slots of the two chassis fixing plates. room, located in the main frame of the robot, used to carry the corresponding control core board; The front steering gear fixing plate (131) is connected to the front ends of the two chassis fixing plates, and the rear steering gear fixing plate (132) is connected to the rear ends of the two chassis fixing plates; the front steering gear fixing plate (131) and the rear rudder The machine fixing plate (132) is provided with a number of threaded holes. The front servo fixing plate (131) has two connecting parts connected symmetrically at both ends, and the rear servo fixing plate (132) has two connecting parts symmetrically connected at both ends. connecting parts; The connecting parts include the shoulder housing (21) and the first steering gear (43); The first steering gear (43) is fixed in the shoulder housing (21); the first steering gear (43) is connected to the front steering gear fixing plate (131) or the rear steering gear fixing plate (132); the shoulder housing (21) is provided with screw holes for connecting the leg parts; Through the rotational freedom provided by the first steering gear (43), the core board is controlled to drive the connecting component to rotate around the front steering gear fixing plate (131) or the rear steering gear fixing plate (132); The thigh part includes the inner thigh (311), the leg shell (321), the second steering gear (41) and the third steering gear (42); The second steering engine (41) and the third steering engine (42) are respectively fixed to the two ends of the inner thigh (311), and the leg shell (321) covers the inner thigh (311), the second steering engine (41) and the third steering engine (42) to cover the connecting wire, the second steering engine (41) and the third steering engine (42); The second servo (41) is connected to the shoulder shell (21), and through the rotational freedom provided by the second servo (41), the core board is controlled to drive the thigh component to rotate around the shoulder shell (21), and the first servo (43) is perpendicular to the movement direction of the second steering gear (41); The third steering gear (42) is connected to the calf component through the mounting hole, and the core board is controlled to drive the calf component to rotate around the thigh component through the rotational freedom provided by the third steering gear (42), so as to realize various behaviors of the quadruped robot; The leg part includes a thigh part and a calf part connected through a steering gear. It adopts a full elbow leg configuration and is driven by a connecting rod to drive the calf part to move; The connection between the third servo (42) and the end of the inner thigh (311) is fixed with screws and nuts. Compared with the traditional hot melt adhesive method, the convenience of fixation is improved and the quadruped robot is added. overall stiffness; The head component includes a head shell and a depth camera located inside the head shell, A plurality of mounting holes are provided in the head shell, which are respectively connected to the upper shell (11) and the front steering gear fixing plate (131) and fixed in front of the front steering gear fixing plate (131); An eye hole is provided at the front end of the head shell, and the depth camera is connected to the core control board for transmitting data obtained from the eye hole; The lower leg component includes a long rod (331) and a spherical foot member fixed on the end of the long rod (331); Among them, the top of the long rod (331) is connected to the third servo (42). Through the rotational freedom provided by the third servo (42), the core board is controlled to drive the long rod (331) to rotate around the end of the thigh part to reduce the The inertia tensor of the lower leg reduces operating noise and drives the lower leg parts to move through connecting rod transmission, effectively improving the knee joint transmission scheme; The head shell adopts an arc-shaped design to make it more bionic, and the interior is hollowed out to control the center of gravity of the quadruped robot and facilitate the movement of the quadruped robot; The chassis board is provided with a power supply connected to the control core board; Spaces and holes are reserved in the head shell, shoulder shell (21), front steering gear fixing plate (131) and rear steering gear fixing plate (132), and the depth camera, first steering gear (43), second steering gear The corresponding control lines of the machine (41) and the third steering gear (42) are connected to the control core board from the inside through corresponding holes to ensure that the connecting lines are not exposed.