CN109927808A - A kind of caterpillar four-footed robot dog of collaboration - Google Patents
A kind of caterpillar four-footed robot dog of collaboration Download PDFInfo
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- CN109927808A CN109927808A CN201910320411.1A CN201910320411A CN109927808A CN 109927808 A CN109927808 A CN 109927808A CN 201910320411 A CN201910320411 A CN 201910320411A CN 109927808 A CN109927808 A CN 109927808A
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- shank
- frame
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- 210000001015 abdomen Anatomy 0.000 claims abstract description 9
- 210000000689 upper leg Anatomy 0.000 claims description 133
- 210000002414 leg Anatomy 0.000 claims description 78
- 238000003780 insertion Methods 0.000 claims description 9
- 230000037431 insertion Effects 0.000 claims description 9
- 210000003414 extremity Anatomy 0.000 claims description 8
- 230000007246 mechanism Effects 0.000 claims description 8
- 230000015572 biosynthetic process Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 14
- 241000219098 Parthenocissus Species 0.000 abstract description 9
- 241000282465 Canis Species 0.000 abstract description 5
- 230000005484 gravity Effects 0.000 abstract description 4
- 230000000392 somatic effect Effects 0.000 abstract description 2
- 230000007306 turnover Effects 0.000 abstract description 2
- 241000282472 Canis lupus familiaris Species 0.000 description 34
- 238000010586 diagram Methods 0.000 description 12
- 210000003194 forelimb Anatomy 0.000 description 9
- 230000000694 effects Effects 0.000 description 5
- 230000036544 posture Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 239000007787 solid Substances 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001427 coherent effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
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Abstract
A kind of caterpillar four-footed robot dog of collaboration, including trunk main body, the four limb legs that can be walked on flat road or complicated landform and voluntarily can fold and rotate of four ends of the trunk main body are connected to, and the trunk main body abdomen are connected to by electromagnet, for driving trunk main body and the whole pedrail in flat road walking of four limb legs.The present invention uses relatively simple mechanical structure, and robot dog is simulated the walking posture of bionical canine, kept balancing in a manner of supported at three point, realizes striding forward for Article 4 leg, circuits sequentially, reach advance.Realize that four-footed robot dog can adapt to more complicated terrain environment convenient for control, flexible motion.And in relatively flat landform, four legs can be made to realize folded turnover respectively with two main joint axis, the center of gravity of quadruped robot reduces, and the creeper truck of abdomen lands, and loads somatic movement by creeper truck, saves the energy.
Description
Technical field
The present invention relates to a kind of robot dogs.More particularly to a kind of caterpillar four-footed robot dog of collaboration.
Background technique
The current country rarely has the robot that rescue and supply can be able to carry out under complicated landform, common track machines
There are limitations in terms of movement by people, can not adapt to the landform of rugged complexity.Relative to caterpillar type robot, Quadruped Robot
There is stronger flexibility, is supported four points stopped over leg are optimized for by crawler belt patch ground level support, with the body type of dog
For prototype bio-robot, the postures such as squat down, stand, walking, jumping can break through the limitation of complex space.It back can
To carry the goods and materials of constant weight, supply is provided for victims in some natural calamities.
A kind of quadruped robot disclosed in 109178138 A of patent CN 109176455 A and CN, is all made of hydraulic cylinder
The mode of push rod is added to realize the movement of four groups of robot legs.Leg uses the structure of hydraulic push rod, although having in terms of load-bearing
Certain advantage, but the angular range very little of leg exercise when walking, cause its stroke smaller, face higher barrier
Shi Buneng effectively passes through.
A kind of quadruped robot disclosed in 108749951 A of patent CN, leg structure merge into thigh and shank
One, i.e. the angle of leg curvature is fixed, although with damping spring, if but encounter the landform of out-of-flatness, it will be easy when lifting leg
It makes a misstep or is obstructed.And only one direction of the freedom degree of its robot, can not achieve turning function.
Three leg section quadruped robot of one kind, side-sway joint module, hip joint disclosed in 108639180 A of patent CN
The motor of different structure is all used with knee joint.
Summary of the invention
The technical problem to be solved by the invention is to provide a kind of mechanical structure is simple, convenient for control, flexible association is moved
With caterpillar four-footed robot dog.
The technical scheme adopted by the invention is that: a kind of caterpillar four-footed robot dog of collaboration, including trunk main body, respectively
It is connected to capable of walking on flat road or complicated landform and voluntarily capable of folding and revolve for four ends of the trunk main body
The four limb legs turned, and the trunk main body abdomen is connected to by electromagnet, for driving trunk main body and four limb legs
The whole pedrail in flat road walking.
The trunk main body includes frame front beam and frame rear cross beam, be connected to the frame front beam and
Several frame upper longitudinal beams on frame rear cross beam between end edge, are connected to end edge under the frame front beam and frame rear cross beam
Between frame under stringer, and be connected to the ribs under corresponding frame upper longitudinal beam and frame between stringer, it is described
Electromagnet is connected under the frame on the lower end surface of stringer, the both ends of the frame front beam and the both ends point of frame rear cross beam
It is not provided with the trunk servo driving mechanism for connecting and driving four limb legs rotation.
Trunk steering engine axis hole and preceding trunk steering engine fixation hole, the frame before the both ends of the frame front beam are respectively formed with
The both ends of frame rear cross beam are respectively formed with rear trunk steering engine axis hole and rear trunk steering engine fixation hole, the trunk servo driving machine
Structure includes two preceding trunk steering engines being separately positioned on the inside of frame front beam both ends, and is separately positioned on described
The first output shaft correspondence of trunk steering engine after two on the outside of frame rear cross beam both ends, described two preceding trunk steering engines is formed there through
Preceding trunk steering engine axis hole connection on the frame front beam, which is located on the outside of frame front beam, to be used to connect four limbs
The second output shaft correspondence of the preceding mounting flange of the limb leg of front end two in leg, described two rear trunk steering engines is penetratingly formed at institute
The rear trunk steering engine axis hole connection on frame rear cross beam is stated to be used to connect in four limb legs on the inside of frame rear cross beam
The rear mounting flange of the limb leg of rear end two.
Four limb leg structures are identical, and the limb leg of front end two and the limb leg of rear end two are pair in four limb legs
Claim setting, also, two limb leg setting directions for being located at trunk main body the same side are identical, four limb legs include useful
In in the trunk servo driving mechanism preceding mounting flange or the thigh steering engine that is connected of rear mounting flange connect
The output shaft of part, the thigh steering engine being fixedly connected on a side of the thigh steering engine connector, the thigh steering engine passes through
It wears the thigh steering engine connector and the thigh steering engine mounting flange by being located at thigh steering engine connector another side connects
Thigh Truck Connection part, the thigh Truck Connection part are fixedly connected with one end of thigh trunk, the other end of the thigh trunk
It is fixedly connected with shank steering engine connector, is fixedly connected with shank steering engine on a side of the shank steering engine connector, it is described
The output shaft of shank steering engine passes through the shank rudder positioned at shank steering engine connector another side through the shank steering engine connector
Machine mounting flange connects shank Truck Connection part, and the shank Truck Connection part is fixedly connected with one end of shank trunk, described
The other end of shank trunk connects footmuff.
The thigh steering engine connector includes thigh steering engine connecting plate, is partially passed through on the thigh steering engine connecting plate
Support rib is provided with the flange jointing plate for being fixedly connected with the preceding mounting flange or rear mounting flange, described
The ring flange fixation hole for fixed preceding mounting flange or rear mounting flange, the thigh are formed on flange jointing plate
The lower part of steering engine connecting plate is formed with the thigh steering engine axis hole for the output shaft through the thigh steering engine, and for solid
The thigh steering engine fixation hole of the fixed thigh steering engine.
The shank steering engine connector includes shank steering engine fixed plate and is integrally formed in the shank steering engine and fixes
The thigh Truck Connection set for being used to connect thigh trunk of plate side, the thigh Truck Connection, which is put on, to be formed with for being inserted into greatly
Hole is inserted into the lower end of leg trunk lower end, is formed with several for fixing thigh on the jacket wall of the thigh Truck Connection set
The thigh trunk fixation hole of trunk is formed in the shank steering engine fixed plate for through the shank steering engine third output shaft
Shank steering engine axis hole and shank steering engine fixation hole for fixing the shank steering engine.
The thigh Truck Connection part is identical with shank Truck Connection part structure, includes and the thigh steering engine
The connector main body that mounting flange or shank steering engine mounting flange are fixedly connected, is axially formed along the connector main body
Hole is inserted into upper end for being inserted into the thigh trunk or shank trunk upper end, and the connector main body is formed radially useful
Trunk fixation hole in the fixation thigh trunk or shank trunk upper end.
Upper end insertion hole is formed through on the connector main body, on the connector main body with it is described on
The perpendicular formation in end insertion hole has the via hole for facilitating installation thigh trunk or shank trunk upper end.
Preceding mounting flange, rear mounting flange, thigh steering engine mounting flange and the shank steering engine connecting flange
Dish structure is identical, includes flange disk chassis, and the formation that the ring flange center chassis vertically outwardly protrudes has boss, described
Boss axle center is formed with to be connected for fixing with the output shaft of preceding trunk steering engine or rear trunk steering engine or thigh steering engine or shank steering engine
The connecting hole connect, the side of the boss, which is formed with, to be connected for fixed preceding trunk steering engine or rear trunk with the connecting hole
The fixing threaded hole of the output shaft of steering engine or thigh steering engine or shank steering engine has been circumferentially formed several on the flange disk chassis
Ring flange for being fixedly connected with the thigh steering engine connector, thigh Truck Connection part and shank Truck Connection part is connect
Hole.
A kind of caterpillar four-footed robot dog of collaboration of the invention realizes four-footed machine using relatively simple mechanical structure
Device dog can adapt to more complicated terrain environment convenient for control, flexible motion.And in relatively flat landform, four limbs can
With voluntarily folded turnover, somatic movement is loaded by pedrail, saves the energy.Under the complex environment of landform, the present invention
Robot dog simulate the walking posture of bionical canine, keep balancing in a manner of supported at three point, realize striding forward for Article 4 leg, according to
Secondary circulation reaches advance.Other than with quadruped locomotion, by the cooperation of forelimb leg and hind leg leg, four leg difference can be made
It is realized and is folded as axis using two main joints, the center of gravity of quadruped robot reduces, and the creeper truck of abdomen lands, positioned at four end of trunk
Trunk steering engine can will be flipped up with the forelimb leg and hind leg leg of folding, completely disengage ground, drive body to advance by creeper truck.
A kind of caterpillar four-footed robot dog of collaboration of the invention, is also able to achieve higher load using pure motor driven,
Although hydraulic cylinder is able to ascend load, but stroke is limited, and far away from motor, electricity consumption machine can be realized leg for locomitivity and flexibility
Portion is significantly displaced.After two forelimb legs of robot of patent application relative to 109176455 A of publication number CN and two
The main joint of limb leg is opposite, and when movement is possible to for colliding, two masters in the leg structure of robot dog of the invention
Joint is oppositely arranged, and when movement is effectively increased step width, improves locomitivity.
Robot dog thigh and shank junction of the invention is equipped with motor, and shank individually can be lifted or be put down, thigh
Be also equipped with motor with trunk junction, turning function may be implemented, greatly improve robot flexibility and gait it is more
Sample.
The each joint assembly of robot dog of the invention is identical motor, and leg is only by motor, backbone and connection
Part is constituted, and structure is more simple, and when assembling is more convenient, is also convenient for maintenance replacement.
A kind of leg structure cooperateing with caterpillar four-footed robot dog of the invention comes relative to existing quadruped robot
It says more simple and reliable, folding and rotation voluntarily may be implemented.Other than with quadruped locomotion, pass through forelimb leg and hind leg
The cooperation of leg can be such that four legs realize respectively with two main joint axis and fold, and the center of gravity of four-footed robot dog reduces, abdomen
Creeper truck lands, and the trunk steering engine positioned at four end of trunk can will be flipped up with the forelimb leg and hind leg leg of folding, completely disengages
Ground drives body to advance by creeper truck.Due to the special structure in leg, which, which can also realize, walks upright,
By the adjustment to steering engine angle, change the posture of its body, thigh backbone can be changed by two hind leg legs as support
Angle is realized upright.
The invention has the advantages that and good effect:
1, the mechanical structure of motor and connector through the invention, is effectively reduced the number of component, reduces
Cost, easy disassembly, easy to repair and replacement component.
2, leg material selection carbon fiber, the effective self weight for alleviating robot dog, then may be used using the motor of large torque
To greatly promote the weight bearing effect of the machine.
3, crawler belt chassis is installed additional in robot dog abdomen, the consumption of the energy is effectively saved, in face of relatively flat road
Lu Shi can voluntarily fold four limbs, and turn down four limbs by transverse connection, and creeper truck is allowed voluntarily to work.
4, using the mechanical structure of bionic machine dog, the gait of canine is simulated, to reach the flattening effect of movement.
5, select magnetic coding decelerating motor serve as four-footed robot dog joint, it can be achieved that closed-loop control effect, make four-footed
The movement effects of robot dog are more accurate controllable, flexibly coherent.It can also can make four by the cooperation of forelimb leg and hind leg leg
Leg realizes using two main joints as axis folds that respectively the center of gravity of quadruped robot reduces, and the creeper truck of abdomen lands, and is located at body
The trunk steering engine at dry four ends can will be flipped up with the forelimb leg and hind leg leg of folding, completely disengaged ground, driven by creeper truck
Body advances.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram for cooperateing with caterpillar four-footed robot dog of the present invention；
Fig. 2 is the structural schematic diagram of trunk main body in the present invention；
Fig. 3 is the top view of trunk main body in the present invention；
Fig. 4 is the partial enlargement diagram of part B in Fig. 3；
Fig. 5 is the partial enlargement diagram of C portion in Fig. 3；
Fig. 6 is the structural schematic diagram of thigh steering engine connector in the present invention；
Fig. 7 is the structural schematic diagram of shank steering engine connector in the present invention；
Fig. 8 is the partial enlargement diagram of the part D in Fig. 1；
Fig. 9 is the structural schematic diagram of thigh Truck Connection part in the present invention；
Figure 10 is the structural schematic diagram of thigh steering engine mounting flange or shank steering engine mounting flange in the present invention；
Figure 11 is structural schematic diagram when four-footed robot dog of the invention simulates the walking posture of bionical canine；
Figure 12 is the structural schematic diagram that four-footed robot dog four limbs of the invention pack up process；
Figure 13 is the structural schematic diagram that four-footed robot dog pedrail of the invention bears robot dog advance.
In figure
1: footmuff 2: shank trunk
3: shank Truck Connection part 4: shank steering engine connector
4.1: shank steering engine fixed plate 4.2: thigh Truck Connection set
4.3: hole 4.4: thigh trunk fixation hole is inserted into lower end
4.5: shank steering engine axis hole 4.6: shank steering engine fixation hole
5: thigh trunk 6: thigh Truck Connection part
6.1: connector main body 6.2: hole is inserted into upper end
6.3: trunk fixation hole 6.4: via hole
7: thigh steering engine 8: thigh steering engine connector
8.1: thigh steering engine connecting plate 8.2: support rib
8.3: flange jointing plate 8.4: ring flange fixation hole
8.5: thigh steering engine axis hole 8.6: thigh steering engine fixation hole
9: trunk main body 9.1: frame front beam
9.2: frame rear cross beam 9.3: frame upper longitudinal beam
9.4: stringer 9.5 under frame: support rib
9.6: preceding trunk steering engine axis hole 9.7: preceding trunk steering engine fixation hole
9.8: rear trunk steering engine axis hole 9.9: rear trunk steering engine fixation hole
9.10: preceding trunk steering engine 9.11: rear trunk steering engine
9.12: the first output shafts 9.13: preceding mounting flange
9.14: the second output shafts 9.15: rear mounting flange
10: thigh steering engine mounting flange 11: electromagnet
12: pedrail 13: shank steering engine
13.1: third output shaft 14: shank steering engine mounting flange
Specific embodiment
The caterpillar four-footed robot dog of a kind of collaboration of the invention is described in detail below with reference to embodiment and attached drawing.
A kind of caterpillar four-footed robot dog of collaboration of the invention is by body frame, after two forelimb legs and two
Limb leg and a crawler belt chassis are constituted.Steering engine fixation hole is distributed in the quadrangle of body frame and steering engine axis protrudes into hole, it will
The steering engine of control robot dog or so freedom degree is screwed in body frame, the ability for making robot dog have side-to-side movement.
Two forelimb legs and two hind leg legs are fixed on four steering engines of control left and right freedom degree by ring flange later.Crawler belt is small
Vehicle is connect by the electromagnet below body frame with body frame.The steering engine serves as joint.
As shown in Figure 1, a kind of caterpillar four-footed robot dog of collaboration of the invention, including trunk main body 9, it is connected to
Four for capable of walking on flat road or complicated landform and voluntarily capable of folding and rotate of 9 four ends of the trunk main body
A limb leg A, and 9 abdomen of trunk main body is connected to by electromagnet 11, for driving trunk main body 9 and four limb leg A
The whole pedrail 12 in flat road walking.
As shown in Fig. 2, the trunk main body 9 includes frame front beam 9.1 and frame rear cross beam 9.2, it is separately connected
Several frame upper longitudinal beams 9.3 on the frame front beam 9.1 and frame rear cross beam 9.2 between end edge are connected to described
Stringer 9.4 under frame between frame front beam 9.1 and the lower end edge of frame rear cross beam 9.2, and it is connected to corresponding frame
Ribs 9.5 under upper longitudinal beam 9.3 and frame between stringer 9.4, the electromagnet 11 are connected to stringer 9.4 under the frame
Lower end surface on, the both ends of the frame front beam 9.1 and the both ends of frame rear cross beam 9.2 are separately provided for connecting and drive
Move the trunk servo driving mechanism of four limb leg A rotation.
As shown in Fig. 2, the both ends of the frame front beam 9.1 are respectively formed with preceding trunk steering engine axis hole 9.6 and preceding trunk
Steering engine fixation hole 9.7, the both ends of the frame rear cross beam 9.2 are respectively formed with rear trunk steering engine axis hole 9.8 and rear trunk steering engine
Fixation hole 9.9.As shown in figure 3, figure 4 and figure 5, the trunk servo driving mechanism includes before being separately positioned on the frame
Two preceding trunk steering engines 9.10 on the inside of 9.1 both ends of crossbeam, and be separately positioned on the outside of 9.2 both ends of frame rear cross beam
The first output shaft 9.12 correspondence of trunk steering engine 9.11 after two, described two preceding trunk steering engines 9.10 is penetratingly formed at the frame
Preceding trunk steering engine axis hole 9.6 connection on frame front beam 9.1, which is located on the outside of frame front beam 9.1, to be used to connect four limbs
Second output shaft 9.14 of the preceding mounting flange 9.13 of the limb leg of front end two in leg A, described two rear trunk steering engines 9.11 is right
Rear trunk steering engine axis hole 9.8 connection that should be penetratingly formed on the frame rear cross beam 9.2 is located at 9.2 inside of frame rear cross beam
For connecting the rear mounting flange 9.15 of the limb leg of rear end two in four limb legs A.
As shown in Figure 1, four limb leg A structures are identical, the limb leg of front end two and rear end two in four limb legs A
A limb leg is arranged symmetrically, also, two limb leg setting directions for being located at 9 the same side of trunk main body are identical, and described four
Limb leg A include for the preceding mounting flange 9.13 or rear mounting flange in the trunk servo driving mechanism
The 9.15 thigh steering engine connectors 8 being connected, the thigh rudder being fixedly connected on a side of the thigh steering engine connector 8
The output shaft of machine 7, the thigh steering engine 7 is through the thigh steering engine connector 8 and another by being located at thigh steering engine connector 8
The thigh steering engine mounting flange 10 of side connects thigh Truck Connection part 6, and the thigh Truck Connection part 6 is fixedly connected with thigh
One end of trunk 5, the other end of the thigh trunk 5 are fixedly connected with shank steering engine connector 4, the shank steering engine connector 4
A side on be fixedly connected with shank steering engine 13, the output shaft of the shank steering engine 13 runs through the shank steering engine connector
4 connect shank Truck Connection part 3, institute by being located at the shank steering engine mounting flange 14 of 4 another side of shank steering engine connector
One end that shank Truck Connection part 3 is fixedly connected with shank trunk 2 is stated, the other end of the shank trunk 2 connects footmuff 1, described
Footmuff 1 use pvc rubber material, make robot dog during walking movement, increase its frictional force with contact surface.
As shown in fig. 6, the thigh steering engine connector 8 includes thigh steering engine connecting plate 8.1, the thigh steering engine connects
On fishplate bar 8.1 partially by support rib 8.2 be provided with for the preceding mounting flange 9.13 or rear mounting flange
9.15 flange jointing plates 8.3 being fixedly connected are formed on the flange jointing plate 8.3 for mounting flange before fixed
9.13 or rear mounting flange 9.15 ring flange fixation hole 8.4, the lower part of the thigh steering engine connecting plate 8.1 is formed with use
In the thigh steering engine axis hole 8.5 of the output shaft through the thigh steering engine 7, and the thigh for fixing the thigh steering engine 7
Steering engine fixation hole 8.6.
As shown in Figure 7, Figure 8, the shank steering engine connector 4 includes shank steering engine fixed plate 4.1 and is integrally formed
The thigh Truck Connection set 4.2 for connecting thigh trunk 5 in 4.1 side of shank steering engine fixed plate, the thigh master
The lower end insertion hole 4.3 for being inserted into 5 lower end of thigh trunk, the thigh Truck Connection are formed in involvement female connector 4.2
Several are formed on the jacket wall of set 4.2 for fixing the thigh trunk fixation hole 4.4 of thigh trunk 5, the shank steering engine is solid
It is formed on fixed board 4.1 for the shank steering engine axis hole 4.5 through the 13 third output shaft 13.1 of shank steering engine and for solid
The shank steering engine fixation hole 4.6 of the fixed shank steering engine 13.
As shown in figure 9, the thigh Truck Connection part 6 is identical with shank Truck Connection 3 structures of part, include and institute
The connector main body 6.1 that the thigh steering engine mounting flange 10 or shank steering engine mounting flange 14 stated are fixedly connected, along described
The upper end insertion hole for being inserted into 2 upper end of the thigh trunk 5 or shank trunk that connector main body 6.1 is axially formed
6.2, it is solid that the connector main body 6.1 is formed radially the trunk for fixing 2 upper end of the thigh trunk 5 or shank trunk
Determine hole 6.3.
As shown in figure 9, upper end insertion hole 6.2 is formed through on the connector main body 6.1, the connection
There is the formation perpendicular with upper end insertion hole 6.2 in part main body 6.1 facilitates on installation thigh trunk 5 or shank trunk 2
The via hole 6.4 of end.The via hole can also aid in thigh Truck Connection part 6, shank Truck Connection part 3 respectively with thigh rudder
The installation of machine mounting flange 10, shank steering engine mounting flange 14.
As shown in Figure 10, preceding mounting flange 9.13 of the present invention, rear mounting flange 9.15, the connection of thigh steering engine
Ring flange 10 is identical with shank steering engine 14 structures of mounting flange, includes flange disk chassis 15, the flange disk chassis 15
The formation that center vertically outwardly protrudes has a boss 16,16 axle center of boss be formed with for preceding trunk steering engine 9.10 or rear quarters
The connecting hole 17 that the output shaft of dry steering engine 9.11 or thigh steering engine 7 or shank steering engine 13 is fixedly connected, the side of the boss 16
It is formed with the fixing threaded hole for the output shaft for fixing thigh steering engine 7 or shank steering engine 13 that is connected with the connecting hole 17
18, be circumferentially formed on the flange disk chassis 15 several for and the thigh steering engine connector 8, thigh Truck Connection
The flange connecting hole 19 that part 6 is fixedly connected with shank Truck Connection part 3.
In the embodiment of the present invention: the model circle housing 35mm's that the footmuff reaches the production of product of rubber and plastic factory using hundred million
Product；Thigh steering engine, shank steering engine, preceding trunk steering engine and the rear trunk steering engine is that had using Dongguan City up to steering engine science and technology is contained
The magnetic of the model DS555 of limit company production encodes super large torque alloy steering engine 24V；The electromagnet uses Leqing Xing Hao electricity
The product of the model XDA-40/40/17 of gas Co., Ltd production；The pedrail is limited using Shenzhen's connection science and technology deeply
The product of the model TS100 of company's production.
Caterpillar four-footed robot dog is cooperateed with below by a kind of of the invention of the action specification of right fore shown in Fig. 1
The course of work: under the complex environment of landform, robot dog of the invention simulates the walking posture of bionical canine, before realization
Into；In the place that landform is flat, thigh trunk 5 is controlled by thigh steering engine 7 and is rotated into horizontality as shown in figure 11, while is small
Leg steering engine 13 controls shank trunk 2 and is rotated into the state as shown in figure 11 with thigh trunk 5 at 40~50 degree of angles；Then before
Trunk steering engine 9.10 controls thigh steering engine connector 8 and is rotated into horizontality as shown in figure 12；Thigh steering engine 7 controls thigh master
Dry 5 rotation drives shank trunk 2 at the state on the upper surface for riding over pedrail 12 as shown in fig. 13 that.It can make pedrail
12 land, and realize that pedrail bears robot dog advance, more saving energy consumption.
Claims (9)
1. a kind of caterpillar four-footed robot dog of collaboration, which is characterized in that including trunk main body (9), be connected to the body
Four limbs that can be walked on flat road or complicated landform and voluntarily can fold and rotate of dry (9) four ends of main body
Leg (A), and trunk main body (9) abdomen is connected to, for driving trunk main body (9) and four limbs by electromagnet (11)
The whole pedrail (12) in flat road walking of leg (A).
2. a kind of caterpillar four-footed robot dog of collaboration according to claim 1, which is characterized in that the trunk main body
(9) include frame front beam (9.1) and frame rear cross beam (9.2), be connected to the frame front beam (9.1) and frame
Several frame upper longitudinal beams (9.3) on rear cross beam (9.2) between end edge, are connected to the frame front beam (9.1) and frame
Stringer (9.4) under frame under rear cross beam (9.2) between end edge, and it is connected to corresponding frame upper longitudinal beam (9.3) and frame
Ribs (9.5) under frame between stringer (9.4), the electromagnet (11) are connected under the frame under stringer (9.4)
On end face, the both ends of the frame front beam (9.1) and the both ends of frame rear cross beam (9.2) are separately provided for connecting and drive
Move the trunk servo driving mechanism of four limb legs (A) rotation.
3. a kind of caterpillar four-footed robot dog of collaboration according to claim 2, which is characterized in that the frame front beam
(9.1) both ends are respectively formed with preceding trunk steering engine axis hole (9.6) and preceding trunk steering engine fixation hole (9.7), cross after the frame
The both ends of beam (9.2) are respectively formed with rear trunk steering engine axis hole (9.8) and rear trunk steering engine fixation hole (9.9), the trunk
Servo driving mechanism includes two preceding trunk steering engines being separately positioned on the inside of frame front beam (9.1) both ends
(9.10), trunk steering engine (9.11) and after be separately positioned on the outside of frame rear cross beam (9.2) both ends two, described two
The corresponding preceding body being penetratingly formed on the frame front beam (9.1) of the first output shaft (9.12) of a preceding trunk steering engine (9.10)
Dry steering engine axis hole (9.6) connection, which is located on the outside of frame front beam (9.1), to be used to connect front end two in four limb legs (A)
The preceding mounting flange (9.13) of limb leg, the second output shaft (9.14) of described two rear trunk steering engines (9.11) is corresponding to run through shape
It is located at the use on the inside of frame rear cross beam (9.2) at rear trunk steering engine axis hole (9.8) connection on the frame rear cross beam (9.2)
In the rear mounting flange (9.15) for connecting the limb leg of rear end two in four limb legs (A).
4. a kind of caterpillar four-footed robot dog of collaboration according to claim 1, which is characterized in that four limb legs
(A) structure is identical, and the limb leg of front end two and the limb leg of rear end two are arranged symmetrically in four limb legs (A), also, are located at
Two limb leg setting directions of trunk main body (9) the same side are identical, four limb legs (A) include for it is described
The thigh steering engine that preceding mounting flange (9.13) or rear mounting flange (9.15) in trunk servo driving mechanism are connected connects
Fitting (8), the thigh steering engine (7) being fixedly connected on a side of the thigh steering engine connector (8), the thigh steering engine
(7) output shaft is through the thigh steering engine connector (8) and the thigh by being located at thigh steering engine connector (8) another side
Steering engine mounting flange (10) connects thigh Truck Connection part (6), and the thigh Truck Connection part (6) is fixedly connected with thigh trunk
(5) one end, the other end of the thigh trunk (5) are fixedly connected with shank steering engine connector (4), the shank steering engine connector
(4) it is fixedly connected with shank steering engine (13) on a side, the output shaft of the shank steering engine (13) runs through the shank rudder
Machine connector (4) connects shank by being located at the shank steering engine mounting flange (14) of shank steering engine connector (4) another side
Truck Connection part (3), the shank Truck Connection part (3) are fixedly connected with one end of shank trunk (2), the shank trunk (2)
The other end connect footmuff (1).
5. a kind of caterpillar four-footed robot dog of collaboration according to claim 4, which is characterized in that the thigh steering engine
Connector (8) includes thigh steering engine connecting plate (8.1), partially passes through support rib on the thigh steering engine connecting plate (8.1)
(8.2) ring flange for being fixedly connected with the preceding mounting flange (9.13) or rear mounting flange (9.15) is provided with to connect
Fishplate bar (8.3) is formed on the flange jointing plate (8.3) for fixed preceding mounting flange (9.13) or rear connecting flange
The ring flange fixation hole (8.4) of disk (9.15), the lower part of the thigh steering engine connecting plate (8.1) are formed with for through described
The thigh steering engine axis hole (8.5) of the output shaft of thigh steering engine (7), and the thigh steering engine for fixing the thigh steering engine (7)
Fixation hole (8.6).
6. a kind of caterpillar four-footed robot dog of collaboration according to claim 4, which is characterized in that the shank steering engine
Connector (4) includes shank steering engine fixed plate (4.1) and the use for being integrally formed in shank steering engine fixed plate (4.1) side
It is formed on the thigh Truck Connection set (4.2) of connection thigh trunk (5), the thigh Truck Connection set (4.2) for inserting
Enter lower end insertion hole (4.3) of thigh trunk (5) lower end, is formed on the jacket wall of the thigh Truck Connection set (4.2)
Several are used to fix the thigh trunk fixation hole (4.4) of thigh trunk (5), are formed on the shank steering engine fixed plate (4.1)
Have for through the shank steering engine axis hole (4.5) of shank steering engine (13) the third output shaft (13.1) and described small for fixing
The shank steering engine fixation hole (4.6) of leg steering engine (13).
7. a kind of caterpillar four-footed robot dog of collaboration according to claim 4, which is characterized in that the thigh trunk
Connector (6) is identical with shank Truck Connection part (3) structure, include with the thigh steering engine mounting flange (10) or
The connector main body (6.1) that shank steering engine mounting flange (14) is fixedly connected, is axially formed along the connector main body (6.1)
Upper end insertion hole (6.2) for being inserted into the thigh trunk (5) or shank trunk (2) upper end, the connector master
Body (6.1) is formed radially the trunk fixation hole (6.3) for fixing the thigh trunk (5) or shank trunk (2) upper end.
8. a kind of caterpillar four-footed robot dog of collaboration according to claim 7, which is characterized in that the upper end insertion
Hole (6.2) is formed through on the connector main body (6.1), is inserted on the connector main body (6.1) with the upper end
Entering the perpendicular formation in hole (6.2) has the via hole (6.4) for facilitating installation thigh trunk (5) or shank trunk (2) upper end.
9. a kind of caterpillar four-footed robot dog of collaboration according to claim 4, which is characterized in that the preceding connection method
Blue disk (9.13), rear mounting flange (9.15), thigh steering engine mounting flange (10) and shank steering engine mounting flange (14)
Structure is identical, includes flange disk chassis (15), and the formation that flange disk chassis (15) center vertically outwardly protrudes has convex
Platform (16), boss (16) axle center be formed with for preceding trunk steering engine (9.10) or rear trunk steering engine (9.11) or thigh rudder
The side of the connecting hole (17) that the output shaft of machine (7) or shank steering engine (13) is fixedly connected, the boss (16) is formed with and institute
The connecting hole (17) stated be connected for trunk steering engine (9.10) or rear trunk steering engine (9.11) or thigh steering engine (7) before fixed or
The fixing threaded hole (18) of the output shaft of shank steering engine (13) has been circumferentially formed several on the flange disk chassis (15) and has been used for
The ring flange being fixedly connected with the thigh steering engine connector (8), thigh Truck Connection part (6) and shank Truck Connection part (3)
Connecting hole (19).
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