CN109927808B - Collaborative crawler-type quadruped robot dog - Google Patents
Collaborative crawler-type quadruped robot dog Download PDFInfo
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- CN109927808B CN109927808B CN201910320411.1A CN201910320411A CN109927808B CN 109927808 B CN109927808 B CN 109927808B CN 201910320411 A CN201910320411 A CN 201910320411A CN 109927808 B CN109927808 B CN 109927808B
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- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001351 cycling effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 210000003275 diaphysis Anatomy 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
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Abstract
The utility model provides a four sufficient machine dogs of collaborative crawler-type, includes the truck main part, connects respectively the four limbs legs that can walk on flat road or complicated topography and can fold and rotate by oneself of four tip of truck main part to and connect through the electro-magnet truck main part belly is used for driving truck main part and four limbs leg whole and walks in flat road. The invention adopts a simpler mechanical structure, the walking posture of the bionic dog is simulated by the machine dog, the balance is kept in a three-point supporting mode, the advancing of the fourth leg is realized, and the advancing is realized by sequentially circulating. The four-foot robot dog can be controlled conveniently, moves flexibly and adapts to more complex terrain environments. And when the terrain is relatively flat, the four legs can be folded and turned by taking the two main joints as the shafts respectively, the gravity center of the four-foot robot is lowered, the abdominal crawler is grounded, and the crawler is used for loading the body for movement, so that the energy is saved.
Description
Technical Field
The present invention relates to a machine dog. In particular to a synergistic crawler type quadruped machine dog.
Background
Currently, there are few robots capable of rescuing and replenishing under complex terrains in China, and common tracked robots have limitation in motion and cannot adapt to the rugged and complex terrains. Compared with a crawler robot, the four-foot robot has stronger flexibility, the ground support is optimized to be supported by four points of leg falling by means of the crawler, the bionic robot is designed by taking the dog body as a prototype, and the gestures of squatting, standing, walking, jumping and the like can break through the limitation of complex space. The back can bear a certain weight of materials, and can provide replenishment for disaster recipients in some natural disasters.
Four-foot robots disclosed in patent CN 109176455A and CN 109178138A all adopt a mode of hydraulic cylinders and push rods to realize the movement of the legs of the four groups of robots. The leg adopts the structure of hydraulic push rod, and although there is certain advantage in the aspect of bearing, the angle scope of leg motion is very little when walking, leads to its stroke less, can not pass through effectively when facing higher barrier.
In the quadruped robot disclosed in patent CN 108749951A, the thigh structure combines thigh and shank into one, that is, the bending angle of the leg is fixed, and although the four-legged robot is provided with a damping spring, the four-legged robot is easy to step on or block when lifted when encountering uneven terrains. And the degree of freedom of the robot has only one direction, and the turning function cannot be realized.
The patent CN 108639180A discloses a three leg joint four foot robot, wherein a lateral swing joint module, a hip joint and a knee joint all adopt motors with different structures.
Disclosure of Invention
The invention aims to solve the technical problem of providing the collaborative crawler type quadruped robot dog which is simple in mechanical structure, convenient to control and flexible in movement.
The technical scheme adopted by the invention is as follows: the utility model provides a four sufficient machine dogs of collaborative crawler-type, includes the truck main part, connects respectively the four limbs legs that can walk on flat road or complicated topography and can fold and rotate by oneself of four tip of truck main part to and connect through the electro-magnet truck main part belly is used for driving truck main part and four limbs leg whole and walks in flat road.
The trunk main body comprises a frame front beam and a frame rear beam, a plurality of frame upper longitudinal beams connected between the upper end edges of the frame front beam and the frame rear beam respectively, a frame lower longitudinal beam connected between the lower end edges of the frame front beam and the frame rear beam, and supporting ribs connected between the corresponding frame upper longitudinal beam and the frame lower longitudinal beam, wherein an electromagnet is connected to the lower end surface of the frame lower longitudinal beam, and two ends of the frame front beam and two ends of the frame rear beam are respectively provided with trunk steering engine driving mechanisms used for connecting and driving the four limbs to rotate.
The two ends of the frame front cross beam are respectively provided with a front trunk steering wheel shaft hole and a front trunk steering wheel fixing hole, the two ends of the frame rear cross beam are respectively provided with a rear trunk steering wheel shaft hole and a rear trunk steering wheel fixing hole, the trunk steering wheel driving mechanism comprises two front trunk steering wheels which are respectively arranged at the inner sides of the two ends of the frame front cross beam and two rear trunk steering wheels which are respectively arranged at the outer sides of the two ends of the frame rear cross beam, the first output shafts of the two front trunk steering wheels correspondingly penetrate through the front trunk steering wheel shaft holes formed on the frame front cross beam and are connected with the front connecting flange plates which are positioned at the outer sides of the frame front cross beam and are used for connecting the front two limbs of the four limbs, and the second output shafts of the two rear trunk steering wheels correspondingly penetrate through the rear trunk steering wheel shaft holes formed on the frame rear cross beam and are connected with the rear connecting flange plates which are positioned at the inner sides of the frame rear cross beam and are used for connecting the rear two limbs of the four limbs.
Four limb leg structures the same, two limb legs of front end and two limb legs of rear end are the symmetry setting in four limb legs to, two limb legs that are located trunk main part and one side set up the direction the same, four limb legs all including be used for with trunk steering wheel actuating mechanism in preceding flange dish or the thigh steering wheel connecting piece that the back flange dish is connected, fixed connection is in thigh steering wheel connecting piece's thigh steering wheel on one side, thigh steering wheel's output shaft runs through thigh steering wheel connecting piece and through the thigh steering wheel connecting flange dish that is located thigh steering wheel connecting piece another side connect thigh trunk connecting piece, thigh trunk connecting piece fixed connection thigh trunk's one end, shank steering wheel connecting piece is connected to thigh trunk's the other end fixed connection shank steering wheel, shank steering wheel connecting piece is passed through to shank steering wheel connecting piece's the output shaft through the shank steering wheel connecting flange dish that is located shank steering wheel connecting piece another side, trunk connecting piece is connected to shank trunk connecting piece's the other end, shank trunk connecting piece is connected to shank steering wheel trunk connecting piece.
The thigh steering engine connecting piece including thigh steering engine connecting plate, thigh steering engine connecting plate upper portion be provided with through the support rib plate be used for with preceding flange dish or back flange dish fixed connection's flange dish connecting plate, be formed with the flange dish fixed orifices that is used for fixed preceding flange dish or back flange dish on the flange dish connecting plate, the lower part of thigh steering engine connecting plate is formed with and is used for running through the thigh steering engine shaft hole of the output shaft of thigh steering engine, and be used for fixing the thigh steering engine fixed orifices of thigh steering engine.
The shank steering engine connecting piece be in including shank steering engine fixed plate and an organic whole formation shank steering engine fixed plate one side be used for connecting the thigh trunk adapter sleeve of thigh trunk, be formed with the lower tip patchhole that is used for inserting the lower tip of thigh trunk on the thigh trunk adapter sleeve, be formed with a plurality of thigh trunk fixed orifices that are used for fixed thigh trunk on the mantle wall of thigh trunk adapter sleeve, be formed with on the shank steering engine fixed plate and be used for running through shank steering engine shaft hole of shank steering engine third output shaft and be used for fixing shank steering engine fixed orifices of shank steering engine.
The thigh trunk connecting piece and the shank trunk connecting piece have the same structure, and each thigh trunk connecting piece comprises a connecting piece main body fixedly connected with a thigh steering engine connecting flange plate or a shank steering engine connecting flange plate, an upper end inserting hole which is axially formed along the connecting piece main body and used for being inserted into the upper end of the thigh trunk or the shank trunk, and a trunk fixing hole which is radially formed on the connecting piece main body and used for fixing the upper end of the thigh trunk or the shank trunk.
The upper end part inserting hole is formed in a penetrating manner on the connecting piece main body, and an auxiliary hole which is perpendicular to the upper end part inserting hole and is convenient for installing the upper end part of the thigh trunk or the shank trunk is formed in the connecting piece main body.
The front connecting flange plate, the rear connecting flange plate, the thigh steering engine connecting flange plate and the shank steering engine connecting flange plate are identical in structure and comprise a flange plate chassis, a boss is formed in the center of the flange plate in a vertically outwards protruding mode, a connecting hole used for being fixedly connected with an output shaft of a front trunk steering engine or a rear trunk steering engine or a thigh steering engine or a shank steering engine is formed in the center of the boss, a fixing screw hole which is connected with the connecting hole and is commonly used for fixing the output shaft of the front trunk steering engine or the rear trunk steering engine or the thigh steering engine or the shank steering engine is formed in the side face of the boss, and a plurality of flange plate connecting holes used for being fixedly connected with the thigh steering engine connecting piece, the thigh steering engine connecting piece and the shank trunk connecting piece are formed in the periphery of the flange plate chassis.
The collaborative crawler-type quadruped machine dog provided by the invention adopts a simpler mechanical structure, so that the quadruped machine dog can be controlled conveniently, flexibly and is suitable for a more complex terrain environment. When the crawler is in a flat terrain, the limbs can be folded and turned over by themselves, and the crawler trolley is used for loading the body for movement, so that energy sources are saved. Under the environment with complex terrain, the robot dog provided by the invention simulates the walking gesture of a bionic dog, and keeps balance in a three-point supporting mode, so that the advancing of a fourth leg is realized, and the advancing is realized by sequentially cycling. Besides walking with limbs, through the cooperation of forelimb leg and hindlimb leg, can make four legs realize folding with two main joints as the axle respectively, four-foot robot's focus reduces, and the abdominal tracked vehicle lands, and trunk steering engine that is located four ends of trunk can upwards overturn with folding forelimb leg and hindlimb leg, breaks away from ground completely, drives the health by the tracked vehicle and advances.
According to the collaborative crawler-type quadruped robot dog, higher load can be realized by adopting pure electric motor driving, the hydraulic cylinder can lift the load, but the stroke is limited, the movement capacity and flexibility are far lower than those of a motor, and the leg can be greatly displaced by the motor. Compared with the main joints of the two front limbs and the two rear limbs of the robot in the patent application of the publication No. CN 109176455A, the robot has the advantages that the two main joints in the leg structure of the robot dog are arranged in opposite directions, the step width is effectively increased during movement, and the movement capability is improved.
The motor is arranged at the joint of the thigh and the shank of the robot dog, the shank can be lifted or put down independently, and the motor is also arranged at the joint of the thigh and the trunk, so that the turning function can be realized, and the flexibility and the gait diversity of the robot are greatly improved.
The machine dog has the advantages that all joints of the machine dog are assembled by the same motor, the legs are only composed of the motor, the backbone and the connecting piece, the structure is simpler, the assembly is more convenient, and the maintenance and the replacement are also convenient.
The leg structure of the collaborative crawler type quadruped robot dog is simpler and more reliable than that of the existing quadruped robot, and the collaborative crawler type quadruped robot dog can be folded and rotated automatically. Besides walking with limbs, through the cooperation of forelimb leg and hindlimb leg, can make four legs realize folding with two main joints as the axle respectively, four-foot machine dog's focus reduces, and the abdominal tracked vehicle lands, and trunk steering engine that is located four ends of trunk can upwards overturn with folding forelimb leg and hindlimb leg, breaks away from ground completely, drives the health by the tracked vehicle and advances. Because of the special structure of the legs, the four-foot robot dog can also realize upright walking, changes the posture of the body through adjusting the angle of the steering engine, and can be supported by two hind legs to change the angle of the thigh diaphysis so as to realize the upright.
The invention has the following advantages and positive effects:
1. through the mechanical structure of the motor and the connecting piece, the number of components is effectively reduced, the cost is reduced, the disassembly and assembly are convenient, and the maintenance and the replacement of parts are convenient.
2. The leg is made of carbon fiber, so that dead weight of the machine dog is effectively reduced, and the loading effect of the machine can be greatly improved by adopting a high-torque motor.
3. The crawler chassis is additionally arranged on the abdomen of the machine dog, so that energy consumption is effectively saved, and when facing a relatively flat road, the crawler can automatically fold four limbs, can automatically fold the four limbs through the transverse connecting piece, and can automatically work.
4. The mechanical structure of the bionic machine dog is adopted to simulate the gait of dogs so as to achieve the steady effect of movement.
5. The magnetic encoding speed reducing motor is selected to serve as a joint of the four-foot machine dog, so that the effect of closed loop control can be achieved, and the motion effect of the four-foot machine dog is more accurate, controllable, flexible and consistent. The four legs can be folded by taking two main joints as shafts respectively through the matching of the front limb legs and the rear limb legs, the gravity center of the four-foot robot is lowered, the abdominal crawler is grounded, the trunk steering engine positioned at the four ends of the trunk can turn over the folded front limb legs and rear limb legs upwards, the legs are completely separated from the ground, and the crawler drives the body to advance.
Drawings
FIG. 1 is a schematic overall construction of a synergistic tracked quadruped mechanical dog of the present invention;
FIG. 2 is a schematic view of the structure of the torso body of the present invention;
FIG. 3 is a top view of the torso body of the present invention;
FIG. 4 is a partially enlarged schematic illustration of portion B of FIG. 3;
FIG. 5 is an enlarged schematic view of a portion C of FIG. 3;
FIG. 6 is a schematic structural view of the thigh steering engine attachment of the present invention;
FIG. 7 is a schematic structural view of a mid-leg steering engine connector of the present invention;
FIG. 8 is a partially enlarged schematic illustration of portion D of FIG. 1;
FIG. 9 is a schematic view of the thigh trunk link of the invention;
FIG. 10 is a schematic structural view of a thigh steering engine connection flange or a shank steering engine connection flange in the present invention;
fig. 11 is a schematic diagram of the structure of the four-legged machine dog of the present invention when simulating the walking posture of a bionic dog;
FIG. 12 is a schematic diagram of the four-legged robot dog limb stow process of the present invention;
fig. 13 is a schematic view of the four-legged robot dog crawler of the present invention carrying a robot dog forward.
In the figure
1: foot cover 2: shank trunk
3: shank trunk connection 4: shank steering engine connecting piece
4.1: shank steering wheel fixed plate 4.2: thigh trunk connecting sleeve
4.3: lower end insertion hole 4.4: thigh trunk fixing hole
4.5: shank steering wheel shaft hole 4.6: shank steering engine fixing hole
5: thigh trunk 6: thigh trunk connecting piece
6.1: connector body 6.2: upper end insertion hole
6.3: trunk fixing hole 6.4: auxiliary hole
7: thigh steering engine 8: thigh steering engine connecting piece
8.1: thigh steering wheel connecting plate 8.2: supporting rib plate
8.3: flange connection plate 8.4: flange plate fixing hole
8.5: thigh steering wheel shaft hole 8.6: thigh steering engine fixed orifices
9: torso body 9.1: frame front cross beam
9.2: frame rear cross member 9.3: frame upper longitudinal beam
9.4: frame side sill 9.5: supporting rib plate
9.6: front trunk steering wheel shaft hole 9.7: front trunk steering engine fixing hole
9.8: rear trunk steering wheel shaft hole 9.9: rear trunk steering engine fixing hole
9.10: front torso steering engine 9.11: rear trunk steering engine
9.12: first output shaft 9.13: front connecting flange plate
9.14: second output shaft 9.15: rear connecting flange plate
10: thigh steering wheel flange 11: electromagnet
12: crawler trolley 13: shank steering engine
13.1: third output shaft 14: shank steering engine connecting flange plate
Detailed Description
A synergistic tracked quadruped robot dog of the present invention will now be described in detail with reference to the examples and drawings.
The invention relates to a cooperative crawler-type quadruped robot dog which consists of a body frame, two front limb legs, two rear limb legs and a crawler chassis. Steering engine fixing holes and steering engine shaft extending holes are distributed at four corners of the body frame, and steering engines for controlling left and right degrees of freedom of the machine dog are fixed on the body frame through screws, so that the machine dog has the ability of moving left and right. And then the two front limbs and the two rear limbs are fixed on four steering engines for controlling the left and right degrees of freedom through the flange plates. The crawler trolley is connected with the body frame through an electromagnet below the body frame. The steering engine acts as a joint.
As shown in fig. 1, the cooperative crawler-type quadruped robot dog of the present invention comprises a trunk body 9, four limbs a which are respectively connected to four ends of the trunk body 9, can walk on a flat road or a complex terrain and can fold and rotate by themselves, and a crawler trolley 12 which is connected to the abdomen of the trunk body 9 through an electromagnet 11 and is used for driving the trunk body 9 and the four limbs a to integrally walk on the flat road.
As shown in fig. 2, the trunk main body 9 includes a frame front beam 9.1 and a frame rear beam 9.2, a plurality of frame upper stringers 9.3 respectively connected between the frame front beam 9.1 and the upper end edge of the frame rear beam 9.2, a frame lower stringer 9.4 connected between the frame front beam 9.1 and the lower end edge of the frame rear beam 9.2, and a support rib 9.5 connected between the corresponding frame upper stringer 9.3 and frame lower stringer 9.4, the electromagnet 11 is connected to the lower end surface of the frame lower stringer 9.4, and two ends of the frame front beam 9.1 and two ends of the frame rear beam 9.2 are respectively provided with a trunk steering engine driving mechanism for connecting and driving the four limbs a to rotate.
As shown in fig. 2, front trunk steering engine shaft holes 9.6 and front trunk steering engine fixing holes 9.7 are formed at two ends of the frame front cross beam 9.1 respectively, and rear trunk steering engine shaft holes 9.8 and rear trunk steering engine fixing holes 9.9 are formed at two ends of the frame rear cross beam 9.2 respectively. As shown in fig. 3, fig. 4 and fig. 5, the trunk steering engine driving mechanism includes two front trunk steering engines 9.10 respectively arranged at inner sides of two ends of the front frame beam 9.1, and two rear trunk steering engines 9.11 respectively arranged at outer sides of two ends of the rear frame beam 9.2, first output shafts 9.12 of the two front trunk steering engines 9.10 correspondingly penetrate through front trunk steering engine shaft holes 9.6 formed on the front frame beam 9.1 and are connected with front connecting flange plates 9.13 positioned at outer sides of the front frame beam 9.1 and used for connecting two limbs and legs at front ends of four limbs and legs a, and second output shafts 9.14 of the two rear trunk steering engines 9.11 correspondingly penetrate through rear steering engine shaft holes 9.8 formed on the rear frame beam 9.2 and are connected with rear connecting flange plates 9.15 positioned at inner sides of the rear frame beam 9.2 and used for connecting two limbs and legs at rear ends of the four limbs and legs a.
As shown in fig. 1, four limb leg a structures are the same, two limb legs of front end and two limb legs of rear end are the symmetry setting in four limb leg a to, two limb legs that are located trunk main part 9 and one side set up the direction the same, four limb leg a all including be used for with trunk steering wheel actuating mechanism in front connection flange 9.13 or back connection flange 9.15 be connected thigh steering wheel connecting piece 8, fixed connection is in thigh steering wheel connecting piece 8 on one side thigh steering wheel 7, the output shaft of thigh steering wheel 7 runs through thigh steering wheel connecting piece 8 and connects thigh trunk connecting piece 6 through being located thigh steering wheel connecting flange 10 of thigh steering wheel connecting piece 8 another side, the one end of thigh trunk connecting piece 6 fixed connection thigh 5, the other end fixed connection shank steering wheel connecting piece 4 of thigh trunk 5, fixedly connected with shank steering wheel 13 on one side of shank steering wheel connecting piece 4, output shaft 13 the shank steering wheel connecting piece is located shank connecting piece 4, the shank connecting piece is located the shank connecting piece 2 of shank connecting piece 2, the shank connecting piece is connected with shank connecting piece 2, the shank connecting piece is located the shank connecting piece 2, the shank connecting piece is connected with the shank connecting piece 2, the shank connecting piece is located the shank connecting piece 2.
As shown in fig. 6, the thigh steering engine connecting piece 8 includes a thigh steering engine connecting plate 8.1, a flange connecting plate 8.3 for fixedly connecting with the front connecting flange 9.13 or the rear connecting flange 9.15 is provided on the upper portion of the thigh steering engine connecting plate 8.1 through a supporting rib plate 8.2, a flange fixing hole 8.4 for fixing the front connecting flange 9.13 or the rear connecting flange 9.15 is formed on the flange connecting plate 8.3, and a thigh steering engine shaft hole 8.5 for penetrating through an output shaft of the thigh steering engine 7 and a thigh steering engine fixing hole 8.6 for fixing the thigh steering engine 7 are formed on the lower portion of the thigh steering engine connecting plate 8.1.
As shown in fig. 7 and 8, the shank steering engine connecting piece 4 includes a shank steering engine fixing plate 4.1 and a thigh trunk connecting sleeve 4.2 integrally formed on one side of the shank steering engine fixing plate 4.1 and used for connecting a thigh trunk 5, a lower end part inserting hole 4.3 used for inserting the lower end part of the thigh trunk 5 is formed in the thigh trunk connecting sleeve 4.2, a plurality of thigh trunk fixing holes 4.4 used for fixing the thigh trunk 5 are formed in the sleeve wall of the thigh trunk connecting sleeve 4.2, and a shank steering engine shaft hole 4.5 used for penetrating through a third output shaft 13.1 of the shank steering engine 13 and a shank steering engine fixing hole 4.6 used for fixing the shank steering engine 13 are formed in the shank steering engine fixing plate 4.1.
As shown in fig. 9, the thigh trunk connecting piece 6 and the shank trunk connecting piece 3 have the same structure, and each of the thigh trunk connecting piece 6 and the shank trunk connecting piece comprises a connecting piece main body 6.1 fixedly connected with the thigh steering engine connecting flange plate 10 or the shank steering engine connecting flange plate 14, an upper end part inserting hole 6.2 which is axially formed along the connecting piece main body 6.1 and is used for being inserted into the upper end part of the thigh trunk 5 or the shank trunk 2, and a trunk fixing hole 6.3 which is radially formed on the connecting piece main body 6.1 and is used for fixing the upper end part of the thigh trunk 5 or the shank trunk 2.
As shown in fig. 9, the upper end insertion hole 6.2 is formed through the connector body 6.1, and an auxiliary hole 6.4 for conveniently installing the upper end of the thigh trunk 5 or the shank trunk 2 is formed in the connector body 6.1 perpendicular to the upper end insertion hole 6.2. The auxiliary holes can also be used for assisting the installation of the thigh trunk connecting piece 6 and the shank trunk connecting piece 3 with the thigh steering engine connecting flange plate 10 and the shank steering engine connecting flange plate 14 respectively.
As shown in fig. 10, the front connecting flange 9.13, the rear connecting flange 9.15, the thigh steering engine connecting flange 10 and the shank steering engine connecting flange 14 according to the present invention have the same structure, and each of the front connecting flange 9.13, the rear connecting flange 9.15, the thigh steering engine connecting flange 10 and the shank steering engine connecting flange 14 includes a flange chassis 15, a boss 16 is formed in a vertically outward protruding manner in the center of the flange chassis 15, a connecting hole 17 for fixedly connecting with the output shaft of the front trunk steering engine 9.10, the rear trunk steering engine 9.11, the thigh steering engine 7, or the shank steering engine 13 is formed in the center of the boss 16, a fixing screw hole 18 connected with the connecting hole 17 and used for fixing the output shaft of the thigh steering engine 7 or the shank steering engine 13 is formed in the side surface of the boss 16, and a plurality of flange connecting holes 19 for fixedly connecting with the thigh steering engine connecting member 8, the thigh trunk connecting member 6, and the shank connecting member 3 are formed on the flange chassis 15 along the circumference.
In the embodiments of the present invention: the foot cover is manufactured by Yida rubber plastic product factories and has the model of 35mm of round outer cover; the thigh steering engine, the shank steering engine, the front trunk steering engine and the rear trunk steering engine are magnetic encoding super-large torque alloy steering engine 24V with the model number DS555 manufactured by Dongguan Dada Sheng steering engine technology Co., ltd; the electromagnet is made of a product with the model number XDA-40/40/17 manufactured by Leqing-Hao electric Co., ltd; the crawler trolley adopts products with model TS100 manufactured by Shenzhen deep-link technology Co., ltd.
The operation of a co-tracked quadruped dog of the present invention is illustrated by the action of the right forelimb shown in figure 1: under the environment with more complex terrain, the robot dog simulates the walking gesture of the bionic dog, and realizes the advancing; in a place with flat terrain, the thigh steering engine 7 controls the thigh trunk 5 to rotate to be in a horizontal state as shown in fig. 11, and the shank steering engine 13 controls the shank trunk 2 to rotate to be in a state of forming an included angle of 40-50 degrees with the thigh trunk 5 as shown in fig. 11; the front trunk steering engine 9.10 then controls the thigh steering engine connecting part 8 to rotate to a horizontal state as shown in fig. 12; the thigh steering engine 7 controls the thigh trunk 5 to rotate to drive the shank trunk 2 to be in a state of being lapped on the upper end surface of the crawler trolley 12 as shown in fig. 13. The crawler 12 can be grounded, so that the crawler can carry the machine dog forward, and the energy consumption is saved.
Claims (1)
1. The cooperative crawler-type four-foot machine dog is characterized by comprising a trunk main body (9), four limbs (A) which are respectively connected to four ends of the trunk main body (9) and can walk on a flat road or a complex terrain and can fold and rotate by themselves, and a crawler trolley (12) which is connected to the abdomen of the trunk main body (9) through an electromagnet (11) and is used for driving the trunk main body (9) and the four limbs (A) to integrally walk on the flat road;
the trunk main body (9) comprises a frame front beam (9.1) and a frame rear beam (9.2), a plurality of frame upper longitudinal beams (9.3) respectively connected between the upper end edges of the frame front beam (9.1) and the frame rear beam (9.2), a frame lower longitudinal beam (9.4) connected between the lower end edges of the frame front beam (9.1) and the frame rear beam (9.2), and supporting ribs (9.5) connected between the corresponding frame upper longitudinal beam (9.3) and the frame lower longitudinal beam (9.4), wherein an electromagnet (11) is connected to the lower end surface of the frame lower longitudinal beam (9.4), and two ends of the frame front beam (9.1) and two ends of the frame rear beam (9.2) are respectively provided with trunk steering engine driving mechanisms for connecting and driving the four limb legs (A) to rotate;
the two ends of the frame front cross beam (9.1) are respectively provided with a front trunk steering wheel shaft hole (9.6) and a front trunk steering wheel fixing hole (9.7), two ends of the frame rear cross beam (9.2) are respectively provided with a rear trunk steering wheel shaft hole (9.8) and a rear trunk steering wheel fixing hole (9.9), the trunk steering wheel driving mechanism comprises two front trunk steering wheels (9.10) respectively arranged at the inner sides of the two ends of the frame front cross beam (9.1), and two rear trunk steering wheels (9.11) respectively arranged at the outer sides of the two ends of the frame rear cross beam (9.2), first output shafts (9.12) of the two front trunk steering wheels (9.10) correspondingly penetrate through the front trunk steering wheel shaft holes (9.6) formed on the frame front cross beam (9.1) and are connected with front connecting flange plates (9.13) which are positioned at the outer sides of the frame front cross beam (9.1) and are used for connecting the two front limbs and legs in the four limbs, and second output shafts (9.11) of the two rear trunk steering wheels (9.14) are correspondingly connected with the rear connecting flange plates (9.15) positioned at the inner sides of the four limbs and the two rear limbs (9.2);
four limb leg (A) structure the same, two limb legs of front end and two limb legs of rear end are the symmetry setting in four limb leg (A) to, be located trunk main part (9) and two limb legs of one side set up the direction the same, four limb leg (A) all including be arranged in with trunk steering wheel actuating mechanism in front connection flange dish (9.13) or rear connection flange dish (9.15) be connected thigh steering wheel connecting piece (8), fixed connection be in thigh steering wheel (7) on one side of thigh steering wheel connecting piece (8), the output shaft of thigh steering wheel (7) runs through thigh steering wheel connecting piece (8) and connect thigh trunk connecting piece (6) through thigh steering wheel connecting flange dish (10) that are located thigh steering wheel connecting piece (8) another side, the other end fixed connection shank steering wheel connecting piece (4) of thigh trunk connecting piece (6) are connected thigh trunk (5), thigh steering wheel trunk connecting piece (4) are located thigh steering wheel connecting piece (4) side (4), thigh steering wheel connecting piece (4) are located shank connecting piece (13) side face (4) and are connected through thigh steering wheel connecting piece (4), the shank trunk connecting piece (3) is fixedly connected with one end of the shank trunk (2), and the other end of the shank trunk (2) is connected with the foot sleeve (1);
the thigh steering engine connecting piece (8) comprises a thigh steering engine connecting plate (8.1), a flange plate connecting plate (8.3) which is fixedly connected with the front connecting flange plate (9.13) or the rear connecting flange plate (9.15) is arranged on the upper part of the thigh steering engine connecting plate (8.1) through a supporting rib plate (8.2), a flange plate fixing hole (8.4) for fixing the front connecting flange plate (9.13) or the rear connecting flange plate (9.15) is formed in the flange plate connecting plate (8.3), and a thigh steering engine shaft hole (8.5) for penetrating through an output shaft of the thigh steering engine (7) and a thigh steering engine fixing hole (8.6) for fixing the thigh steering engine (7) are formed in the lower part of the thigh steering engine connecting plate (8.1);
the shank steering engine connecting piece (4) comprises a shank steering engine fixing plate (4.1) and a shank steering engine main connecting sleeve (4.2) which is integrally formed on one side of the shank steering engine fixing plate (4.1) and is used for connecting a thigh main (5), a lower end part inserting hole (4.3) used for being inserted into the lower end part of the thigh main (5) is formed in the thigh main connecting sleeve (4.2), a plurality of thigh main fixing holes (4.4) used for fixing the thigh main (5) are formed in the sleeve wall of the thigh main connecting sleeve (4.2), and shank steering engine shaft holes (4.5) used for penetrating through a third output shaft (13.1) of the shank steering engine (13) and shank steering engine fixing holes (4.6) used for fixing the shank steering engine (13) are formed in the shank steering engine fixing plate (4.1).
The thigh trunk connecting piece (6) and the shank trunk connecting piece (3) have the same structure, each connecting piece comprises a connecting piece main body (6.1) fixedly connected with the thigh steering engine connecting flange plate (10) or the shank steering engine connecting flange plate (14), an upper end part inserting hole (6.2) which is axially formed along the connecting piece main body (6.1) and is used for being inserted into the upper end part of the thigh trunk (5) or the shank trunk (2), and a trunk fixing hole (6.3) which is radially formed on the connecting piece main body (6.1) and is used for fixing the upper end part of the thigh trunk (5) or the shank trunk (2);
the upper end part inserting hole (6.2) is formed in a penetrating manner on the connecting piece main body (6.1), and an auxiliary hole (6.4) which is perpendicular to the upper end part inserting hole (6.2) and is convenient for installing the upper end part of the thigh trunk (5) or the shank trunk (2) is formed on the connecting piece main body (6.1);
the front connecting flange plate (9.13), the rear connecting flange plate (9.15), the thigh steering engine connecting flange plate (10) and the shank steering engine connecting flange plate (14) are identical in structure and comprise a flange plate chassis (15), a boss (16) is formed in the center of the flange plate chassis (15) in a vertically outwards protruding mode, a connecting hole (17) used for fixedly connecting an output shaft of the front trunk steering engine (9.10) or the rear trunk steering engine (9.11) or the thigh steering engine (7) or the shank steering engine (13) is formed in the axis of the boss (16), and a plurality of flange plate connecting holes (19) used for fixedly connecting the output shaft of the front trunk steering engine (9.10) or the rear trunk steering engine (9.11) or the thigh steering engine (7) or the shank steering engine (13) with the thigh steering engine (3) are formed in the side face of the boss (16).
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| CN111846004A (en) * | 2020-07-21 | 2020-10-30 | 李荣仲 | Four-footed robot dog with gravity center adjustment mechanism |
| CN112660263A (en) * | 2020-12-15 | 2021-04-16 | 无锡陆吾智能科技有限公司 | Education system based on bionic quadruped robot |
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