CN215663714U

CN215663714U - Quadruped robot with transformation moving device

Info

Publication number: CN215663714U
Application number: CN202121578996.6U
Authority: CN
Inventors: 李嘉炜; 王立涛; 戴雅雯; 张欢; 许哲维; 郑梓香
Original assignee: Guangzhou Maritime University
Current assignee: Guangzhou Maritime University
Priority date: 2021-07-12
Filing date: 2021-07-12
Publication date: 2022-01-28
Anticipated expiration: 2031-07-12

Abstract

The utility model provides a quadruped robot with a conversion moving device, belonging to the technical field of multi-legged robots and comprising: the main body is connected with four upper limbs, and the foot part of each upper limb is connected with a lower limb; a first driving device; the lower limb part comprises a roller and a supporting leg; a second driving device; and a controller. The quadruped robot with the mobile device changing function provided by the utility model can be switched from a rolling state to a climbing state when encountering steps or obstacles, can easily cross the steps by using the four supporting legs to land on the ground, cannot slip due to the fixed connection of the feet of the supporting legs, and ensures the stability of the quadruped robot with the mobile device changing function when climbing the steps or the obstacles. So that the quadruped robot with the shifting moving means can be applied to more scenes.

Description

Quadruped robot with transformation moving device

Technical Field

The utility model relates to the technical field of multi-legged robots, in particular to a quadruped robot with a transformation moving device.

Background

The multi-legged walking robot is an important branch in the field of modern robotics, and can be classified into a biped robot, a quadruped robot and a hexapod robot according to the number of legs. Wherein, the quadruped robot has better bearing capacity and stability compared with the biped robot, and has simple structure and easy control compared with the hexapod robot. From the aspects of engineering, comprehensive research and development cost, difficulty in manufacturing, control method, system stability and the like, the four-legged robot is the best shape of the legged robot.

The lower limbs of the existing quadruped robot usually use one of a roller or an end foot, the quadruped robot walks on a flat road surface through the rolling of the roller, if the quadruped robot encounters a step or an obstacle, the upper limbs of the quadruped robot are lifted up to span, and when the quadruped robot lands on the ground, the rollers are in a rolling state and are easy to slide on the ground when contacting with the ground, so that the quadruped robot slips when climbing the step or climbing the obstacle, and cannot finish the operations of climbing the step or climbing the obstacle; and the tip is at the in-process of crawling, though climbing step or barrier easily, but when walking on the road surface of flatness, the low limbs portion need lift up and put down, realizes walking, and the shake that can make the robot body like this is great, steady inadequately.

SUMMERY OF THE UTILITY MODEL

Therefore, the present invention is directed to overcome the problems of the prior art that the lower limbs of the quadruped robot use the rollers, so that the quadruped robot is easy to slip when climbing steps or climbing over obstacles, and the use end feet of the quadruped robot are not stable enough on a flat road surface, thereby providing a quadruped robot with a shifting device.

In order to solve the above technical problems, the present invention provides a quadruped robot having a translation moving device, comprising:

the main body is connected with four upper limbs, and the foot part of each upper limb is connected with a lower limb suitable for being in contact with the ground;

the first driving device is arranged on the main body, the four upper limbs are connected with the first driving end of the first driving device, and the first driving device is suitable for driving the four upper limbs to stretch and rotate;

the lower limb part comprises a roller and a supporting leg, the lower limb part has a rolling state that the supporting leg is accommodated in the accommodating space of the upper limb part and the roller is supported on the ground in a rolling manner, the lower limb part also has a crawling state that the supporting leg is opened to the extension line of the upper limb part, the foot of the supporting leg is supported on the ground, and the roller is far away from the ground;

a second drive mounted on the lower limb, the roller being adapted to be connected to a second drive end of the second drive;

the supporting leg is suitable for being connected with a third driving end of the third driving device, and the second driving device and the third driving device are suitable for driving the lower limb to switch between a rolling state and a crawling state;

the controller is installed on the main body, and the first driving device and the second driving device are in communication connection with the controller.

Optionally, the support leg is rotatably mounted on the lower limb, the support leg has a first position accommodated in the accommodating space on the upper limb, the support leg also has a second position rotated by 180 degrees, the feet of the support leg in the first position and the second position are both located on the extension lines of the upper limb and the upper limb, and the feet in the two positions are respectively located on two sides of the roller;

the second driving device is suitable for driving the supporting leg to be switched between the first position and the second position.

Optionally, the supporting leg comprises a supporting frame and a foot, one end of the supporting frame is rotatably connected to the lower limb, and the foot is connected to the supporting frame.

Optionally, the device further comprises a coupler arranged in the second driving device, and a second driving end of the second driving device is connected with the roller or the supporting leg through the coupler.

Optionally, the roller is rotatably mounted on the lower limb, and the roller is adapted to be connected to the second drive end of the second drive means.

Optionally, the ultrasonic monitoring device further comprises an ultrasonic sensor mounted on the main body, and the ultrasonic sensor is in communication connection with the controller.

Optionally, the microwave oven further comprises a microwave sensor mounted on the main body, and the microwave sensor is in communication connection with the controller.

The technical scheme of the utility model has the following advantages:

1. according to the quadruped robot with the shifting and moving device, the rollers and the supporting legs are mounted on the lower limbs, the switching between the rolling state and the crawling state is realized by respectively controlling the rollers or the supporting legs through the second driving device, so that the quadruped robot can be switched from the rolling state to the crawling state when encountering steps or obstacles, the steps can be easily spanned by using the four supporting legs to land, and the feet of the supporting legs are fixedly connected, so that the slipping phenomenon cannot occur, and the stability of the quadruped robot with the shifting and moving device when climbing the steps or the obstacles is ensured. So that the quadruped robot with the shifting moving means can be applied to more scenes.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic structural diagram of a quadruped robot with a shifting device according to the present invention;

FIG. 2 is a schematic structural diagram of a quadruped robot with a conversion moving device provided by the utility model, wherein the quadruped robot is provided with a camera;

FIG. 3 is a schematic structural diagram of a lower limb of a quadruped robot with a shifting device according to the present invention in a rolling state;

fig. 4 is a schematic structural diagram of a lower limb of the quadruped robot with a shifting device in a crawling state.

Description of reference numerals:

1. a main body; 2. a housing; 3. an upper limb portion; 4. connecting blocks; 5. rotating the block; 6. a single chip microcomputer; 7. a lower limb portion; 8. a first driving device; 9. a roller; 10. a second driving device; 11. a support frame; 12. a foot section; 13. a third driving device; 14. a camera; 15. an engaging portion.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

The embodiment provides a specific implementation mode of the quadruped robot with the shifting and moving device, as shown in fig. 1, a shell 2 is installed on a main body 1, a first driving device 8, a single chip microcomputer 6 and a controller are arranged in the main body 1, and the first driving device 8 is in communication connection with the controller. Main part 1 is the cuboid form, all is connected with upper limb 3 in the four corners position department of main part 1, all is connected with lower limb 7 on upper limb 3, is equipped with gyro wheel 9, supporting leg and second drive arrangement 10 on lower limb 7, and gyro wheel 9 and supporting leg all can be connected with the second drive end of second drive arrangement 10. The second driving device 10 is in communication connection with the controller, the controller sends an instruction to the second driving device 10, the second driving device 10 can control the support legs to turn over, the support legs can be stored or opened, switching between a rolling state and a crawling state of the lower limbs 7 is further achieved, when the robot walks on a flat road, as shown in fig. 3, the robot can be switched to the rolling state, the four rollers 9 land, and stability is high in the walking process; when meetting step or barrier, as shown in fig. 4, switch to the state of crawling, make the supporting leg land, four upper limbs 3 climb or stride across, the foot 12 of supporting leg is fixed knot structure, and self can not take place to rotate, increases the stability when the supporting leg falls to the ground, avoids taking place the phenomenon of skidding when falling to the ground. By switching the moving state, the quadruped robot can be applied to more scenes, such as scientific research and detection.

Specifically, first drive arrangement 8 is the steering wheel, is equipped with gear structure in casing 2, and the first drive end of steering wheel passes through gear structure to be connected with four upper limbs 3 respectively, and installs the joint actuating mechanism on upper limbs 3 and all be connected with the first drive end of steering wheel, and through the drive of steering wheel, can realize the rotation and the flexible of upper limbs 3. The steering wheel sets up to four, and every steering wheel is connected with an upper limb portion 3 alone, and one of them upper limb portion 3 of steering wheel drive moves to every steering wheel all carries out communication connection with the controller.

Specifically, a gear structure is installed in the second driving device 10, an output end of the gear structure is connected with the roller 9, so that the driving force of the second driving device 10 can be transmitted to the roller 9, and the second driving device 10 drives the roller 9 to rotate in the power transmission process.

As an alternative embodiment, a synchronous belt structure may be used instead of the gear structure as long as the rotation of the roller 9 can be achieved.

In this embodiment, use one of them upper limbs 3 as an example, be equipped with first drive arrangement 8 in the hookup location department of upper limbs 3 and main part 1, turning block 5 and connecting block 4, first drive arrangement 8 fixed mounting is on main part 1, turning block 5 rotates and installs on first drive arrangement 8's drive end, turning block 5 can be on first drive arrangement 8 the ascending rotary motion of horizontal direction, fixedly connected with connecting block 4 on turning block 5, upper limbs 3 rotates and connects on connecting block 4, upper limbs 3 can be on connecting block 4 the ascending rotary motion of vertical direction, drive through first drive arrangement 8, upper limbs 3 can carry out the rotation of horizontal direction and vertical direction under the effect of turning block 5 and upper limbs 3 itself.

In this embodiment, the support leg includes support frame 11 and foot 12, support frame 11 one end fixed mounting is on the shell of the third drive arrangement in lower limb 7, third drive arrangement 13 is the steering wheel, and the drive shaft fixed mounting of third drive arrangement 13 is on the support leg, third drive arrangement 13 is when rotating, because the drive shaft of third drive arrangement 13 is fixed, so third drive arrangement 13 self can rotate around its drive shaft, and then drive support frame 11 of fixed mounting on third drive arrangement 13 and rotate, foot 12 is installed to the other end of support frame. The foot 12 can be supported on the ground, the support frame 11 is driven by the second driving device 10 to drive the foot 12 to rotate, the support frame 11 needs to rotate 180 degrees, and rotates from a position coinciding with the lower limb 7 to an extension line of the lower limb 7, namely, the support frame is switched from the first position to the second position. Support frame 11 can not take place the contact with gyro wheel 9 rotating the in-process, and support frame 11 can bypass gyro wheel 9, rotates to the extension line of upper limb portion 3 on, has block 15 on the support frame 11, and block 15 can carry out the block with drive roller 9 pivoted pivot to in the effect of third drive arrangement 13, make the supporting leg keep the state of crawling.

In this embodiment, still including camera 14, install on main part 1 through the pole setting, camera 14 and controller communication connection for camera 14 is high, and camera 14 of being convenient for shoots the surrounding environment, and will shoot picture and sound feedback to the controller. The camera 14 is modular and can be replaced, for example, the camera 14 can be replaced with other parts such as a robot.

In this embodiment, the device further comprises a microwave sensor and an ultrasonic sensor which are both installed in the shell 2 on the main body 1, and the microwave sensor and the ultrasonic sensor are both in communication connection with the controller. The microwave sensor can detect the motion state of an object by detecting microwaves reflected by the object, the detected object is not limited to a human body, and the object can also be detected; the ultrasonic sensor has the characteristics of high frequency, short wavelength, small diffraction phenomenon, particularly good directivity, capability of becoming rays and directionally propagating, and the like, has large penetration capacity of ultrasonic waves to liquid and solid, and can measure the distance from an obstacle in real time particularly in opaque solid.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are intended to be within the scope of the utility model.

Claims

1. A quadruped robot having a translating movement device, comprising:

a main body (1) to which four upper limbs (3) are connected, a lower limb (7) adapted to be in contact with the ground being connected to a foot (12) of each of said upper limbs (3);

the first driving device (8) is arranged on the main body (1), the four upper limbs (3) are connected with a first driving end of the first driving device (8), and the first driving device (8) is suitable for driving the four upper limbs (3) to stretch and rotate;

the lower limb (7) comprises a roller (9) and a supporting leg, the lower limb (7) has a rolling state that the supporting leg is accommodated in the accommodating space of the upper limb (3) and the roller (9) is rolled and supported on the ground, the lower limb (7) also has a crawling state that the supporting leg is stretched to the extension line of the upper limb (3), the foot (12) of the supporting leg is supported on the ground and the roller (9) is far away from the ground;

-a second drive means (10) mounted on the lower limb (7), the roller (9) being adapted to be connected to a second drive end of the second drive means (10);

the third driving device (13) is installed on the lower limb (7), the supporting leg is suitable for being connected with a third driving end of the third driving device (13), and the second driving device (10) and the third driving device (13) are suitable for driving the lower limb (7) to be switched between a rolling state and a crawling state;

the controller is installed on the main body (1), and the first driving device (8) and the second driving device (10) are in communication connection with the controller.

2. The quadruped robot with a shifting device according to claim 1, characterized in that the support leg is rotatably mounted on the lower limb (7), the support leg has a first position accommodated in the accommodating space of the upper limb (3), the support leg further has a second position rotated by 180 degrees, the feet (12) of the support leg in the first and second positions are located on the extension lines of the upper limb (3) and the upper limb (3), and the feet (12) in the two positions are respectively located on both sides of the roller (9);

the second driving device (10) is suitable for driving the supporting leg to switch between the first position or the second position.

3. The quadruped robot with a change moving device according to claim 2, characterized in that the supporting legs comprise a supporting frame (11) and feet (12), one end of the supporting frame (11) is rotatably connected to the lower limb (7), and the feet (12) are connected to the supporting frame (11).

4. The quadruped robot with the movement transformation device according to claim 1, characterized by further comprising a coupling arranged in the second driving device (10), wherein the second driving end of the second driving device (10) is connected with the roller (9) or the supporting leg through the coupling.

5. The quadruped robot with translation movement device according to claim 1, characterized in that the roller (9) is rotatably mounted on the lower limb (7), the roller (9) being adapted to be connected with the second driving end of the second driving device (10).

6. The quadruped robot with a translation moving device according to claim 1, further comprising an ultrasonic sensor mounted on the main body (1), wherein the ultrasonic sensor is in communication connection with the controller.

7. The quadruped robot with the transformation moving device according to claim 1, characterized in that the quadruped robot further comprises a microwave sensor which is installed on the main body (1) and is in communication connection with the controller.