CN111516774A - A new type of biped and quadruped integrated robot that can switch in real time - Google Patents

Abstract

The invention relates to the field of footed robots, in particular to a design of a new type of footed robot that has both bipedal and quadruped walking postures. Its overall structure can be composed of a metal trunk, first and second forearm assemblies, front support plates, rear support plates and first and second rear arm assemblies; The upper limb operation ability in the foot state can switch the walking mode in real time, realize the rapid movement of the quadruped robot and the high operation ability of the biped robot, and reduce the overall quality of the robot; at the same time, the knee joint and hip joint forward joint can achieve 360 degrees. The continuous rotation makes the footed robot eliminate the distinction between head and tail, abdomen and back, and left and right, and can complete the exchange of front and rear, up and down, and left and right postures in real time, and realize all-round action form conversion. The above-mentioned new invention design enhances the adaptability and functionality of the footed robot, so that the footed robot has wider social application prospects.

Description

A new type of biped and quadruped integrated robot that can switch in real time

technical field

The invention relates to the field of footed robots, in particular to a design of a new type of footed robot that has both bipedal and quadruped walking postures.

Background technique

Legged robots are often used to perform tasks such as patrolling security, working in various extreme environments instead of humans, searching for signs of life during earthquake relief, and space exploration over obstacles. stability. Although the mobility performance is improved, the operational performance is reduced; while the biped robot, although it only relies on less limbs to walk, the movement and stability are not as good as the quadruped robot, but the upper limb mechanism can realize the operation tasks that are difficult for the current quadruped robot to complete. . The bipedal and quadruped robots designed by the invention can switch walking gaits in real time, have different structures of forelimbs and hindlimbs, and can switch the walking mode and operation ability in real time according to the needs of the task, so as to realize the rapid movement and biped performance of traditional quadruped robots. The high operating capability of the robot can reduce the overall quality while improving the adaptability and functionality of the robot to the environment.

SUMMARY OF THE INVENTION

The problem to be solved by the present invention is to design a new type of footed robot with two-legged and four-legged integration that can be switched in real time.

The technical scheme adopted by the present invention to solve the technical problem is:

A bipedal and quadruped integrated new type of footed robot that can be switched in real time is characterized in that: its overall structure can be composed of a metal torso, first and second forearm assemblies, front support plates, rear support plates and first and second The rear arm assembly is formed; wherein, the front support plate and the rear support plate are connected to the longitudinal and longitudinal sides of the metal torso through bolts; the first and second forearm assemblies are respectively connected to the front support plate and are symmetrical about the metal torso along the transverse and short directions distribution; the first and second rear arm assemblies are respectively connected with the rear support plate, and are symmetrically distributed along the transverse and short directions with respect to the metal torso.

Its first rear arm assembly is composed of a first leg assembly, a connecting rod, a fourth motor casing, a third motor reducer assembly and a fixed sheet metal; the fixed sheet metal and the rear support plate are fixed by bolts, and the fourth motor casing is fixed on the fixed plate On the sheet metal, the third motor reducer assembly is connected in the shell, the outlet shaft of the assembly is connected with the through hole at one end of the connecting rod by a key; the through hole at the other end of the connecting rod is connected with the first leg assembly by a key; the space between the two through holes is vertically arranged cloth, so that the first rear arm assembly has the freedom of yaw rotation and pitch rotation in space; the structural composition and assembly method of the second rear arm assembly are completely consistent with the first rear arm assembly.

Its first forearm assembly is composed of a second leg assembly, a second connecting rod, a fourth motor reducer assembly, and a third motor casing; wherein the motor outlet shaft of the second leg assembly and the middle through hole of the second connecting rod pass through a key The shaft end of the second connecting rod passes through the through hole on one side of the front support plate and is connected with the output shaft of the fourth motor reducer assembly; the third motor casing is installed on the fourth motor reducer assembly to protect and support ; The middle through hole and the shaft end of the second connecting rod are arranged vertically in space, so that the first forearm assembly has the freedom of roll rotation and pitch rotation in space; the structural composition and assembly method of the second forearm assembly are the same as the first forearm assembly. Exactly.

Its first leg assembly consists of first and motor housings, first and second motor reducer assemblies, thigh members, chains, first sprockets, second sprockets, shank members and pins; the first motor reducer assembly The output shaft and the thigh member are connected by a key, the first and second sprockets and the chain form a transmission assembly and are installed in the inner deep groove of the thigh member; the output shaft of the first sprocket and the second motor reducer assembly are connected by a key , the pin passes through the second sprocket, the round end through hole of the calf member and the through hole of the thigh member in turn; the calf member is welded with the second sprocket, so that the calf member can rotate around the thigh member under the chain drive; at the same time, the thigh member It can be rotated around the central axis of the first motor casing; the structural composition and assembly method of the second leg assembly is exactly the same as that of the first leg assembly.

The first and second forearm assemblies and the first and second rear arm assemblies are different in the arrangement of rotational degrees of freedom. Although they are all three-degree-of-freedom structures, the first degree of freedom in the connection between the forearm assembly and the rear arm assembly and the trunk is different. Therefore, the robot can walk in the form of a traditional quadruped robot, or it can be switched to use the two legs of the first and second rear arm assemblies as the walking legs, and the first and second forearm assemblies as the operating mechanism Biped robot with arms.

The beneficial effects of the present invention compared with the prior art: the beneficial effects of the present invention compared with the prior art: the present invention enables the footed robot to have two legs, two arms and four It has two working states of foot, and has both high-speed motion and low-speed and high-operation capability, which can be switched in real time; at the same time, the calf knee joint and thigh hip joint forward joint can realize 360-degree continuous rotation, making the foot robot eliminate the head and tail , the distinction between the abdomen and the back and the left and right, the front and rear, up and down, and left and right postures of the footed robot can be exchanged in real time, and a full range of action forms can be converted in real time. The above-mentioned new invention design enhances the adaptability and functionality of the footed robot, so that the footed robot has wide social application prospects.

Description of drawings

Figure 1 is a schematic diagram of a footed robot;

Figure 2 isometric view of the structure of the footed robot;

Fig. 3 Schematic diagram of leg assembly;

Figure 4 Schematic diagram of the explosion of the leg assembly;

5 is a schematic diagram of the first rear arm assembly;

6 is a schematic diagram of the first forearm assembly;

Figure 7 is a schematic diagram of the state of both feet;

Figure 8 is a schematic diagram of a quadruped state;

In the figure: metal torso (1), first and second forearm assemblies (2-1, 2-2), front support plate (3), rear support plate (4), first and second rear arm assemblies (5) -1, 5-2), first, second and third motor housings (6-1, 6-2, 6-3), first, second, third and fourth motor reducer assemblies (7- 1, 7-2, 7-3, 7-4), thigh member (8), chain (9), first and second sprockets (10-1, 10-2), lower leg member (11), pin (12), the first and second leg assemblies (13-1, 13-2), the connecting rod (14), the fourth motor housing (15), the fixed sheet metal (16), and the second connecting rod (17).

Detailed ways

The present invention will be further described with reference to the accompanying drawings.

The problem to be solved by the present invention is to design a new type of footed robot with two-legged and four-legged integration that can be switched in real time.

The technical scheme adopted by the present invention to solve the technical problem is:

A new type of bipedal and quadruped integrated and real-time switchable footed robot is shown in Figure 1, which is characterized in that its overall structure can be composed of a metal torso (1), first and second forearm assemblies (2-1, 2 -2), the front support plate (3), the rear support plate (4) and the first and second rear arm assemblies (5-1, 5-2);

Wherein, the front support plate (3) and the rear support plate (4) are connected to the longitudinal sides of the metal torso (1) by bolts; the first and second forearm assemblies (2-1, 2-2) are respectively connected to the front The support plate (3) is connected and symmetrically distributed along the transverse and short directions with respect to the metal trunk (1); the first and second rear arm assemblies (5-1, 5-2) are respectively connected with the rear support plate (4), and are connected with The metal torso (1) is symmetrically distributed along the transverse and short directions, as shown in Figure 2.

The first rear arm assembly (5-1) of the footed robot is composed of a first leg assembly (13-1), a connecting rod (14), a fourth motor housing (15), and a third motor reducer assembly (7-3) ) and the fixed sheet metal (16), as shown in Figure 5. The fixing plate (16) and the rear support plate (4) are fixedly connected by bolts, the fourth motor casing (15) is fixed on the fixing plate (16), and the third motor reducer assembly (7-3) is connected in the casing. The output shaft is connected with the through hole at one end of the connecting rod (14) by a key; the through hole at the other end of the connecting rod (14) is connected with the first leg assembly by a key; the spaces of the two through holes are vertically arranged, so that the first rear arm assembly ( 5-1) It has the freedom of yaw rotation and pitch rotation in space; the structural composition and assembly method of the second rear arm assembly (5-2) are completely consistent with the first rear arm assembly (5-1);

Its first forearm assembly (2-1) consists of a second leg assembly (13-2), a second connecting rod (17), a fourth motor reducer assembly (7-4), and a third motor housing (6-3) ), as shown in Figure 6; wherein the motor outlet shaft of the second leg assembly (13-2) is connected with the middle through hole of the second connecting rod (17) through a key, and the shaft end of the second connecting rod (17) passes through A through hole on one side of the front support plate (3) is connected with the output shaft of the fourth motor reducer assembly (7-4); the third motor casing (6-3) is installed on the fourth motor reducer assembly (7-4). 4) The upper part plays the role of protection and support; the middle through hole and the shaft end of the second connecting rod (17) are vertically arranged in space, so that the first forearm assembly (2-1) has the freedom of roll rotation and pitch rotation in space ; The structural composition and assembling method of the second forearm assembly (2-2) are completely consistent with the first forearm assembly (2-1);

The first leg assembly ( 13 - 1 ) of the footed robot is shown in FIG. 3 , and the corresponding exploded view is shown in FIG. 4 . The assembly consists of first and motor housings (6-1, 6-2), first and second motor reducer assemblies (7-1, 7-2), thigh member (8), chain (9), first chain A wheel (10-1), a second sprocket (10-2), a lower leg member (11) and a pin (12) are formed; the outlet shaft of the first motor reducer assembly (7-1) passes through the thigh member (8) Key connection, the first and second sprockets (10-1, 10-2) and the chain (9) form a transmission assembly and are installed in the inner deep groove of the thigh member (8); the first sprocket (10-1) It is connected with the output shaft of the second motor reducer assembly (7-2) through a key, and the pin (12) passes through the second sprocket (10-2), the round end through hole of the calf member (11) and the thigh member ( 8) through holes; the calf member (11) is welded with the second sprocket (10-2), so that the calf member (11) can rotate around the thigh member (8) under the transmission of the chain (9); at the same time, the thigh member can Rotate around the central axis of the first motor housing (6-1);

The structural composition and assembly method of the second leg assembly (13-2) are exactly the same as those of the first leg assembly (13-1).

The first and second forearm assemblies (2-1, 2-2) and the first and second rear arm assemblies (5-1, 5-2) of the footed robot are different in the arrangement of rotational degrees of freedom, although both are It is a three-degree-of-freedom structure, but the rotation direction of the first degree of freedom connecting the forearm assembly and the rear arm assembly with the torso is inconsistent, so the robot can walk in the traditional quadruped robot form (see Figure 8), or switch to Take the two legs of the first and second rear arm assemblies (5-1, 5-2) as the walking legs (see Figure 7), and take the first and second forearm assemblies (2-1, 2-2) as the operating mechanism Biped robot with arms.

Compared with the prior art, the present invention has the beneficial effects: the present invention enables the footed robot to have two working states of two-legged, two-armed and four-legged through different structural designs of the front and rear arms, as well as high-speed motion and low-speed high-speed operation. The state can be switched in real time; at the same time, both the knee joint of the lower leg and the forward joint of the hip joint of the thigh can realize 360-degree continuous rotation, so that the footed robot eliminates the distinction between head and tail, abdomen, back and left and right, and can complete the front and rear of the footed robot in real time. , the exchange of up and down and left and right postures, to achieve a full range of real-time conversion of action forms. The above-mentioned new invention design enhances the adaptability and functionality of the footed robot, so that the footed robot has wide social application prospects.

Claims (5)

1. The utility model provides a but novel sufficient formula robot of biped four-footed integration real-time switch which characterized in that: the overall structure of the device can be composed of a metal trunk (1), a first front arm assembly (2-1), a second front arm assembly (2-2), a front support plate (3), a rear support plate (4), a first rear arm assembly (5-1), a second rear arm assembly (5-2);

wherein, the front supporting plate (3) and the rear supporting plate (4) are connected with the two sides of the metal trunk (1) in the longitudinal direction through bolts; the first forearm assembly (2-1) and the second forearm assembly (2-2) are respectively connected with the front support plate (3) and are symmetrically distributed along the transverse short direction relative to the metal trunk (1); the first rear arm component and the second rear arm component (5-1, 5-2) are respectively connected with the rear supporting plate (4) and are symmetrically distributed along the transverse short direction relative to the metal trunk (1).

2. The novel biped and quadruped integrated real-time switchable foot type robot as claimed in claim 1, characterized in that: a first rear arm assembly (5-1) of the device consists of a first leg assembly (13-1), a connecting rod (14), a fourth motor shell (15), a third motor reducer assembly (7-3) and a fixed sheet metal (16); the fixed sheet metal (16) is fixedly connected with the rear supporting plate (4) through bolts, a fourth motor shell (15) is fixed on the fixed sheet metal (16), a third motor reducer component (7-3) is connected in the shell, and an output shaft of the component is in key connection with a through hole at one end of a connecting rod (14); the through hole at the other end of the connecting rod (14) is connected with the first leg component by a key; the two through holes are vertically arranged in space, so that the first rear arm assembly (5-1) has yaw rotation and pitch rotation freedom degrees in space; the structural composition and the assembly mode of the second rear arm component (5-2) are completely consistent with those of the first rear arm component (5-1);

a first front arm assembly (2-1) of the robot is composed of a second leg assembly (13-2), a second connecting rod (17), a fourth motor reducer assembly (7-4) and a third motor shell (6-3); wherein the motor output shaft of the second leg component (13-2) is connected with the middle through hole of the second connecting rod (17) through a key, and the shaft end of the second connecting rod (17) passes through the through hole at one side of the front support plate (3) and is connected with the output shaft of the fourth motor reducer component (7-4); the third motor shell (6-3) is arranged on the fourth motor reducer component (7-4) to play a role in protection and support; the middle through hole and the shaft end of the second connecting rod (17) are vertically arranged in space, so that the first forearm assembly (2-1) has spatial roll rotation and pitch rotation freedom degrees; the second forearm assembly (2-2) is constructed and assembled in substantially the same manner as the first forearm assembly (2-1).

3. The novel biped and quadruped integrated real-time switchable foot type robot as claimed in claim 1, characterized in that: a first leg assembly (13-1) of the leg-type electric scooter consists of a first motor shell (6-1, 6-2), a first motor reducer assembly (7-1, 7-2), a thigh member (8), a chain (9), a first chain wheel (10-1), a second chain wheel (10-2), a shank member (11) and a pin (12); an output shaft of the first motor reducer component (7-1) is connected with the thigh component (8) through a key, and the first chain wheel (10-1), the second chain wheel (10-2) and the chain (9) form a transmission component and are arranged in a deep groove in the thigh component (8); the first chain wheel (10-1) is connected with an output shaft of the second motor reducer component (7-2) through a key, and a pin (12) sequentially passes through the second chain wheel (10-2), a round end through hole of a shank component (11) and a through hole of a thigh component (8); the shank member (11) is welded with the second chain wheel (10-2), so that the shank member (11) can rotate around the thigh member (8) under the transmission of the chain (9); at the same time, the thigh member can rotate around the central axis of the first motor housing (6-1);

the second leg assembly (13-2) is constructed and assembled in exactly the same manner as the first leg assembly (13-1).

4. The novel biped and quadruped integrated real-time switchable foot type robot as claimed in claim 1, characterized in that: the first and second front arm components (2-1, 2-2) and the first and second rear arm components (5-1, 5-2) are different in arrangement of rotational freedom degrees, although the three-freedom-degree structures are adopted, the rotational directions of the first freedom degrees of the front arm components and the first freedom degrees of the rear arm components connected with the trunk are different, so that the robot can walk in a traditional four-foot robot form, and can also be switched into a two-foot robot with the first and second rear arm components (5-1, 5-2) as walking legs and the first and second front arm components (2-1, 2-2) as operating mechanical arms, so that the integration of four feet with two feet can be switched in real time.

5. The novel biped and quadruped integrated real-time switchable foot type robot as claimed in claim 1, characterized in that: the front joints of the knee joints of the crus and the hip joints of the thighs of the first leg assembly (13-1) and the second leg assembly (13-2) and the front joints of the hip joints of the thighs of the robot can rotate continuously by 360 degrees, the design enables the foot type robot to eliminate the distinction of head, tail, abdomen, back and left and right, the interchange of the front and back postures, the up and down postures and the left and right postures of the foot type robot can be completed in real time, and the real-time conversion of the omnibearing action form is realized.

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