CN103144694B - A kind of four-leg bionic robot pivot stud mechanism - Google Patents
A kind of four-leg bionic robot pivot stud mechanism Download PDFInfo
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- CN103144694B CN103144694B CN201310099139.1A CN201310099139A CN103144694B CN 103144694 B CN103144694 B CN 103144694B CN 201310099139 A CN201310099139 A CN 201310099139A CN 103144694 B CN103144694 B CN 103144694B
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Abstract
The present invention relates to a kind of four-leg bionic robot pivot stud mechanism, belong to bio-robot technical field.The present invention includes precursor, waist steering hardware, turn to accuracy compensation mechanism, back body and side-swing mechanism, waist steering hardware connects precursor and back body; Side-swing mechanism connects body and leg.Mechanism of the present invention can realize four-leg bionic robot by side-swing mechanism, coordinates waist steering hardware to carry out body pivot stud, and by turning to compensation mechanism can accurately control body steering angle.Have and turn to sensitive, steering angle is accurate, the bionical feature such as effective.
Description
Technical field
The present invention relates to a kind of four-leg bionic robot pivot stud mechanism, four-leg bionic robot body increase waist degree of freedom and turns to accuracy compensation mechanism, can well simulated animal pivot stud time each joint motion.This project organization is merrily and lightheartedly compact, and movable joint is flexible, greatly can improve the manoevreability of quadruped robot.
Background technology
Along with the fast development of Robotics, the particular kind of machine Man's Demands can walked under complex environment is increased day by day.Due to four-footed biology high speed walking ability under non-structure environment, four-leg bionic robot replaces the mankind to perform the task such as the removal of mines, survey of deep space under non-structure environment, becomes the focus of robot educational circles of various countries research.
The aspects such as environment sensing, gait planning, gait stability control are concentrated on to the research of quadruped robot both at home and abroad, systematic research also obtains serial achievement, but there is not good solution to the pivot stud problem of four-leg bionic robot always, most body by quadruped robot was designed to an entirety in the past, utilize the walking step state of quadruped robot to realize non-pivot stud, walk while turn, be difficult to like this realize quadruped robot pivot stud, cause turning velocity slow.If with a varied topography, as dead ahead and obstacle close proximity, need cut-through thing, this just requires four-leg bionic robot pivot stud function, improves the manoevreability under its unstructured moving grids.
By observing the steering procedure of four-footed biology, finding that biology turns to needs waist to coordinate, and considers to increase a steering knuckle at the waist of bio-robot.But the contact force depending merely on sole and ground is inadequate to provide steering power, so easy generation slippage and cause steering angle error, therefore a rotation compensation mechanism will be increased, so just make robot realize pivot stud function more flexibly, improve the manoevreability that it adapts to non-structure environment.
Summary of the invention
The object of the invention is to the deficiency existed for existing technology, provide a kind of four-leg bionic robot pivot stud mechanism, simple and compact for structure, turning efficiency is good.
In order to achieve the above object, the technical solution adopted in the present invention is: a kind of four-leg bionic robot, by precursor, back body, connects the waist steering hardware of precursor and back body, turns to accuracy compensation mechanism and is connected body and leg forms for the side-swing mechanism turned to.It is characterized in that: described precursor and back body are space frame structure, four legs are distributed in four rear side Angle Position of framed structure; Described steering hardware is by wanting joint chain connection precursor and back body; The described accuracy compensation mechanism that turns to is positioned on steering hardware, and the output shaft of drive motor drives the bevel gear transmission in the hinge of waist joint, and precursor is rotated relative to back body.Described side-swing mechanism has 4, by precursor or back body and leg hinged, the drive motor of 4 side-swing mechanisms drives whole piece leg mechanism to carry out side-sway respectively.
Described waist steering hardware comprises thrust ball bearing, center shaft, deep groove ball bearing first, finishing bevel gear cuter first and fluting big column screw.Sidewall relative between described precursor and back body respectively there is the thrust ball bearing seat of a connecting rod connection and connect to form revolute pair by described thrust ball bearing.Described center shaft one end is secured by bolts in the thrust block seating on precursor, ensures the center superposition of center shaft and this bearing mounting hole; The other end, by fluting big column screw first, through the thrust block seating of finishing bevel gear cuter first, deep groove ball bearing first and back body, carries out axial location.Because center shaft is installed from top to down, the distance passed through is longer, in order to ensure that center shaft can insert in mounting hole smoothly, then the diameter of mounting hole should be made to be greater than the diameter of center shaft.
Described turns to accuracy compensation mechanism motor, motor installation base, coupler first, adjustment axle, key, finishing bevel gear cuter second, fluting big column screw second, deep groove ball bearing, roller bearing end cap.Motor is installed on motor installation base, and is fixed on back body.Adjustment axle is connected by coupler first with motor.By its shaft shoulder and a circlip, deep groove ball bearing second is axially positioned on adjustment axle in the middle part of adjustment axle.Adjustment axle forms revolute pair by deep groove ball bearing second, roller bearing end cap and back body, improves rigidity and the rotating accuracy of adjustment axle.The other end of adjustment axle is by fluting roller screw second fixed installation finishing bevel gear cuter second, and finishing bevel gear cuter second is meshed with finishing bevel gear cuter first.
4 described side-swing mechanisms are identical with the structure that body connects at four legs respectively, therefore first consider the side-swing mechanism of left front leg.It is made up of drive motor, drive motor mounting seat, coupler second, transmission shaft, two angular contact ball bearings, sleeve, leg upper limbs, key, adjustment pad, seal ring, roller bearing end caps.Carry out supporting shaft by two angular contact ball bearings by the unidirectional fixing Bearing configuration form of two fulcrum, by changing the thickness of adjustment pad, locking roller bearing end cap adjusts the play of two bearings.Leg upper limbs carries out axial location by sleeve and transmission shaft, conveniently installing sleeve, cuts down the transmission shaft diameter of sleeve position.Drive motor is arranged on drive motor seat, and is fixed on precursor.Drive motor axle and transmission shaft is connected by coupler second.
The present invention compared with prior art, has following apparent outstanding substantive distinguishing features and remarkable technological advance:
One, the present invention and tradition are by changing the scheme realizing turning to of taking a step to vary in size between four-footed, adopt shank side-sway, rely on the friction force on ground to make body deflect to realize turning to.
Two, the present invention changes quadruped robot rigid body, utilizes waist joint and increase a waist rotation when copying biology to turn to
Pair, and add a thrust ball bearing in waist revolute pair, makes to turn to more flexible.
Three, when the present invention considers and utilizes friction to turn to, slide owing to producing when side-sway and earth surface, so just cause steering angle error large, therefore interpolation one turns to accuracy compensation mechanism, makes to turn to precision greatly to improve.If add waist passive freedom degree simultaneously, fuselage will be caused when taking the air line to rock, adding this and turning to accuracy compensation mechanism as with the addition of a driving, making fuselage more steady
Four, the body all side's of employing just hollow profiles before and after the present invention, namely alleviate the weight of robot entirety, turn improve the rigidity of body.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of a kind of four-leg bionic robot of the present invention pivot stud mechanism;
Fig. 2 is the front elevation of a kind of four-leg bionic robot of the present invention pivot stud mechanism;
Fig. 3 is a kind of four-leg bionic robot of the present invention pivot stud mechanism waist steering hardware and the schematic diagram turning to accuracy compensation mechanism;
Fig. 4 is the schematic diagram of a kind of four-leg bionic robot of the present invention pivot stud mechanism side swinging mechanism.
Detailed description of the invention
Below in conjunction with accompanying drawing and preferred embodiment, the present invention is described in further detail:
Embodiment 1
As shown in Fig. 1 ~ Fig. 4, four-leg bionic robot pivot stud mechanism of the present invention by precursor (I), connect precursor and back body waist steering hardware (II), turn to accuracy compensation mechanism (III), back body (V), and connect body and leg for side-swing mechanism (VI) composition turned to, it is characterized in that:
Described precursor (I) and back body (V) are space frame structure, and four legs are symmetrically arranged in the end, four angles of framed structure;
Described steering hardware (II) is by waist joint chain connection precursor (I) and back body (V);
The described accuracy compensation mechanism (III) that turns to is positioned on steering hardware (II), turn to the bevel gear transmission in the output shaft driving waist joint hinge of the drive motor (12) of accuracy compensation mechanism, precursor (I) is rotated relative to back body (V).
Described side-swing mechanism (VI) has 4, hinged by precursor (I) or back body (V) and leg, the drive motor (1,2,3,4) of 4 side-swing mechanisms (VI) drives whole piece leg mechanism (A, D, C, B) to carry out side-sway respectively.
Embodiment 2:
See Fig. 1, Fig. 2, Fig. 3, Fig. 4, the present embodiment is substantially the same manner as Example 1, and special feature is as follows
Described waist steering hardware comprises, thrust ball bearing (5), center shaft (7), deep groove ball bearing first (23), finishing bevel gear cuter first (20), fluting big column screw first (21).The thrust block seating that on sidewall relative between precursor (I) and back body (V), each own connecting rod connects and connect to form revolute pair by described thrust ball bearing (5).Center shaft (7) one end is fixed on the thrust block seating of precursor (I) by bolt (6), ensures the center superposition of center shaft (7) and mounting hole; The other end, by fluting big column screw first (21), through finishing bevel gear cuter first (20), deep groove ball bearing first (23) and the thrust ball bearing seat of back body (V), carries out axial location.Because center shaft (7) is installed from top to down, the distance passed through is longer, in order to ensure that center shaft (7) can insert in mounting hole smoothly, then the diameter of mounting hole should be made to be greater than the diameter of center shaft (7).
The described accuracy compensation mechanism (III) that turns to comprises motor (12), motor installation base (11), coupler first (10), adjustment axle (16), key (17), finishing bevel gear cuter second (18), fluting big column screw second (19), deep groove ball bearing second (15) and roller bearing end cap (14).Described motor (12) is installed on motor installation base (11), and is fixed on back body (V); One end of described adjustment axle (16) is connected by coupler first (10) with motor (12) output shaft.Deep groove ball bearing second (15) is axially positioned in adjustment axle (16) by the shaft shoulder and circlip (9) by adjustment axle (16) middle part; Adjustment axle (16) forms revolute pair by deep groove ball bearing second (15), roller bearing end cap (14) with back body (V), improves rigidity and the rotating accuracy of adjustment axle (16); The other end of adjustment axle (16) is engaged with finishing bevel gear cuter first (20) by fluting big column screw second (19) fixed installation finishing bevel gear cuter second (18).
4 described side-swing mechanisms (VI) are identical with the structure that body connects at four legs respectively, therefore first consider the side-swing mechanism of left front leg: by drive motor (4), drive motor mounting seat (35), coupler second (34), transmission shaft (32), two angular contact ball bearings (33, 27), sleeve (24), leg upper limbs (25), key (26), adjustment pad (30), seal ring (28) and roller bearing end cap (29) composition, by two angular contact ball bearings (33, 27) supporting shaft (32) is carried out by the unidirectional fixing Bearing configuration form of two fulcrum, by changing the thickness of adjustment pad (30), locking roller bearing end cap (29) adjusts the play of this two bearings, leg upper limbs (25) carries out axial location by sleeve (24) and transmission shaft (32), conveniently installing sleeve (24), cuts down transmission shaft (32) diameter of sleeve (24) position.Drive motor (4) is arranged on drive motor seat (35), and is fixed on precursor (I).Drive motor axle and transmission shaft (32) is connected by coupler second (34).
The principle of work accompanying drawings of four-leg bionic robot pivot stud mechanism of the present invention is as follows: when robot is for realizing conter clockwise pivot stud, first, motor 4 drives left front leg side-sway, and the thigh of this leg and calf joint machine operation, make the sufficient end in contact ground of front left side swinging kick simultaneously.Secondly, RAT adopts identical method, and motor 1 drives RAT side-sway, and the thigh of this leg and calf joint machine operation, make the sufficient end in contact ground of forward right side swinging kick simultaneously.At this moment, motor 1 and motor 4 reverse drive, make left and right foreleg back side-sway, and motor 12 drives and realizes precursor to rotating counterclockwise.In like manner, carry out the side-sway of right rear leg and left back leg respectively, and make sufficient end in contact ground, motor 2 and motor 3 reverse drive, make left and right back leg back side-sway, and motor 12 reverse drive realizes back body to rotating counterclockwise.Repeat said process, just can realize four-leg bionic robot pivot stud.
Claims (3)
1. a four-leg bionic robot pivot stud mechanism, by precursor (I), waist steering hardware (II), turn to accuracy compensation mechanism (III), back body (V) and 4 side-swing mechanisms (VI) to form, it is characterized in that:
Described precursor (I) and back body (V) are space frame structure, and four legs are symmetrically arranged in the end, four angles of framed structure;
Described steering hardware (II) is by waist joint chain connection precursor (I) and back body (V);
The described accuracy compensation mechanism (III) that turns to is positioned on steering hardware (II), turn to the bevel gear transmission in the output shaft driving waist joint hinge of the motor (12) of accuracy compensation mechanism (III), precursor (I) is rotated relative to back body (V);
Described side-swing mechanism (VI) has 4, hinged by precursor (I) or back body (V) and leg, the drive motor (1,2,3,4) of 4 side-swing mechanisms (VI) drives whole piece leg mechanism (A, D, C, B) to carry out side-sway respectively;
Described waist steering hardware (II) comprises thrust ball bearing (5), center shaft (7), deep groove ball bearing first (23), finishing bevel gear cuter first (20), fluting big column screw first (21), the thrust ball seat of each own connecting rod connection on sidewall relative between described precursor (I) and back body (V) and connect to form revolute pair by described thrust ball bearing (5); Described center shaft (7) one end is fixed on the thrust ball bearing seat of precursor (I) by bolt (6), ensures the center superposition of center shaft (7) and mounting hole; The other end, by fluting big column screw first (21), through a finishing bevel gear cuter first (20), a deep groove ball bearing first (23) and the thrust ball bearing seat of back body (V), carries out axial location; Because center shaft (7) is installed from top to down, the distance passed through is longer, in order to ensure that center shaft (7) can insert in mounting hole smoothly, then the diameter of mounting hole should be made to be greater than the diameter of center shaft (7).
2. the four-leg bionic robot pivot stud mechanism according to claims 1, is characterized in that the described accuracy compensation mechanism (III) that turns to comprises motor (12), motor installation base (11), coupler first (10), adjustment axle (16), key (17), finishing bevel gear cuter second (18), fluting big column screw second (19), deep groove ball bearing second (15) and roller bearing end cap (14); Described motor (12) is installed on motor installation base (11), and is fixed on back body (V); One end of described adjustment axle (16) is connected by coupler first (10) with motor (12) output shaft; Deep groove ball bearing second (15) is axially positioned in adjustment axle (16) by the shaft shoulder and circlip (9) by adjustment axle (16) middle part; Adjustment axle (16) forms revolute pair by deep groove ball bearing second (15), roller bearing end cap (14) with back body (V), improves rigidity and the rotating accuracy of adjustment axle (16); The other end of adjustment axle (16) is engaged with finishing bevel gear cuter first (20) by fluting big column screw second (19) fixed installation finishing bevel gear cuter second (18).
3. the four-leg bionic robot pivot stud mechanism according to claims 1, it is characterized in that 4 described side-swing mechanisms (VI) are identical with the structure that body connects at four legs respectively, therefore first consider the side-swing mechanism of left front leg: by drive motor (4), drive motor mounting seat (35), coupler second (34), transmission shaft (32), two angular contact ball bearings (33, 27), sleeve (24), leg upper limbs (25), key (26), adjustment pad (30), seal ring (28) and roller bearing end cap (29) composition, by two angular contact ball bearings (33, 27) supporting shaft (32) is carried out by the unidirectional fixing Bearing configuration form of two fulcrum, by changing the thickness of adjustment pad (30), locking roller bearing end cap (29) adjusts the play of this two bearings, leg upper limbs (25) carries out axial location by sleeve (24) and transmission shaft (32), conveniently installing sleeve (24), cuts down transmission shaft (32) diameter of sleeve (24) position, drive motor (4) is arranged in drive motor mounting seat (35), and is fixed on precursor (I), connects drive motor axle and transmission shaft (32) by coupler second (34).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310099139.1A CN103144694B (en) | 2013-03-26 | 2013-03-26 | A kind of four-leg bionic robot pivot stud mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310099139.1A CN103144694B (en) | 2013-03-26 | 2013-03-26 | A kind of four-leg bionic robot pivot stud mechanism |
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| Publication Number | Publication Date |
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| CN103144694A CN103144694A (en) | 2013-06-12 |
| CN103144694B true CN103144694B (en) | 2016-01-13 |
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| CN201310099139.1A Expired - Fee Related CN103144694B (en) | 2013-03-26 | 2013-03-26 | A kind of four-leg bionic robot pivot stud mechanism |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103465991B (en) * | 2013-09-23 | 2015-09-16 | 南京理工大学 | A kind of simple type quadruped robot |
| CN108146532A (en) * | 2017-12-19 | 2018-06-12 | 浙江工业大学 | Bionical mobile robot device |
| CN110181496B (en) * | 2019-04-26 | 2023-08-01 | 南京航空航天大学 | Modularized bionic four-foot robot |
| CN110588828A (en) * | 2019-09-02 | 2019-12-20 | 江苏集萃智能制造技术研究所有限公司 | Light electric quadruped robot |
| CN111232083B (en) * | 2020-02-25 | 2020-09-22 | 哈尔滨商业大学 | Robot ground |
| CN111949039B (en) * | 2020-09-09 | 2021-06-04 | 西北工业大学 | Semi-circular bionic blade leg-based six-legged robot course control method |
| CN112606925B (en) * | 2020-12-25 | 2022-04-26 | 江苏集萃复合材料装备研究所有限公司 | Four-foot walking robot and walking mode thereof |
| CN113291390B (en) * | 2021-07-13 | 2022-07-19 | 许昌职业技术学院 | Multi-foot striding type high-trafficability traction robot cattle |
| CN116293201B (en) * | 2023-04-08 | 2023-10-10 | 南京北控工程检测咨询有限公司 | Pipeline carrier and pipeline robot |
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| EP1616673A1 (en) * | 2004-07-16 | 2006-01-18 | Harmonic Drive Systems Inc. | Joint mechanism with two actuators for robot hand and the like |
| CN101791994A (en) * | 2010-02-26 | 2010-08-04 | 聊城大学 | Walking mechanism of cam driving control type quadruped robot |
| CN102343950A (en) * | 2011-07-13 | 2012-02-08 | 北京交通大学 | Pliant four-footed robot with flexible waist and elastic legs |
| CN102390457A (en) * | 2011-12-30 | 2012-03-28 | 上海大学 | Leg mechanism for four-legged robots |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002103253A (en) * | 2000-09-28 | 2002-04-09 | Sony Corp | Leg type moving robot and mounting structure of leg part |
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2013
- 2013-03-26 CN CN201310099139.1A patent/CN103144694B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1616673A1 (en) * | 2004-07-16 | 2006-01-18 | Harmonic Drive Systems Inc. | Joint mechanism with two actuators for robot hand and the like |
| CN101791994A (en) * | 2010-02-26 | 2010-08-04 | 聊城大学 | Walking mechanism of cam driving control type quadruped robot |
| CN102343950A (en) * | 2011-07-13 | 2012-02-08 | 北京交通大学 | Pliant four-footed robot with flexible waist and elastic legs |
| CN102390457A (en) * | 2011-12-30 | 2012-03-28 | 上海大学 | Leg mechanism for four-legged robots |
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| CN103144694A (en) | 2013-06-12 |
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