CN101811525B - Moving mechanism of hydraulic drive four-leg robot with barycenter adjusting device - Google Patents
Moving mechanism of hydraulic drive four-leg robot with barycenter adjusting device Download PDFInfo
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- CN101811525B CN101811525B CN2010101536728A CN201010153672A CN101811525B CN 101811525 B CN101811525 B CN 101811525B CN 2010101536728 A CN2010101536728 A CN 2010101536728A CN 201010153672 A CN201010153672 A CN 201010153672A CN 101811525 B CN101811525 B CN 101811525B
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Abstract
The invention relates to a moving mechanism of a hydraulic drive four-leg robot with a barycenter adjusting device, which comprises a body, a moving bracket, a barycenter adjusting device and four robot legs, wherein the lower part of the body is provided with the four robot legs; and the upper part of the body is connected with the moving bracket with the barycenter adjusting device. The moving mechanism is characterized as follows: (1) the robot has larger loading capability due to hydraulic drive; (2) the robot has higher complex terrain environment adaptability and obstacle-climbing capability as each leg has four active joints and has redundant degree of freedom; (3) the robot has better stability due to the barycenter adjusting device and no additional counter weight; and (4) the robot has simpler structure and is easily machined as the 16 active joints thereof completely adopt the same hydraulic servo oil cylinder drive. The moving mechanism is suitable for the transportation of military and civil materials, anti-terrorist equipment, field prospection and exploration, planetary detection, agricultural production and the like under the complex terrain environment.
Description
Technical field
The present invention relates to a kind of quadruped robot travel mechanism, especially a kind of hydraulic-driven quadruped robot travel mechanism with barycenter setting device.
Background technology
At present, the move mode that ground mobile robot is commonly used mainly is wheeled, crawler type, creeping motion type, creeping-type and legged.Wheeled travel mechanism has advantages such as friction drag is little, speed is fast, but only is adapted to the ground environment of relatively flat, and obstacle climbing ability is poor.Crawler type travel mechanism is strong to the adaptive capacity of terrain environment, but crossing over blockage, speeling stairway, leap trench etc., but driving efficiency is low.Wriggling, creep and legged all are bionic movement modes of imitation animal, extremely strong to the adaptive capacity of terrain environment, can on most ground environments, walk, and the fastest with the manner of walking kinematic velocity.Military matter transportation, anti-terrorism equipment chassis, ground observation and the aspects such as exploration, celestial body detecting and agricultural production of walking quadruped robot under the complex-terrain environment have broad application prospects.
The U.S. has been developed in the world four feet walking robot on first Modern Significance, that have controllable function in nineteen sixty-eight by the Mosher of General Electric Co. Limited.1977, the Robert McGhee of Ohio State Univ-Columbus USA developed the walking bionic robot of first digital computer control in the world.From the eighties in 20th century, the research institution of countries such as the U.S., Japan, Canada, Switzerland, Germany all begins one's study and imitates the walking four-footed mobile robot of mammal, and other has the imitative reptile polypody mobile robot of a lot of mechanisms research.
Chinese patent document ZL200820157956.2 discloses " a kind of traveling gear of four feet walking robot "; This robot is symmetrical set a cover two sufficient driven units and walking leg respectively in the front, rear, left and right of frame, every leg has a degree of freedom of in horizontal surface, swinging and the degree of freedom in the vertical plane swing.This quadruped robot travel mechanism can only realize static walking, and kinematic velocity is slow; Every leg has only two degree of freedom, and motion space is little, and obstacle climbing ability is poor.
Chinese patent document CN101602382A discloses " a kind of single-drive four feet walking robot "; The forward and backward rotating shaft that two configured in parallel are installed of this robot; Driven through driver element by a motor, the right ends of every rotating shaft is the captive joint crank respectively.Robot is equipped with four single legs, every leg by a crank-rocker mechanism with intersect parallelogram hinged the forming of connecting, drive by the connecting crank of every axle head.This robot can be realized walking by a motor-driven, but between four legs all by the connecting rod mechanical connection, the characteristics of motion between the leg is fixed, can only walking on plane earth, do not have obstacle climbing ability, and can only keep straight on, can not turn to.
Chinese patent document ZL03153505.4 discloses " a kind of adjustable four-leg bionic robot motion structure ", mainly comprises top reference flat board, four legs, four foots, actuating device and sensing devices.Symmetry has four adjustment grooves that can supply four legs to move forward and backward respectively on the top reference flat board, adopts the lift-on/lift-off type structure between four legs and the top reference plate; Thigh and shank respectively by separately drive device drives along joint shaft swing separately.Typical gait such as this robot can realize walking freely, diagonal angle walking, side step, run can be turned, and has climbing, obstacle climbing ability.Every leg of this robot has two joints, and the long dynamic change scope of leg is little, and it is limited to adapt to complex-terrain environment and obstacle climbing ability; Adopt motor-driven, its dynamic response capability and heavy burden ability.
Summary of the invention
The objective of the invention is for overcoming the deficiency of above-mentioned prior art the hydraulic-driven quadruped robot travel mechanism that a kind of simple structure is provided, has obstacle climbing ability, can turns to, the heavy burden ability is strong, is easy to safeguard, dynamic response capability is strong with barycenter setting device.
For realizing above-mentioned purpose, the present invention adopts following technical proposals:
A kind of hydraulic-driven quadruped robot travel mechanism with barycenter setting device; It comprises trunk, movable stand, barycenter setting device and four robot legs; Said lower torso is provided with four robot legs, and trunk top is connected with movable stand through the barycenter setting device.
Form successively by bonded assembly leg section and shank by three sections for said every robot leg; Shank is arranged at the bottom of three sections leg sections; All be connected with servo-cylinder along the horizontal revolute pair of trunk between three sections leg sections and between leg section and the shank through axis; The leg section of topmost through axis along trunk longitudinally revolute pair be connected with trunk, aforementioned four revolute pairs are four of every leg active joints; Said shank bottom is provided with a passive telescopic joint.
Said shank comprises the shank urceolus, and shank urceolus inner upper end is equipped with a high-pressure gasbag, and two linear bearings are equipped with in the lower end, and the linear bearing endoporus is equipped with the shank expansion link, and the lower end of shank expansion link is equipped with rubber coating, is provided with six-dimension force sensor in the rubber coating.
Said servo-cylinder comprises hydraulic ram, servovalve, displacement pickup and force gauge, and force gauge is installed on the cylinder bar of hydraulic ram, and displacement pickup is installed a side of hydraulic ram.
Said barycenter setting device comprises two-way nut support, and two-way nut support bottom is provided with and trunk bonded assembly horizontal mobile device, and top is provided with and movable stand bonded assembly longitudinal moving device.
Said horizontal mobile device comprise with two-way nut support bottom through the horizontal leading screw of screw pair bonded assembly, laterally leading screw one end is provided with the connecting panel I, the other end is connected with the DC machine I through the gear mechanism I, the outside of gear mechanism I is provided with the connecting panel II.
Said longitudinal moving device comprises longitudinal leadscrew and the optical axis that laterally arranges, and the screw pair through both sides, two-way nut support top and linear bearing setting be on it respectively for longitudinal leadscrew and optical axis; One end of longitudinal leadscrew is provided with the connecting panel III, and the other end is connected with the DC machine II through the gear mechanism II, and the outside of gear mechanism II is provided with the connecting panel IV; The two ends of optical axis are respectively equipped with the connecting panel III.
Described trunk is a rectangular frame.
Said movable stand is that a cross-sectional plane is trapezoidal framework.
Every leg of robot of the present invention has four initiatively joints, makes the robot foot working space bigger, has stronger complex-terrain adaptive capacity and obstacle climbing ability.
Four identical robot legs of four jiaos of symmetrical respectively installations of lower torso, the front and back two legs can be installed or oppositely install by knee joint in the same way, and trunk top is connected with movable stand through the barycenter setting device.
Movable stand is that a cross-sectional plane is trapezoidal framed structure, is used on it installing, fixing various sensors, control system module, hydraulic efficiency pressure system module etc., and can carries goods.
When robot was walked fast, there was greater impact power on ground in the face of robot foot section, makes the relative shank urceolus of shank expansion link upward movement, and high-pressure gasbag is compressed, and absorbed the impact of ground in the face of foot simultaneously, played the effect of buffering and vibration damping.Six-dimension force sensor is used in the face of the application force of foot with measuring.Rubber coating is used for increasing the friction force between foot and ground, the protection six-dimension force sensor, and plays the partial buffer damping of vibrations.
When DC machine drove horizontal leading screw through gear mechanism, two-way nut support drives movable stand through longitudinal leadscrew can be along the trunk side travel.When DC machine drove longitudinal leadscrew through gear mechanism, the relative trunk of movable stand can be along the longitudinal movement.
Quadruped robot when quick dynamically walking, certain symmetrical gait commonly used.When the robot barycenter when ground-surface projection is positioned at the centre of form of 4 leg Area of bearing, it is identical with kinetic parameter that the kinematics of two symmetrical legs is arranged; When the robot barycenter when ground-surface projection is not positioned at the centre of form of 4 leg Area of bearing, the kinetic parameter of two symmetrical legs is just different, will increase the difficulty of robot stabilized property control like this.The barycenter method of adjustment is: on smooth ground; 4 legs of robot are upright; Vertical component according to the six-dimension force sensor of 4 leg foots is measured is confirmed the adjustment direction to the resultant moment of the sufficient Area of bearing centre of form; By barycenter setting device adjustment movable stand and all quality fixed thereon, be zero up to resultant moment.
The present invention has following characteristics:
(1) adopts hydraulic-driven, make robot have bigger heavy burden ability;
(2) every leg has four initiatively joints, has redundant degree of freedom, makes robot have stronger complex-terrain adaptive capacity to environment and obstacle climbing ability;
(3) have the barycenter setting device, and do not need extra counterweight, make robot stabilized property better;
(4) 16 actives of robot joint adopts identical hydraulic servo oil cylinder to drive, and makes the robot architecture simpler, is easy to safeguard.
The present invention is applicable to transportation, anti-terrorism equipment, ground observation and the aspects such as exploration, celestial body detecting and agricultural production of military and civilian material under the complex-terrain environment.
Description of drawings
Fig. 1 is a perspective view of the present invention;
Fig. 2 is the formation scheme drawing of robot one leg;
Fig. 3 is robot leg and trunk bonded assembly front elevation;
Fig. 4 is the formation scheme drawing of hydraulic servo oil cylinder;
Fig. 5 is a robot shank structural representation;
Fig. 6 is the exploded view of robot trunk, barycenter setting device and movable stand assembling;
Fig. 7 is that the barycenter setting device constitutes scheme drawing;
Among the figure: 1. movable stand, 2. barycenter setting device, 3. trunk, 4. robot leg, 5. leg section I, 6. servo-cylinder; 7. revolute pair I, 8. leg section II, 9. revolute pair II, 10. leg section III, 11. revolute pair III, 12. shanks; 13. moving sets, 14. revolute pair IV, 15. hydraulic rams, 16. electrohydraulic servo valves, 17. displacement pickups, 18. force gauges; 19. the shank urceolus, 20. air bags, 21. linear bearings, 22. shank expansion links, 23. six-dimension force sensors, 24. rubber coatings; 25. the connecting panel IV, 26. gear mechanism II, 27. DC machine II, 28. longitudinal leadscrews, 29. two-way nut supports, 30. connecting panel III; 31. the connecting panel II, 32. gear mechanism I, 33. DC machine I, 34. optical axises, 35. horizontal leading screws, 36. connecting panel I.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
As shown in Figure 1, the present invention includes trunk 3, movable stand 1, barycenter setting device 2 and four robot legs 4.Trunk 3 bottoms are provided with four robot legs 4, and trunk 3 tops are connected with movable stand 1 through barycenter setting device 2.
Wherein every robot leg is formed (see figure 2) by three sections leg sections (leg section I 5, leg section II 8 and leg section III 10) and shank 12; Shank 12 is arranged at the bottom of three sections leg sections; Leg section I 5 through axis along trunk longitudinally revolute pair IV 14 be connected (see figure 3) with trunk 3; Between leg section I 5 and leg section II 8, leg section II 8 and leg section III 10, leg section III 10 and the shank 12 all through axis along the horizontal revolute pair of trunk (revolute pair I 7, revolute pair II 9 and revolute pair III 11; See Fig. 2) connect, more than four joints (being aforesaid four revolute pairs) all through servo-cylinder 6 drivings, shank 12 has a passive telescopic joint.Every leg of robot has four initiatively joints (revolute pair I 7, revolute pair II 9, revolute pair III 11 and revolute pair IV 14), makes the working space of robot foot section big, has stronger complex-terrain adaptive capacity and obstacle climbing ability.
As shown in Figure 5, robot shank 12 is made up of shank urceolus 19, air bag 20, linear bearing 21, shank expansion link 22, six-dimension force sensor 23 and rubber coating 24.Shank urceolus 19 inner upper end are equipped with a high-pressure gasbag 20, and two linear bearings 21 are equipped with in the lower end, and the linear bearing endoporus is equipped with shank expansion link 22, and the lower end of shank expansion link 22 is equipped with rubber coating 24, is provided with six-dimension force sensor 23 in the rubber coating 24.
When robot was walked fast, there was greater impact power on ground in the face of robot foot section, makes shank expansion link 22 relative shank urceolus 19 upward movements, and high-pressure gasbag 20 is compressed, and absorbed the impact of ground in the face of foot simultaneously, played the effect of buffering and vibration damping.Six-dimension force sensor 23 is used in the face of the application force of foot with measuring.Rubber coating 24 is used for increasing the friction force between foot and ground, protection six-dimension force sensor 23, and plays the partial buffer damping of vibrations.
As shown in Figure 4, servo-cylinder 6 is made up of hydraulic ram 15, electrohydraulic servo valve 16, displacement pickup 17 and force gauge 18, and force gauge 18 is installed on the cylinder bar of hydraulic ram 15, the side that displacement pickup 17 is installed hydraulic ram 15.
Barycenter setting device 2 is as shown in Figure 7, comprises two-way nut support 29, and two-way nut support 29 bottoms are provided with and trunk 3 bonded assembly horizontal mobile devices, and top is provided with and movable stand 1 bonded assembly longitudinal moving device.
Horizontal mobile device comprise with two-way nut support 29 bottoms through the horizontal leading screw 35 of screw pair bonded assembly; Laterally leading screw 35 1 ends are provided with connecting panel I 36; The other end is connected with DC machine I 33 through gear mechanism I 32, and the outside of gear mechanism I 32 is provided with connecting panel II 31.
Longitudinal moving device comprises the longitudinal leadscrew that laterally arranges 28 and optical axis 34, and the screw pair through both sides, two-way nut support 29 top and linear bearing setting be on it respectively for longitudinal leadscrew 28 and optical axis 34; One end of longitudinal leadscrew 28 is provided with connecting panel III 30, and the other end is connected with DC machine II 27 through gear mechanism II 26, and the outside of gear mechanism II 26 is provided with connecting panel IV 25; The two ends of optical axis are respectively equipped with connecting panel III 30.
Laterally leading screw 35 is captiveed joint with trunk 3 with connecting panel I 36 through connecting panel II 31, and laterally leading screw 35 is connected through screw pair with two-way nut support 29 bottoms.Two-way nut support 29 tops are connected with longitudinal leadscrew 28 through screw pair, are connected with optical axis 34 through linear bearing, and longitudinal leadscrew 28 is captiveed joint with movable stand 1 through connecting panel IV 25, connecting panel III 30 with optical axis 34.
When DC machine I 33 drove horizontal leading screw 35 through gear mechanism I 32, two-way nut support 29 can be along trunk 3 side travels through longitudinal leadscrew 28 and optical axis 34 drive movable stands 1.When DC machine II 27 drove longitudinal leadscrew 28 through gear mechanism II 26, movable stand 1 relative trunk 3 can be along the longitudinal movement.
Quadruped robot when quick dynamically walking, certain symmetrical gait commonly used.When the robot barycenter when ground-surface projection is positioned at the centre of form of four leg Area of bearing, it is identical with kinetic parameter that the kinematics of two symmetrical legs is arranged; When the robot barycenter when ground-surface projection is not positioned at the centre of form of four leg Area of bearing, the kinetic parameter of two symmetrical legs is just different, will increase the difficulty of robot stabilized property control like this.The barycenter method of adjustment is: on smooth ground; Four legs of robot are upright; Vertical component according to the six-dimension force sensor 23 of four leg foots is measured is confirmed the adjustment direction to the resultant moment of the sufficient Area of bearing centre of form; By barycenter setting device 2 adjustment movable stand 1 and all quality fixed thereon, be zero up to resultant moment.
Claims (6)
1. hydraulic-driven quadruped robot travel mechanism with barycenter setting device; It is characterized in that: it comprises trunk, movable stand, barycenter setting device and four robot legs; Said lower torso is provided with four robot legs, and trunk top is connected with movable stand through the barycenter setting device;
Said barycenter setting device comprises two-way nut support, and two-way nut support bottom is provided with and trunk bonded assembly horizontal mobile device, and top is provided with and movable stand bonded assembly longitudinal moving device;
Said horizontal mobile device comprise with two-way nut support bottom through the horizontal leading screw of screw pair bonded assembly, laterally leading screw one end is provided with the connecting panel I, the other end is connected with the DC machine I through the gear mechanism I, the outside of gear mechanism I is provided with the connecting panel II;
Said longitudinal moving device comprises longitudinal leadscrew and the optical axis that laterally arranges, and the screw pair through both sides, two-way nut support top and linear bearing setting be on it respectively for longitudinal leadscrew and optical axis; One end of longitudinal leadscrew is provided with the connecting panel III, and the other end is connected with the DC machine II through the gear mechanism II, and the outside of gear mechanism II is provided with the connecting panel IV; The two ends of optical axis are respectively equipped with the connecting panel III.
2. the hydraulic-driven quadruped robot travel mechanism with barycenter setting device according to claim 1; It is characterized in that: form successively by bonded assembly leg section and shank by three sections for said every robot leg; Shank is arranged at the bottom of three sections leg sections; All be connected with servo-cylinder along the horizontal revolute pair of trunk between three sections leg sections and between leg section and the shank through axis; The leg section of topmost through axis along trunk longitudinally revolute pair be connected with trunk, aforementioned four revolute pairs are four of every leg active joints; Said shank bottom is provided with a passive telescopic joint.
3. the hydraulic-driven quadruped robot travel mechanism with barycenter setting device according to claim 2; It is characterized in that: said shank comprises the shank urceolus; Shank urceolus inner upper end is equipped with a high-pressure gasbag, and two linear bearings are equipped with in the lower end, and the linear bearing endoporus is equipped with the shank expansion link; The lower end of shank expansion link is equipped with rubber coating, is provided with six-dimension force sensor in the rubber coating.
4. the hydraulic-driven quadruped robot travel mechanism with barycenter setting device according to claim 2; It is characterized in that: said servo-cylinder comprises hydraulic ram, servovalve, displacement pickup and force gauge; Force gauge is installed on the cylinder bar of hydraulic ram, and displacement pickup is installed a side of hydraulic ram.
5. the hydraulic-driven quadruped robot travel mechanism with barycenter setting device according to claim 1, it is characterized in that: described trunk is a rectangular frame.
6. the hydraulic-driven quadruped robot travel mechanism with barycenter setting device according to claim 1 is characterized in that: said movable stand is that a cross-sectional plane is trapezoidal framework.
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| CN2010101536728A CN101811525B (en) | 2010-04-23 | 2010-04-23 | Moving mechanism of hydraulic drive four-leg robot with barycenter adjusting device |
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| CN2010101536728A CN101811525B (en) | 2010-04-23 | 2010-04-23 | Moving mechanism of hydraulic drive four-leg robot with barycenter adjusting device |
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| CN101811525A (en) | 2010-08-25 |
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