CN102211627B - Four-leg robot mechanism based on bionic design - Google Patents

Abstract

The invention relates to a four-leg robot mechanism based on a bionic design. The four-leg robot mechanism consists of a body frame and four legs. The body frame consists of a front plate and a rear plate, two sides of the body frame are provided with flexible handles, and the robot mechanism is convenient to convey; each leg comprises a hip, a huckle, a knee and a crural part; the hip realizes two freedom degrees by adopting a differential bevel gear; the hip and the huckle are connected by an expansion sleeve to realize fast and convenient assembly and disassembly; the bevel gear drive motion is adopted by the knee; the crural part comprises a large cylinder, a small cylinder, a conical spring and a force sensor; and the large cylinder and the small cylinder are connected through the conical spring, so that the external impact force generated in the walking process of the robot can be buffered, the force sensor on a sole can acquire ground acting force, and the external environment can be conveniently sensed in real time and the robot can be subjected to balanced control conveniently. Through the bionic design idea, a spinal cord and a flexible foot mechanism of the robot are stimulated and designed, the flexibility of the robot movement is improved, the impact of the ground to the robot is reduced, and the robot mechanism has a compact structure and is convenient to install.

Description

A four-legged robot bionic design agency based

FIELD

[0001] The present invention belongs to the field of robotics, it relates to a four-legged robot mechanism based biomimetic design. Background technique

[0002] With the deepening human understanding of the natural world, more and more intelligent bionic devices have been developed. Intelligent bionic robot creatures in nature as the object of study, with the movement of the mechanical structure simulation of biological tissues, which will explore the movement mechanism. Development of small, lightweight and adaptable bionic four-legged robot has important significance for promoting the development of robotics, these biomimetic robots have broad application and development prospects in scientific research, teaching demonstration and educational entertainment.

[0003] Chinese patent No. CN 101927793 A discloses a "variable structure creeping motion of the upright and tautomeric quadruped robot structure", the quadruped robot organism and fixed in the above four limbs, each limb using three servos control room, steering a tandem structure, which connecting rod and more complex structures, does not apply to the requirements of small, lightweight bionic robots. Meanwhile, the structure of the body as a whole, limiting the flexibility of movement.

[0004] Chinese patent No. CN 101811525 A discloses a "center of mass adjusting device having a hydraulic driving mechanism moving quadruped robot" in the robot mechanism arranged below the torso four legs, are hydraulic drive, each leg having a redundant More than freedom, it increases the complexity of institutional control. Further improved hydraulic drive mechanism of the entire volume and weight, convenient to carry and transport disassembly.

[0005] Chinese patent No. CN 101791994 A discloses "a cam mechanism actuated and controlled travel quadruped robot" gimbal mechanism is divided into front and rear leg assembly and the rear leg assembly connected to the front connection assembly. Wherein the gimbal connection assembly simply provide a passive form of exercise, it can not control its artificial, and is not conducive to movement balance control mechanism.

SUMMARY

[0006] The object of the present invention is to overcome the disadvantages of the prior art, to provide a more compact structure, installation and handling easier, help to improve the flexibility of the robot movement, to better absorb the impact of the foot, having perceived the external environment four-legged robot mechanism based on bionic design effect.

[0007] Based on four-legged robot mechanism of bionic comprises four legs and the body framework; four leg portion is fixed to the body frame; includes four legs hip, thigh, knee and lower leg; large hip links leg, thigh connected knee, lower leg connected to the knee; the body frame comprises a front body panel, rear body panel, a front flange is rotated, the rotation of the flange, the first motor and the flexible handle; before rotatably mounting flange in the front panel of the body, the rotation of the flange fixed to the rear body panel, front and rear flange rotatable flanges configured rotatable turning pair, a first motor fixed to the front flange is rotated, the rotation of the motor output shaft is connected to a first flange, both ends of the handle are fixed to the flexible plate and the rear body panel body; hip portion comprises a second motor, a first spur gear set, the first holder drive, a first bevel sun gear, planetary bevel gear, a planetary stent, a second bevel sun gear, a second drive mount, the second spur gear set and the third motor; a second input gear connected to a motor output shaft of the first spur gear set, a third motor output shaft connected to the second spur gear set the input wheel, the first A positive output connected to a first wheel gear set sun bevel gear, an output sun wheel connected to the second bevel gear of the second spur gear set, a first bevel sun gear, a second sun bevel gears and planet bevel gears and planetary carrier constituting a rotational movement vice, the first drive and the second drive holder body before the fixation plate while supporting the first bevel gear and the second sun bevel gears and planet bevel sun gear; leg includes a large expansion sleeve, thigh bar, the four motors and motor seat, thigh bar with planetary bevel gears fixed to the output shaft by expanding tight, fourth motor by a motor fixed in the thigh bar holder; knee bevel gear set comprising a knee, the gear housing and the bevel gear shaft; fourth mounting the motor output shaft has an input bevel gear of the bevel gear set of the knee, the output bevel gear intermeshes with a bevel gear set knee knee shaft, the gear housing is fixed to the thigh bar, the knee while supporting the shaft; leg plate portion includes a left leg, right leg plates, large cylinder, a conical spring, a small cylinder and the force sensor; left leg and right leg plate bevel pinion shaft connected to both ends of the plate in the knee, and large An upper fixed cylinder, the lower end of the large hollow cylinder, one end of the small cylindrical sleeve within the large cylinder, both connected by a conical spring, a pin is inserted in the large cylinder and a small cylinder cooperating slot, the other end of the small cylindrical mounting powerful sensor.

[0008] The prior art and the present invention has a simple and compact overall structure, easy installation and removal characteristics compared to the addition of the robot body to make a joint movement is more suitable for high speed applications, the cushioning device and the force sensor so that movement of the leg control reliability readily Guarantee.

BRIEF DESCRIPTION [0009] Figure I is a four-legged robot overall physical map means;

[0010] FIG. 2 is a four-legged robot of FIG physical body framework;

[0011] FIG. 3 is a four-legged robot leg physical map;

[0012] FIG. 4 is a four-legged robot assembly view of the hip;

[0013] FIG 5 is a four-legged robot thigh, knee and lower leg assembly drawing;

[0014] FIG: body framework I, leg 2, the body front panel 3, rear body panel 4, the front flange 5 is rotated, the rotation of the flange 6, the first motor 7, the flexible tie 8, 9 hip, thigh 10, knee 11, lower leg 12, a second motor 13, a first spur gear set

14, the first holder drive 15, a first bevel sun gear 16, planetary bevel gears 17, planet carrier 18, a second bevel sun gear 19, the second drive bracket 20, a second spur gear set 21, a third motor 22 , expansion sleeve 23, thigh bar 24, a fourth motor 25, the motor housing 26, the knee joint bevel gear set 27, gear housing 28, the bevel gear shaft 29, plate 30 left leg, right leg plate 31, large cylinder 32, the cone shaped spring 33, a small cylinder 34, the force sensor 35.

detailed description

[0015] The present invention is further described below in conjunction with the accompanying drawings.

[0016] As shown in FIG 1,2,3,4,5, based on four-legged robot mechanism of bionic body framework comprises four legs, and I 2; four leg portion 2 is fixed to the body framework I; four legs 2 9 includes a hip portion, thigh 10, knee 11 and lower leg 12; 12 connected to the lower leg portion 9 is connected to the femoral hip 10, thigh 10 is connected to the knee 11, knee 11; body framework comprises I body front panel 3, rear body panel 4, the front flange 5 is rotated, the rotation of the flange 6, the first motor 7 and the flexible handle 8; front flange 5 is fixed on the rotation of the body front panel 3, the rotation of the flange 6 is fixed on the rear body panel 4, the front flange 5 is rotated and rotation of the flange 6 after the sub-rotated configuration, the first motor 7 is fixed on the front flange 5 is rotated, the first motor output shaft 7 is connected to the flange 6, a flexible both ends of the handle 8 are fixed on the front plate 3 and the body after the body plate 4; hip portion 9 includes a second motor 13, a first spur gear set 14, a first drive mount 15, a first bevel sun gear 16, planet bevel gear 17, planet carrier 18, a second bevel sun gear 19, the second drive bracket 20, a second spur gear set 21 and the third motor 22; 13 connecting the first output shaft of the second motor Input wheel of a spur gear set 14, a third motor output shaft 22 connected to the second input spur gear wheel group 21, a first set of output spur gear wheel 14 is connected to a first bevel sun gear 16, second spur gear group 21 an output sun wheel connected to the second bevel gear 19, a first bevel sun gear 16, a second bevel sun gear 19 and the planetary bevel gears 17 and the planetary carrier 18 constituting the sub-rotary motion, the first holder 15 and the second driver 20 drive bracket the front plate is fixed to the body 3, while supporting the first bevel sun gear 16 and the second sun bevel gears 19 and the planetary bevel gears 17; leg portion 10 includes a large expansion sleeve 23, thigh bar 24, the fourth motor 25 and the motor base 26, thigh bar 24 and the bevel gear 17 of the planetary output shaft 23 is fixed by the expansion sleeve, the fourth motor 25 is fixed in the thigh by the motor shaft 26 within the seat 24; knee 11 comprises a group of 27, and the bevel gear housing 28 a bevel gear knee gear shaft 29; a fourth output shaft of the motor 25 mounted with the input bevel gear 27 of the bevel gear set of the knee, the knee joint intermesh with bevel gear 29 on the knee joint shaft output bevel gear 27 is set, the gear housing 28 fixed to the thigh upper rod 24, while the shaft 29 supporting the knee; small leg 1 2 comprises a plate 30 the left leg, right leg plate 31, large cylinder 32, a conical spring 33, the small cylinders 34 and the force sensor 35; the left leg and the right leg plate 30 connected to plate 31 in the bevel gear shaft two knee 1129 end, and the large cylinder 32 fixed to the upper end, the lower end of the large hollow cylinder 32, the small cylinder 34 - in the large end of the cylindrical sleeve 32, both connected by a conical spring 33, the pin 32 is inserted in the large cylinder and a small cylinder 34 cooperating slot, the other end of the small cylinder 34 is mounted a force sensor 35.

[0017] The operation of the present invention is as follows: the output shaft of the motor body of the first I frame 7 is rotated after the drive flange 6 is rotated, relative movement of the front plate 3 and the body after the body plate 4 can be achieved, enhancing the high-speed robot flexibility of movement of the case, the handle by a flexible transfer robot 8 can easily achieve the hip portion of the first bevel gear 9 of the sun 16, a second bevel sun gear 19 and the planetary bevel gears constituting the differential bevel gear assembly 17, the second motor 13 and third motor 22 drive the first sun gear 16 and the second sun bevel bevel gear 19, is transmitted to both the motion of bevel gear 17, planetary bevel gears 17 to achieve the revolution and rotation of flexion / extension, adduction / outer show two degrees of freedom of movement, compact structure, driving torque is increased to improve the robustness of the movement of the robot. Thigh bar 24 and the planetary bevel gear 17 the output shaft 23 through the expansion sleeve is fixed, in this way to facilitate the installation and removal of the legs of the robot, and thigh bar 24 fixed to the fourth motor 25, a reasonable allocation of gravity legs, more beneficial balance control of the robot, by a fourth motor 25 rotates the output shaft, the power is transmitted to the bevel gear shaft 29, left leg and right leg plates 30 at both ends of the plate 31 is fixed a bevel gear shaft 29, thus achieving the thigh 10 and the lower leg 12 of the relative movement. Large hollow cylinder 32, the small cylindrical sleeve 34 within the large cylinder 32, both connected by a conical spring 33, the pin 32 is inserted in the large cylinder and a small cylinder cooperating groove 34, the small cylinder 34 can be prevented from off the large cylinder 32, the other end of the small cylinder 34 is mounted a force sensor 35, when subjected to foot shock, the small cylinder 34 relative movement, slowing the momentum of the moving body 32 by the compression between the conical spring 33 and the large cylinder the impact to fit the rugged ground. Meanwhile, the foot force sensor 35 for collecting the ground force, the external environment and the live perceptual balance control of the robot.

Claims (1)

A four-legged robot mechanism based on the biomimetic design, comprising a frame body (I) and four legs (2); four legs (2) fixed to the body frame (I); four legs (2 ) includes a hip portion (9), thigh (10), knee (11) and lower leg (12); hip portion (9) connected to the thigh (10), thigh (10) connected to the knee (11), knee (11) connecting the lower leg (12); a frame body (I) includes a body front panel (3), the body plate (4), rotation of the front flange (5), the rotation of the flange ( 6), a first motor (7) and a flexible handle (8); rotation of the front flange (5) fixed to the front plate body (3), the rotation of the flange (6) is fixed to the rear plate body (4), rotation of the front flange (5) and the post-rotation flange (6) constituting the turning pair, (7) a first motor output shaft (7) rotatably fixed to the front flange (5), a first motor coupled to the rotatable flange ¢), the flexible ends of the handle (8) are fixed to the front plate of the body (3) and a rear body plate (4); hip portion (9) comprises a second motor (13), a first spur gear set (14) a first holder drive (15), a first bevel sun gear (16), planetary bevel gear (17), a planetary Frame (18), a second bevel sun gear (19), a second holder drive (20), a second spur gear set (21) and a third motor (22); (13) connecting the first output shaft of the second motor spur gear set (14) of the input gear, a third motor (22) connected to an output shaft of the spur gear set (21) of the second input gear, a first spur gear set (14) connected to an output of the first sun wheel bevel gear (16 ), second spur gear set (21) connected to the output of the second sun bevel gear wheel (19), a first bevel sun gear (16), a second bevel sun gear (19) and a planetary bevel gear (17) and the planet carrier (18) constituting the rotational movement of the sub, the first holder drive (15) and a second holder drive (20) is fixed to the front plate body (3), while supporting the first bevel sun gear (16) and second sun bevel gear (19) and a planetary bevel gear (17); the thigh (10) comprises a expansion sleeve (23), the thigh bar (24), fourth motor (25) and the motor base (26), the thigh bar (24) (17) the output shaft through the planetary bevel gears expansion sleeve (23) is fixed, the fourth motor (25) is fixed in the thigh bar (24) by the motor base (26); knee (11) comprises a bevel gear set knee (27), Wheel housing (28) and a bevel gear shaft (29); and a fourth motor input bevel gear mounting (25) has an output shaft bevel gear sets of the knee (27), the shaft with the bevel gear on the knee joint bevel gear (29) an output bevel gear set (27) engage each other, the gear housing (28) fixed to the thigh bar (24), while supporting the bevel pinion shaft (29); small leg portion (12) includes a left leg plate (30), right leg plate (31), a large cylinder (32), conical spring (33), a small cylinder (34) and a force sensor (35); left leg plate (30) and the right calf plate (31) connected to the knee (11) the bevel gear shaft (29) ends, and an upper end fixed to the large diameter cylinder (32), a large cylinder (32) the lower end of a hollow, small cylinders (34) - in the large end of the cylindrical sleeve (32), through both cone spring (33) is connected to a pin inserted in the large diameter cylinder (32) and a small cylinder (34) cooperating groove (34) the other end of the small cylindrical mounting a force sensor (35).