CN102343950B - Pliant four-footed robot with flexible waist and elastic legs - Google Patents
Pliant four-footed robot with flexible waist and elastic legs Download PDFInfo
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- CN102343950B CN102343950B CN 201110196221 CN201110196221A CN102343950B CN 102343950 B CN102343950 B CN 102343950B CN 201110196221 CN201110196221 CN 201110196221 CN 201110196221 A CN201110196221 A CN 201110196221A CN 102343950 B CN102343950 B CN 102343950B
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Abstract
The invention relates to a four-footed walking robot, and specifically relates to a pliant four-footed robot with a flexible waist and elastic legs. The pliant four-footed robot is divided into several parts, namely a front torso, a vertebral column, a waist, a back torso and four legs with the same structures; a bearing in the front torso or the back torso and flanged shafts on all the legs form a rotating pair; the front torso is connected with the vertebral column by using the rotating pair and is driven by a motor and a gear set, so that a body of the robot has a pitching degree of freedom; the vertebral column is connected with the waist by using a rotating pair with a torsion spring, so that the body of the robot has a transverse rolling degree of freedom; the waist is connected with the back torso also by using a rotating pair with the torsion spring, so that the body of the robot has a deflection degree of freedom; leg parts of the robot consist of thighs and shanks, which are all driven by the motor and the gear set; and the shanks are provided with compression springs, so that the ground impact force is decreased when the robot walks. By using the pliant four-footed robot, a conventional rigid structure is placed with a flexible structure; the movement stability of the robot is increased; and the impact of the robot is decreased.
Description
Technical field
The present invention relates to a kind of four feet walking robot, be specifically related to a kind of submissive quadruped robot with flexible waist and elastic leg.
Background technology
In the four feet walking robot field, the BigDog that the boston, u.s.a utility companies is made is the hightech achievement of quadruped robot, and it can adapt to the multiple landform such as ice face, snowfield, meadow, and shows superpower anti-side direction perturbation ability.Most of quadruped robots adopt the rigidity waist, and namely whole trunk is rigid unitary, and robot motion's compliance is poor like this, and for improving the stability of motion of robot, some quadruped robots have also been done the design of flexible waist.The SQ43 quadruped robot of the JSK of Tokyo Univ Japan laboratory development for example, it has flexible backbone, and this allows the robot motion become submissive, and certain effectiveness in vibration suppression is arranged, and makes it can pass some narrow passages and fitfull landform.The people such as the Se-Hoon Park of the electronic engineering of QingBei, Korea university and College of Computer Science have developed quadruped robot ELIRO, this robot is compared with traditional legged type robot, robot body no longer is a single rigid unitary, but at passive joint of this body and function robot body is divided into former and later two parts.This passive waist joint makes robot can carry out static turning to, so runs into obstacle in the ELIRO series robot straight line moving process, and can stop turns to avoiding obstacles.
Aspect the research of elastic leg, the bio-robot team of the federal Institute of Technology of Lausanne, SUI has designed a quadruped robot " Cheetah ", the most important position of this robot is its shank design, employing is than the material of lightweight, the spring of ankle-joint can impact-absorbing and stored energy, not only is conducive to improve the robot speed but also be conducive to reduce energy consumption.Ghent, Belgium university electronics and information system institute have developed " Reservoir Dog " quadruped robot, because shank weight is lighter, and spring has the accumulation of energy effect, thereby this robot can be realized Gallop (jump) gait that most of robots can't be realized, be that four-footed soars simultaneously, the gait that whole robot jumps forward.
Summary of the invention
The waist and the shank that the present invention is directed to present quadruped robot adopt rigid construction mostly, the problem that thereby the stability of motion of bringing is poor, motion is inharmonious, impact on lower legs power is large, energy consumption is high provides a kind of quadruped robot with flexible waist and elastic leg.
Technical scheme of the present invention:
This robot is divided into front trunk, backbone, waist, rear trunk and four several parts of leg that structure is identical:
Between front trunk and backbone by horizontally disposed, be connected with the vertical revolute pair of robot working direction, do luffing by trunk before being installed in epispinal backbone motor and driving by gear cluster; Backbone is used with torsion spring, parallel with backbone line of centers revolute pair with waist and is connected, torsion spring one end inserts the aperture of waist, and an end inserts the aperture of backbone, and waist can be rotated vertically, even the robot health has the roll degree of freedom, and have the ability of automatically replying; Use between waist and the rear trunk with torsion spring, be connected with the vertical revolute pair of horizontal surface, make the robot health have the deflection degree of freedom, and have the ability of automatically replying.
The two ends of front trunk and rear trunk are adopted one leg are installed respectively in a like fashion; The left front bearing and the flanged shaft on the left front leg that are fixed on the front trunk consist of revolute pair, are driven by the left front motor and the gear cluster that are installed on the front trunk, and left front leg is swung.
The leg of robot is made of thigh and shank, and thigh is connected revolute pair and is connected with shank internode, makes the shank can swing; The lower end of thigh arranges thigh motor, drives the shank motion by gear cluster, and stage clip is equipped with in the lower end of shank, makes it have passive buffer capacity.
Gear cluster between described front trunk and the backbone comprises that a pair of transmitting ratio is the spur wheel that 1: 1 finishing bevel gear cuter and a pair of transmitting ratio are 1: 1.
Between described front trunk or rear trunk and each the bar leg, all adopt the mode of motor-driven bevel gear set between the thigh of shank and the shank, realize moving, and the transmitting ratio of finishing bevel gear cuter is 1: 1.
Revolute pair between described waist and the rear trunk adopts bearing pin, and torsion spring set is outside bearing pin, and the pivot center of bearing pin vertically.
Beneficial effect of the present invention is: this four feet walking robot has been abandoned the rigid construction of traditional quadruped robot, and the waist of robot has the passive altogether three degree of freedoms of an active, two, be robot stability is higher when walking, motion is more coordinated.Shank at robot is equipped with spring, by passive buffering effect, and the ground shock power when having reduced walking, spring has the accumulation of energy effect, has reduced energy consumption.
Description of drawings
Fig. 1 is the whole graphics with flexible waist and elastic leg quadruped robot;
Fig. 2 is the connection diagram of front trunk and backbone active degree of freedom;
Fig. 3 is the connection diagram of backbone and waist passive freedom degree;
Fig. 4 is the connection diagram of waist and rear trunk passive freedom degree;
Fig. 5 is the constructional drawing of thigh, shank drive system;
Fig. 6 is that the axle that thigh drives is section-drawing;
Fig. 7 is the passive elastomeric constructional drawing of shank.
Number in the figure:
Trunk before the A1-; Trunk bearing seat before the A2-; Trunk motor cabinet before the A3-; Trunk motor before the A4-; Trunk the first finishing bevel gear cuter before the A5-; Trunk bearing before the A6-; Trunk the first spur wheel before the A7-; Trunk the second spur wheel before the A8-; Trunk the second finishing bevel gear cuter before the A9-;
The B1-left front leg; B2-left front leg flanged shaft; B3-left front leg the first circlip for shaft; B4-left front leg the first finishing bevel gear cuter; B5-left front leg the second circlip for shaft; B6-left front leg motor; B7-left front leg motor cabinet; B8-left front leg the second finishing bevel gear cuter; B9-left front leg third hand tap gear; B10-left front leg bearing seat; B11-left front leg the 3rd circlip for shaft; B12-left front leg the 4th circlip for shaft; B13-left front leg flange; B14-left front leg axle; B15-left front leg shank bar; B16-left front leg circlip for shaft; B17-left front leg linear slide bearing; B18-left front leg stage clip; B19-left front leg shank post; B20-left front leg foot end;
The C1-backbone; C2-backbone motor cabinet; C3-backbone finishing bevel gear cuter; C4-backbone motor; C5-spinal column axis bearing; C6-backbone torsion spring;
The D1-waist; D2-waist back-up ring; D3-waist bearing pin;
Trunk behind the E1-; Trunk torsion spring behind the E2-; Trunk locating dowel pin behind the E3-.
The specific embodiment
The invention provides a kind of submissive quadruped robot with flexible waist and elastic leg, below in conjunction with the drawings and specific embodiments the present invention is described in further details.
Robot integral body is divided into front trunk A1 as shown in Figure 1, and left front leg B1, backbone C1, waist D1, rear trunk E1, RAT, left back leg, right rear leg form, and four leg structures are identical.
As shown in Figure 2, be connected by revolute pair between front trunk A1 and the backbone C1, the end of front trunk A1 processes circular shaft, one end injects in the through hole of backbone C1 end, the other end inserts in the through hole of spinal column axis bearing C5, spinal column axis bearing C5 is connected on the backbone C1 by bolt and nut, as trunk A1 and backbone C1 consist of revolute pair before this.Backbone motor C4 is fixed by screws on the backbone motor cabinet C2, backbone motor cabinet C2 is fixed on the backbone C1 by bolt and nut, the rotation of backbone motor C4 is by backbone finishing bevel gear cuter C3, front trunk the second finishing bevel gear cuter A9, front trunk the second spur wheel A8, spur wheel A7 is delivered to revolute pair, backbone finishing bevel gear cuter C3, front trunk the second finishing bevel gear cuter A9 is connected front trunk the second spur wheel A8 by jackscrew with front trunk the second spur wheel axle A10, front trunk the first spur wheel A7 by D shape face respectively with front trunk the second spur wheel axle A10, front trunk A1 connects.
As shown in Figure 3, be connected by revolute pair between backbone C1 and the waist D1, be processed with on the backbone C1 in the hole that axle inserts waist D1, insert respectively in the aperture of backbone C1 and waist D1 at the two ends of backbone torsion spring C6, and so torsion spring can provide the restoring force of revolute pair.The top lower two waist back-up ring D2 of axial restraint between the hole of the axle of backbone C1 and waist D1 realize, waist back-up ring D2 is the rectangular tab that has semi-circular groove, the backbone C1 at waist back-up ring D2 place has deep trouth, the deep trouth diameter is identical with described semi-circular groove diameter, the semi-circular groove of waist back-up ring D2 is stuck in the deep trouth of backbone C1, and waist back-up ring D2 is fixed on the waist D1 with two screws up and down.So consisted of the revolute pair with restoring force between backbone C1 and the waist D1, the revolute pair axis is the robot working direction.
As shown in Figure 4, waist D1 is connected by waist bearing pin D3 with rear trunk E1, waist bearing pin D3 passes the up and down through hole of two through holes and rear trunk E1 of waist D1, rear trunk torsion spring E2 one end inserts the aperture of waist D1, the other end inserts in the aperture on the face of cylinder, waist bearing pin D3 bottom, waist bearing pin D3 and rear trunk E1 fix with rear trunk locating dowel pin E3, so, consist of the revolute pair around vertical axes that the power of automatically replying is arranged between waist D1 and the rear trunk E1.
Article four, the structure of leg and connection mode are identical, take left front leg B1 as example.Such as Fig. 5, shown in Figure 6, front trunk motor cabinet A3, front trunk bearing seat A2 is fixed on the front trunk A1, front trunk motor A4 is fixed by screws on the front trunk motor cabinet A3, front trunk the first finishing bevel gear cuter A5, left front leg the first finishing bevel gear cuter B4 is fixed on motor shaft and the left front leg flanged shaft B2 by jackscrew respectively, left front leg flanged shaft B2 is fixed by screws on the thigh bar of left front leg B1, left front leg flanged shaft B2 passes left front leg the second circlip for shaft B5, front trunk bearing A6, left front leg the first circlip for shaft B3 and left front leg the first finishing bevel gear cuter B4, left front leg the first circlip for shaft B3, left front leg the second circlip for shaft B5 plays the axial restraint effect, front trunk bearing A6 is contained in the front trunk bearing seat A2 by the interference connection, so, the rotational of motor drives the thigh bar rotation of left front leg B1.Equally, the rotation of left front leg motor B6 is delivered to left front leg flange B13 by left front leg the second finishing bevel gear cuter B8, left front leg third hand tap gear B9, thereby driving left front leg shank bar B15 rotates, left front leg axle B14 passes the bearing among the left front leg bearing seat B10, and left front leg the 3rd circlip for shaft B11, left front leg the 4th circlip for shaft B12 play the axial restraint effect.
As shown in Figure 7, consist of moving sets between left front leg shank post B19 and the left front leg linear slide bearing B17, middle left front leg stage clip B18 plays passive buffer action, upper end left front leg circlip for shaft B16 plays unidirectional axial restraint effect, and left front leg shank post B19 and left front leg foot end B20 are screwed together.
Claims (4)
1. the submissive quadruped robot with flexible waist and elastic leg is characterized in that, is divided into front trunk (A1), backbone (C1), waist (D1), rear trunk (E1) and four several parts of leg that structure is identical;
Between front trunk (A1) and backbone (C1) by horizontally disposed, be connected with the vertical revolute pair of robot working direction, do luffing by trunk (A1) before being installed in backbone motor (C4) on the backbone (C1) and driving by gear cluster; Backbone (C1) is used with torsion spring, parallel with backbone (C1) line of centers revolute pair with waist (D1) and is connected, and waist (D1) can be rotated vertically, even the robot health has the roll degree of freedom, and has the ability of automatically replying; Use between waist (D1) and the rear trunk (E1) with torsion spring, be connected with the vertical revolute pair of horizontal surface, make the robot health have the deflection degree of freedom, and have the ability of automatically replying;
The two ends of front trunk (A1) and rear trunk (E1) are adopted one leg are installed respectively in a like fashion; The left front bearing (A6) and the flanged shaft (B2) on the left front leg (B1) that are fixed on the front trunk (A1) consist of revolute pair, are driven by the left front motor (A4) and the gear cluster that are installed on the front trunk (A1), and left front leg (B1) is swung;
The leg of robot is made of thigh and shank, and thigh is connected revolute pair and is connected with shank internode, makes the shank can swing; The lower end of thigh arranges thigh motor, drives the shank motion by gear cluster, and stage clip is equipped with in the lower end of shank, makes it have passive buffer capacity.
2. the submissive quadruped robot with flexible waist and elastic leg according to claim 1 is characterized in that: the gear cluster between described front trunk (A1) and the backbone (C1) comprises that a pair of transmitting ratio is that finishing bevel gear cuter and a pair of transmitting ratio of 1:1 is the spur wheel of 1:1.
3. the submissive quadruped robot with flexible waist and elastic leg according to claim 1, it is characterized in that: between described front trunk (A1) and two forelegs, between rear trunk (E1) and two back legs, all adopt the mode of motor-driven bevel gear set between the thigh of shank and the shank, realize motion, and the transmitting ratio of finishing bevel gear cuter is 1:1.
4. the submissive quadruped robot with flexible waist and elastic leg according to claim 1, it is characterized in that, revolute pair between described waist (D1) and the rear trunk (E1) adopts bearing pin, and torsion spring set is outside bearing pin, and the pivot center of bearing pin vertically.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110196221 CN102343950B (en) | 2011-07-13 | 2011-07-13 | Pliant four-footed robot with flexible waist and elastic legs |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110196221 CN102343950B (en) | 2011-07-13 | 2011-07-13 | Pliant four-footed robot with flexible waist and elastic legs |
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| CN102343950A CN102343950A (en) | 2012-02-08 |
| CN102343950B true CN102343950B (en) | 2013-04-24 |
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| CN111469945A (en) * | 2020-04-16 | 2020-07-31 | 山东大学 | Quadruped robot and slope motion posture adjusting method |
| CN111469945B (en) * | 2020-04-16 | 2021-06-22 | 山东大学 | Quadruped robot and slope motion posture adjusting method |
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