CN102390459B - Four-legged bionic robot with knee-joint parallel leg structure - Google Patents
Four-legged bionic robot with knee-joint parallel leg structure Download PDFInfo
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Abstract
The invention discloses a four-legged bionic robot with a knee-joint parallel leg structure, which is composed of a frame and four parallel legs, wherein the four parallel legs are same in structure; each parallel leg comprises a leg rack, three linear actuators, three O-shaped connectors, a thigh, a knee joint, a shank and a foot; each parallel leg has three driving degrees of freedom, the threelinear actuators can collaboratively drive the leg to carry out bionic movements such as an operation of swinging forward and backward, an operation of swinging leftward and rightward, and an operation that the leg is bent around the knee joint, and the like; the foot is connected in a buffering connection mode, and can complete operations of vibration reduction, energy storage and reuse in a striding cycle; and four legs are arranged symmetrically or equi-directionally, and can realize the all-round bionic movement of the robot through a certain gait. The parallel bionic leg structure adopted by the invention is simple in structure, easy to control, high in movement precision, high in high-speed response capacity and high in bearing capacity, therefore, the parallel bionic leg structure is suitable for being applied to high-speed and high-load transportation operations under field complicated unstructured terrain conditions and operations in dangerous environments.
Description
Technical field
The present invention relates to Robotics field in mechanical engineering, relating in particular to a kind ofly has a knee-joint parallel leg structure four-leg bionic robot for high speed, high capacity hauling operation and hazardous environment operation under open-air complicated non-structure topographic condition.
Background technology
At a high speed, high-mechanic four-leg bionic robot is the specialized robot that imitates the quadruped mode of motion, the walking that such robot is can be in the non-structure environment of complexity stable, can replace the people to complete many dangerous operations, in industries such as military affairs, mining, nuclear power industry, celestial body probing surface, fire-fighting and rescue, building industry, agricultural felling, teaching amusements, many potential application prospects be arranged.For a long time, the four-leg bionic Robotics is one of focus of domestic and international robot field's research always.
Application number is that 200910005416.1 Chinese invention patent discloses a kind of four-leg bionic walking mechanism, be primarily characterized in that: four feet walk mechanism can advance in complex environment, retreats, turn, and side direction is impacted has very stable attitude hold facility simultaneously; Four feet walk mechanism simple and compact for structure improved the load-carrying capacity of walking mechanism, makes it have higher using value; This invention also has stronger ductility, can expand to the above even-even walking mechanism of four-footed.The structure of this walking mechanism is cascaded structure, due to structure and driving restriction, can't satisfy under high speed delivery condition the requirement of high load-bearing.Application number is that 200910098461 Chinese invention patent discloses a kind of robot leg structure.This invention comprises pedestal and motion platform, and pedestal is connected with motion platform by transmission device; Transmission device comprises the motor that is fixed on pedestal and the moving cell that is connected with motor; Moving cell comprise can make the first moving cell that robot leg mechanism swings backward and motion platform is pressed down or on the second moving cell of carrying; The first moving cell comprises that a top is fixed on the strut bar on pedestal, is connected the first screw body and one and hinged the first connecting-rods with constant lengh of motion platform with the first motor; The first connecting-rods with constant lengh comprises straight bar part and outwardly projection part, strut bar hinged with straight bar part, and the first screw body and projection part are hinged; Second unit comprises the second screw body of being connected with the second motor and second connecting-rods with constant lengh hinged with motion platform, and the second screw body and the second connecting-rods with constant lengh are hinged.This invention is mainly used in anthropomorphic robot's shank, the Bionic Design of robot is not made consideration, and the impact that ground shock is not caused takes in.
At present, the parallel institution leg of band buffering not yet is applied in the four-leg bionic robot field, compare with series connection leg structure, the application of parallel leg structure can improve structural strength and the stability of robot greatly, to improving bio-robot load-carrying/very important meaning is arranged from anharmonic ratio; Simultaneously, linear actuator is simple in structure, layout is easy, uses linear actuator can make the bio-robot leg structure simpler, compact, and can improve propulsive effort and the kinematic velocity of bio-robot.This patent provides a kind of parallel institution leg of application band buffering and adopts the four-leg bionic robot of linear actuator.
Summary of the invention
The object of the invention is to for the deficiencies in the prior art, propose a kind of knee-joint parallel leg structure four-leg bionic robot that has, with solve under the low energy consumption state that in prior art, the four-leg bionic robot exists can't the high-speed overload stabilized walking technical matters.
For achieving the above object, the invention provides a kind of knee-joint parallel leg structure four-leg bionic robot that has, comprising: frame and four parallel legs that structure is identical, wherein,
Every parallel leg comprises shank frame, three linear actuators, three o type attaching partss, thigh, knee joint, shank and foots.The shank frame is connected on frame, and o type attaching parts A is connected with the shank frame by hinge, and the end of linear actuator A is connected with o type attaching parts A by hinge, and the other end is connected with a kneed end by hinge; O type attaching parts B is connected with the shank frame by hinge, and the end of linear actuator B is connected with o type attaching parts B by hinge, and the other end is connected with the kneed other end by hinge; O type attaching parts C is connected with the shank frame by hinge, and the end of linear actuator C is connected with o type attaching parts C by hinge, and the other end is connected with shank by hinge; One end of thigh is connected with the end of linear actuator C by hinge, and the other end is hinged on knee joint; One end of shank is hinged on knee joint, and the other end cushions with foot and is connected.
According to the described a kind of knee-joint parallel leg structure four-leg bionic robot that has of preferred embodiment of the present invention, the arrangement of its four parallel legs adopts and is arranged symmetrically with or arranges in the same way.
According to the described a kind of knee-joint parallel leg structure four-leg bionic robot that has of preferred embodiment of the present invention, its linear actuator adopts any type to satisfy and drives the linear drive system replacement that requires.
During actual job, every parallel leg has three and drives degree of freedom, and three linear actuators can carry out bionic movement by the coordinated drive shank, for example before and after pendulum, left and right pendulum, the shank arthrogryposis etc. of staying with one's parents in order to make them happy.Article four, leg can be realized the comprehensive bionic movement of robot by certain gait.
Beneficial effect of the present invention is: parallel leg structure of the present invention can imitate the animal leg action, and the characteristic of parallel-connection structure has also improved bearing capacity and the alerting ability of quadruped robot leg structure simultaneously; Linear actuator is arranged easily, makes the robot leg structure simpler, compact, has also improved propulsive effort and the kinematic velocity of robot; The concussion that the buffering of foot can reduce in robot motion's process is impacted, simultaneously for take a step to put aside energy next time.To sum up, that the present invention has is simple in structure, easily manufactured, control easily, kinematic accuracy is high, have high-speed response ability and high bearing capacity, is applicable to the advantage of high speed, high capacity hauling operation and hazardous environment operation under open-air complicated non-structure topographic condition.
Description of drawings
Fig. 1 is a kind of structural representation that knee-joint parallel leg structure four-leg bionic robot is arranged of the present invention.
In Fig. 1,1 is frame, and 2 is the shank frame, and 3 is linear actuator A, and 4 is o type attaching parts A, and 5 is linear actuator B, and 6 is o type attaching parts B, and 7 is linear actuator C, and 8 is o type attaching parts C, and 9 is thigh, and 10 is knee joint, and 11 is shank, and 12 is foot.
The specific embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is further described.
See also Fig. 1, a kind of have a knee-joint parallel leg structure four-leg bionic robot, comprising: frame 1 and four parallel legs that structure is identical.
Every parallel leg comprises shank frame 2, linear actuator A 3, o type attaching parts A 4, linear actuator B 5, o type attaching parts B 6, linear actuator C 7, o type attaching parts C 8, thigh 9, knee joint 10, shank 11 and foot 12.Shank frame 2 is connected on frame 1, and o type attaching parts A 4 is connected with shank frame 2 by hinge, and the end of linear actuator A 3 is connected with o type attaching parts A 4 by hinge, and the other end is connected with an end of knee joint 10 by hinge; O type attaching parts B 6 is connected with shank frame 2 by hinge, and the end of linear actuator B 5 is connected with o type attaching parts B 6 by hinge, and the other end is connected by the other end of hinge with knee joint 10; O type attaching parts C 8 is connected with shank frame 2 by hinge, and the end of linear actuator C 7 is connected with o type attaching parts C 8 by hinge, and the other end is connected with shank 11 by hinge; One end of thigh 9 is connected with the end of linear actuator C 7 by hinge, and the other end is hinged on knee joint 10; One end of shank 11 is hinged on knee joint 10, and the other end cushions with foot 12 and is connected.
In preferred embodiment of the present invention, the arrangement of four parallel legs both can adopt to be arranged symmetrically with also can adopt in the same way and arrange, concrete arrangement can be decided according to the practical application needs, uses very flexible.
In addition; also need to prove; in actual applications; according to the applicable cases needs; all linear actuators that adopt in the invention described above can also replace with any type can satisfy the linear drive system that drives requirement, and therefore, in prior art, any linear drives mode that can realize that satisfied driving requires all should drop in protection scope of the present invention; above employing linear actuator is an embodiment, and is used to limit the present invention.
During actual job, every parallel leg has three and drives degree of freedom, and three linear actuators can carry out bionic movement by the coordinated drive shank.Linear actuator A 3 and linear actuator B 5 shorten (or elongation) simultaneously, can drive thigh 9 (or backward) swing forward; In the time of linear actuator A 3 elongations (or shortening), linear actuator B 5 shortens (or elongation), can drive outwards (or inwardly) side oscillation of thigh 9; Linear actuator C 7 elongates or shortens, the angle that capable of regulating thigh 9 and shank are 11, thus obtain foot 12 positions of demand.
Article four, leg can be realized the comprehensive bionic movement of robot by certain gait.
Beneficial effect of the present invention is: parallel leg structure of the present invention can imitate the animal leg action, and the characteristic of parallel-connection structure has also improved bearing capacity and the alerting ability of quadruped robot leg structure simultaneously; Linear actuator is arranged easily, makes the robot leg structure simpler, compact, has also improved propulsive effort and the kinematic velocity of robot; The concussion that the buffering of foot can reduce in robot motion's process is impacted, simultaneously for take a step to put aside energy next time.To sum up, that the present invention has is simple in structure, easily manufactured, control easily, kinematic accuracy is high, have high-speed response ability and high bearing capacity, is applicable to the advantage of high speed, high capacity hauling operation and hazardous environment operation under open-air complicated non-structure topographic condition.
The above, it is only better embodiment of the present invention, be not that the present invention is done any pro forma restriction, any content that does not break away from technical solution of the present invention, according to any simple modification, equivalent variations and the modification that technical spirit of the present invention is done above embodiment, all belong to the scope of technical solution of the present invention.
Claims (3)
1. one kind has knee-joint parallel leg structure four-leg bionic robot, it is characterized in that, comprising: frame (1) and four parallel legs that structure is identical, wherein,
Described parallel leg mainly comprises: shank frame (2), linear actuator A(3), o type attaching parts A (4), linear actuator B(5), o type attaching parts B(6), linear actuator C(7), o type attaching parts C(8), thigh (9), knee joint (10), shank (11) and foot (12); Shank frame (2) is connected on frame (1), o type attaching parts A(4) be connected with shank frame (2) by hinge, the end of linear actuator A (3) is by hinge and o type attaching parts A(4) be connected, the other end is connected by the end of hinge with knee joint (10); O type attaching parts B(6) be connected linear actuator B(5 with shank frame (2) by hinge) an end by hinge and o type attaching parts B(6) be connected, the other end is connected by the other end of hinge with knee joint (10); O type attaching parts C(8) be connected linear actuator C(7 with shank frame (2) by hinge) an end by hinge and o type attaching parts C(8) be connected, the other end is connected with shank (11) by hinge; One end of thigh (9) is by hinge and linear actuator C(7) an end be connected, the other end is hinged on knee joint (10); One end of shank (11) is hinged on knee joint (10), and the other end is connected with foot (12) buffering.
2. a kind of knee-joint parallel leg structure four-leg bionic robot that has as claimed in claim 1, is characterized in that, the arrangement of described four parallel legs adopts and is arranged symmetrically with or arranges in the same way.
3. a kind of knee-joint parallel leg structure four-leg bionic robot that has as claimed in claim 2, it is characterized in that described linear actuator A(3), linear actuator B(5), linear actuator C(7) the linear drive system replacement adopting any type can satisfy to drive requirement.
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| CN 201110314611 CN102390459B (en) | 2011-10-17 | 2011-10-17 | Four-legged bionic robot with knee-joint parallel leg structure |
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| CN 201110314611 CN102390459B (en) | 2011-10-17 | 2011-10-17 | Four-legged bionic robot with knee-joint parallel leg structure |
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| CN102390459B true CN102390459B (en) | 2013-05-22 |
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103303389B (en) * | 2013-07-08 | 2016-02-03 | 北京理工大学 | The bionical lumbar structures system of controllable flexible bending musical form quadruped robot |
| CN103407514B (en) * | 2013-07-15 | 2015-08-12 | 西北工业大学 | Four-foot bio-robot leg |
| CN104802875A (en) * | 2015-04-15 | 2015-07-29 | 上海交通大学 | Six-legged bionic crawling robot |
| CN104986240B (en) * | 2015-06-15 | 2017-09-08 | 上海交通大学 | The walking robot leg configuration of linear drives and four feet walking robot in parallel |
| CN104924294B (en) * | 2015-06-15 | 2017-03-08 | 上海交通大学 | There is the quadruped robot of waist structure in parallel |
| CN104890759B (en) * | 2015-07-10 | 2017-06-16 | 陕西九立机器人制造有限公司 | A kind of quadruped robot |
| CN104925163B (en) * | 2015-07-10 | 2017-06-06 | 陕西九立机器人制造有限公司 | A kind of four-footed leg structure of legged type robot |
| CN104908839B (en) * | 2015-07-10 | 2017-06-06 | 陕西九立机器人制造有限公司 | It is a kind of to can be used for the bionical leg structure of legged type robot |
| CN105128977B (en) * | 2015-07-22 | 2017-08-01 | 上海交通大学 | Rotate the three-dimensional walking robot leg configuration of driving |
| CN109178137B (en) * | 2018-08-29 | 2019-09-13 | 燕山大学 | Multi-foot robot based on Three Degree Of Freedom pedipulator |
| CN110125953A (en) * | 2019-06-18 | 2019-08-16 | 国网北京市电力公司 | Cable inspection machine dog and cable method for inspecting |
| CN110641571A (en) * | 2019-08-30 | 2020-01-03 | 福州大学 | Twelve-degree-of-freedom bionic quadruped robot and working method thereof |
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| JPH05131382A (en) * | 1991-11-11 | 1993-05-28 | Takeshi Yanagisawa | Walking robot |
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| EP1864763A1 (en) * | 2005-03-30 | 2007-12-12 | TMSUK Co., Ltd. | Quadruped walking robot |
| CN101774408A (en) * | 2009-01-14 | 2010-07-14 | 林砺宗 | Four-leg bionic walking mechanism |
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