CN102530121B - Leg of multi-legged walking robot - Google Patents

Leg of multi-legged walking robot Download PDF

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Publication number
CN102530121B
CN102530121B CN 201110451677 CN201110451677A CN102530121B CN 102530121 B CN102530121 B CN 102530121B CN 201110451677 CN201110451677 CN 201110451677 CN 201110451677 A CN201110451677 A CN 201110451677A CN 102530121 B CN102530121 B CN 102530121B
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China
Prior art keywords
foot
attaching parts
pin
walking robot
leg
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CN 201110451677
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Chinese (zh)
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CN102530121A (en
Inventor
金波
陈刚
陈诚
陈鹰
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浙江大学
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Publication of CN102530121A publication Critical patent/CN102530121A/en
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Publication of CN102530121B publication Critical patent/CN102530121B/en

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Abstract

The invention discloses a leg of a multi-legged walking robot. The existing flat soled leg structure is complex and easy to cause tripping over. The robot leg comprises a leg mechanical device of the multi-legged walking robot and a leg dynamometrical device of the multi-legged walking robot. The leg mechanical device of the multi-legged walking robot comprises a spherical foot, a damping dynamometrical portion and a shank connector, and the damping dynamometrical portion comprises a spherical foot connector, a leg connector, a leg sleeve, a damping compression spring, a pressure pad and fixing screws. The leg dynamometrical device of the multi-legged walking robot consists of a pressure sensor and a signal acquisition processor. The leg of a multi-legged walking robot is in the spherical foot end type foot structure and simple and compact in structure, and the multi-legged walking robot is flexible and reliable in walking. Impact between the multi-legged walking robot and the ground during walking of the robot is effectively reduced by means of the compression spring damping device. Difficulty and complexity in dynamometry of the leg of the multi-legged walking robot are greatly reduced by using the pressure sensor for dynamometry of the leg of the multi-legged walking robot.

Description

A kind of polypody walking robot pin

Technical field

The invention belongs to the Robotics field, be specifically related to a kind of polypody walking robot pin.

Background technology

That the mode of motion that the mobile robot adopts mainly comprises is wheeled, crawler type, sufficient formula, mode of motion such as hybrid.For wheeled robot, since wheel came out, it moves on the ground in rigid flat was the ten minutes failure-free.But when uneven ground travels, the energy consumption of wheeled robot will increase greatly, and on soft terrain or serious rugged landform, the effect of wheel also will seriously be lost, and mobile efficient reduces greatly.Caterpillar type robot is distributed on the bigger area vehicle body load, be equivalent to a kind of device of paving the way for wheel, and can produce bigger propulsive force, can walk at soft terrain, and be unlikely to be absorbed in wherein, but the manoevreability of caterpillar type robot on uneven ground is still very poor, and the robot fuselage rocks seriously.With respect to the ground mobile robot of types such as wheeled, crawler type, the polypody walking robot has plurality of advantages.At first, this robotlike only needs some discrete points to come for its foot that falls when motion, thereby successfully by rugged, soft or muddy ground.Secondly, this robotlike can avoid toppling by regulating self center of gravity, has higher stability.The polypody walking robot is having more advantage aspect compatible with environment and the kinematic dexterity, also has been subjected to extensive attention because of its locomotor activity stronger on complicated earth surface.Along with the progress of Computer Control Technology, polypody walking robot technology is fast-developing especially, and the polypody walking robot has had in fields such as military and national defense, biomedicine, aerospace, industrial agriculturals widely to be used.

Since the eighties in 20th century four feet walking robot that begins one's study such as robotics pioneer, the U.S. famous robot scholar R.B.McGhee, the research of polypody walking robot receives numerous scholars' concern always.Polypody walking robot development its leg structure so far mainly contains two kinds of forms: flatfoot end formula pin and spherical sufficient end formula pin.Abroad, the imitative mammal four feet walking robot BISAM of people such as Dillmann development adopts spherical sufficient end formula leg structure; The TITAN series four feet walking robot of people such as the father Shigeo professor Hirose development of Tokyo polytechnical university robot adopts flatfoot end formula leg structure; The IAI research center Gonzalez de Santos team of Spain CSIC research parliament has succeeded in developing clearance robot Silo4 and Silo6 in succession, wherein the pin of four feet walking robot Silo4 is flatfoot end formula leg structure, and the six-legged walking machine device people Silo6 that follow-up research is finished has then adopted spherical sufficient end formula pin; BigDog military robot and small-sized four feet walking robot LittleDog that Boston Dynamics company releases then adopt spherical sufficient end formula leg structure.At home, the bionical six-legged walking machine device people's of Beijing Institute of Technology's development pin is spherical sufficient end formula leg structure; The MiniQuad restructural polypody walking robot of people such as the Chen XueDong of Central China University of Science and Technology development has adopted spherical sufficient end formula leg structure equally.

Spherical sufficient end formula pin has significant preceence with respect to flatfoot end formula leg structure.At first, flatfoot end formula leg structure complexity, and spherical sufficient end formula leg structure is simply compact; Secondly, the passive joint in the flatfoot end formula pin causes the polypody walking robot to be tripped in the process of walking easily, has therefore also limited the range of movement of robot foot.Though spherical sufficient end formula pin has numerous advantages, but also there are some problem demanding prompt solutions in the sufficient end formula of existing sphere leg structure, as lacking efficient buffer, damping, anti-skidding design in the sphere foot end formula leg structure, ground is low in the face of measurement process complexity, the precision of the application force of pin, reliability is not high.Spherical sufficient end formula leg structure needs further design study.

Summary of the invention

The object of the present invention is to provide a kind of polypody walking robot pin that overcomes above problem.The present invention adopts spherical sufficient end formula leg structure, is made up of polypody walking robot pin mechanical device and polypody walking robot pin device for measuring force.

Polypody walking robot pin mechanical device comprises spherical foot end, damping dynamometry part and shank pin attaching parts composition.Spherical foot end is made for elastomeric material, this kind foot end contacts non-rigid contact for flexibility between fall foot back and ground, not only can prevent the polypody walking robot when walking, skid but also can reduce and ground between impact, can improve the polypody walking robot to the comformability of environment by actv..Damping dynamometry part is made up of sphere foot end connection, foot's sleeve, damping compression spring, pressure pad, pin attaching parts, fix screw.The upper end of spherical sufficient end connection places foot's sleeve, be free-running fit between the step ring of spherical sufficient end connection and the foot's sleeve lining, can slide relatively between the step ring of spherical sufficient end connection and the foot's sleeve lining, place pressure pad on the round boss of spherical sufficient end connection, this round boss is positioned at foot's sleeve, and the lower end of spherical sufficient end connection is threaded with sphere foot end after passing the circular hole of foot's sleeve; Captive joint with the foot sleeve by fix screw in the lower end of pin attaching parts; Damping compression spring is put in foot's sleeve, and be enclosed within simultaneously on the lower end of the upper end of spherical sufficient end connection and pin attaching parts, the spring force that damping compression spring produces acts on the step ring and pin attaching parts of spherical sufficient end connection, the step ring bottom surface that makes spherical sufficient end connection contacts with the inner bottom surface of foot's sleeve, and damping compression spring makes between the upper end of the lower end of pin attaching parts and spherical sufficient end connection and forms certain clearance.Fixed by bolt of rear end plate and captive nut between the jaw of the upper end of pin attaching parts and shank pin attaching parts, can rotate a certain angle around bolt of rear end plate between the jaw of the upper end of pin attaching parts and shank pin attaching parts, thereby the function with ankle-joint, be carved with the angle groove of 0 to 120 degree on the upper end side plane of pin attaching parts, interval 1 degree between the angle groove, have gap on the jaw of shank pin attaching parts, can measure the angle that the pin attaching parts turns over respect to shank pin attaching parts by the angle groove on the gap on the shank pin attaching parts jaw and the pin attaching parts upper end side plane, when the angle that the pin attaching parts turns over respect to shank pin attaching parts reaches required angle, make the pin attaching parts with respect to the stationkeeping of shank pin attaching parts thereby bolt of rear end plate and captive nut tightened.

Polypody walking robot pin device for measuring force is made up of pressure sensor and signal acquisition process device.Pressure sensor is arranged on the lower end round boss of pin attaching parts, the signal wire (SW) of pressure sensor is connected with the signal acquisition process device by the metallic channel of pin attaching parts lower end, the force signal that pressure sensor measures carries out acquisition of signal by the signal acquisition process device and signal is handled, and obtains reliable and effective force signal observed reading by the signal acquisition process device.The size that is positioned at the pressure pad upper surface on the spherical sufficient end connection round boss is identical with effective measurement area of pressure sensor, each suffered power of pin acts on the pressure sensor by pressure pad uniformly, the survey precision of pressure sensor is improved greatly, thereby can accurately measure the suffered power of polypody walking robot pin.

The beneficial effect that the present invention can reach:

(1) the present invention adopts spherical sufficient end formula leg structure, and is simple and compact for structure, thereby makes polypody walking robot walking flexibility and reliability;

(2) adopt the compression spring vibration damper, actv. has reduced the polypody walking robot in the process of walking and mutual action and the vibrations and the impact that cause can significantly improve the stability in the polypody walking robot walking process between the ground;

(3) adopts pressure sensor is measured polypody walking robot human leg-driven, greatly reduces difficulty and complexity that the multi-foot robot strength of one's legs is measured, has reduced the cost that the multi-foot robot strength of one's legs is measured;

(4) the polypody walking robot suffered along remove in the power of pin central axis direction the compression spring force after remainder all act on effective measurement area of pressure sensor, improved precision and the reliability of pressure sensor ergometry greatly;

(5) the multi-foot robot pin is with respect to turning over certain angle between the multi-foot robot shank, thereby can increase in the polypody walking robot strength of one's legs component along the pin central axis direction greatly, this masterpiece is used on the pressure sensor measurement range of pressure sensor and precision being effectively improved.

Description of drawings

Fig. 1 three-dimensional structure scheme drawing of the present invention;

Fig. 2 structure cutaway view of the present invention;

Fig. 3 pin attaching parts structural representation;

Fig. 4 shank pin attaching parts structural representation.

Among the figure: 1. spherical foot is held, 2. spherical sufficient end connection, 3. foot's sleeve, 4. spring, 5. pressure pad, 6. pin attaching parts are compressed in damping, 7. fix screw, 8. shank pin attaching parts, 9. bolt of rear end plate, 10. captive nut, 11. the angle groove, 12. gap, 13. pressure sensors, 14. the signal acquisition process device, 15. metallic channels.

The specific embodiment

The invention will be further described below in conjunction with accompanying drawing.

As shown in Figure 1 and Figure 2, the present invention adopts spherical sufficient end formula leg structure, is made up of polypody walking robot pin mechanical device and polypody walking robot pin device for measuring force.

Polypody walking robot pin mechanical device comprises spherical foot end 1, damping dynamometry part and shank pin attaching parts 8 compositions.Spherical foot end 1 is made by elastomeric material, this kind foot end contacts non-rigid contact for flexibility between fall foot back and ground, not only can increase that friction between polypody walking robot pin and the ground prevents that the polypody walking robot from skidding when walking but can and ground between form buffering and reduce to impact, can improve the polypody walking robot to the comformability of environment by actv..Damping dynamometry part is made up of sphere foot end connection 2, foot's sleeve 3, damping compression spring 4, pressure pad 5, pin attaching parts 6, fix screw 7.The upper end of spherical sufficient end connection 2 places foot's sleeve 3, be free-running fit between the step ring of spherical sufficient end connection 2 and foot's sleeve 3 inwalls, can slide relatively between the step ring of spherical sufficient end connection 2 and foot's sleeve 3 inwalls, place pressure pad 5 on the round boss of spherical sufficient end connection 2, this round boss is positioned at foot's sleeve 3, and the lower end of spherical sufficient end connection 2 is threaded with sphere foot end 1 after passing the circular hole of foot's sleeve 3; Captive joint with foot sleeve 3 by fix screw 7 in the lower end of pin attaching parts 6; Damping compression spring 4 is put in foot's sleeve 3, and be enclosed within simultaneously on the lower end of the upper end of spherical sufficient end connection 2 and pin attaching parts 6, the spring force that damping compression spring 4 produces acts on the step ring and pin attaching parts 6 of spherical sufficient end connection 2, the step ring bottom surface that makes spherical sufficient end connection 2 contacts with the inner bottom surface of foot sleeve 3, and damping compression spring 4 makes between the upper end of the lower end of pin attaching parts 6 and spherical sufficient end connection 2 and forms certain clearance.Fixing by bolt of rear end plate 9 and captive nut 10 between the jaw of the upper end of pin attaching parts 6 and shank pin attaching parts 8, can rotate a certain angle around bolt of rear end plate 9 between the jaw of the upper end of pin attaching parts 6 and shank pin attaching parts 8, thereby the function with ankle-joint, be carved with the angle groove 11 of 0 to 120 degree as shown in Figure 3 on the upper end side plane of pin attaching parts 6, interval 1 degree between the angle groove 11, have gap 12 on the jaw of shank pin attaching parts 8 as shown in Figure 4, can measure the angle that pin attaching parts 6 turns over respect to shank pin attaching parts 8 by the angle groove 11 on the gap 12 on shank pin attaching parts 8 jaws and the pin attaching parts 6 upper end side planes, when the angle that pin attaching parts 6 turns over respect to shank pin attaching parts 8 reaches required angle, make pin attaching parts 6 with respect to the stationkeeping of shank pin attaching parts 8 thereby bolt of rear end plate 9 and captive nut 10 tightened.

Polypody walking robot pin device for measuring force is made up of pressure sensor 13 and signal acquisition process device 14.Pressure sensor 13 is arranged on the lower end round boss of pin attaching parts 6, the signal wire (SW) of pressure sensor 13 is connected with signal acquisition process device 14 by the metallic channel 15 of pin attaching parts 6 lower ends, the force signal that pressure sensor 13 measures carries out acquisition of signal by signal acquisition process device 14 and signal is handled, and obtains reliable and effective force signal observed reading by signal acquisition process device 14.The size that is positioned at pressure pad 5 upper surfaces on spherical sufficient end connection 2 round boss is identical with effective measurement area of pressure sensor 13, each suffered power of pin acts on the pressure sensor 13 uniformly by pressure pad 5, the survey precision of pressure sensor 13 is improved greatly, thereby can accurately measure the suffered power of polypody walking robot pin.

Working process to polypody walking robot pin is elaborated below.

Before the walking of control polypody walking robot, at first bolt of rear end plate 9 and the captive nut 10 with polypody walking robot pin unclamps, walking step state according to the polypody walking robot, the artificial polypody walking robot pin of adjusting is with respect to the angle of shank, measure polypody walking robot pin with respect to the angle of shank by the gap 12 on the angle groove 11 in the pin attaching parts 6 and shank pin attaching parts 8 jaws, reach adjust required angle after, bolt of rear end plate 9 and captive nut 10 tightened make pin attaching parts 6 with respect to the stationkeeping of shank pin attaching parts 8.The polypody walking robot can be walked then, when polypody walking robot pin contacts with ground, the spherical foot end 1 that elastomeric material is made produces infinitesimal deformation, the flexible contact between spherical foot end 1 and the ground, compression shock absorption compresses spring 4 sliding simultaneously in foot's sleeve 3 with the sphere foot end 1 spherical sufficient end connection 2 that is connected under the effect of ground force, 4 pairs of polypody walking robots of damping compression spring carry out bumper and absorbing shock, damping compression spring 4 further is compressed to pressure pad 5 and contacts with pressure sensor 13, pressure pad 5 squeeze pressure sensors 13 under the effect of ground force, 13 pairs of suffered squeese pressures of pressure sensor are measured, and the force signal of surveying is input in the signal acquisition process device 14, can obtain reliable and effective force information through the acquisition process of 14 pairs of force signals of signal acquisition process device.Can be in real time in the walking process of polypody walking robot in the face of the application force of polypody walking robot pin with recording, measured force information not only accurately but also rapid, can well be grasped polypody walking robot stressing conditions in the process of walking.The force information that passes through to obtain can be to the stressed comprehensive analyses that carries out in the polypody walking robot walking process, and its analysis result can instruct the control to the polypody walking robot.

Claims (1)

1. a polypody walking robot pin comprises polypody walking robot pin mechanical device and polypody walking robot pin device for measuring force, it is characterized in that:
Polypody walking robot pin mechanical device comprises spherical foot end, damping dynamometry part and shank pin attaching parts; Spherical foot end is made for elastomeric material; Damping dynamometry part is made up of sphere foot end connection, foot's sleeve, damping compression spring, pressure pad, pin attaching parts, fix screw, the upper end of spherical sufficient end connection places foot's sleeve, be free-running fit between the step ring of spherical sufficient end connection and the foot's sleeve lining, can slide relatively between the step ring of spherical sufficient end connection and the foot's sleeve lining, place pressure pad on the round boss of spherical sufficient end connection, this round boss is positioned at foot's sleeve, and the lower end of spherical sufficient end connection is threaded with sphere foot end after passing the circular hole of foot's sleeve; Captive joint with the foot sleeve by fix screw in the lower end of pin attaching parts; Damping compression spring is put in foot's sleeve, and be enclosed within simultaneously on the lower end of the upper end of spherical sufficient end connection and pin attaching parts, the spring force that damping compression spring produces acts on the step ring and pin attaching parts of spherical sufficient end connection, the step ring bottom surface that makes spherical sufficient end connection contacts with the inner bottom surface of foot's sleeve, and damping compression spring makes between the upper end of the lower end of pin attaching parts and spherical sufficient end connection and forms certain clearance; Fixed by bolt of rear end plate and captive nut between the jaw of the upper end of pin attaching parts and shank pin attaching parts, can rotate a certain angle around bolt of rear end plate between the jaw of the upper end of pin attaching parts and shank pin attaching parts, be carved with the angle groove of 0 to 120 degree on the upper end side plane of pin attaching parts, interval 1 degree has gap on the jaw of shank pin attaching parts between the angle groove;
Polypody walking robot pin device for measuring force is made up of pressure sensor and signal acquisition process device, pressure sensor is arranged on the lower end round boss of pin attaching parts, and the signal wire (SW) of pressure sensor is connected with the signal acquisition process device by the metallic channel of pin attaching parts lower end.
CN 201110451677 2011-12-29 2011-12-29 Leg of multi-legged walking robot CN102530121B (en)

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CN103029768B (en) * 2013-01-09 2015-12-09 北京理工大学 Quadruped robot ratchet foot unit
CN103057619B (en) * 2013-01-25 2015-01-21 哈尔滨工业大学 Foot-end mechanism for supporting leg of heavy-load multi-legged robot
CN103303388B (en) * 2013-07-08 2016-01-20 北京理工大学 The comprehensive self adaptation elastic foot of quadruped robot
CN104401416B (en) * 2014-12-11 2016-06-22 吉林大学 Coupled Rigid-flexible cushions bionical foot
CN104843102A (en) * 2015-03-17 2015-08-19 北京理工大学 Damping foot type robot based on six-degrees-of-freedom parallel mechanism
CN105841721B (en) * 2016-03-21 2018-08-03 中广核核电运营有限公司 A kind of fiber grating force sensor, robot and its sensing measuring method
CN110440975A (en) * 2019-08-06 2019-11-12 厦门大学 Quadruped robot club foot end spherical surface vector force checking device and detection method

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JP6135358B2 (en) * 2013-07-24 2017-05-31 日本電気株式会社 Antenna and method for manufacturing antenna

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Publication number Priority date Publication date Assignee Title
JP2000355290A (en) * 1999-06-12 2000-12-26 Kenichiro Furuta Robot for assisting advance and going-over of step by extension/contraction degree of these respective legs and positional change in respective legs to apparatus by using wheeled extensible/contractible longitudinally slidable moving legs
CN101570220A (en) * 2009-06-04 2009-11-04 哈尔滨工程大学 Reversible and amphibious multi-legged robot with variable postures
CN102285390A (en) * 2011-06-03 2011-12-21 哈尔滨工程大学 Elastically driven walking leg in hybrid connection for walking robot
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JP6135358B2 (en) * 2013-07-24 2017-05-31 日本電気株式会社 Antenna and method for manufacturing antenna

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