CN102673674A - Bionic elastic spine mechanism of quadruped robots - Google Patents

Bionic elastic spine mechanism of quadruped robots Download PDF

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Publication number
CN102673674A
CN102673674A CN2012101778054A CN201210177805A CN102673674A CN 102673674 A CN102673674 A CN 102673674A CN 2012101778054 A CN2012101778054 A CN 2012101778054A CN 201210177805 A CN201210177805 A CN 201210177805A CN 102673674 A CN102673674 A CN 102673674A
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China
Prior art keywords
piece
tendon
permanent seat
backbone
posterior spinal
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CN2012101778054A
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Chinese (zh)
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CN102673674B (en
Inventor
李超
吴俊�
熊蓉
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浙江大学
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Abstract

The invention relates to a bionic elastic spine mechanism of quadruped robots. Two left and right symmetrical torsion springs are mounted on spinal rotation joints, accordingly, the rotation of the spinal joints and the bending of the torsion springs are restrained together, the torsion springs deforms along with the bending of the spinal joints to produce reverse direction torque and store elastic potential energy. A pneumatic muscle tendon is connected to two ends of the spine, the rotation of the spinal joints is controlled by the active expansion of the pneumatic muscle tendon, elastic coefficients of the whole elastic spine can be changed by regulating the expansion speed of the pneumatic muscle tendon, and simultaneously, the elasticity of the pneumatic muscle tendon can also assist in storing energy and restraining the moving range of the spinal joints. The bionic elastic spine mechanism can effectively improve the moving capacity of quadruped robots, and enhance utilization efficiency of energy.

Description

The bionical flexible spinal of a kind of quadruped robot mechanism
Technical field
The invention belongs to the Robotics field, relate in particular to the bionical flexible spinal of a kind of quadruped robot mechanism.
Background technology
Quadruped robot is because it is superior to the outstanding performance of wheeled and caterpillar type robot of tradition on rugged road surface; With and at the application potential in fields such as military affairs, space flight, production, transportation, the quadruped robot technical study is one of current robot hot research fields and forward position direction.
Actual quadruped; Especially cats such as cheetah, lion all has the flexible flexible spinal of bending flexibly; It could store and release energy, increase shank in the quadruped motion process range of movement can effectively improve running speed, jump height and distance.But the health of present most of quadruped robots is rigid construction; There is not flexible flexible spinal; " TEKKEN " serial quadruped robot of " TITAN " serial quadruped robot of " BigDog " of Boston utility companies, " AlphaDog " and " LittleDog ", Tokyo Institute of Technology and NEC film etc. for example; Owing to lack flexible spinal flexibly, these quadruped robots are difficult to realize running at a high speed.
Summary of the invention
The objective of the invention is to deficiency to prior art; Spine structure and movement characteristic with reference to cats; The bionical flexible spinal of a kind of quadruped robot mechanism is provided; The backbone rotary joint of this mechanism is installed symmetrical two torsion springs, and the rotation of joint of vertebral column and the bending of torsion spring at this moment constrains in together, and torsion spring is along with the bending generation deformation in joint produces direction moment of torsion and storage elasticity potential energy; Two ends at backbone connect a pneumatic muscle; Through the flexible drive torque that the joint is provided of the active of pneumatic muscle; The motion of control joint of vertebral column; Stretching speed through the adjustment pneumatic muscle changes flexible spinal single-piece elasticity modulus, but also auxiliary energy storage and retrain the range of movement of joint of vertebral column of the elasticity of pneumatic muscle itself simultaneously.
For achieving the above object; The present invention adopts following technical proposals: the bionical flexible spinal of a kind of quadruped robot mechanism; It comprises preceding spine portion, posterior spinal part, elastic joint partial sum pneumatic muscle part; Wherein, an end of said preceding spine portion links to each other through the end of elastic joint part with the posterior spinal part, and the other end of preceding spine portion partly links to each other with the other end of posterior spinal part through pneumatic muscle.
Further, said preceding spine portion comprises left front backbone piece, right front backbone piece, left front leg permanent seat, RAT permanent seat, the preceding coupling spindle of tendon, preceding backbone piece attaching parts and attitude sensor etc.; Posterior spinal partly comprises coupling spindle etc. behind posterior spinal piece, left back leg permanent seat, right rear leg permanent seat and the tendon; The elasticity rotary joint comprises dextrorotation torsion spring, left-handed torsion spring, torsion spring connecting element and absolute type encoder etc.; Pneumatic muscle partly comprises pneumatic muscle, air inlet pipe, freeing pipe, the preceding attaching parts of tendon and tendon rear connectors etc.; Said posterior spinal piece turning cylinder on have posterior spinal left side axle and right of posterior spinal; Left front backbone piece and right front backbone piece pass through bearing installation respectively on posterior spinal left side axle and the right axle of posterior spinal, and are fixed together through preceding backbone piece attaching parts; The two ends of dextrorotation torsion spring are fixed on the right flank of left front backbone piece and the left surface of posterior spinal piece through the torsion spring connecting element respectively, and the two ends of left-handed torsion spring are fixed on the left surface of right front backbone piece and the right flank of posterior spinal piece through the torsion spring connecting element respectively; The line of centers of dextrorotation torsion spring and left-handed torsion spring is consistent with posterior spinal piece turning cylinder axis; The leaning angle of backbone before being used for detecting on the backbone piece attaching parts before attitude sensor is installed in; The shell of absolute type encoder and left front backbone piece are connected, and the input shaft of absolute type encoder and posterior spinal left side axle are connected; Left front leg permanent seat and RAT permanent seat are separately fixed at the front end of left front backbone piece and right front backbone piece; The coupling spindle two ends are separately fixed at the downside of left front leg permanent seat and RAT permanent seat before the tendon, and attaching parts connects through revolute pair with the preceding coupling spindle of tendon before the tendon; Left back leg permanent seat and right rear leg permanent seat are separately fixed at the terminal left and right sides of posterior spinal piece, and the coupling spindle two ends are separately fixed at the downside of left back leg permanent seat and right rear leg permanent seat behind the tendon, and coupling spindle connects through revolute pair behind tendon rear connectors and the tendon; The two ends of pneumatic muscle respectively with tendon before attaching parts be connected with the tendon rear connectors; Air inlet pipe is connected with the admission port of pneumatic muscle, and freeing pipe is connected with the air extractor duct of pneumatic muscle.
The invention has the beneficial effects as follows: the present invention has designed a kind of effective, the bionical flexible spinal of compact conformation quadruped robot mechanism; Active through pneumatic muscle is flexible can to realize that the free bend in flexible spinal joint and stiffness coefficient are adjustable; The present invention can help quadruped robot to increase the range of movement of shank; Simultaneously two torsion springs can store when the robot motion and release energy with pneumatic muscle and effectively absorb the impulsive force that lands in robot vola, the running speed and the capacity usage ratio of raising quadruped robot.The pneumatic muscle maximum operation frequency can reach 5HZ-10HZ; Tensile force is big, and to the requirement of spinal motion performance, pneumatic muscle is compared hydraulic-driven and had light weight simultaneously, size is little in the time of can satisfying quadruped robot and run; Advantage such as low in the pollution of the environment, simultaneously also can be under outdoor mal-condition normal operation.
Description of drawings
Fig. 1 is the bionical flexible spinal of an a kind of quadruped robot of the present invention mechanism global shape structural representation;
Fig. 2 is the block-shaped structural representation of a kind of posterior spinal of the present invention;
Fig. 3 is the block-shaped structural representation of a kind of left front backbone of the present invention;
Fig. 4 is a kind of flexible spinal articulation structural representation of the present invention;
Fig. 5 is a kind of torsion spring connecting element shape and structure scheme drawing of the present invention;
Fig. 6 is a kind of flexible spinal front end draw bail scheme drawing of the present invention;
Among the figure, the right axle of attaching parts 19 before coupling spindle 15, pneumatic muscle 16, air inlet pipe 17, freeing pipe 18, the tendon behind coupling spindle 12, left back leg permanent seat 13, right rear leg permanent seat 14, the tendon before left front backbone piece 1, right front backbone piece 2, posterior spinal piece 3, dextrorotation torsion spring 4, left-handed torsion spring 5, absolute type encoder 6, torsion spring connecting element 7, preceding backbone piece attaching parts 8, attitude sensor 9, left front leg permanent seat 10, RAT permanent seat 11, the tendon, tendon rear connectors 20, posterior spinal left side axle 21, posterior spinal 22, left front backbone through hole 23, posterior spinal end vias 24, left front backbone front end through hole 25, torsion spring retaining thread hole 26.
The specific embodiment
Below in conjunction with accompanying drawing the preferred embodiments of the present invention are described further.
As shown in Figure 1; The bionical flexible spinal of a kind of quadruped robot mechanism comprises preceding spine portion, posterior spinal part, elastic joint partial sum pneumatic muscle part; Wherein, One end of preceding spine portion links to each other through the end of elastic joint part with the posterior spinal part, and the other end of preceding spine portion partly links to each other with the other end of posterior spinal part through pneumatic muscle.Before spine portion comprise coupling spindle 12 before left front backbone piece 1, right front backbone piece 2, left front leg permanent seat 10, RAT permanent seat 11, the tendon, preceding backbone piece attaching parts 8 and attitude sensor 9; Posterior spinal partly comprises coupling spindle 15 behind posterior spinal piece 3, left back leg permanent seat 13, right rear leg permanent seat 14, the tendon; The elasticity rotary joint comprises dextrorotation torsion spring 4, left-handed torsion spring 5, torsion spring connecting element 7 and absolute type encoder 6; Pneumatic muscle partly comprises pneumatic muscle 16, air inlet pipe 17, freeing pipe 18, the preceding attaching parts 19 of tendon and tendon rear connectors 20.
Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5; The elastic joint part of the bionical flexible spinal of a kind of quadruped robot mechanism; Comprise the preceding backbone that left front backbone 1 and right front backbone 2 are fixed together and form through attaching parts 8 between preceding backbone; The left front backbone through hole 22 of left front backbone piece 1 connects with posterior spinal piece left side axle 21 through built-in antifriction-bearing box, and the right front backbone through hole of right front backbone piece 2 connects through the right axle 22 of built-in antifriction-bearing box and posterior spinal; Preceding backbone can rotate around the turning cylinder of posterior spinal piece 3, forms joint of vertebral column; The two ends of dextrorotation torsion spring 4 are fixed on the right flank of left front backbone piece 1 and the left surface of posterior spinal piece 3 through torsion spring connecting element 7 respectively, and the two ends of left-handed torsion spring 5 are fixed on the left surface of right front backbone piece 2 and the right flank of posterior spinal piece 3 through torsion spring connecting element 7 respectively; Holding screw is installed in the torsion spring retaining thread hole 26 of torsion spring connecting element 7 and is pressed on the torsion spring, the moving axially of restriction torsion spring; The line of centers of dextrorotation torsion spring 4 and left-handed torsion spring 5 is consistent with the turning cylinder axis of posterior spinal piece; The angle of bend of dextrorotation this moment torsion spring 4 and left-handed torsion spring 5 changes and changes along with the joint of vertebral column angle; Joint of vertebral column constitutes the flexible spinal joint owing to the constraint of dextrorotation torsion spring 4 and left-handed torsion spring 5 has elasticity.
Referring to Fig. 1, Fig. 4 and Fig. 6, the preceding spine portion of this flexible spinal mechanism, left front leg permanent seat 10 is through being bolted to the front end of left front backbone piece 1, and RAT permanent seat 11 is through being bolted to the front end of right front backbone piece 2; Coupling spindle 12 two ends are installed in respectively on the different in nature hole of left front leg attaching parts 10 and RAT attaching parts 11 before the tendon.
Referring to Fig. 1 and Fig. 3; The posterior spinal part of this flexible spinal mechanism; Left back leg permanent seat 13 is through 4 terminal left sides that are bolted to posterior spinal piece 3; Right rear leg permanent seat 14 is through 4 terminal right sides that are bolted to 3 of posterior spinal, and coupling spindle 15 two ends are installed in respectively on the different in nature hole of left back leg permanent seat 13 and right rear leg permanent seat 14 behind the tendon.
Referring to Fig. 1; The front-end and back-end of pneumatic muscle 16 respectively with tendon before attaching parts 19 be connected with tendon rear connectors 20; Attaching parts 19 built-in antifriction-bearing boxs are installed on the preceding coupling spindle 12 of tendon before the tendon; Tendon rear connectors 20 built-in antifriction-bearing boxs are installed in behind the tendon on the coupling spindle 15, and can change tendon before coupling spindle 12 and tendon after distance coupling spindle 15 between through pneumatic muscle 16 length variations this moment, thereby change the joint of vertebral column angle; Air inlet pipe 17 is connected with the admission port of pneumatic muscle 16, and freeing pipe 18 is connected with the air extractor duct of pneumatic muscle 16.
Working process of the present invention is following: the present invention is in reality use and operating process; Can four legs of quadruped robot be installed in respectively on left front leg permanent seat 10, RAT permanent seat 11, left back leg permanent seat 13 and the right rear leg permanent seat 14 through 4 bolts, form a complete quadruped robot with flexible spinal.Through the suction quantity of control pneumatic muscle 16 and the length of air output change pneumatic muscle 16, thereby realize the rotation in flexible spinal joint, and feed back, realize the closed loop control at joint of vertebral column angle through the angle of absolute type encoder 6.During quadruped robot was being run, when its foreleg lands, the inertia of robot health and back leg was with elasticity of compression joint of vertebral column, and the part kinetic energy of robot converts the elastic potential energy of dextrorotation torsion spring 4 and left-handed torsion spring 5 into; When the robot back leg lands, when foreleg is liftoff, has been stored in just that elastic potential energy converts kinetic energy again in dextrorotation torsion spring 4 and the left-handed torsion spring 5, be used for increasing the kinematic velocity and the scope of foreleg; The length of control pneumatic muscle in this process improves the controllability and the locomitivity in flexible spinal joint simultaneously.Last bionical flexible spinal mechanism also can be used in the design in robot leg joint, increases the flexibility and the locomitivity of shank.

Claims (2)

1. the bionical flexible spinal of quadruped robot mechanism; It is characterized in that; It comprises preceding spine portion, posterior spinal part, elastic joint partial sum pneumatic muscle part; Wherein, an end of said preceding spine portion links to each other through the end of elastic joint part with the posterior spinal part, and the other end of preceding spine portion partly links to each other with the other end of posterior spinal part through pneumatic muscle.
2. according to the bionical flexible spinal of the said quadruped robot of claim 1 mechanism; It is characterized in that said preceding spine portion comprises left front backbone piece (1), right front backbone piece (2), left front leg permanent seat (10), RAT permanent seat (11), the preceding coupling spindle (12) of tendon, preceding backbone piece attaching parts (8) and attitude sensor (9) etc.; Posterior spinal partly comprises coupling spindle (15) etc. behind posterior spinal piece (3), left back leg permanent seat (13), right rear leg permanent seat (14) and the tendon; The elasticity rotary joint comprises dextrorotation torsion spring (4), left-handed torsion spring (5), torsion spring connecting element (7) and absolute type encoder (6) etc.; Pneumatic muscle partly comprises pneumatic muscle (16), air inlet pipe (17), freeing pipe (18), the preceding attaching parts (19) of tendon and tendon rear connectors (20) etc.; Said posterior spinal piece (3) turning cylinder on have posterior spinal left side axle (21) and posterior spinal right spool (22); Left front backbone piece (1) and right front backbone piece (2) pass through bearing installation respectively on posterior spinal left side axle (21) and the right axle of posterior spinal (22), and are fixed together through preceding backbone piece attaching parts (8); The two ends of dextrorotation torsion spring (4) are fixed on the right flank of left front backbone piece (1) and the left surface of posterior spinal piece (3) through torsion spring connecting element (7) respectively, and the two ends of left-handed torsion spring (5) are fixed on the left surface of right front backbone piece (2) and the right flank of posterior spinal piece (3) through torsion spring connecting element (7) respectively; The line of centers of dextrorotation torsion spring (4) and left-handed torsion spring (5) is consistent with posterior spinal piece (3) turning cylinder axis; The leaning angle of backbone before being used for detecting on the backbone piece attaching parts (8) before attitude sensor (9) is installed in; The shell of absolute type encoder (6) and left front backbone piece (1) are connected, and the input shaft of absolute type encoder (6) and posterior spinal left side axle (21) are connected; Left front leg permanent seat (10) and RAT permanent seat (11) are separately fixed at the front end of left front backbone piece (1) and right front backbone piece (2); Coupling spindle (12) two ends are separately fixed at the downside of left front leg permanent seat (10) and RAT permanent seat (11) before the tendon, and attaching parts (19) connects through revolute pair with the preceding coupling spindle (12) of tendon before the tendon; Left back leg permanent seat (13) and right rear leg permanent seat (14) are separately fixed at the terminal left and right sides of posterior spinal piece (3); Coupling spindle behind the tendon (15) two ends are separately fixed at the downside of left back leg permanent seat (13) and right rear leg permanent seat (14), and coupling spindle (15) connects through revolute pair behind tendon rear connectors (20) and the tendon; The two ends of pneumatic muscle (16) respectively with tendon before attaching parts (19) be connected with tendon rear connectors (20); Air inlet pipe (17) is connected with the admission port of pneumatic muscle (16), and freeing pipe (18) is connected with the air extractor duct of pneumatic muscle (16).
CN2012101778054A 2012-06-01 2012-06-01 Bionic elastic spine mechanism of quadruped robots CN102673674B (en)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103241302A (en) * 2013-05-29 2013-08-14 哈尔滨工业大学 Pneumatic muscle driving bionic frog bouncing leg mechanism employing dual-joint mechanism form
CN103991490A (en) * 2014-05-26 2014-08-20 上海大学 Bionic flexible machine body capable of lateral bending and up-down bending
CN104070531A (en) * 2014-06-26 2014-10-01 哈尔滨工程大学 Spine joint with bend, and extension and retraction functions
CN105479435A (en) * 2015-12-04 2016-04-13 哈尔滨工程大学 Spine module with changeable motion amplitude and changeable length
CN106737625A (en) * 2016-12-16 2017-05-31 哈尔滨工程大学 Can turn and change the backbone mechanism of body size
CN108943023A (en) * 2018-08-14 2018-12-07 浙江树人学院 A kind of gasbag robot leg buffer mechanism of adjustable rigidity
CN109878593A (en) * 2018-11-21 2019-06-14 南京航空航天大学 Multi-mode flexible robot and its control method
CN109940586A (en) * 2019-03-21 2019-06-28 哈尔滨工业大学 Multi-joint backbone and backbone type quadruped robot

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WO2007011654A1 (en) * 2005-07-14 2007-01-25 Enhanced Medical System Llc Robot for minimally invasive interventions
CN201333319Y (en) * 2008-12-04 2009-10-28 王金生 Robot capable of dancing
CN102343950A (en) * 2011-07-13 2012-02-08 北京交通大学 Pliant four-footed robot with flexible waist and elastic legs

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2278256Y (en) * 1996-11-19 1998-04-08 王荣兴 Advertisement robot
US20050099254A1 (en) * 2003-11-12 2005-05-12 Ohnstein Thomas R. Robotic member
WO2007011654A1 (en) * 2005-07-14 2007-01-25 Enhanced Medical System Llc Robot for minimally invasive interventions
CN201333319Y (en) * 2008-12-04 2009-10-28 王金生 Robot capable of dancing
CN102343950A (en) * 2011-07-13 2012-02-08 北京交通大学 Pliant four-footed robot with flexible waist and elastic legs

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103241302A (en) * 2013-05-29 2013-08-14 哈尔滨工业大学 Pneumatic muscle driving bionic frog bouncing leg mechanism employing dual-joint mechanism form
CN103241302B (en) * 2013-05-29 2015-06-17 哈尔滨工业大学 Pneumatic muscle driving bionic frog bouncing leg mechanism employing dual-joint mechanism form
CN103991490A (en) * 2014-05-26 2014-08-20 上海大学 Bionic flexible machine body capable of lateral bending and up-down bending
CN104070531A (en) * 2014-06-26 2014-10-01 哈尔滨工程大学 Spine joint with bend, and extension and retraction functions
CN104070531B (en) * 2014-06-26 2015-12-02 哈尔滨工程大学 A kind of have joint of vertebral column that is bending and Telescopic
CN105479435A (en) * 2015-12-04 2016-04-13 哈尔滨工程大学 Spine module with changeable motion amplitude and changeable length
CN105479435B (en) * 2015-12-04 2018-05-18 哈尔滨工程大学 The backbone module of variable motion amplitude and variable-length
CN106737625A (en) * 2016-12-16 2017-05-31 哈尔滨工程大学 Can turn and change the backbone mechanism of body size
CN106737625B (en) * 2016-12-16 2019-04-19 哈尔滨工程大学 It can turn and change the backbone mechanism of body size
CN108943023A (en) * 2018-08-14 2018-12-07 浙江树人学院 A kind of gasbag robot leg buffer mechanism of adjustable rigidity
CN109878593A (en) * 2018-11-21 2019-06-14 南京航空航天大学 Multi-mode flexible robot and its control method
CN109940586A (en) * 2019-03-21 2019-06-28 哈尔滨工业大学 Multi-joint backbone and backbone type quadruped robot

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Application publication date: 20120919

Assignee: Hangzhou limited company of Nan Jiang robot

Assignor: Zhejiang University

Contract record no.: 2015330000100

Denomination of invention: Bionic elastic spine mechanism of quadruped robots

Granted publication date: 20131120

License type: Exclusive License

Record date: 20150508