CN102673674B - Bionic elastic spine mechanism of quadruped robots - Google Patents
Bionic elastic spine mechanism of quadruped robots Download PDFInfo
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- CN102673674B CN102673674B CN2012101778054A CN201210177805A CN102673674B CN 102673674 B CN102673674 B CN 102673674B CN 2012101778054 A CN2012101778054 A CN 2012101778054A CN 201210177805 A CN201210177805 A CN 201210177805A CN 102673674 B CN102673674 B CN 102673674B
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- 238000005859 coupling reaction Methods 0.000 claims description 22
- 210000001364 upper extremity Anatomy 0.000 claims description 14
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- 238000005381 potential energy Methods 0.000 abstract description 4
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- 230000000452 restraining effect Effects 0.000 abstract 1
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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
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 better than the outstanding performance of the wheeled and caterpillar type robot of tradition on rugged road surface due to it, with and at the application potential in the fields such as military affairs, space flight, production, transportation, the quadruped robot technical study is one of the study hotspot in current robot field and forward position direction.
Actual quadruped, especially the cats such as cheetah, lion all has crooked flexible flexible spinal flexibly, it can store and release energy, increase the range of movement of shank in the quadruped motion process, can effectively improve running speed, jump height and distance.But the health of most quadruped robot is rigid construction, there is no flexible flexible spinal, such as " TITAN " serial quadruped robot of " BigDog ", " AlphaDog " and " LittleDog ", the Tokyo Institute of Technology of Boston utility companies " TEKKEN " serial quadruped robot of university etc. of communicating by letter with NEC, owing to lacking flexible spinal flexibly, these quadruped robots are difficult to realize running at a high speed.
Summary of the invention
The object of the invention is to for the deficiencies in the 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, 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 storage elasticity potential energy; Two ends at backbone connect a pneumatic muscle, by the flexible drive torque that joint is provided of the active of pneumatic muscle, control the motion of joint of vertebral column, by the stretching speed of adjusting pneumatic muscle, change the elasticity modulus of flexible spinal integral body, but also auxiliary energy storage 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 front spine portion, posterior spinal part, elastic joint part and pneumatic partial tendon, wherein, one end of described front spine portion is connected with an end of posterior spinal part by the elastic joint part, and the other end of front spine portion is connected with the other end of posterior spinal part by the pneumatic muscle part.
Further, described front spine portion comprises left front backbone piece, right front backbone piece, left front leg permanent seat, RAT permanent seat, the front coupling spindle of tendon, front backbone piece attaching parts and attitude sensor etc.; Posterior spinal partly comprises coupling spindle etc. after posterior spinal piece, left back leg permanent seat, right rear leg permanent seat and tendon; The elastic rotation 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 front attaching parts of tendon and tendon rear connectors etc.; Described posterior spinal piece turning cylinder on have the left axle of posterior spinal and the right axle of posterior spinal; Left front backbone piece and right front backbone piece are arranged on the left axle of posterior spinal and the right axle of posterior spinal by bearing respectively, and are fixed together by front 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 by 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 by 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; Attitude sensor is arranged on the leaning angle that is used for detecting front backbone on front backbone piece attaching parts; The shell of absolute type encoder and left front backbone piece are connected, and the left axle of the input shaft of absolute type encoder and posterior spinal is 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, before tendon, the coupling spindle two ends are separately fixed at the downside of left front leg permanent seat and RAT permanent seat, and before tendon, attaching parts connects by revolute pair with the front coupling spindle of tendon; Left back leg permanent seat and right rear leg permanent seat are separately fixed at the posterior spinal piece end left and right sides, and after tendon, the coupling spindle two ends are separately fixed at the downside of left back leg permanent seat and right rear leg permanent seat, and after tendon rear connectors and tendon, coupling spindle connects by revolute pair; The two ends of pneumatic muscle respectively with tendon before attaching parts with the tendon rear connectors, be connected; 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 by pneumatic muscle is flexible can realize the free bend in flexible spinal joint and stiffness coefficient adjustable, the present invention can help quadruped robot to increase the range of movement of shank, simultaneously two torsion springs and pneumatic muscle can store and release energy and effectively absorb the impulsive force that lands in robot vola, running speed and the capacity usage ratio of raising quadruped robot when the robot motion.The pneumatic muscle maximum operation frequency can reach 5HZ-10HZ, tensile force is large, and in the time of can meeting quadruped robot and run, to the requirement of spinal motion performance, pneumatic muscle is compared hydraulic-driven and had that quality is light, size is little simultaneously, the advantage such as low in the pollution of the environment, also can work simultaneously under outdoor mal-condition.
The accompanying drawing explanation
Fig. 1 is the bionical flexible spinal of 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 schematic diagram of the present invention;
Fig. 6 is a kind of flexible spinal front end draw bail schematic diagram of the present invention;
in figure, 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, front backbone piece attaching parts 8, attitude sensor 9, left front leg permanent seat 10, RAT permanent seat 11, coupling spindle 12 before tendon, left back leg permanent seat 13, right rear leg permanent seat 14, after tendon, coupling spindle 15, pneumatic muscle 16, air inlet pipe 17, freeing pipe 18, attaching parts 19 before tendon, tendon rear connectors 20, the left axle 21 of posterior spinal, the right axle 22 of posterior spinal, 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 front spine portion, posterior spinal part, elastic joint part and pneumatic partial tendon, wherein, one end of front spine portion is connected with an end of posterior spinal part by the elastic joint part, and the other end of front spine portion is connected with the other end of posterior spinal part by the pneumatic muscle part.Front spine portion comprises left front backbone piece 1, right front backbone piece 2, left front leg permanent seat 10, RAT permanent seat 11, the front coupling spindle 12 of tendon, front backbone piece attaching parts 8 and attitude sensor 9; Posterior spinal partly comprises coupling spindle 15 after posterior spinal piece 3, left back leg permanent seat 13, right rear leg permanent seat 14, tendon; The elastic rotation 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 front 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 front backbone that left front backbone 1 and right front backbone 2 are fixed together and form by attaching parts 8 between front backbone, the left front backbone through hole 22 of left front backbone piece 1 connects by the left axle 21 of built-in antifriction-bearing box and posterior spinal piece, and the right front backbone through hole of right front backbone piece 2 connects by the right axle 22 of built-in antifriction-bearing box and posterior spinal; Front 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 by 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 by torsion spring connecting element 7 respectively; At the interior installation holding screw in the torsion spring retaining thread hole 26 of torsion spring connecting element 7 and be pressed on 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 torsion spring 4 and left-handed torsion spring 5 changed and changed along with the joint of vertebral column angle this moment, joint of vertebral column, because the constraint of dextrorotation torsion spring 4 and left-handed torsion spring 5 has elasticity, forms the flexible spinal joint.
Referring to Fig. 1, Fig. 4 and Fig. 6, the front spine portion of this flexible spinal mechanism, left front leg permanent seat 10 is bolted on the front end of left front backbone piece 1, and RAT permanent seat 11 is bolted on the front end of right front backbone piece 2; Before tendon, coupling spindle 12 two ends are arranged on respectively on the different in nature hole of left front leg attaching parts 10 and RAT attaching parts 11.
Referring to Fig. 1 and Fig. 3, the posterior spinal part of this flexible spinal mechanism, left back leg permanent seat 13 is by 4 end left sides that are bolted to posterior spinal piece 3, right rear leg permanent seat 14 is by 4 end right sides that are bolted to 3 of posterior spinal, and after tendon, coupling spindle 15 two ends are arranged on respectively on the different in nature hole of left back leg permanent seat 13 and right rear leg permanent seat 14.
Referring to Fig. 1, the front-end and back-end of pneumatic muscle 16 respectively with tendon before attaching parts 19 with tendon rear connectors 20, be connected, before tendon, the built-in antifriction-bearing box of attaching parts 19 is arranged on the front coupling spindle 12 of tendon, the built-in antifriction-bearing box of tendon rear connectors 20 is arranged on after tendon on coupling spindle 15, can change tendon before coupling spindle 12 and tendon after distance coupling spindle 15 between by 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 as follows: the present invention is in reality use and operating process, four legs of quadruped robot can be arranged on respectively on left front leg permanent seat 10, RAT permanent seat 11, left back leg permanent seat 13 and right rear leg permanent seat 14 by 4 bolts, form a complete quadruped robot with flexible spinal.By suction quantity and the air output of controlling pneumatic muscle 16, change the length of pneumatic muscle 16, thereby realize the rotation in flexible spinal joint, and, by the angle feedback of absolute type encoder 6, realize the closed loop control at joint of vertebral column angle.During quadruped robot was being run, when its foreleg lands, the inertia of robot health and back leg was by elasticity of compression joint of vertebral column, and the part kinetic energy of robot is converted to the elastic potential energy of dextrorotation torsion spring 4 and left-handed torsion spring 5; When the robot back leg lands, when foreleg is liftoff, just has been stored in dextrorotation torsion spring 4 and left-handed torsion spring 5 Elastic potential energy are converted to kinetic energy again, be used for increasing kinematic velocity and the scope of foreleg; In this process, control simultaneously the length of pneumatic muscle, improve controllability and the locomitivity in flexible spinal joint.Last bionical flexible spinal mechanism also can be used in the design in robot leg joint, increases flexibility and the locomitivity of shank.
Claims (1)
1. the bionical flexible spinal of quadruped robot mechanism, it is characterized in that, it comprises front spine portion, posterior spinal part, elastic joint part and pneumatic partial tendon, wherein, one end of described front spine portion is connected with an end of posterior spinal part by the elastic joint part, and the other end of front spine portion is connected with the other end of posterior spinal part by the pneumatic muscle part; Described front spine portion comprises left front backbone piece (1), right front backbone piece (2), left front leg permanent seat (10), RAT permanent seat (11), the front coupling spindle (12) of tendon, front backbone piece attaching parts (8) and attitude sensor (9); Posterior spinal partly comprises coupling spindle (15) after posterior spinal piece (3), left back leg permanent seat (13), right rear leg permanent seat (14) and tendon; The elastic rotation 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 front attaching parts (19) of tendon and tendon rear connectors (20); Described posterior spinal piece (3) turning cylinder on have the left axle of posterior spinal (21) and the right axle of posterior spinal (22); Left front backbone piece (1) and right front backbone piece (2) by bearing, are arranged on the left axle of posterior spinal (21) respectively and the right axle of posterior spinal (22) is upper, and is fixed together by front 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) by 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) by 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; Attitude sensor (9) is arranged on the leaning angle that is used for detecting front backbone on front backbone piece attaching parts (8); 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 the left axle of posterior spinal (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), before tendon, coupling spindle (12) two ends are separately fixed at the downside of left front leg permanent seat (10) and RAT permanent seat (11), and before tendon, attaching parts (19) connects by revolute pair with the front coupling spindle (12) of tendon; Left back leg permanent seat (13) and right rear leg permanent seat (14) are separately fixed at posterior spinal piece (3) the end left and right sides, coupling spindle after 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 after tendon rear connectors (20) and tendon, coupling spindle (15) connects by revolute pair; The two ends of pneumatic muscle (16) respectively with tendon before attaching parts (19) with tendon rear connectors (20), be connected; 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).
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| CN2012101778054A CN102673674B (en) | 2012-06-01 | 2012-06-01 | Bionic elastic spine mechanism of quadruped robots |
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| CN2012101778054A CN102673674B (en) | 2012-06-01 | 2012-06-01 | Bionic elastic spine mechanism of quadruped robots |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN103991490B (en) * | 2014-05-26 | 2016-05-25 | 上海大学 | A kind of can lateral thrust and upper and lower bending Bionic flexible body |
| 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 |
| 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 |
| 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 |
| CN109878593B (en) * | 2018-11-21 | 2021-07-27 | 南京航空航天大学 | Multi-mode flexible robot and control method thereof |
| CN109940586B (en) * | 2019-03-21 | 2021-08-06 | 哈尔滨工业大学 | Multi-joint spine and spine type quadruped robot |
| CN115284314B (en) * | 2022-08-20 | 2024-06-07 | 西南交通大学 | Multifunctional flexible robot applied to ruin search and rescue |
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| CN2278256Y (en) * | 1996-11-19 | 1998-04-08 | 王荣兴 | Advertisement robot |
| US7154362B2 (en) * | 2003-11-12 | 2006-12-26 | Honeywell International, Inc. | Robotic member |
| JP2009501563A (en) * | 2005-07-14 | 2009-01-22 | エンハンスド・メデイカルシステム・エルエルシー | Robot for minimizing invasive procedures |
| CN201333319Y (en) * | 2008-12-04 | 2009-10-28 | 王金生 | Robot capable of dancing |
| CN102343950B (en) * | 2011-07-13 | 2013-04-24 | 北京交通大学 | Pliant four-footed robot with flexible waist and elastic legs |
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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 |
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