CN103144694A - Pivot-steering mechanism of quadruped bio-robot - Google Patents
Pivot-steering mechanism of quadruped bio-robot Download PDFInfo
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- CN103144694A CN103144694A CN2013100991391A CN201310099139A CN103144694A CN 103144694 A CN103144694 A CN 103144694A CN 2013100991391 A CN2013100991391 A CN 2013100991391A CN 201310099139 A CN201310099139 A CN 201310099139A CN 103144694 A CN103144694 A CN 103144694A
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Abstract
The invention relates to a pivot-steering mechanism of a quadruped bio-robot and belongs to the technical field of bio-robots. The pivot-steering mechanism comprises a front body, a waist steering mechanism, a steering precision compensating mechanism, a back body and side-sway mechanisms, wherein the waist steering mechanism is used for connecting the front body with the back body; and the side-sway mechanisms are used for connecting the bodies with leg parts. According to the pivot-steering mechanism of the quadruped bio-robot, which is disclosed by the invention, the body of the quadruped bio-robot can steer in situ by the side-sway mechanisms being matched with the waist steering mechanism, and the steering angle of the body can be precisely controlled by the steering precision compensating mechanism; and the pivot-steering mechanism has the characteristics of sensitivity in steering, precision in steering angle, good bionic effect and the like.
Description
Technical field
The present invention relates to a kind of four-leg bionic robot pivot stud mechanism, increase a waist degree of freedom and turn to accuracy compensation mechanism on four-leg bionic robot body, the motion in each joint during the simulated animal pivot stud well.This project organization is merrily and lightheartedly compact, and movable joint is flexible, can greatly improve the manoevreability of quadruped robot.
Background technology
Along with the fast development of Robotics, the demand of the specialized robot that can walk under complex environment is increased day by day.Due to four-footed biology high speed walking ability under non-structure environment, the four-leg bionic robot replaces the mankind to carry out the tasks such as the removal of mines, survey of deep space under non-structure environment, becomes the focus of various countries robot educational circles research.
The research of quadruped robot concentrated on the aspects such as environment sensing, gait planning, walking control both at home and abroad, systematic research also obtains serial achievement, but the pivot stud problem to the four-leg bionic robot does not have good solution always, most body with quadruped robot was designed to an integral body in the past, utilize the walking step state of quadruped robot to realize non-pivot stud, turn while walking, be difficult to like this realize the quadruped robot pivot stud, cause turning velocity slow.If with a varied topography, as dead ahead and obstacle close proximity, need the cut-through thing, this just requires the four-leg bionic robot to possess the pivot stud function, improves the manoevreability under its destructuring environment.
By observing the steering procedure of four-footed biology, the discovery biology turns to and needs waist to coordinate, and considering increases a steering knuckle at the waist of bio-robot.It is inadequate that yet the contact force of depending merely on sole and ground provides steering power, so easy generation slippage and cause the steering angle error, therefore increase a rotation compensation mechanism, so just make robot realize pivot stud function more flexibly, improve the manoevreability that it adapts to non-structure environment.
Summary of the invention
The object of the invention is to the deficiency that exists for existing technology, a kind of four-leg bionic robot pivot stud mechanism is provided, simple and compact for structure, turning efficiency is good.
The technical solution adopted in the present invention is in order to achieve the above object: a kind of four-leg bionic robot is by precursor, back body, connect precursor be connected with back body the waist steering hardware, turn to accuracy compensation mechanism and connect body and side-swing mechanism that shank is used for turning to forms.It is characterized in that: described precursor and back body are space frame structure, and four legs are distributed in side angle position after four of framed structure; Described steering hardware is by wanting joint chain connection precursor and back body; The described accuracy compensation mechanism of turning to is positioned on steering hardware, and the output shaft of drive motor drives the bevel gear transmission in the hinge of waist joint, and precursor is rotated with respect to back body.Described side-swing mechanism has 4, and hinged by precursor or back body and shank, the drive motor of 4 side-swing mechanisms drives respectively the whole piece leg mechanism and carries out side-sway.
Described waist steering hardware comprises thrust ball bearing, center shaft, deep groove ball bearing first, finishing bevel gear cuter first and fluting big column screw.The thrust ball bearing seat that a connecting rod connects is respectively arranged on relative sidewall between described precursor and back body and connect to form revolute pair by described thrust ball bearing.Described center shaft one end is bolted the thrust block seating on precursor, guarantees the center superposition of center shaft and this bearing mounting hole; The other end through the thrust block seating of finishing bevel gear cuter first, deep groove ball bearing first and back body, carries out axial location by fluting big column screw first.Because center shaft is installed from top to down, the distance of passing through is longer, can insert smoothly in mounting hole in order to guarantee center shaft, should make the diameter of mounting hole greater than the diameter of center shaft.
Describedly turn to accuracy compensation mechanism motor, motor installation base, coupler first, adjust axle, key, finishing bevel gear cuter second, fluting big column screw second, deep groove ball bearing, roller bearing end cap.Motor is installed on motor installation base, and is fixed on back body.Adjusting axle is connected by the coupler first with motor.Adjust the axle middle part by its shaft shoulder and circlip with deep groove ball bearing second axial location in adjusting on axle.Adjust axle and consist of revolute pair by deep groove ball bearing second, roller bearing end cap and back body, improved adjustment shaft rigidity and rotating accuracy.Adjust the other end of axle by fluting cylinder screw second fixed installation finishing bevel gear cuter second, finishing bevel gear cuter second is meshed with the finishing bevel gear cuter first.
Described 4 side-swing mechanisms are identical in the structure that four legs are connected with body respectively, therefore first consider the side-swing mechanism of left front leg.It is comprised of drive motor, drive motor mounting seat, coupler second, transmission shaft, two angular contact ball bearings, sleeve, leg upper limbs, key, adjustment pad, seal ring, roller bearing end caps.Come supporting shaft by two angular contact ball bearings by the unidirectional fixing bearing collocation form of two fulcrums, adjust the thickness of pad by change, the locking roller bearing end cap is adjusted the play of two bearings.The leg upper limbs carries out axial location by sleeve and transmission shaft, in order to facilitate installing sleeve, cuts down the transmission shaft diameter of sleeve position.Drive motor is arranged on the drive motor seat, and is fixed in precursor.Connect drive motor axle and transmission shaft by coupler second.
The present invention has following apparent outstanding substantive distinguishing features and remarkable technological advance compared with prior art:
One, the present invention and tradition take a step between four-footed to vary in size to realize the scheme that turns to adopt the shank side-sway by changing, and rely on the friction force on ground to make body deflect to realize turning to.
Two, the present invention changes quadruped robot rigidity body, utilizes the waist joint when copying biology to turn to and increases waist and rotate
Pair, and increased a thrust ball bearing in the waist revolute pair, make turn to more flexible.
Three, the present invention considers and produces slip when contact with ground due to side-sway when utilizing friction to turn to, and so just causes the steering angle error large, turns to accuracy compensation mechanism therefore add one, makes to turn to precision greatly to improve.If add simultaneously the waist passive freedom degree, will cause fuselage to rock when taking the air line, added this to turn to accuracy compensation mechanism as having added a driving, make fuselage more steady
Four, the equal firm hollow profile in the side of employing of body before and after the present invention has namely alleviated the weight of robot integral body, has improved again the rigidity of body.
Description of drawings
Fig. 1 is the schematic diagram of a kind of four-leg bionic robot of the present invention pivot stud mechanism;
Fig. 2 is the front elevation of a kind of four-leg bionic robot of the present invention pivot stud mechanism;
Fig. 3 is a kind of four-leg bionic robot of the present invention pivot stud mechanism's waist steering hardware and the schematic diagram that turns to accuracy compensation mechanism;
Fig. 4 is the schematic diagram of a kind of four-leg bionic robot of the present invention pivot stud mechanism side swinging mechanism.
The specific embodiment
Below in conjunction with accompanying drawing and preferred embodiment, the present invention is described in further detail:
As Fig. 1 ~ shown in Figure 4, four-leg bionic robot pivot stud of the present invention mechanism by precursor (I), connect precursor and back body waist steering hardware (II), turn to accuracy compensation mechanism (III), back body (V), and connect the side-swing mechanism (VI) that body and shank be used for turning to and form, it is characterized in that:
Described precursor (I) and back body (V) are space frame structure, and four legs are symmetrically arranged in the end, four angles of framed structure;
Described steering hardware (II) is by waist joint chain connection precursor (I) and back body (V);
The described accuracy compensation mechanism (III) that turns to is positioned on steering hardware (II), turn to the output shaft of the drive motor (12) of accuracy compensation mechanism to drive bevel gear transmission in the hinge of waist joint, precursor (I) is rotated with respect to back body (V).
Described side-swing mechanism (VI) has 4, hinged with shank by precursor (I) or back body (V), the drive motor of 4 side-swing mechanisms (VI) (1,2,3,4) drives respectively whole piece leg mechanism (A, D, C, B) and carries out side-sway.
Embodiment 2:
Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4, the present embodiment is substantially the same manner as Example 1, and special feature is as follows
Described waist steering hardware comprises, thrust ball bearing (5), center shaft (7), deep groove ball bearing first (23), finishing bevel gear cuter first (20), fluting big column screw first (21).The thrust block seating that between precursor (I) and back body (V), on relative sidewall, each own connecting rod connects and connect to form revolute pair by described thrust ball bearing (5).Center shaft (7) one ends are fixed on the thrust block seating of precursor (I) by bolt (6), guarantee the center superposition of center shaft (7) and mounting hole; The other end is by fluting big column screw first (21), and the thrust ball bearing seat through finishing bevel gear cuter first (20), deep groove ball bearing first (23) and back body (V) carries out axial location.Because center shaft (7) is installed from top to down, the distance of passing through is longer, can insert smoothly in mounting hole in order to guarantee center shaft (7), should make the diameter of mounting hole greater than the diameter of center shaft (7).
The described accuracy compensation mechanism (III) that turns to comprises motor (12), motor installation base (11), coupler first (10), adjustment axle (16), key (17), finishing bevel gear cuter second (18), fluting big column screw second (19), deep groove ball bearing second (15) and roller bearing end cap (14).Described motor (12) is installed on motor installation base (11), and is fixed on back body (V); One end of described adjustment axle (16) is connected by coupler first (10) with motor (12) output shaft.Adjust axle (16) middle part by the shaft shoulder and circlip (9) with deep groove ball bearing second (15) axial location in adjusting on axle (16); Adjust axle (16) and consist of revolute pair by deep groove ball bearing second (15), roller bearing end cap (14) with back body (V), improved rigidity and the rotating accuracy of adjustment axle (16); Adjust the other end of axle (16) by fluting big column screw second (19) fixed installation finishing bevel gear cuter second (18) and finishing bevel gear cuter first (20) engagement.
described 4 side-swing mechanisms (VI) are identical in the structure that four legs are connected with body respectively, therefore first consider the side-swing mechanism of left front leg: by drive motor (4), drive motor mounting seat (35), coupler second (34), transmission shaft (32), two angular contact ball bearings (33, 27), sleeve (24), leg upper limbs (25), key (26), adjust pad (30), seal ring (28) and roller bearing end cap (29) form, by two angular contact ball bearings (33, 27) come supporting shaft (32) by the unidirectional fixing bearing collocation form of two fulcrums, adjust the thickness of pad (30) by change, locking roller bearing end cap (29) is adjusted the play of this two bearings, leg upper limbs (25) carries out axial location by sleeve (24) and transmission shaft (32), in order to facilitate installing sleeve (24), cuts down transmission shaft (32) diameter of sleeve (24) position.Drive motor (4) is arranged on drive motor seat (35), and is fixed in precursor (I).Connect drive motor axle and transmission shaft (32) by coupler second (34).
The principle of work accompanying drawings of four-leg bionic robot pivot stud of the present invention mechanism is as follows: when the machine human desires realizes the conter clockwise pivot stud, at first, motor 4 drives the left front leg side-swaies, and the thigh of this leg and calf joint machine operation simultaneously make the sufficient end in contact ground of front left side swinging kick.Secondly, RAT adopts identical method, and motor 1 drives the RAT side-sway, and the thigh of this leg and calf joint machine operation simultaneously make the sufficient end in contact ground of forward right side swinging kick.At this moment, motor 1 and motor 4 reverse drive make back side-sway of left and right foreleg, and motor 12 drives realizes that precursor is to rotating counterclockwise.In like manner, carry out respectively the side-sway of right rear leg and left back leg, and make sufficient end in contact ground, motor 2 and motor 3 reverse drive make back side-sway of left and right back leg, and motor 12 reverse drive realize that back body is to rotating counterclockwise.Repeat said process, just can realize four-leg bionic robot pivot stud.
Claims (4)
1. four-leg bionic robot pivot stud mechanism is by precursor (I), waist steering hardware (II), turn to accuracy compensation mechanism (III), back body (V) and 4 side-swing mechanisms (VI) to form.It is characterized in that:
Described precursor (I) and back body (V) are space frame structure, and four legs are symmetrically arranged in the end, four angles of framed structure;
Described steering hardware (II) is by waist joint chain connection precursor (I) and back body (V);
The described accuracy compensation mechanism (III) that turns to is positioned on steering hardware (II), turn to the output shaft of the drive motor (12) of accuracy compensation mechanism (III) to drive bevel gear transmission in the hinge of waist joint, precursor (I) is rotated with respect to back body (V);
Described side-swing mechanism (VI) has 4, hinged with shank by precursor (I) or back body (V), the drive motor of 4 side-swing mechanisms (VI) (1,2,3,4) drives respectively whole piece leg mechanism (A, D, C, B) and carries out side-sway.
2. four-leg bionic robot pivot stud described according to claims 1 mechanism, it is characterized in that described waist steering hardware (II) comprises thrust ball bearing (5), center shaft (7), deep groove ball bearing first (23), finishing bevel gear cuter first (20), fluting big column screw first (21), the thrust ball seat of each own connecting rod connection and connect to form revolute pair by described thrust ball bearing (5) on relative sidewall between described precursor (I) and back body (V); Described center shaft (7) one ends are fixed in by bolt (6) on the thrust ball bearing seat of precursor (I), guarantee the center superposition of center shaft (7) and mounting hole; The other end is by fluting big column screw first (21), and the thrust ball bearing seat through a finishing bevel gear cuter first (20), a deep groove ball bearing first (23) and back body (V) carries out axial location; Because center shaft (7) is installed from top to down, the distance of passing through is longer, can insert smoothly in mounting hole in order to guarantee center shaft (7), should make the diameter of mounting hole greater than the diameter of center shaft (7).
3. four-leg bionic robot pivot stud described according to claims 2 mechanism is characterized in that describedly turning to accuracy compensation mechanism (III) to comprise motor (12), motor installation base (11), coupler first (10), adjusts axle (16), key (17), finishing bevel gear cuter second (18), fluting big column screw second (19), deep groove ball bearing second (15) and roller bearing end cap (14).Described motor (12) is installed on motor installation base (11), and is fixed on back body (V); One end of described adjustment axle (16) is connected by coupler first (10) with motor (12) output shaft.Adjust axle (16) middle part by the shaft shoulder and circlip (9) with deep groove ball bearing second (15) axial location in adjusting on axle (16); Adjust axle (16) and consist of revolute pair by deep groove ball bearing second (15), roller bearing end cap (14) with back body (V), improved rigidity and the rotating accuracy of adjustment axle (16); Adjust the other end of axle (16) by fluting big column screw second (19) fixed installation finishing bevel gear cuter second (18) and finishing bevel gear cuter first (20) engagement.
4. four-leg bionic robot pivot stud described according to claims 1 mechanism, it is characterized in that described 4 side-swing mechanisms (VI) are identical in the structure that four legs are connected with body respectively, therefore first consider the side-swing mechanism of left front leg: by drive motor (4), drive motor mounting seat (35), coupler second (34), transmission shaft (32), two angular contact ball bearings (33, 27), sleeve (24), leg upper limbs (25), key (26), adjust pad (30), seal ring (28) and roller bearing end cap (29) form, by two angular contact ball bearings (33, 27) come supporting shaft (32) by the unidirectional fixing bearing collocation form of two fulcrums, adjust the thickness of pad (30) by change, locking roller bearing end cap (29) is adjusted the play of this two bearings, leg upper limbs (25) carries out axial location by sleeve (24) and transmission shaft (32), in order to facilitate installing sleeve (24), cuts down transmission shaft (32) diameter of sleeve (24) position.Drive motor (4) is arranged on drive motor seat (35), and is fixed in precursor (I).Connect drive motor axle and transmission shaft (32) by coupler second (34).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310099139.1A CN103144694B (en) | 2013-03-26 | 2013-03-26 | A kind of four-leg bionic robot pivot stud mechanism |
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| CN201310099139.1A CN103144694B (en) | 2013-03-26 | 2013-03-26 | A kind of four-leg bionic robot pivot stud mechanism |
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| CN103144694A true CN103144694A (en) | 2013-06-12 |
| CN103144694B CN103144694B (en) | 2016-01-13 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103465991A (en) * | 2013-09-23 | 2013-12-25 | 南京理工大学 | Simple type quadruped robot |
| CN108146532A (en) * | 2017-12-19 | 2018-06-12 | 浙江工业大学 | Bionical mobile robot device |
| CN110181496A (en) * | 2019-04-26 | 2019-08-30 | 南京航空航天大学 | A kind of modularized bionic quadruped robot |
| CN110588828A (en) * | 2019-09-02 | 2019-12-20 | 江苏集萃智能制造技术研究所有限公司 | Light electric quadruped robot |
| CN111232083A (en) * | 2020-02-25 | 2020-06-05 | 哈尔滨商业大学 | Robot ground |
| CN111949039A (en) * | 2020-09-09 | 2020-11-17 | 西北工业大学 | Semi-circular bionic blade leg-based six-legged robot course control method |
| CN112606925A (en) * | 2020-12-25 | 2021-04-06 | 江苏集萃复合材料装备研究所有限公司 | Four-foot walking robot and walking mode thereof |
| CN113291390A (en) * | 2021-07-13 | 2021-08-24 | 许昌职业技术学院 | Multi-foot step type high-trafficability traction robot cow |
| CN116293201A (en) * | 2023-04-08 | 2023-06-23 | 南京北控工程检测咨询有限公司 | Pipeline carrier and pipeline robot |
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| CN101791994A (en) * | 2010-02-26 | 2010-08-04 | 聊城大学 | Walking mechanism of cam driving control type quadruped robot |
| CN102343950A (en) * | 2011-07-13 | 2012-02-08 | 北京交通大学 | Pliant four-footed robot with flexible waist and elastic legs |
| CN102390457A (en) * | 2011-12-30 | 2012-03-28 | 上海大学 | Leg mechanism for four-legged robots |
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| JP2002103253A (en) * | 2000-09-28 | 2002-04-09 | Sony Corp | Leg type moving robot and mounting structure of leg part |
| EP1616673A1 (en) * | 2004-07-16 | 2006-01-18 | Harmonic Drive Systems Inc. | Joint mechanism with two actuators for robot hand and the like |
| CN101791994A (en) * | 2010-02-26 | 2010-08-04 | 聊城大学 | Walking mechanism of cam driving control type quadruped robot |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103465991A (en) * | 2013-09-23 | 2013-12-25 | 南京理工大学 | Simple type quadruped robot |
| CN103465991B (en) * | 2013-09-23 | 2015-09-16 | 南京理工大学 | A kind of simple type quadruped robot |
| CN108146532A (en) * | 2017-12-19 | 2018-06-12 | 浙江工业大学 | Bionical mobile robot device |
| CN110181496A (en) * | 2019-04-26 | 2019-08-30 | 南京航空航天大学 | A kind of modularized bionic quadruped robot |
| CN110588828A (en) * | 2019-09-02 | 2019-12-20 | 江苏集萃智能制造技术研究所有限公司 | Light electric quadruped robot |
| CN111232083B (en) * | 2020-02-25 | 2020-09-22 | 哈尔滨商业大学 | Robot ground |
| CN111232083A (en) * | 2020-02-25 | 2020-06-05 | 哈尔滨商业大学 | Robot ground |
| CN111949039A (en) * | 2020-09-09 | 2020-11-17 | 西北工业大学 | Semi-circular bionic blade leg-based six-legged robot course control method |
| CN111949039B (en) * | 2020-09-09 | 2021-06-04 | 西北工业大学 | Semi-circular bionic blade leg-based six-legged robot course control method |
| CN112606925A (en) * | 2020-12-25 | 2021-04-06 | 江苏集萃复合材料装备研究所有限公司 | Four-foot walking robot and walking mode thereof |
| CN113291390A (en) * | 2021-07-13 | 2021-08-24 | 许昌职业技术学院 | Multi-foot step type high-trafficability traction robot cow |
| CN113291390B (en) * | 2021-07-13 | 2022-07-19 | 许昌职业技术学院 | Multi-foot striding type high-trafficability traction robot cattle |
| CN116293201A (en) * | 2023-04-08 | 2023-06-23 | 南京北控工程检测咨询有限公司 | Pipeline carrier and pipeline robot |
| CN116293201B (en) * | 2023-04-08 | 2023-10-10 | 南京北控工程检测咨询有限公司 | Pipeline carrier and pipeline robot |
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