CN103661667A - Smart quadruped robot with flexible waist - Google Patents
Smart quadruped robot with flexible waist Download PDFInfo
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- CN103661667A CN103661667A CN201310676751.0A CN201310676751A CN103661667A CN 103661667 A CN103661667 A CN 103661667A CN 201310676751 A CN201310676751 A CN 201310676751A CN 103661667 A CN103661667 A CN 103661667A
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Abstract
The invention discloses a smart quadruped robot with a flexible waist. The smart quadruped robot with the flexible waist comprises a front body, a rear body, a waist mechanism, crotch mechanisms and leg mechanisms. The front body and the rear body are connected through a split Hooke joint, so that relative deflection and pitching of the front body and the rear body are realized. The front body and the rear body are respectively provided with two crotch mechanisms, wherein output shafts of the crotch mechanisms are made to face the outer side of the bodies so that the leg mechanisms can be installed; the output shafts are meshed with bevel gears between transmission shafts for transmission, so that the output shafts are driven through rotation. A fixed shaft is fixed to each crotch mechanism, and the fixed shafts are driven to rotate to rotate a gearbox; in this way, the leg mechanisms can swing front and back as well as up and down. Each leg mechanism comprises a thigh part and a calf part, wherein each thigh part and each calf part are connected through a knee joint; transmission of the knee joints is realized through two bevel gears, so that the calf part made to swing front and back relative to the thigh part. The smart quadruped robot with the flexible waist has the advantages that the capability of passing through a mountain environment of the robot can be improved, the turning radius in the advancing process is reduced, rotational inertia of legs of the robot is reduced, and the energy utilization rate is increased.
Description
Technical field
The invention belongs to sniffing robot field, relate to a kind of four-footed sniffing robot, specifically, is a kind of dexterous type quadruped robot with flexible waist.
Background technology
Occurring in nature, mammal has very high landform adaptive capacity.The speed of cheetah can reach 110km/h, and goat can freely be run between mountain region.The flexible backbone that quadruped mammal has can increase steplength in running, and reduces turn radius, realizes bumper and absorbing shock and landform comformability, and its stable walking is at a high speed played an important role.Meanwhile, the shank of quadruped mammal near sufficient end divide lightweight, muscle is less, and heavier near body part, muscle is larger, thigh drives shank to produce main propulsive effort to adapt when running.Quadruped flexible body and energy configuration efficiently play an important role for their high-speed motion and gait conversion.Along with going deep into of quadruped robot research, for the requirement of quadruped robot, also from static state walking, to dynamic motions such as jumping, run, change.Mostly the current existing four-footed motor drive machines National People's Congress is rigidity body, poor for landform adaptive capacity, and thigh motor arranges and disperse, and causes capacity usage ratio low, cannot provide enough power for Robotic Dynamic gait and gait conversion; Some is owed to drive or has adopted the flexible backbone of polylith elastomeric material splicing as propulsive effort without driving quadruped robot, but degree of freedom is very few, does not have the ability of field walking; Other have the quadruped robot waist poor rigidity of waist, cannot according to terrain environment, regulate the maximum deflection scope of waist, and field landform adaptive capacity is poor.
Summary of the invention
The present invention is directed in prior art, rigidity body and the thigh motor dispersed placement of quadruped robot cause the problem that capacity usage ratio is low, a kind of dexterous type quadruped robot with flexible waist is proposed, its trunk has flexible structure, can improve the traffic potential of mountain environment, the turn radius that reduces to advance, reduces the rotor inertia of robot leg, energization degree of utilization.
The present invention has the dexterous type quadruped robot of flexible waist, comprises front body, rear vehicle body, waist mechanism, mechanism of crotch and leg mechanism.
Wherein, front body and rear vehicle body are framed structure; Between front body aft end face and rear vehicle body front end face, by waist mechanism, be connected.
Described waist mechanism is split type Hooke's hinge, and wherein, two hinge seats respectively bearing are connected in cross center shaft on two groups of opposite ends, has lateral deflection and longitudinal two degree of freedom of pitching; Two hinge seats are connected with front body, rear vehicle body respectively.Deflection degree of freedom by Hooke's hinge makes front body and rear vehicle body relativity shift; Pitching degree of freedom by Hooke's hinge can make front body pitching relative to rear vehicle body.
Mechanism of described crotch has quadruplet, and structure is identical, comprises gear box A, bevel gear shaft A, dead axle and synchronous pulley A; Wherein, gear box A is the tubular three-port structure with T-shaped cross section, has three arms, makes three arms be respectively the first arm, the second arm and the 3rd arm; The first arm is relative with the second arm mouth of pipe; In the first arm and the 3rd arm, all bearing is connected with bevel gear shaft A; In the second arm, be installed with dead axle; In the first arm and the 3rd arm, the inner of bevel gear shaft A all has finishing bevel gear cuter, and intermeshing; In the first arm, on bevel gear shaft A outer end and dead axle, be all installed with synchronous pulley A;
The mechanism of crotch that quadruplet said structure forms, is arranged on respectively on front body and rear vehicle body inner bottom surface by gearbox shaft bearing for a pair of between two; Gearbox shaft bearing bearing is connected to the first arm and second tube end; In mechanism of Bing Shimeidui crotch, the outer end of the 3rd arm internal bevel gear axle A is towards vehicle body outside; In mechanism of above-mentioned crotch, the 3rd arm internal bevel gear axle A external part is used for installing a set of leg mechanism.
The driver train that corresponding two covers of above-mentioned Mei Tao mechanism of crotch are arranged on vehicle body end face drives; Described driver train comprises synchronous pulley B and drive motor A; Wherein, drive motor A output shaft and synchronous pulley B are coaxially connected; Two cover driver trains corresponding to mechanism of Ling Meitao crotch are respectively the first driver train and the second driver train; Wherein, in the first driver train, synchronous pulley B is socketed by the upper synchronous pulley A installing of bevel gear shaft A in Timing Belt and mechanism of a set of crotch; Synchronous pulley B in the second driver train is socketed by the synchronous pulley A on Timing Belt and dead axle.Thus, in the first driver train, drive motor A drives synchronous pulley B to rotate, and then drives the first arm internal bevel gear to rotate, thereby drives the 3rd arm internal bevel gear to rotate, the final rotation that drives the 3rd arm internal bevel gear axle A, moves back and forth leg mechanism; And drive motor A drives synchronous pulley B to rotate in the second driver train, and then drive the synchronous pulley A installing on the dead axle in the second arm to rotate, thereby drive whole gear case to rotate; Now also need to drive the finishing bevel gear cuter in the first arm internal bevel gear assembly A to rotate by the first driver train, leg mechanism is swung up and down.
Described leg mechanism comprises leg portion, lower leg portion and knee joint part; In leg portion upper end and mechanism of crotch, the outer end of bevel gear shaft A is connected; Leg portion lower end is connected with lower leg portion upper end by knee joint structure; Described knee joint structure, comprises gear box B, bevel gear shaft B and axle drive shaft; Wherein, gear box B head bearing is connected with bevel gear shaft B; Axle drive shaft two ends connect respectively at gear case left and right sides bearing; Make the axis of the axis vertical drive shaft of bevel gear shaft B; On the inner of bevel gear shaft B and axle drive shaft, all there is finishing bevel gear cuter, and intermeshing; In said gear case B, the left and right sides is connected with both sides, leg portion lower end respectively, and makes the two ends of axle drive shaft respectively through both sides, leg portion lower end, is connected with both sides, lower leg portion lower end; The output shaft fixed connection of the outer end of bevel gear shaft B and drive motor B.
The invention has the advantages that:
1, in quadruped robot of the present invention, by the waist mechanism of Hooke's hinge structure, change the relative position of forward and backward vehicle body, in complicated particular surroundings, surveying in traveling process thus, while running into the special topography and geomorphology of various complexity, by the deflection relatively of forward and backward vehicle body, can turn at small space, reduce the turn radius of sniffing robot; And for the obstacle running in traveling process, can first front body be placed on obstacle, then utilize the pitching degree of freedom of waist, make forward and backward vehicle body press close to obstacle surface, center of gravity reduces, prevent because front body makes sniffing robot layback overturning compared with high;
2, in quadruped robot of the present invention, waist mechanism limits it by the flexure strip designing and freely rotates, and when robot waist is done comformability rotation, flexure strip deforms, and after robot is got back to structuring landform, gets back to home position;
3, in quadruped robot of the present invention, in waist mechanism, be designed with positive stop, can change the position of block according to landform and actual needs, thereby change the range of deflection angles of waist; As advanced on level land, forward and backward vehicle body does not need relative pitching, can be with positive stop, waist pitching degree of freedom is locked; For general quadruped mammal, the angle of its backbone K/UP (backbone curve opening upwards) is less than the angle that backbone is bent downwardly (Open Side Down for backbone curve), so can limiting robot, to be bent downwardly angle larger, and K/UP angle is less; When descending, waist K/UP can reduce robot height of gravitational center, at this moment can make waist upward deflect angle larger, and that waist deflects down angle is less or locked;
4, in quadruped robot of the present invention, two drive motor in hip joint are all arranged on car body, have reduced weight and the rotor inertia of shank, have improved capacity usage ratio, meanwhile, make quadruped robot integral structure become compact; And knee joint motor is arranged on to the thigh position of quadruped robot, also beneficial for reducing hip joint rotor inertia;
5, in quadruped robot of the present invention, the pitch in hip joint carries out transmission by driven by motor synchronous pulley in conjunction with finishing bevel gear cuter; Bevel drive adopts gear case, has guaranteed precision and lubricated, has reduced the wearing and tearing of finishing bevel gear cuter; And adopt synchronous belt pulley transmission noise little, energy absorbing, transmitting ratio is large, and needn't lubricate, and precision is also higher, and drive motor position is comparatively flexible;
6,, in quadruped robot of the present invention during yaw, the drive motor of pitch also will rotate simultaneously; The yaw in hip joint adopts the transmission of synchronous pulley driven gear case, guarantees that yaw and pitch are independent of each other;
7, in quadruped robot of the present invention, vehicle body adopts tower structure, has alleviated weight, has increased rigidity, can adapt to well mountain region complex environment walking;
8, in quadruped robot of the present invention, shank hollow, there is spring inside, have vibration damping and energy storage effect, while making quadruped robot be traveling in the rugged ground such as mountain region, spring can play the effect of vibration damping and energy storage, the stability that has increased quadruped robot, has improved capacity usage ratio.
Accompanying drawing explanation
Fig. 1 is quadruped robot integral structure schematic diagram of the present invention;
Fig. 2 a is waist mechanism structure front elevational schematic in quadruped robot of the present invention;
Fig. 2 b is that in quadruped robot of the present invention, waist mechanism structure is faced cross-sectional schematic;
Fig. 2 c is that in quadruped robot of the present invention, cross-sectional schematic is looked on the waist mechanism structure right side;
Fig. 3 a is crotch's mechanism structure schematic diagram in quadruped robot of the present invention;
Fig. 3 b is crotch's mechanism structure cutaway view in quadruped robot of the present invention;
Fig. 4 is driving mechanism structure schematic diagram in quadruped robot of the present invention;
Fig. 5 is leg mechanism structural representation in quadruped robot of the present invention;
Fig. 6 is leg mechanism structure cutaway view in quadruped robot of the present invention.
In figure:
Vehicle body 3-waist mechanism after 1-front body 2-
The 5-of mechanism of 4-crotch leg mechanism 301-Hooke's hinge
302-elastic construction 303-position limiting structure 301a-U type hinge seat A
301b-U type hinge seat B 301c-cross center shaft 301d-bearing is to A
301e-bearing is to B 301f-bearing cap shim A 301g-bearing cap shim B
302a-flexure strip A 302b-flexure strip B 303a-position-limited trough
303b-limiting stopper 303c-limiting stopper mounting groove 303d-limiting stopper baffle plate
303e-limit dais 401-gear box A 402-bevel gear assembly A
403-dead axle assembly 404-synchronous pulley A 405-gearbox shaft bearing
406-hollow shaft 407-driver train 402a-bevel gear shaft
402b-deep groove ball bearing C 402c-a set of cups 402d-sleeve
402e-roller bearing end cap 402f-finishing bevel gear cuter 403a-dead axle
403b-gear case end cap 407a-synchronous pulley B 407b-drive motor A
501-thigh structure 502-shank structure 503-knee joint structure
504-drive motor B 505-bumper and absorbing shock structure 502a-U type framed structure
502b-tubular supporting construction 503a-gear box B 503b-bevel gear assembly B
503c-axle drive shaft 505a-slide bar 505b-cushions foot
505c-damping spring
The specific embodiment
Below in conjunction with accompanying drawing, the present invention will be further described.
Quadruped robot of the present invention, comprises front body 1, rear vehicle body 2, waist mechanism 3, mechanism of crotch 4 and leg mechanism 5, as shown in Figure 1.
Wherein, front body 1 is identical with rear vehicle body 2 structures, is rectangular frame structure; Between front body 1 aft end face and rear vehicle body 2 front end faces, by waist mechanism 3, be connected.
Described waist mechanism 3 consists of with position limiting structure 303 Hooke's hinge 301, elastic construction 302, has two degree of freedom, as shown in Fig. 2 a, 2b, 2c; Wherein, Hooke's hinge 301 comprises that U-shaped hinge seat A301a, U-shaped hinge seat B301b, cross center shaft 301c, a pair of deep groove ball bearing A301d, a pair of deep groove ball bearing B301e, pair of flanges formula bearing cap shim are to A301f, pair of flanges formula bearing cap shim B301g.The attachment face of U-shaped hinge seat A301a and U-shaped hinge seat B301b is connected by screw and front body 1 aft end face, rear vehicle body 2 front end faces respectively.U-shaped hinge seat A301a has coaxial cylindrical hole with two tiger's jaw ends of U-shaped hinge seat B301b; On the transverse axis of described cross center shaft 301c and longitudinal axis two ends, be socketed with respectively a pair of deep groove ball bearing A301d and a pair of deep groove ball bearing B301e; A pair of deep groove ball bearing A301d and a pair of deep groove ball bearing coordinate with the through hole of the tiger's jaw end of two of U-shaped hinge seat A301a, U-shaped hinge seat B301b respectively the outer ring of B301e.A pair of deep groove ball bearing A301d coordinates location by the transverse axis of cross center shaft 301c with the step surface designing on the longitudinal axis respectively with one end of a pair of deep groove ball bearing B301e, the other end is located by bearing cap shim A301f and the bearing cap shim B301g being fixedly mounted on U-shaped hinge seat A301a, U-shaped hinge seat B301b respectively, realizes thus the axial restraint of a pair of deep groove ball bearing A301d and a pair of deep groove ball bearing B301e.In the waist mechanism 3 of said structure, the deflection degree of freedom by Hooke's hinge 301 can make front body 1 and rear vehicle body 2 relativity shifts, and the pitching degree of freedom by Hooke's hinge 301 can make front body 1 and the relative pitching of rear vehicle body 2.Described elastic construction 302 comprises a pair of flexure strip A302a and a pair of flexure strip B302b, is arc-shaped elastic sheet.In a pair of flexure strip A302a, two flexure strips are horizontally disposed with, and two ends are connected with U-shaped hinge seat A301a and cross center shaft 301c respectively; In a pair of flexure strip B302b, two flexure strips vertically arrange, and two ends are connected with U-shaped hinge seat B301b and cross center shaft 301c respectively; The two ends of two flexure strips in a pair of flexure strip A302a and a pair of flexure strip B302b are bonded to each other respectively, and in a pair of flexure strip A302a and a pair of flexure strip B302b, the extrados of two flexure strips oppositely arranges (the circular arc of two flexure strips is circumscribed).By a pair of flexure strip A302a and a pair of flexure strip B302b, limit respectively pitching degree of freedom and the deflection degree of freedom of Hooke's hinge 301; When Hooke's hinge deflection, two flexure strips in a pair of flexure strip B302b stretch respectively and compress; When Hooke's hinge pitching, two flexure strips in a pair of flexure strip A302a stretch respectively and compress.After Hooke's hinge 301 external force are removed, by the elastic reaction of a pair of flexure strip A302a and a pair of flexure strip B302b, make Hooke's hinge 301 get back to initial position.The rigidity of above-mentioned a pair of flexure strip A302a and a pair of flexure strip B302b is specifically chosen as required.Described position limiting structure 303 comprises position-limited trough 303a, limiting stopper 303b, limiting stopper mounting groove 303c and limiting stopper baffle plate 303d; Wherein, position-limited trough 303a designs in the end, two ends of transverse axis and the longitudinal axis of cross center shaft 301c, along circumferential edge, offers, and forms circular arc type structure; Make thus to form limit dais 303e between the two ends of position-limited trough 303a; Simultaneously on bearing cap shim A301f at one end of 303 of position limiting structures and bearing cap shim B301g, offer respectively a pair of limiting stopper mounting groove 303c; Limiting stopper mounting groove 303c is positioned at outside, limit dais 303d two ends, is positioned at position-limited trough 303a correspondence position; Thus by insert limiting stopper 303b in a pair of limiting stopper mounting groove 303c, make Hooke's hinge 301 in deflection and luffing process, when between limiting stopper 303b and limit dais 303e two ends, coordinate, realize deflection and the luffing angle sports limiting of Hooke's hinge 301, and then it is spacing with the relative deflection of rear vehicle body 2 and luffing to realize front body 1; And by limit dais 303e offer more than one pair of limiting stopper mounting groove 303c on bearing cap shim A301f at one end and bearing cap shim B301g, make limiting stopper 303b insert different limiting stopper mounting groove 303c, the deflection and the luffing angle maxim that realize Hooke's hinge 301 regulate, and then realize front body 1 and the relative deflection of rear vehicle body 2 and the adjusting of luffing angle maxim.Described limiting stopper baffle plate 303d be fixedly mounted on position-limited trough 303a bearing cap shim A301f at one end and bearing cap shim B301g upper, limiting stopper mounting groove and position-limited trough are blocked, prevent that dust dirt from entering, realize limiting stopper in limiting stopper mounting groove simultaneously
axiallylocation.
Mechanism of described crotch has quadruplet, and structure is identical, comprises gear box A 401, bevel gear assembly A402, dead axle assembly 403 and synchronous pulley A404, as shown in Fig. 3 a, 3b.Wherein, gear case 401, for having the tubular three-port structure in T-shaped cross section, has three arms, makes three arms be respectively the first arm, the second arm and the 3rd arm; The first arm is relative with the second arm mouth of pipe.In the first arm and the 3rd arm, be all installed with in the same manner bevel gear assembly A402.Described bevel gear assembly A402 comprises bevel gear shaft 402a, a pair of deep groove ball bearing C402b and a set of cups 402c, sleeve 402d, roller bearing end cap 402e.Wherein, a set of cups 402c is tubular structure, and coaxial sleeve is inner at arm; And rear end has flange arrangement outer rim and the laminating of arm mouth of pipe end, realizes the location between a set of cups 402c and arm.Bevel gear shaft 402a is connected by bearing between a pair of deep groove ball bearing C402b and a set of cups 402c, realizes thus bevel gear shaft 402a and connects with the bearing of 401 of gears case.The outer ring of a pair of deep groove ball bearing C402b one end coordinates location with a set of cups 402c front end inner edge; The outer ring of the other end coordinates with the roller bearing end cap 402e being arranged on the arm mouth of pipe, by screw, roller bearing end cap 402e, a set of cups 402c rear end outer rim and arm mouth of pipe end face three is fixed; And a pair of deep groove ball bearing C402b upper bearing inner ring is realized axial location by circlip for shaft, and between a pair of deep groove ball bearing C402b, pass through sleeve 402d axial location; Thus, realize the axial location of a pair of deep groove ball bearing C402.Bevel gear shaft 402a the inner of above-mentioned bevel gear assembly A402 has finishing bevel gear cuter 402f, is positioned at gear case 401; Outer end is positioned at gear case 401 outsides through roller bearing end cap 402e; And the finishing bevel gear cuter 402f of two cover bevel gear assembly A402 the inners is intermeshing.In described the second arm, be installed with dead axle assembly 403; Dead axle assembly 403 comprises dead axle 403a and gear case end cap 403b; Gear case end cap 403b is fixedly mounted on the second arm mouth of pipe; Dead axle 403a is through gear case 401 end caps, and coaxial and gear case end cap 403b fixes, and realizes thus the fixing of 401 of dead axle 403a and gears case.Bevel gear shaft 402a external part in above-mentioned the first arm internal bevel gear assembly A402, and all coaxially by key connecting, synchronous pulley A404 is installed on the external part of the second dead axle 403a in arm, synchronous pulley A404 coordinates location with the step surface designing on external part, and the circular nut axial restraint of installing by external part end thread.In mechanism of above-mentioned crotch 4, in the 3rd arm, the bevel gear shaft 402a external part of bevel gear assembly A402 is used for installing a set of leg mechanism 5.
The mechanism of crotch 4 that quadruplet said structure forms, is arranged on respectively on front body 1 and rear vehicle body 2 inner bottom surfaces by gearbox shaft bearing 405 for a pair of between two.Described gearbox shaft bearing 405 bearing carrier rings are connected on the one hollow shaft 406 of coaxial design on dead axle and first pipe port roller bearing end cap 402e outer wall; In hollow shaft 406, be used for through bevel gear shaft 402a.The relative vehicle body fore-and-aft direction axis of mechanism of above-mentioned Mei Dui crotch 4 are symmetrical, in mechanism of Qie Meidui crotch 4 in the 3rd arm internal bevel gear assembly A402 bevel gear shaft 402a external part towards vehicle body outside.
The driver train 407 that corresponding two covers of mechanism of above-mentioned Mei Tao crotch 4 are arranged on vehicle body end face drives; As shown in Figure 4, described driver train 407 comprises synchronous pulley B407a and drive motor A407b; Wherein, drive motor A407b output shaft and synchronous pulley B407a are coaxially connected; Two cover driver trains 407 of mechanism of Qie Lingmeitao crotch 4 correspondences are respectively the first driver train and the second driver train; Wherein, the synchronous pulley B407a in the first driver train is socketed by the synchronous pulley A404 on bevel gear shaft 402a in the first arm internal bevel gear assembly A402 in Timing Belt and mechanism of a set of crotch 4; Synchronous pulley B407a in the second driver train is socketed by the upper synchronous pulley A404 installing of the dead axle 403a in Timing Belt and the second arm; Thus, in the first driver train, drive motor A407b drives synchronous pulley B407a to rotate, and then drive finishing bevel gear cuter 402f in the first arm internal bevel gear assembly A402 to rotate, thereby drive finishing bevel gear cuter 402f in the 3rd arm internal bevel gear assembly A402 to rotate, the final rotation that drives bevel gear shaft 402a in the 3rd arm internal bevel gear assembly A402, moves back and forth leg mechanism 5; And drive motor A407b drives synchronous pulley B407a to rotate in the second driver train, and then drive the synchronous pulley A404 installing on the dead axle in the second arm to rotate, thereby drive whole gear case 401 to rotate, leg mechanism 5 is swung up and down.When said gear case 401 rotates, because the first drive motor is not worked, therefore the finishing bevel gear cuter 402f in the first arm internal bevel gear assembly A402 is static does not rotate, but in the 3rd arm internal bevel gear assembly A402, finishing bevel gear cuter 402f can rotate with gear case 401 by the finishing bevel gear cuter 402f in the first arm internal bevel gear assembly A402; Finishing bevel gear cuter 402f in the 3rd arm internal bevel gear assembly A402 can drive the bevel gear shaft 402a in the internal bevel gear assembly A402 of the 3rd arm to rotate thus, thus the swing that brings whole leg mechanism 5; 4 two degree of freedom motions of mechanism of visible crotch (drive leg mechanism 5 swings and swing up and down degree of freedom) are coupled; Therefore, when the second driver train drive gear casing 401 rotates, also need to drive the finishing bevel gear cuter 402f in the first arm internal bevel gear assembly A402 to rotate by the first driver train, thereby the rotation of the bevel gear shaft 402a in the 3rd arm internal bevel gear assembly A402 that the rotation of offsetting the finishing bevel gear cuter 402f in the 3rd arm internal bevel gear assembly A402 brings, bevel gear shaft 402a is rotated relative to gear case 401 nothings, thereby when shank is swung up and down, swing does not occur; And the first driver train drives the finishing bevel gear cuter 402f in the first arm internal bevel gear assembly A402 to rotate the rotation that does not affect gear case 401, thus, can realize the decoupling zero between 4 two degree of freedom motion of mechanism of crotch, realize separate between 4 two degree of freedom motions of mechanism of crotch.By mechanism of above-mentioned crotch 4, reduced weight and the rotor inertia of quadruped robot shank, improved capacity usage ratio, make quadruped robot integral structure become compact.
Described leg mechanism 5 comprises leg portion 501, lower leg portion 502 and knee joint part 503, as shown in Figure 5; Leg portion 501 is vertical framed structure; Lower leg portion 502 tops are U-shaped framed structure 502a, and bottom is tubular supporting construction 502b; Tubular supporting construction 502b top and U-shaped framed structure 502a bottom surface are connected.In leg portion 501 upper ends and mechanism of crotch 4, in the 3rd arm internal bevel gear assembly A402, the external part of bevel gear shaft 402a is connected; Leg portion 501 lower ends are connected with U-shaped framed structure 502a in lower leg portion 502 by knee joint structure 503.Mechanism of described knee joint structure 503Yu crotch 4 structures are similar, as shown in Figure 6, comprise gear box B 503a, bevel gear assembly B503b and axle drive shaft 503c; Wherein, gear box B 503a is identical with gear box A 401, bevel gear assembly A402 structure in bevel gear assembly B503b and mechanism of crotch 4; And bevel gear assembly B503b is arranged in the 3rd arm of gear box B 503a with bevel gear assembly A402 identical mounting means in gear box A 401.Axle drive shaft 503c middle part has finishing bevel gear cuter; The two ends of axle drive shaft 503c are connected by bearing with second tube end with the first arm in gear box B 503a respectively, and in concrete connection mode and mechanism of crotch, the bevel gear shaft 402a of bevel gear assembly A402 is identical with the connection mode between arm; And make the engagement of the finishing bevel gear cuter on bevel gear shaft in finishing bevel gear cuter on axle drive shaft 503c and bevel gear assembly B503b.In said gear case B503a, the first arm and second tube end are connected by bolt with leg portion 501 both sides, lower end respectively, and the two ends that make axle drive shaft 503c are respectively through leg portion 501 both sides, lower end, and with lower leg portion 502 in U-shaped framed structure 502a both sides by key connecting, fix.Thus, the output shaft of drive motor B504 is connected by the bevel gear shaft external part on the 3rd arm internal bevel gear assembly B503b in coupler and gear box B 503a; Make drive motor B504 drive the finishing bevel gear cuter in bevel gear assembly B503b to rotate, drive the finishing bevel gear cuter on axle drive shaft 503c to rotate, and then axle drive shaft 503c is rotated, and finally by axle drive shaft 503c, drive lower leg portion 502 swings, form the one degree of freedom of knee joint structure 503 motions.
On above-mentioned lower leg portion 502, bumper and absorbing shock structure 505 is also installed, bumper and absorbing shock structure 505 comprises slide bar 505a, cushions sufficient 505b, damping spring 505c; Wherein, slide bar 505a is slidably connected in lower leg portion 502 in tubular supporting construction 502b, can slide vertically; Slide bar 505a top has flange, by coordinating with tubular supporting construction 502b bottom inward flange, and in conjunction with U-shaped framed structure 502a bottom surface in lower leg portion 502, realizes the axial limiting of slide bar 505a.Cushioning sufficient 505b is spherical inflatable structure, is fixedly mounted on slide bar 505a bottom.In tubular supporting construction 502b, damping spring 505c is also installed, damping spring 505c is positioned between slide bar 505a top and U-shaped framed structure 502a bottom surface.By above-mentioned bumper and absorbing shock structure 505, while making quadruped robot of the present invention be traveling in the rugged ground such as mountain region, there is the function of vibration damping and energy storage, increased the stability of quadruped robot, improved capacity usage ratio.
Claims (7)
1. a dexterous type quadruped robot with flexible waist, is characterized in that: comprise front body, rear vehicle body, waist mechanism, mechanism of crotch and leg mechanism;
Wherein, front body and rear vehicle body are framed structure; Between front body aft end face and rear vehicle body front end face, by waist mechanism, be connected;
Described waist mechanism is split type Hooke's hinge, and wherein, two hinge seats respectively bearing are connected in cross center shaft on two groups of opposite ends, has lateral deflection and longitudinal two degree of freedom of pitching; Two hinge seats are connected with front body, rear vehicle body respectively; Deflection degree of freedom by Hooke's hinge makes front body and rear vehicle body relativity shift; Pitching degree of freedom by Hooke's hinge can make front body pitching relative to rear vehicle body;
Mechanism of described crotch has quadruplet, and structure is identical, comprises gear box A, bevel gear shaft A, dead axle and synchronous pulley A; Wherein, gear box A is the tubular three-port structure with T-shaped cross section, has three arms, makes three arms be respectively the first arm, the second arm and the 3rd arm; The first arm is relative with the second arm mouth of pipe; In the first arm and the 3rd arm, all bearing is connected with bevel gear shaft A; In the second arm, be installed with dead axle; In the first arm and the 3rd arm, the inner of bevel gear shaft A all has finishing bevel gear cuter, and intermeshing; In the first arm, on bevel gear shaft A outer end and dead axle, be all installed with synchronous pulley A;
The mechanism of crotch that quadruplet said structure forms, is arranged on respectively on front body and rear vehicle body inner bottom surface by gearbox shaft bearing for a pair of between two; Gearbox shaft bearing bearing is connected to the first arm and second tube end; In mechanism of Bing Shimeidui crotch, the outer end of the 3rd arm internal bevel gear axle A is towards vehicle body outside;
The driver train that corresponding two covers of above-mentioned Mei Tao mechanism of crotch are arranged on vehicle body end face drives; Described driver train comprises synchronous pulley B and drive motor A; Wherein, drive motor A output shaft and synchronous pulley B are coaxially connected; Two cover driver trains corresponding to mechanism of Ling Meitao crotch are respectively the first driver train and the second driver train; Wherein, in the first driver train, synchronous pulley B is socketed by the upper synchronous pulley A installing of bevel gear shaft A in Timing Belt and mechanism of a set of crotch; Synchronous pulley B in the second driver train is socketed by the synchronous pulley A on Timing Belt and dead axle;
Described leg mechanism comprises leg portion, lower leg portion and knee joint part; In leg portion upper end and mechanism of crotch, the outer end of bevel gear shaft A is connected; Leg portion lower end is connected with lower leg portion upper end by knee joint structure; Described knee joint structure, comprises gear box B, bevel gear shaft B and axle drive shaft; Wherein, gear box B head bearing is connected with bevel gear shaft B; Axle drive shaft two ends connect respectively at gear case left and right sides bearing; Make the axis of the axis vertical drive shaft of bevel gear shaft B; On the inner of bevel gear shaft and axle drive shaft, all there is finishing bevel gear cuter, and intermeshing; In said gear case B, the left and right sides is connected with both sides, leg portion lower end respectively, and makes the two ends of axle drive shaft respectively through both sides, leg portion lower end, is connected with both sides, lower leg portion lower end; The output shaft fixed connection of the outer end of bevel gear shaft and drive motor B.
2. a kind of dexterous type quadruped robot with flexible waist as claimed in claim 1, is characterized in that: in described waist mechanism, have elastic construction; Described elastic construction comprises a pair of flexure strip A and a pair of flexure strip B, is arc-shaped elastic sheet; In a pair of flexure strip A, two flexure strips are horizontally disposed with, and two ends are connected with hinge seat and the cross center shaft with pitching degree of freedom respectively; In a pair of flexure strip B, two flexure strips vertically arrange, and two ends are connected with hinge seat and the cross center shaft with deflection degree of freedom respectively; The two ends of two flexure strips in a pair of flexure strip A and a pair of flexure strip B are bonded to each other respectively, and in a pair of flexure strip A and a pair of flexure strip B, the extrados of two flexure strips oppositely arranges.
3. a kind of dexterous type quadruped robot with flexible waist as claimed in claim 1, is characterized in that: in described waist mechanism, have position limiting structure; Described position limiting structure comprises position-limited trough, limiting stopper, limiting stopper mounting groove and limiting stopper baffle plate; Wherein, position-limited trough designs in the end of transverse axis and the longitudinal axis of cross center shaft, along circumferential edge, offers, and forms circular arc type structure; Make thus to form limit dais between the two ends of position-limited trough; In position-limited trough place end week, upwards offer at least one pair of limiting stopper mounting groove simultaneously; Limiting stopper mounting groove is positioned at outside, limit dais two ends, is positioned at position-limited trough correspondence position; By insert limiting stopper in a pair of limiting stopper mounting groove, make Hooke's hinge in deflection and luffing process thus, when between limiting stopper and limit dais two ends, coordinate, realize deflection and the luffing angle sports limiting of Hooke's hinge; Limiting stopper baffle plate is fixedly mounted on position-limited trough institute at one end, limiting stopper mounting groove and position-limited trough is blocked, and realize the location of limiting stopper.
4. a kind of dexterous type quadruped robot with flexible waist as claimed in claim 1, is characterized in that: described the first arm and the 3rd arm are with being all connected by a pair of deep groove ball bearing and a set of cups, sleeve, roller bearing end cap bearing between bevel gear shaft; Wherein, a set of cups is tubular structure, and coaxial sleeve is inner at arm; And rear end has flange arrangement outer rim and the laminating of arm mouth of pipe end, realizes the location between a set of cups and arm; Bevel gear shaft is connected by bearing between a pair of deep groove ball bearing and a set of cups, realizes thus bevel gear shaft and connects with the bearing between gear case; The outer ring of a pair of deep groove ball bearing one end coordinates location with a set of cups front end inner edge; The outer ring of the other end coordinates with the roller bearing end cap being arranged on the arm mouth of pipe, and roller bearing end cap, a set of cups rear end outer rim and arm mouth of pipe end face three are fixed; And a pair of deep groove ball bearing upper bearing inner ring is realized axial location by circlip for shaft, and between a pair of deep groove ball bearing, pass through sleeve axial location.
5. the quadruped robot as claimed in claim 1 with two-freedom hip joint and two-freedom waist joint, is characterized in that: the first arm and the 3rd arm are with being all connected by a pair of deep groove ball bearing and a set of cups, sleeve, roller bearing end cap bearing between bevel gear shaft; Wherein, a set of cups is tubular structure, and coaxial sleeve is inner at arm; And rear end has flange arrangement outer rim and the laminating of arm mouth of pipe end, realizes the location between a set of cups and arm; Bevel gear shaft is connected by bearing between a pair of deep groove ball bearing and a set of cups, realizes thus bevel gear shaft and connects with the bearing between gear case; The outer ring of a pair of deep groove ball bearing one end coordinates location with a set of cups front end inner edge; The outer ring of the other end coordinates with the roller bearing end cap being arranged on the arm mouth of pipe, and roller bearing end cap, a set of cups rear end outer rim and arm mouth of pipe end face three are fixed; And a pair of deep groove ball bearing upper bearing inner ring is realized axial location by circlip for shaft, and between a pair of deep groove ball bearing, pass through sleeve axial location.
6. a kind of dexterous type quadruped robot with flexible waist as claimed in claim 1, it is characterized in that: in described the first driver train, drive motor A drives synchronous pulley B to rotate, and then drive finishing bevel gear cuter in the first arm internal bevel gear assembly A to rotate, thereby drive finishing bevel gear cuter in the 3rd arm internal bevel gear assembly A to rotate, the final rotation that drives bevel gear shaft in the 3rd arm internal bevel gear assembly A, moves back and forth leg mechanism; And drive motor A drives synchronous pulley B to rotate in the second driver train, and then drive the synchronous pulley A installing on the dead axle in the second arm to rotate, thereby drive whole gear case to rotate; Now also need to drive the finishing bevel gear cuter in the first arm internal bevel gear assembly A to rotate by the first driver train, leg mechanism is swung up and down.
7. a kind of dexterous type quadruped robot with flexible waist as claimed in claim 1, is characterized in that: described lower leg portion bottom is tubular structure, and inside is provided with buffer structure; Buffer structure is drawn together slide bar, buffering foot, damping spring; Wherein, slide bar is slidably connected in shank bottom; ; Buffering foot is spherical inflatable structure, is fixedly mounted on slide bar bottom; Damping spring is also installed in lower leg portion bottom, and damping spring is positioned between top end of sliding rod and bottom surface, lower leg portion top.
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| CN104554510A (en) * | 2015-01-04 | 2015-04-29 | 武汉理工大学 | Bionic robot dog with flexible structure |
| CN104787138A (en) * | 2015-04-01 | 2015-07-22 | 上海交通大学 | Desert quadruped robot |
| CN105235770A (en) * | 2015-11-19 | 2016-01-13 | 中国科学院合肥物质科学研究院 | Two-freedom-degree bionic flexible spinal structure of quadruped robot |
| CN105538338A (en) * | 2016-02-05 | 2016-05-04 | 东南大学 | Bionic spine mechanism applied to quadruped robot and robot |
| CN106608308A (en) * | 2015-10-22 | 2017-05-03 | 沈阳新松机器人自动化股份有限公司 | Robot |
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| CN107097213A (en) * | 2017-05-19 | 2017-08-29 | 沃奇（北京）智能科技有限公司 | Robot lower limb |
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| CN108622228A (en) * | 2018-05-25 | 2018-10-09 | 昆明理工大学 | A kind of quadruped robot with flexible waist |
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| CN106892016A (en) * | 2017-02-15 | 2017-06-27 | 华南理工大学 | A kind of waist structure for turning to for being applied to quadruped robot |
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| CN107647947A (en) * | 2017-11-02 | 2018-02-02 | 北京安颂科技有限公司 | Tibial prosthesis and artificial knee joint |
| CN107933734A (en) * | 2017-11-16 | 2018-04-20 | 哈尔滨工业大学 | Based on the big climbable gradient robot foot for drilling through the soft landform of driving change |
| CN107933734B (en) * | 2017-11-16 | 2020-04-17 | 哈尔滨工业大学 | Large-climbing-gradient robot foot capable of changing soft terrain based on drilling and tunneling |
| CN108622228A (en) * | 2018-05-25 | 2018-10-09 | 昆明理工大学 | A kind of quadruped robot with flexible waist |
| CN109129560A (en) * | 2018-08-30 | 2019-01-04 | 浙江大学 | A kind of flexible waist structure and its design method suitable for biped robot |
| CN110562346A (en) * | 2018-08-30 | 2019-12-13 | 哈尔滨理工大学 | Novel structure four-footed hydraulic robot |
| CN111846010A (en) * | 2020-08-04 | 2020-10-30 | 北京理工大学 | Quadruped robot based on middle waist auxiliary movement |
| CN114056449A (en) * | 2021-11-18 | 2022-02-18 | 北京钢铁侠科技有限公司 | Robot running gear and have its robot |
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