CN104386157A - Quadruped robot with flexible joints - Google Patents
Quadruped robot with flexible joints Download PDFInfo
- Publication number
- CN104386157A CN104386157A CN201410652140.7A CN201410652140A CN104386157A CN 104386157 A CN104386157 A CN 104386157A CN 201410652140 A CN201410652140 A CN 201410652140A CN 104386157 A CN104386157 A CN 104386157A
- Authority
- CN
- China
- Prior art keywords
- shank
- joint
- hip joint
- connecting panel
- sleeve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000004394 hip joint Anatomy 0.000 claims abstract description 121
- 210000000629 knee joint Anatomy 0.000 claims abstract description 74
- 210000000689 upper leg Anatomy 0.000 claims abstract description 54
- 210000002414 leg Anatomy 0.000 claims abstract description 19
- 210000001503 joint Anatomy 0.000 claims abstract description 15
- 210000003127 knee Anatomy 0.000 claims abstract description 4
- 210000001699 lower leg Anatomy 0.000 claims description 191
- 230000033001 locomotion Effects 0.000 claims description 6
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 239000013536 elastomeric material Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 210000002683 foot Anatomy 0.000 claims description 2
- 244000309466 calf Species 0.000 abstract 1
- 210000001364 upper extremity Anatomy 0.000 description 22
- 238000000034 method Methods 0.000 description 8
- 210000004722 stifle Anatomy 0.000 description 6
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005021 gait Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000001141 propulsive effect Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000013019 agitation Methods 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000035558 fertility Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a quadruped robot with flexible joints. The robot is characterized by comprising a rack and four mechanical legs, wherein the mechanical legs are connected to the two sides of the rack through outward swaying joints; an internal knee and elbow type symmetric structure is adopted for the four mechanical legs; each mechanical leg sequentially consists of an outward swaying joint, a hip joint frame, a hip joint, a thigh, an knee joint, a calf and a foot; each of the hip joints and the knee joints comprises a flexible joint main body which is of the same structure and has driving flexibility; the hip joints and the knee joints are driven by hip joint motors and knee joint motors respectively; the hip joint frames are L-shaped.
Description
Technical field
The present invention relates to Robotics, be specially a kind of quadruped robot with flexible joint.
Background technology
Quadruped robot relies on its discrete touch characteristic in the process of walking, exploration in complex environment and work, show very strong comformability, especially have the passage of obstacle (as pipeline, step, stair, slope) above or on very inapproachable work-yard to have more vast potential for future development.The research of current quadruped robot is mostly under test, particularly the reliability of robot in gait processes, stability, speed and with flexibility of earth surface etc. in still there are problems.Such as, quadruped robot is in actual walking process, foot landing instant can produce huge impulse force, this impulse force is passed to each joint of robot and fuselage by foot by pedipulator, to such an extent as to each joint of robot and fuselage all can produce high vibration, reduce sensing accuracy, broken parts sensitive compressible members, and the stability affecting robot motion.Particularly robot is in power-walking process, more easily produces continuous thermal agitation and causes body damage, and robot cannot be worked.
How to reduce the rigidity impulse force produced with earth surface in robot ambulation process, reducing the damage of robot fuselage, sensor and each sensitive compressible members, is the important content that current quadruped robot will be studied further.For this reason, people have searched out inspiration from biosphere, to the mode that robotic's leg joint adopts flexible bionic to drive, reduce robot foot section and to land the impulsive force of process, can complete assigned tasks again simultaneously, improve the comformability of robot.At present, quadruped robot driveability and well comformability depend primarily on whether there is high-performance actuating device, compact biomimetic features, accurate control system etc.
The bionical driving of flexibility of joint has become the important research direction of current quadruped robot one, a scholar Pratt of Massachusetts Institute of Technology (MIT), first series elastic driver (Series ElasticActuator, SEA) is applied to the driving of walking robot.Elastic element series after rigid driver, can be held the power sent out the propulsive effort of rigid driver and load feedback and come, realize accurate soil fertility and control by series elastic driver.
Chinese patent CN103538079A discloses a kind of joint of robot based on rotation elastic driver, adopt the array mode of angling cylinder and whirlpool spring, although by the screwing of volute spring, loosen, can play the effect of the propulsive effort flexibility of oil cylinder, but volute spring can only realize respectively by screwing and loosening the absorption of energy and release, therefore restriction is caused to the practical application in joint, and then also have impact on the performance of the quadruped robot based on flexible joint.
In addition for quadruped robot, not only need to move forward and backward, also need to possess certain traversing kinetic force, with satisfied complicated actual conditions to its requirement, but existing quadruped robot, its structure for transverse shifting is all comparatively complicated.
Therefore a kind of series elastic driver is provided, and provides one can adapt to complicated ground environment based on this series elastic driver, and bearing capacity is large, consume energy low and the quadruped robot possessing certain lateral motion capability becomes in prior art the problem needing to solve.
Summary of the invention
For the deficiencies in the prior art, the technical matters that quasi-solution of the present invention is determined is, provides a kind of quadruped robot with flexible joint.This robot can meet the job requirement under complex environment, can overcome the impact of traditional rigid machine people simultaneously, effectively improves the service life of robot.Meeting under above-mentioned condition, robot also has certain load-carrying capacity, consumes energy low, well the feature such as compatible with environment.
The technical scheme that the present invention solve the technical problem is, provides a kind of quadruped robot with flexible joint, it is characterized in that this robot comprises frame and four pedipulators; Pedipulator is connected to frame both sides by outer pendulum joint.The symmetrical structure of knee elbow formula in described four pedipulators adopt; Every bar pedipulator is made up of successively outer pendulum joint, hip joint frame, hip joint, thigh, knee joint, shank and foot.Described hip joint and knee joint include the flexible joint main body with active flexible of same structure, and knee joint and hip joint are driven by hip joint motor and knee joint motor respectively, and hip joint frame is L-type.
Described frame side mask has the U-shaped groove in the outer pendulum joint for fitting machine tool leg, outer pendulum joint comprises outer balance staff, outer swing set cylinder, outer pendulum motor, outer pendulum motor adapter plate, outer pendulum coupler, outer pendulum bearing, described outer swing set cylinder one end open, another section is fixedly mounted on the U-shaped groove medial surface of frame, described outer pendulum joint sleeve axis is parallel with quadruped robot working direction, outer pendulum motor is fixed in outer swing set cylinder by adapter plate, outer pendulum motor axle drive shaft stretches to outer swing set cylinder open end, outer pendulum coupler is adopted to connect the axle drive shaft of outer pendulum motor and one end of outer balance staff, the another side of U-type groove is provided with bearing seat, outer pendulum bearing is all installed for installing outer balance staff in swing set cylinder opening part and bearing seat outside.Outer balance staff is by coupler, and outer pendulum motor moment of torsion is passed to hip joint, and driving mechanical leg is put outward.
Described flexible joint main body is made up of output panel and finishing bevel gear cuter commutator, spring fitting frame, spring, described finishing bevel gear cuter commutator has single input axle and two output shafts, input shaft stretches out from finishing bevel gear cuter commutator sidewall, two output shafts are coaxial, one of them output shaft has keyway for mounting spring erecting frame, described spring fitting frame is four identical cross tabular framves, there is the circular mounting hole of band keyway described spring fitting frame center, and spring fitting frame is arranged on output shaft by flat key; The end of every of described spring fitting frame or there is close to end the vertical short tooth stretched out to both sides, described output panel is annular disc, output panel inwall be evenly distributed with four to core put down stretch out in flange, spring fixed teeth is stretched out to both sides in interior flange top, when laying respectively at the midway location of flange in adjacent two for four of spring fitting frame, short tooth is just in time relative with spring fixed teeth, and line between short tooth now on same branch and can square be formed with the line of adjacent springs fixed teeth and extended line thereof; Article eight, spring is installed between spring fixed teeth and short tooth respectively.Drive when output shaft rotation spring fitting frame to rotate, compress respectively the spring being positioned at both sides on same branch and stretch, and drive output panel to rotate by the restoring force of spring, the flexibility realizing torque exports.
Described quadruped robot, is characterized in that described hip joint frame comprises and connects column, hip joint sleeve; Connection column intersects vertically with outer balance staff and is fixedly connected with, hip joint sleeve be connected uprights vertical, and hip joint sleeve axis is parallel with quadruped robot working direction, the side plate of described hip joint sleeve openings end extends forward, forms the hip joint support of the finishing bevel gear cuter commutator for gripping described flexible joint main body.
Hip joint comprises flexible joint body and the main connecting panel of hip joint, hip joint secondary connecting panel, hip joint motor rack, coupler and hip joint motor, the main connecting panel of described hip joint is L-type plate, the side plate of the main connecting panel of hip joint is fixedly mounted on outside output panel, the base plate of the main connecting panel of hip joint axially extends to hip joint offside along hip joint, the secondary connecting panel of described hip joint by the hip joint be arranged on its inwall support bearing sleeve and hip joint backup bearing and finishing bevel gear cuter commutator in flexible joint body another output shaft be connected.The secondary connecting panel of hip joint is fixedly connected with the base plate of the main connecting panel of hip joint, hip joint motor rack is arranged on hip joint sleeve inner, hip joint motor is fixed on hip joint sleeve inner by hip joint motor rack, the output shaft of hip joint motor stretches to hip joint sleeve openings end, and is connected in series by the input shaft of the finishing bevel gear cuter commutator of coupler and flexible joint main body.
Described thigh is columnar, rectangular solid framework, comprises thigh connecting panel;
Adopt thigh connecting panel to be fixedly connected with by the plate outer side of main to thigh and hip joint connecting panel, described knee joint motor is fixed on Medial Thigh Skin, and is connected with knee joint by coupler;
Described knee joint comprises flexible joint body and knee-joint active connecting panel, knee joint secondary connecting panel, knee joint motor and coupler thereof, described knee-joint active connecting panel is L-type plate, the secondary connecting panel of knee joint is fixedly connected with the base plate of knee-joint active connecting panel, described flexible joint body is arranged between the secondary connecting panel of knee joint and the side plate of knee-joint active connecting panel, knee joint motor is fixed on Medial Thigh Skin, and is connected in series by the input shaft of the finishing bevel gear cuter commutator of coupler and flexible joint main body.
Described shank comprises shank connecting panel, shank top end cover, shank sleeve, shank pillar, shank inner sleeve, shank end cap, shank spring, foot.Shank is connected with knee joint by shank connecting panel, shank connecting panel end is connected with shank top end cover, shank top end cover is arranged on shank sleeve top, shank inner sleeve and shank pillar are installed in shank sleeve successively, shank inner sleeve is fixedly mounted on the middle part being positioned at shank sleeve, in the middle part of shank pillar, there is projection, shank pillar is arranged in shank sleeve, shank pillar top can be stretched out in the hole in the middle of shank inner sleeve, shank post tips, shank post tips stretches out shank barrel end, by shank end cap and shank inner sleeve, the axial movement of shank pillar is limited between shank inner sleeve installation site and shank barrel end, it is outer and between shank inner sleeve and the projection of shank pillar that shank spring housing is contained in shank pillar, shank spring can by shank supporting post top to the state that overhang is maximum from shank sleeve when foot is not in contact with the ground, , play stored energy and buffer action when kiss the earth stressed gaskin pillar in vola portion moving compression shank spring simultaneously, when foot lifts, shank recoil of spring also releases energy.
Described foot comprises sole, sole connecting panel; Sole is fixed on by bolt and sole connecting panel the end that shank pillar stretches out shank sleeve part; Sole adopts elastomeric material to make.
The speed ratio of the finishing bevel gear cuter commutator of described flexible joint main body is preferably 1: 1.
Compared with prior art, the quadruped robot with flexible joint provided by the invention, every bar leg all only adopts three drive motor to drive, and consume energy lower, control easily, work efficiency greatly improves; The most key pedipulator joint is by the flexible joint main body of particular design, make range of motion large, and joint all effectively absorbs ground shock by spring when rotating to all directions, realize flexible force to export, can greatly reduce ground in the face of robot impact, improve robot service life.The present invention is due to special structure design, and integrated model degree of freedom does not lose, and has higher flexibility ratio, can cross over the obstacle of certain altitude, crosses over the pit of certain length, has stronger adaptive capacity to environment.
Accompanying drawing explanation
The integral structure schematic diagram of the quadruped robot that Fig. 1 provides for the embodiment of the present invention 1.
The outer pendulum articulation structure schematic diagram of the quadruped robot that Fig. 2 provides for the embodiment of the present invention 1.
The hip joint transmission device principle schematic of the quadruped robot that Fig. 3 provides for the embodiment of the present invention 1.
The hip joint schematic front view of the quadruped robot that Fig. 4 provides for the embodiment of the present invention 1.
The hip joint side-looking assembling schematic diagram of the quadruped robot that Fig. 5 provides for the embodiment of the present invention 1.
The shank schematic front view of the quadruped robot that Fig. 6 provides for the embodiment of the present invention 1.
The sufficient schematic front view of the quadruped robot that Fig. 7 provides for the embodiment of the present invention 1.
In figure: 1-frame, 2-hip joint, the outer balance staff of 3-, 9-hip joint frame, 91-connects column, 92-hip joint sleeve, the main connecting panel of 4-hip joint, 5-hip joint motor, 6-thigh connecting panel, , 10-shank connecting panel, 11-shank sleeve, 12-shank top end cover, 13-shank spring, 14-shank bottom cover, 15-shank pillar, 16-sole, the secondary connecting panel of 18-hip joint, 19-backup bearing, 20-hip joint bearing sleeve, 21-finishing bevel gear cuter commutator, 22-hip joint support, 23-output panel, flange in 231-, 24-spring fitting frame, 25-backup bearing, 26-spring, 27-flat key, 28-thigh, 29-knee joint, 30-shank, 31-foot, 33-hip joint motor rack, 34-shank inner sleeve, 37-sole connecting panel, 38-pedipulator, the outer swing set cylinder of 39-, the outer pendulum motor of 40-, the outer pendulum motor adapter plate of 42-, 44-puts coupler outward, the outer pendulum bearing of 45-.
Detailed description of the invention
The present invention is described in detail below in conjunction with embodiment and accompanying drawing thereof.Embodiment is the concrete enforcement carried out premised on technical scheme of the present invention, gives detailed embodiment and process.But the claims of the application is not limited to the description scope of described embodiment.
Embodiment 1
A kind of quadruped robot (being called for short robot, see Fig. 1) with flexible joint of the present invention's design, is characterized in that this robot comprises frame 1 and four pedipulators 38; Pedipulator 38 is connected to frame both sides by outer pendulum joint.Wherein, described four pedipulators 38 adopt the symmetrical structure of interior knee elbow formula; Every bar pedipulator 38 is made up of successively outer pendulum joint, hip joint frame 9, hip joint 2, thigh 28, knee joint 29, shank 30 and foot 31.Hip joint 2 and knee joint 29 have active flexible, and (transmission principle signal is see Fig. 3, structural representation is see Fig. 4, Fig. 5, Fig. 6), described hip joint 2 and knee joint 29 include the flexible joint main body with active flexible of same structure, and knee joint 2 and hip joint 29 are driven by hip joint motor 5 and knee joint motor respectively.
Described frame side mask has the U-shaped groove in the outer pendulum joint for fitting machine tool leg, outer pendulum joint comprises outer balance staff 3, outer swing set cylinder 39, outer pendulum motor 40, outer pendulum motor adapter plate 42, outer pendulum coupler 44, outer pendulum bearing 45, described outer swing set cylinder 39 one end open, another section is fixedly mounted on the U-shaped groove medial surface of frame, described outer pendulum joint sleeve axis is parallel with quadruped robot working direction, outer pendulum motor 40 is fixed in outer swing set cylinder by adapter plate 42, outer pendulum motor axle drive shaft stretches to outer swing set cylinder open end, outer pendulum coupler 44 is adopted to connect the axle drive shaft of outer pendulum motor and one end of outer balance staff, the another side of U-type groove is provided with bearing seat, outer pendulum bearing 45 is all installed for installing outer balance staff in swing set cylinder opening part and bearing seat outside.Outer balance staff is by outer pendulum coupler 44, and outer pendulum motor moment of torsion is passed to hip joint, and driving mechanical leg is put outward.
The structure in described outer pendulum joint is see Fig. 2.
Described flexible joint main body is made up of output panel 23 and finishing bevel gear cuter commutator 21, spring fitting frame 24, spring 26, described finishing bevel gear cuter commutator 21 has single input axle and two output shafts, input shaft stretches out from finishing bevel gear cuter commutator sidewall, two output shafts are coaxial, one of them output shaft has keyway for mounting spring erecting frame, described spring fitting frame is four identical cross tabular framves, there is the circular mounting hole of band keyway described spring fitting frame center, and spring fitting frame is arranged on output shaft by flat key 27; The end of every of described spring fitting frame has the vertical short tooth stretched out to both sides, described output panel is annular disc, output panel inwall be evenly distributed with four to core put down stretch out in flange 231, spring fixed teeth is stretched out to both sides in interior flange top, when laying respectively at the midway location of flange in adjacent two for four of spring fitting frame, short tooth is just in time relative with spring fixed teeth, and line between short tooth now on same branch and can square be formed with the line of adjacent springs fixed teeth and extended line thereof; Article eight, spring is installed between spring fixed teeth and short tooth respectively.Drive when output shaft rotation spring fitting frame to rotate, compress respectively the spring being positioned at both sides on same branch and stretch, and drive output panel to rotate by the restoring force of spring, the flexibility realizing torque exports;
The speed ratio of the finishing bevel gear cuter commutator 21 of described flexible joint main body is preferably 1: 1.
Hip joint frame 9 is L-type, comprises and connects column 91, hip joint sleeve 92; Connection column intersects vertically with outer balance staff and is fixedly connected with, hip joint sleeve be connected uprights vertical, and hip joint sleeve axis is parallel with quadruped robot working direction, the side plate of described hip joint sleeve openings end extends forward, forms the hip joint support 22 of the finishing bevel gear cuter commutator for gripping described flexible joint main body.
Hip joint comprises flexible joint body and the main connecting panel 4 of hip joint, hip joint secondary connecting panel 18, hip joint motor rack 33, coupler and hip joint motor 5, the main connecting panel 4 of described hip joint is L-type plate, the side plate of the main connecting panel of hip joint is fixedly mounted on outside output panel, the base plate of the main connecting panel of hip joint axially extends to hip joint offside along hip joint, the secondary connecting panel of described hip joint by the hip joint be arranged on its inwall support bearing sleeve 20 and hip joint backup bearing 19 and finishing bevel gear cuter commutator in flexible joint body another output shaft be connected.The secondary connecting panel of hip joint is fixedly connected with the base plate of the main connecting panel of hip joint, hip joint motor rack 33 is arranged on hip joint sleeve inner, hip joint motor 5 is fixed on hip joint sleeve inner by hip joint motor rack 33, the output shaft of hip joint motor 5 stretches to hip joint sleeve openings end, and is connected in series by the input shaft of coupler 32 with the finishing bevel gear cuter commutator of flexible joint main body.
Described thigh 28 is columnar, rectangular solid framework, comprises thigh connecting panel 6;
Adopt thigh connecting panel 6 to be fixedly connected with by the plate outer side of main to thigh 28 and hip joint connecting panel, described knee joint motor is fixed on Medial Thigh Skin, and is connected with knee joint by coupler;
Described knee joint 29 comprises flexible joint body and knee-joint active connecting panel, knee joint secondary connecting panel, knee joint motor and coupler thereof, described knee-joint active connecting panel is L-type plate, the secondary connecting panel of knee joint is fixedly connected with the base plate of knee-joint active connecting panel, described flexible joint body is arranged between the secondary connecting panel of knee joint and the side plate of knee-joint active connecting panel, knee joint motor is fixed on Medial Thigh Skin, and is connected in series by the input shaft of the finishing bevel gear cuter commutator of coupler and flexible joint main body.
Described shank 30 comprises shank connecting panel 10, shank top end cover 12, shank sleeve 11, shank pillar 15, shank inner sleeve 34, shank end cap 14, shank spring 13, foot 31.Described foot 31 comprises sole 16, sole connecting panel 37; Sole is fixed on by bolt and sole connecting panel 37 end that shank pillar 15 stretches out shank sleeve part; Sole 16 adopts elastomeric material to make.
Shank 30 is connected with knee joint 29 by shank connecting panel 10, shank connecting panel end is connected with shank top end cover, shank top end cover is arranged on shank sleeve top, shank inner sleeve 34 and shank pillar 15 are installed in shank sleeve successively, shank inner sleeve is fixedly mounted on the middle part being positioned at shank sleeve, in the middle part of shank pillar, there is projection, shank pillar is arranged in shank sleeve, shank pillar top can be stretched out in the hole in the middle of shank inner sleeve, shank post tips, shank post tips stretches out shank barrel end, by the projection in the middle part of shank pillar and shank end cap and shank inner sleeve, the axial movement of shank pillar is limited between shank inner sleeve installation site and shank barrel end, it is outer and between shank inner sleeve 34 and the projection of shank pillar 15 that shank spring 13 is sleeved on shank pillar, shank spring can by shank supporting post top to the state that overhang is maximum from shank sleeve when foot is not in contact with the ground, , play stored energy and buffer action when kiss the earth stressed gaskin pillar 15 in vola portion moving compression shank spring 13 simultaneously, when foot lifts, shank spring 13 resilience also releases energy.
The structure of described shank 30 as shown in Figure 6.The structure of described foot 31 as shown in Figure 7.
Principle of work and the process of robot of the present invention are: when robot is forwards advanced, first to lift left front leg and right rear leg,
Step 1, left front leg knee joint motor and right rear leg knee joint motor rotate to an angle and thigh and shank angle are reduced, and shank upwards swings, and foot departs from ground, shank spring reset;
Step 2, left front leg and right rear leg hip joint motor rotate, and left front leg thigh and frame angle are increased, and right rear leg thigh and frame angle reduce; Left front leg and right rear leg knee joint motor rotate and thigh and shank angle are increased; Left front leg and right rear leg foot kiss the earth, shank spring stress is compressed;
Step 3, RAT and left stifle motor rotate and RAT shank and thigh angle are increased, and left back leg thigh and shank angle increase, and realize frame and move forward;
Step 4, RAT knee joint motor and left stifle motor rotate to an angle and thigh and shank angle are reduced, and shank upwards swings, and foot departs from ground, shank spring reset;
Step 5, RAT and left back leg hip joint motor rotate, and RAT thigh and frame angle are increased, and left back leg thigh and frame angle reduce; RAT and left stifle motor rotate and thigh and shank angle are increased; RAT and left back leg foot kiss the earth, shank spring stress is compressed;
Step 6, left front leg and right rear leg knee joint motor rotate and left front leg shank and thigh angle are increased, and right rear leg thigh and shank angle increase, and realize frame and move forward, and complete an advance gait;
Step 7, left front leg knee joint motor rotates to an angle and thigh and shank angle is reduced, and shank upwards swings, and foot departs from ground, shank spring reset;
Step 8, frame left front controls motor and rotates to an angle, and whole pedipulator is swung left relative to frame;
Step 9, left front leg knee joint motor rotates to an angle and thigh and shank angle is increased, shank to lower swing, sufficient kiss the earth, shank spring stress is compressed;
Step 10, RAT knee joint motor rotates to an angle and thigh and shank angle is reduced, and shank upwards swings, and foot departs from ground, shank spring reset;
Step 11, frame right front controls motor and rotates to an angle, and whole pedipulator is swung left relative to frame;
Step 12, RAT knee joint motor rotates to an angle and thigh and shank angle is increased, shank to lower swing, sufficient kiss the earth, shank spring stress is compressed;
Step 13, two, frame front control motor rotates to an angle simultaneously, make two forelegs relatively and frame swing to the right, when rotating to pedipulator and being vertical with frame, turning left of complete machine can be realized.
When lifting RAT and left back leg in the ban accordingly, corresponding step is as follows
Step 1, RAT knee joint motor and left stifle motor rotate to an angle and thigh and shank angle are reduced, and shank upwards swings, and foot departs from ground, shank spring reset;
Step 2, RAT and left back leg hip joint motor rotate, and RAT thigh and frame angle are increased, and left back leg thigh and frame angle reduce; RAT and left stifle motor rotate and thigh and shank angle are increased; RAT and left back leg foot kiss the earth, shank spring stress is compressed;
Step 3, left front leg and right rear leg knee joint motor rotate and left front leg shank and thigh angle are increased, and right rear leg thigh and shank angle increase, and realize frame and move forward;
Step 4, left front leg knee joint motor and right rear leg knee joint motor rotate to an angle and thigh and shank angle are reduced, and shank upwards swings, and foot departs from ground, shank spring reset;
Step 5, left front leg and right rear leg hip joint motor rotate, and left front leg thigh and frame angle are increased, and right rear leg thigh and frame angle reduce; Left front leg and right rear leg knee joint motor rotate and thigh and shank angle are increased; Left front leg and right rear leg foot kiss the earth, shank spring stress is compressed;
Step 6, RAT and left stifle motor rotate and RAT shank and thigh angle are increased, and left back leg thigh and shank angle increase, and realize frame and move forward, and complete an advance gait;
Step 7, RAT knee joint motor rotates to an angle and thigh and shank angle is reduced, and shank upwards swings, and foot departs from ground, shank spring reset;
Step 8, frame right front controls motor and rotates to an angle, and whole pedipulator is swung to the right relative to frame;
Step 9, RAT knee joint motor rotates to an angle and thigh and shank angle is increased, shank to lower swing, sufficient kiss the earth, shank spring stress is compressed;
Step 10, left front leg knee joint motor rotates to an angle and thigh and shank angle is reduced, and shank upwards swings, and foot departs from ground, shank spring reset;
Step 11, frame left front controls motor and rotates to an angle, and whole pedipulator is swung to the right relative to frame;
Step 12, left front leg knee joint motor rotates to an angle and thigh and shank angle is increased, shank to lower swing, sufficient kiss the earth, shank spring stress is compressed;
Step 13, two, frame front control motor rotates to an angle simultaneously, make two forelegs relatively and frame swing left, when rotating to pedipulator and being vertical with frame, the turning clockwise of complete machine can be realized.
Robot of the present invention has 12 initiatively degree of freedom and 4 passive flexible degree of freedom of shank, total 12, motor, and motor simultaneously operation consumes power is 1600W to the maximum; Torque peak 50Nm; Flying power 8 hours; There is higher flexibility ratio, except except forward-reverse, also can there is certain shifted laterally ability, the obstacle of certain altitude can be crossed over, cross over the pit of certain length, there is stronger adaptive capacity to environment.
In described step, " front, rear, left and right " are the nouns of locality of relativism, and be front with robot direct of travel, now four pedipulators are respectively left and right foreleg, left and right back leg.
The present invention does not address part and is applicable to prior art.
Claims (3)
1. there is a quadruped robot for flexible joint, it is characterized in that this robot comprises frame and four pedipulators; Pedipulator is connected to frame both sides by outer pendulum joint, the symmetrical structure of knee elbow formula in described four pedipulators adopt; Every bar pedipulator is made up of successively outer pendulum joint, hip joint frame, hip joint, thigh, knee joint, shank and foot, described hip joint and knee joint include the flexible joint main body with active flexible of same structure, knee joint and hip joint are driven by hip joint motor and knee joint motor respectively, and hip joint frame is L-type;
Described frame side mask has the U-shaped groove in the outer pendulum joint for fitting machine tool leg, outer pendulum joint comprises outer balance staff, outer swing set cylinder, outer pendulum motor, outer pendulum motor adapter plate, outer pendulum coupler, outer pendulum bearing, described outer swing set cylinder one end open, another section is fixedly mounted on the U-shaped groove medial surface of frame, described outer pendulum joint sleeve axis is parallel with quadruped robot working direction, outer pendulum motor is fixed in outer swing set cylinder by adapter plate, outer pendulum motor axle drive shaft stretches to outer swing set cylinder open end, outer pendulum coupler is adopted to connect the axle drive shaft of outer pendulum motor and one end of outer balance staff, the another side of U-type groove is provided with bearing seat, outer pendulum bearing is all installed for installing outer balance staff in swing set cylinder opening part and bearing seat outside, outer balance staff passes through coupler, outer pendulum motor moment of torsion is passed to hip joint, driving mechanical leg is put outward,
Described flexible joint main body is made up of output panel and finishing bevel gear cuter commutator, spring fitting frame, spring, described finishing bevel gear cuter commutator has single input axle and two output shafts, input shaft stretches out from finishing bevel gear cuter commutator sidewall, two output shafts are coaxial, one of them output shaft has keyway for mounting spring erecting frame, described spring fitting frame is four identical cross tabular framves, there is the circular mounting hole of band keyway described spring fitting frame center, and spring fitting frame is arranged on output shaft by flat key; The end of every of described spring fitting frame or there is close to end the vertical short tooth stretched out to both sides, described output panel is annular disc, output panel inwall be evenly distributed with four to core put down stretch out in flange, spring fixed teeth is stretched out to both sides in interior flange top, when laying respectively at the midway location of flange in adjacent two for four of spring fitting frame, short tooth is just in time relative with spring fixed teeth, and line between short tooth now on same branch and can square be formed with the line of adjacent springs fixed teeth and extended line thereof; Article eight, spring is installed between spring fixed teeth and short tooth respectively, drive spring fitting frame to rotate when output shaft rotation, compress respectively the spring being positioned at both sides on same branch and stretch, and driving output panel to rotate by the restoring force of spring, the flexibility realizing torque exports.
2. quadruped robot as claimed in claim 1, is characterized in that described hip joint frame, comprises and connects column, hip joint sleeve; Connection column intersects vertically with outer balance staff and is fixedly connected with, hip joint sleeve be connected uprights vertical, and hip joint sleeve axis is parallel with quadruped robot working direction, the side plate of described hip joint sleeve openings end extends forward, forms the hip joint support of the finishing bevel gear cuter commutator for gripping described flexible joint main body;
Described hip joint comprises flexible joint body and the main connecting panel of hip joint, the secondary connecting panel of hip joint, hip joint motor rack, coupler and hip joint motor, the main connecting panel of described hip joint is L-type plate, the side plate of the main connecting panel of hip joint is fixedly mounted on outside output panel, the base plate of the main connecting panel of hip joint axially extends to hip joint offside along hip joint, the secondary connecting panel of described hip joint by the hip joint be arranged on its inwall support bearing sleeve and hip joint backup bearing and finishing bevel gear cuter commutator in flexible joint body another output shaft be connected, the secondary connecting panel of hip joint is fixedly connected with the base plate of the main connecting panel of hip joint, hip joint motor rack is arranged on hip joint sleeve inner, hip joint motor is fixed on hip joint sleeve inner by hip joint motor rack, the output shaft of hip joint motor stretches to hip joint sleeve openings end, and be connected in series by the input shaft of the finishing bevel gear cuter commutator of coupler and flexible joint main body,
Described thigh is columnar, rectangular solid framework, comprises thigh connecting panel;
Adopt thigh connecting panel to be fixedly connected with by the plate outer side of main to thigh and hip joint connecting panel, described knee joint motor is fixed on Medial Thigh Skin, and is connected with knee joint by coupler;
Described knee joint comprises flexible joint body and knee-joint active connecting panel, knee joint secondary connecting panel, knee joint motor and coupler thereof, described knee-joint active connecting panel is L-type plate, the secondary connecting panel of knee joint is fixedly connected with the base plate of knee-joint active connecting panel, described flexible joint body is arranged between the secondary connecting panel of knee joint and the side plate of knee-joint active connecting panel, knee joint motor is fixed on Medial Thigh Skin, and is connected in series by the input shaft of the finishing bevel gear cuter commutator of coupler and flexible joint main body;
Described shank comprises shank connecting panel, shank top end cover, shank sleeve, shank pillar, shank inner sleeve, shank end cap, shank spring, foot, and shank is connected with knee joint by shank connecting panel, shank connecting panel end is connected with shank top end cover, shank top end cover is arranged on shank sleeve top, shank inner sleeve and shank pillar are installed in shank sleeve successively, shank inner sleeve is fixedly mounted on the middle part being positioned at shank sleeve, in the middle part of shank pillar, there is projection, shank pillar is arranged in shank sleeve, shank pillar top can be stretched out in the hole in the middle of shank inner sleeve, shank post tips, shank post tips stretches out shank barrel end, by shank end cap and shank inner sleeve, the axial movement of shank pillar is limited between shank inner sleeve installation site and shank barrel end, it is outer and between shank inner sleeve and the projection of shank pillar that shank spring housing is contained in shank pillar, shank spring can by shank supporting post top to the state that overhang is maximum from shank sleeve when foot is not in contact with the ground, play stored energy and buffer action when kiss the earth stressed gaskin pillar in vola portion moving compression shank spring simultaneously, when foot lifts, shank recoil of spring also releases energy,
Described foot comprises sole, sole connecting panel; Sole is fixed on by bolt and sole connecting panel the end that shank pillar stretches out shank sleeve part; Sole adopts elastomeric material to make.
3. quadruped robot as claimed in claim 1 or 2, is characterized in that the speed ratio of the finishing bevel gear cuter commutator of described flexible joint main body is 1: 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410652140.7A CN104386157B (en) | 2014-11-17 | 2014-11-17 | Quadruped robot with flexible joints |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410652140.7A CN104386157B (en) | 2014-11-17 | 2014-11-17 | Quadruped robot with flexible joints |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104386157A true CN104386157A (en) | 2015-03-04 |
| CN104386157B CN104386157B (en) | 2017-02-01 |
Family
ID=52604145
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410652140.7A Expired - Fee Related CN104386157B (en) | 2014-11-17 | 2014-11-17 | Quadruped robot with flexible joints |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104386157B (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106005079A (en) * | 2016-05-24 | 2016-10-12 | 浙江大学 | Single-leg robot jumping mechanism with active ankle joint and bionic foot |
| CN106512329A (en) * | 2017-01-03 | 2017-03-22 | 上海卓道医疗科技有限公司 | Planar upper limb rehabilitation training robot with flexible joints |
| CN106882286A (en) * | 2017-03-14 | 2017-06-23 | 北京工业大学 | A kind of hydraulic drive type robot leg foot structure |
| CN106904226A (en) * | 2017-03-10 | 2017-06-30 | 杭州宇树科技有限公司 | A kind of leg power system architecture of electric drive quadruped robot |
| CN107097213A (en) * | 2017-05-19 | 2017-08-29 | 沃奇（北京）智能科技有限公司 | Robot lower limb |
| CN107539385A (en) * | 2016-06-24 | 2018-01-05 | 沈阳新松机器人自动化股份有限公司 | A kind of variable damping flexible leg and its quadruped robot |
| CN107672690A (en) * | 2016-04-05 | 2018-02-09 | 赵德朝 | A kind of Hexapod Robot and foot control method and gait control method |
| CN107741484A (en) * | 2017-11-09 | 2018-02-27 | 李刚 | A kind of sewage detection robot and its application method |
| CN108297965A (en) * | 2018-03-06 | 2018-07-20 | 河南科技大学 | A kind of quadruped robot |
| CN108516028A (en) * | 2018-02-11 | 2018-09-11 | 山东职业学院 | A kind of walking mechanism and ambulation control method of compound quadruped robot |
| CN108622228A (en) * | 2018-05-25 | 2018-10-09 | 昆明理工大学 | A kind of quadruped robot with flexible waist |
| CN108791561A (en) * | 2018-06-11 | 2018-11-13 | 前沿驱动（北京）技术有限公司 | A kind of novel quadruped robot |
| CN108820068A (en) * | 2018-07-06 | 2018-11-16 | 宣城南巡智能科技有限公司 | A kind of walking structure of emulated robot |
| CN108909874A (en) * | 2018-08-16 | 2018-11-30 | 西南科技大学 | A kind of hydraulic drive type heavy duty hexapod robot leg |
| CN109774813A (en) * | 2019-01-16 | 2019-05-21 | 浙江大学 | A kind of small-sized electric hexapod robot |
| CN110884588A (en) * | 2019-12-23 | 2020-03-17 | 中国科学院空间应用工程与技术中心 | Quadruped robot platform based on serial mechanical legs |
| WO2021088104A1 (en) * | 2019-11-07 | 2021-05-14 | 清华大学 | Parallel leg structure of wheel-foot-type robot, and mobile robot |
| CN113044129A (en) * | 2019-12-26 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Robot leg and robot |
| CN113619706A (en) * | 2021-09-22 | 2021-11-09 | 成都理工大学 | Four-joint hydraulic drive type robot leg |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101088835A (en) * | 2007-06-15 | 2007-12-19 | 哈尔滨工程大学 | Modular mechanical crab |
| CN102390457A (en) * | 2011-12-30 | 2012-03-28 | 上海大学 | Leg mechanism for four-legged robots |
| CN103318289A (en) * | 2013-07-04 | 2013-09-25 | 北京理工大学 | Modular hydraulic-drive four-leg robot with variable leg shape structures |
| CN103407514A (en) * | 2013-07-15 | 2013-11-27 | 西北工业大学 | Four-foot bio-robot leg |
| CN204197100U (en) * | 2014-11-17 | 2015-03-11 | 河北工业大学 | A kind of quadruped robot with flexible joint |
-
2014
- 2014-11-17 CN CN201410652140.7A patent/CN104386157B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101088835A (en) * | 2007-06-15 | 2007-12-19 | 哈尔滨工程大学 | Modular mechanical crab |
| CN102390457A (en) * | 2011-12-30 | 2012-03-28 | 上海大学 | Leg mechanism for four-legged robots |
| CN103318289A (en) * | 2013-07-04 | 2013-09-25 | 北京理工大学 | Modular hydraulic-drive four-leg robot with variable leg shape structures |
| CN103407514A (en) * | 2013-07-15 | 2013-11-27 | 西北工业大学 | Four-foot bio-robot leg |
| CN204197100U (en) * | 2014-11-17 | 2015-03-11 | 河北工业大学 | A kind of quadruped robot with flexible joint |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107672690A (en) * | 2016-04-05 | 2018-02-09 | 赵德朝 | A kind of Hexapod Robot and foot control method and gait control method |
| CN106005079A (en) * | 2016-05-24 | 2016-10-12 | 浙江大学 | Single-leg robot jumping mechanism with active ankle joint and bionic foot |
| CN106005079B (en) * | 2016-05-24 | 2018-05-22 | 浙江大学 | Single robot leg hopping mechanism with active ankle arthrosis Yu bionical foot |
| CN107539385A (en) * | 2016-06-24 | 2018-01-05 | 沈阳新松机器人自动化股份有限公司 | A kind of variable damping flexible leg and its quadruped robot |
| CN107539385B (en) * | 2016-06-24 | 2019-11-12 | 沈阳新松机器人自动化股份有限公司 | A kind of variable damping flexible leg and its quadruped robot |
| CN106512329A (en) * | 2017-01-03 | 2017-03-22 | 上海卓道医疗科技有限公司 | Planar upper limb rehabilitation training robot with flexible joints |
| CN106904226A (en) * | 2017-03-10 | 2017-06-30 | 杭州宇树科技有限公司 | A kind of leg power system architecture of electric drive quadruped robot |
| CN106882286A (en) * | 2017-03-14 | 2017-06-23 | 北京工业大学 | A kind of hydraulic drive type robot leg foot structure |
| CN107097213A (en) * | 2017-05-19 | 2017-08-29 | 沃奇（北京）智能科技有限公司 | Robot lower limb |
| CN107741484A (en) * | 2017-11-09 | 2018-02-27 | 李刚 | A kind of sewage detection robot and its application method |
| CN108516028A (en) * | 2018-02-11 | 2018-09-11 | 山东职业学院 | A kind of walking mechanism and ambulation control method of compound quadruped robot |
| CN108297965A (en) * | 2018-03-06 | 2018-07-20 | 河南科技大学 | A kind of quadruped robot |
| CN108297965B (en) * | 2018-03-06 | 2024-01-30 | 河南科技大学 | Four-foot robot |
| CN108622228A (en) * | 2018-05-25 | 2018-10-09 | 昆明理工大学 | A kind of quadruped robot with flexible waist |
| CN108791561A (en) * | 2018-06-11 | 2018-11-13 | 前沿驱动（北京）技术有限公司 | A kind of novel quadruped robot |
| CN108820068A (en) * | 2018-07-06 | 2018-11-16 | 宣城南巡智能科技有限公司 | A kind of walking structure of emulated robot |
| CN108909874A (en) * | 2018-08-16 | 2018-11-30 | 西南科技大学 | A kind of hydraulic drive type heavy duty hexapod robot leg |
| CN109774813A (en) * | 2019-01-16 | 2019-05-21 | 浙江大学 | A kind of small-sized electric hexapod robot |
| WO2021088104A1 (en) * | 2019-11-07 | 2021-05-14 | 清华大学 | Parallel leg structure of wheel-foot-type robot, and mobile robot |
| CN110884588A (en) * | 2019-12-23 | 2020-03-17 | 中国科学院空间应用工程与技术中心 | Quadruped robot platform based on serial mechanical legs |
| CN113044129A (en) * | 2019-12-26 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Robot leg and robot |
| CN113619706A (en) * | 2021-09-22 | 2021-11-09 | 成都理工大学 | Four-joint hydraulic drive type robot leg |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104386157B (en) | 2017-02-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104386157A (en) | Quadruped robot with flexible joints | |
| CN204197100U (en) | A kind of quadruped robot with flexible joint | |
| CN104386158A (en) | Series elastic actuator-based quadruped robot | |
| CN107140052B (en) | A kind of wheel leg type hexapod robot with suspension | |
| CN103625572A (en) | Quadruped robot leg with elastic four-rod mechanism | |
| CN101121424B (en) | Double-foot robot lower limb mechanism with multiple freedom degree | |
| CN103963866B (en) | Full landform Retractive leg formula six foot rotates advance robot | |
| CN102390457B (en) | Leg mechanism for four-legged robots | |
| CN103879470B (en) | A kind of single robot leg hopping mechanism of link transmission | |
| CN109436125B (en) | Twelve-degree-of-freedom quadruped robot | |
| CN103481963B (en) | A kind of foot device with two-stage buffering being applicable to barrier-surpassing robot | |
| CN104385294B (en) | A kind of flexible joint for revolute robot | |
| CN106585761A (en) | Horse-imitating gait planar connection rod type quadruped walking robot | |
| CN112141236B (en) | Take shock-absorbing function's sufficient formula robot shank system of wheel | |
| CN110562346A (en) | Novel structure four-footed hydraulic robot | |
| CN102673674B (en) | Bionic elastic spine mechanism of quadruped robots | |
| CN111924019B (en) | Eight-free-dial brushless motor driven quadruped robot | |
| CN102530120A (en) | Six-user requirement specification (URS) six-foot walking robot | |
| CN103264733A (en) | Single-leg robot in-place jumping mechanism with power energy storage function | |
| CN204197099U (en) | A kind of quadruped robot based on series elastic driver | |
| CN109987168B (en) | Three-degree-of-freedom robot leg system based on synchronous belt transmission | |
| CN101927793B (en) | Variable-structure quadruped robot structure interconverting creeping motion and vertical motion | |
| CN109927808B (en) | Collaborative crawler-type quadruped robot dog | |
| CN210027663U (en) | Biped walking robot based on parallel mechanism | |
| CN204235562U (en) | A kind of flexible joint for revolute robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170201 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |