CN105235769B - Bionical climbing quadruped robot - Google Patents
Bionical climbing quadruped robot Download PDFInfo
- Publication number
- CN105235769B CN105235769B CN201510788713.3A CN201510788713A CN105235769B CN 105235769 B CN105235769 B CN 105235769B CN 201510788713 A CN201510788713 A CN 201510788713A CN 105235769 B CN105235769 B CN 105235769B
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- China
- Prior art keywords
- shank
- hydraulic cylinder
- thigh
- crop
- scroll
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Abstract
The invention discloses a kind of bionical climbing quadruped robot, including leg foot end mechanism, auxiliary propelling machine, crop beam, back porch beam and vertebra, vertebra two ends are both secured to crop beam and back porch beam middle part, leg foot end mechanism includes foreleg and back leg, foreleg and back leg include shank, thigh and foot end mechanism, thigh upper end is connected by hip joint with crop beam and back porch beam, and thigh lower end is hinged with shank upper end, and foot end mechanism is connected with shank；Foot end mechanism includes sequentially being hinged on the quadric chain that shank end collectively constitutes by three rhizopodium side poles, and the upper end pin joint in quadric chain with shank relative edge is hinged with second hydraulic cylinder one end, and the other end of second hydraulic cylinder is articulated with shank middle and upper part；Auxiliary propelling machine includes taking off the thin end of the scroll, and the upper end for taking off the thin end of the scroll is articulated with crop beam bottom, and crop beam bottom is fixedly installed in cantilever-shaped supporting plate, and supporting plate free end bottom is vertically arranged with baffle plate, and baffle plate and taking off between the thin end of the scroll is connected by first hydraulic cylinder.
Description
Technical field
The present invention relates to a kind of robot, especially a kind of bionical climbing quadruped robot.
Background technology
Quadruped robot is mostly using rigid housing construction, and the quadruped robot climbing gradient at present in the world is smaller, and
Easily skid, to prevent skidding, realize the bigger slope of climbable gradient, it is also very desirable to design a kind of bionical climbing quadruped robot.
Chinese patent application：201110196221.7 disclose a kind of submissive four-footed machine with flexible waist and elastic leg
Device people.It is divided into several parts such as preceding trunk, backbone, waist, rear trunk and four structure identical legs；In preceding trunk or rear trunk
Bearing and each bar leg on flange shaft constitute and rotate, preceding trunk connects with backbone rotation duplicate invoice, by motor and gear train driving,
Make the machine person that there is the free degree of pitching, backbone is connect with waist with the rotation duplicate invoice with torsion spring, have the machine person
There is the roll free degree, waist and rear trunk are also connect with the rotation duplicate invoice with torsion spring, the machine person is had the deflection free degree,
Robot leg is made up of thigh, shank, is all driven by motor and gear train, and shank is equipped with stage clip.The application structure of patent compared with
It is complexity, cost of manufacture is high, driving is more, and high energy consumption, climbing capacity is poor.
The Chinese patent application 201410520580.7 of applicant's application discloses a kind of bionical quadruped robot, including leg
Portion, crop beam, back porch beam, preceding vertebra and rear vertebra, preceding vertebra and rear vertebra composition vertebra, leg includes front and rear two pairs of legs, two
Leg is connected by with two hip joints of the free degree of pitching and side-sway with crop beam and back porch beam respectively, preceding vertebra one end is in
Cantilever beam-like level is fixed on crop beam middle part, and the other end is actively coupled with rear vertebra, and rear vertebra is fixed on back porch beam；It is each
Bar leg is all thigh and shank integral structure, and thigh is rigid plate, and knee and shank are made up of resilient steel plate；Preceding ridge
The rear end of vertebra is in slightly wider rectangle, and a through hole is provided with the rectangular central, rubber ring is provided with through hole, after preceding vertebra
End passes through the long pin shaft and nut of rubber ring to be connected with rear vertebra by one, and has gap between long pin shaft and rubber ring；Preceding ridge
Vertebra rear end is respectively fixed with the pin that four, upper and lower, left and right outwards freely pass rear vertebra framework, and spring is cased with each pin.
The vertebra of the patent and leg are flexible, and inconvenience control, kinetic stability has much room for improvement, and climbing capacity is poor.
The content of the invention
The purpose of the present invention is to overcome above-mentioned the deficiencies in the prior art, there is provided a kind of bionical climbing quadruped robot, should
Robot balance is easy to adjustment, and vertebra is flexible, and kinetic stability is good, simple structure, can adapt to climbing for various gradients
Rise.
To achieve the above object, the present invention uses following technical proposals：
A kind of bionical climbing quadruped robot, including leg foot end mechanism, auxiliary propelling machine, crop beam, back porch beam and
Vertebra, vertebra two ends are individually fixed in the middle part of crop beam and back porch beam, and leg foot end mechanism includes foreleg and back leg, it is described before
Leg and back leg include shank, thigh and foot end mechanism, thigh upper end respectively by the hip joint with pitch freedom with it is preceding
Shoulder beam is connected with back porch beam, and thigh lower end is hinged with shank upper end, and foot end mechanism is connected with shank；Auxiliary propelling machine is set
In on crop beam bottom；
The foot end mechanism includes sequentially being hinged on the quadric chain that shank end collectively constitutes, four by three rhizopodium side poles
Upper end pin joint in linkage with shank relative edge is hinged with the hydraulic stem of second hydraulic cylinder, the other end of second hydraulic cylinder
It is articulated with shank middle and upper part；When robot climbs, ground, second hydraulic cylinder elongation, the sufficient end of quadric chain bottom are pedaled in sufficient end
Bar is firmly pressed in ramped surfaces so that robot is not susceptible to slide on the slope；Completed when with pedaling, when sufficient end is lifted, the
Two hydraulic cylinders shrink, and the climbing walking of preparation machine people next step pedals ground；
The auxiliary propelling machine takes off the thin end of the scroll including the length being obliquely installed, and the upper end that the length takes off the thin end of the scroll is articulated with crop
Beam bottom, crop beam bottom be fixedly installed one horizontally outward extend in cantilever-shaped supporting plate, supporting plate free end bottom
Portion is vertically arranged with baffle plate, and baffle plate and length are connected between taking off the thin end of the scroll by first hydraulic cylinder；When robot climbs, by first
The extension and contraction control of the hydraulic cylinder swing for taking off the thin end of the scroll long, first hydraulic cylinder is shunk, and length takes off the thin end of the scroll swing backward, and length is taken off the thin end of the scroll bottom and connect
Ramped surfaces are touched, generation is taken off soil fertility, prevents robot foot section from skidding；When first hydraulic cylinder elongation, length is taken off the thin end of the scroll and is swung forward, long
Take off the thin end of the scroll bottom and leave ramped surfaces, the auxiliary of preparation machine people next step climbing walking takes off ground.
The other end of the second hydraulic cylinder is articulated with the lug of shank middle and upper part.
The upper end for taking off the thin end of the scroll is articulated with the protuberance in crop beam bottom centre position.
The vertebra is one block of sheet metal, with flexibility, can vertically be bent up and down.
The thigh upper end of the foreleg is connected on crop beam by the 4th cylinder pressure, the projecting point of the thigh first half one of foreleg
It is articulated with crop beam；The lower end of the thigh of foreleg is articulated with the shank middle and upper part of foreleg, and the shank upper end of foreleg passes through the 3rd
Hydraulic cylinder is connected to crop beam bottom.
The thigh upper end of the back leg is connected on back porch beam by the 4th hydraulic cylinder, and the thigh first half one of back leg is protruded
It is point articulated on back porch beam；The lower end of the thigh of back leg is articulated with the shank middle and upper part of back leg, and the shank upper end of back leg is by the
Three hydraulic cylinders are connected to back porch beam bottom.
The thigh is hip joint with forward and backward shoulder beam junction.
The invention mainly comprises leg foot end mechanism, auxiliary propelling machine, crop beam, back porch beam and vertebra.Work as robot
During climbing, ground is pedaled at sufficient end, and second hydraulic cylinder elongation, the sufficient side pole of quadric chain bottom is firmly pressed in ramped surfaces so that
Robot is not susceptible to slide on the slope.Completed when with pedaling, when sufficient end is lifted, second hydraulic cylinder is shunk, under preparation machine people
The climbing walking of one step pedals ground.
The function of auxiliary propelling machine is, when robot climbs, the thin end of the scroll is taken off by the way that the extension and contraction control of first hydraulic cylinder is long
Swing, first hydraulic cylinder shrinks, and length takes off the thin end of the scroll swing backward, due to length more long, its bottom contact ramped surfaces of taking off the thin end of the scroll, produces
Soil fertility is taken off in life, prevents robot foot section from skidding；First hydraulic cylinder is extended, and length is taken off the thin end of the scroll and swung forward, and length is taken off the thin end of the scroll bottom and left
Ramped surfaces, the auxiliary of preparation machine people next step climbing walking takes off ground.
The present invention is the bionical climbing quadruped robot with sufficient end four-bar mechanism and auxiliary propelling machine.Quadruped robot
Firmly acting on pedaling for sufficient end four-bar mechanism and firmly acting on taking off and can well prevent robot from existing for auxiliary propelling machine
The larger slope of the gradient is walked to skid.Structure of the present invention makes robot motion's good stability, simple structure, by foot end mechanism
Firmly act on pedaling with auxiliary propelling machine firmly act on taking off, can adapt to climbing for various gradients.
Brief description of the drawings
Fig. 1 is the front view of one embodiment of the invention；
Fig. 2 is the vertebra top view of one embodiment；
Fig. 3 is the foot end mechanism schematic diagram of one embodiment；
Fig. 4 is the auxiliary propelling machine schematic diagram of one embodiment；
Wherein 1. first hydraulic cylinders, 2. bolt, 3. thigh, 4. the first bolt, 5. second hydraulic cylinder, 6. the second bolt, 7.
First sufficient side pole, 8. the 3rd bolt, 9. the second sufficient side pole, 10. the 4th bolt, 11. tripodia side poles, 12. the 5th bolts, 13.
Shank, 14. the 6th bolts, 15. the 7th bolts, 16. the 3rd hydraulic cylinders, 17. the 8th bolts, 18. the 9th bolts, 19. the tenth spiral shells
Bolt, 20. the 11st bolts, 21. baffle plates, 22. supporting plates, 23. the 12nd bolts, 24. the 13rd bolts, 25. the 4th hydraulic cylinders,
26. length take off the thin end of the scroll, 27. the 14th bolts, 28. crop beams, 29. backbones, 30. back porch beams, 31. the 15th bolts, 32. the 16th
Bolt.
Specific embodiment
The present invention is further described with reference to the accompanying drawings and examples.
As Figure 1-Figure 4, bionical climbing quadruped robot, including leg foot end mechanism, auxiliary propelling machine, crop beam
28th, back porch beam 30 and vertebra 29, vertebra 29 are one block of sheet metals, with flexibility, can vertically be bent up and down.Vertebra 29 1
The middle part of back porch beam 30 is fixed in end by the 15th bolt 31, and the other end is fixed on crop beam 28 by the 16th bolt 32.
Leg foot end mechanism includes shank 13, thigh 3 and foot end mechanism, and the upper end of thigh 3 is closed by the hip with pitch freedom respectively
Section is connected with crop beam 28 and back porch beam 30, and the lower end of thigh 3 is hinged with the upper end of shank 13, and foot end mechanism is connected with shank 13,
Auxiliary propelling machine is arranged on the bottom of crop beam 28；All hydraulic cylinder two ends are entirely to be hinged.
The upper end of thigh 3 of foreleg is connected to crop beam 28 by the 4th cylinder pressure 25 and the ten, the 11st bolts 19,20
On, the projecting point of 3 first half of thigh one of foreleg is articulated with crop beam 28 by the 9th bolt 18.The lower end of the thigh 3 of foreleg
The middle and upper part of shank 13 of foreleg is articulated with by the 6th bolt 14, the upper end of shank 13 of foreleg is connected to by the 3rd hydraulic cylinder 16
The bottom of crop beam 28, the upper and lower side of the 3rd hydraulic cylinder 16 is articulated with the bottom of crop beam 28 by the eight, the 7th bolts 17,15 respectively
With the upper end of shank 13.
The upper end of thigh 3 of back leg is connected to back porch beam 30 by the 4th hydraulic cylinder 25 and the ten, the 11st bolts 19,20
On, the projecting point of 3 first half of thigh one of back leg is articulated with back porch beam 30.The lower end of the thigh 3 of back leg passes through the 6th bolt 14
The middle and upper part of shank 13 of back leg is articulated with, the upper end of shank 13 of back leg is connected to the bottom of back porch beam 30 by the 3rd hydraulic cylinder 16,
The upper and lower side of the 3rd hydraulic cylinder 16 is articulated with the bottom of back porch beam 30 and the upper end of shank 13 by the eight, the 7th bolts 17,15 respectively.
Thigh is hip joint with forward and backward shoulder beam 28,30 junctions.
Foot end mechanism is as shown in figure 3, first, second, third sufficient side pole 7,9,11 and shank 13 pass through the second bolt respectively
6th, the 3rd bolt 8, the 4th bolt 10 and the 5th bolt 12 are hinged to quadric chain.It is convex that the upper position of shank 13 is equipped with one
Ear, the upper end of second hydraulic cylinder 5 is hinged by the first bolt 4 with lug, and lower end is connected by the second bolt 6 with quadric chain
Together.When robot climbs, ground is pedaled at sufficient end, and second hydraulic cylinder 5 extends, and promotes the first sufficient side pole 7 to move, the first sufficient side pole
7 promote the second sufficient side pole 9, the second sufficient side pole 9 to be firmly pressed in ramped surfaces again so that robot is not susceptible to slide on the slope
It is dynamic.Completed when with pedaling, when sufficient end is lifted, second hydraulic cylinder 5 is shunk, the climbing walking of preparation machine people next step pedals ground.
As shown in figure 4, the interposition of the bottom of crop beam 28 installs a lug (protuberance), length takes off the thin end of the scroll to auxiliary propelling machine
26 one end is hinged by the 13rd bolt 24 with the lug (protuberance)；One end of supporting plate 22 is consolidated by the 12nd bolt 23
Due to the bottom of crop beam 28, in cantilever-shaped, the other end of supporting plate 22 extends downwardly from one piece of baffle plate 21, and the bottom of baffle plate 21 is provided with circle
First hydraulic cylinder 1 is fixed on baffle plate by hole, bolt 2 through the connecting hole of the right-hand member of first hydraulic cylinder 1 and the circular hole of the bottom of baffle plate 21
On 21；The other end of first hydraulic cylinder 1 is articulated with the middle and upper part that length takes off the thin end of the scroll 26 by the 14th bolt 27.When robot climbing
When, by the swing for taking off the thin end of the scroll 26 long of the extension and contraction control of first hydraulic cylinder 1, first hydraulic cylinder 1 is shunk, and is taken off the thin end of the scroll 26 and is put backward
Dynamic, because length is taken off, the thin end of the scroll 26 is more long, and its bottom contact ramped surfaces, generation is taken off soil fertility, prevents robot foot section from skidding；First liquid
Cylinder pressure 1 is extended, and length is taken off the thin end of the scroll and swung forward, is taken off the thin end of the scroll bottom and is left ramped surfaces, the climbing walking of preparation machine people next step
Auxiliary takes off ground.
Although above-mentioned be described with reference to accompanying drawing to specific embodiment of the invention, not to present invention protection model
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need the various modifications made by paying creative work or deformation still within protection scope of the present invention.
Claims (7)
1. a kind of bionical climbing quadruped robot, it is characterized in that, including leg foot end mechanism, auxiliary propelling machine, crop beam, after
Shoulder beam and vertebra, vertebra two ends are individually fixed in the middle part of crop beam and back porch beam, and leg foot end mechanism includes foreleg and back leg,
The foreleg and back leg include shank, thigh and foot end mechanism, and thigh upper end is closed by the hip with pitch freedom respectively
Section is connected with crop beam and back porch beam, and thigh lower end is hinged with shank upper end, and foot end mechanism is connected with shank；Auxiliary moving machine
Structure is arranged on crop beam bottom；
The foot end mechanism includes sequentially being hinged on the quadric chain that shank end collectively constitutes, double leval jib by three rhizopodium side poles
Upper end pin joint in mechanism with shank relative edge is hinged with the hydraulic stem of second hydraulic cylinder, and the other end of second hydraulic cylinder is hinged
In shank middle and upper part；When robot climbs, ground, second hydraulic cylinder elongation, the sufficient side pole quilt of quadric chain bottom are pedaled in sufficient end
Firmly it is pressed in ramped surfaces so that robot is not susceptible to slide on the slope；Completed when with pedaling, when sufficient end is lifted, the second liquid
Cylinder pressure shrinks, and the climbing walking of preparation machine people next step pedals ground；
The auxiliary propelling machine takes off the thin end of the scroll including the length being obliquely installed, and the upper end that the length takes off the thin end of the scroll is articulated with crop beam bottom
Portion, crop beam bottom be fixedly installed one horizontally outward extend in cantilever-shaped supporting plate, supporting plate free end bottom is erected
Straight to be provided with baffle plate, baffle plate and length are connected between taking off the thin end of the scroll by first hydraulic cylinder；When robot climbs, by the first hydraulic pressure
The extension and contraction control of the cylinder swing for taking off the thin end of the scroll long, first hydraulic cylinder is shunk, and length takes off the thin end of the scroll swing backward, and it is oblique that length takes off the contact of the thin end of the scroll bottom
Soil fertility is taken off in slope surface, generation, prevents robot foot section from skidding；When first hydraulic cylinder elongation, length are taken off the thin end of the scroll and swung forward, length takes off ground
Ramped surfaces are left in bar bottom, and the auxiliary of preparation machine people next step climbing walking takes off ground.
2. bionical climbing quadruped robot as claimed in claim 1, it is characterized in that, the other end of the second hydraulic cylinder is hinged
In on the lug of shank middle and upper part.
3. bionical climbing quadruped robot as claimed in claim 1, it is characterized in that, the upper end for taking off the thin end of the scroll is articulated with crop
On the protuberance in beam bottom centre position.
4. bionical climbing quadruped robot as claimed in claim 1, it is characterized in that, the vertebra is one block of sheet metal, is had
Flexibility, can vertically bend up and down.
5. bionical climbing quadruped robot as claimed in claim 1, it is characterized in that, the thigh upper end of the foreleg passes through the 4th
Hydraulic cylinder is connected on crop beam, and the projecting point of the thigh first half one of foreleg is articulated with crop beam；The lower end of the thigh of foreleg
The shank middle and upper part of foreleg is articulated with, the shank upper end of foreleg is connected to crop beam bottom by the 3rd hydraulic cylinder.
6. bionical climbing quadruped robot as claimed in claim 1, it is characterized in that, the thigh upper end of the back leg passes through the 4th
Hydraulic cylinder is connected on back porch beam, and the projecting point of the thigh first half one of back leg is articulated with back porch beam；The lower end of the thigh of back leg
The shank middle and upper part of back leg is articulated with, the shank upper end of back leg is connected to back porch beam bottom by the 3rd hydraulic cylinder.
7. bionical climbing quadruped robot as claimed in claim 1, it is characterized in that, the thigh and forward and backward shoulder beam junction
It is hip joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510788713.3A CN105235769B (en) | 2015-11-16 | 2015-11-16 | Bionical climbing quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510788713.3A CN105235769B (en) | 2015-11-16 | 2015-11-16 | Bionical climbing quadruped robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105235769A CN105235769A (en) | 2016-01-13 |
| CN105235769B true CN105235769B (en) | 2017-06-16 |
Family
ID=55033689
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510788713.3A Expired - Fee Related CN105235769B (en) | 2015-11-16 | 2015-11-16 | Bionical climbing quadruped robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105235769B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106314588A (en) * | 2016-09-19 | 2017-01-11 | 南宁邃丛赋语科技开发有限责任公司 | Automatically controlled robot walking on two feet |
| WO2018170638A1 (en) * | 2017-03-18 | 2018-09-27 | 深圳市方鹏科技有限公司 | Lower limb walking mechanism system for robot |
| CN108818527B (en) * | 2018-06-06 | 2020-08-21 | 华强方特（深圳）科技有限公司 | Leg device of simulation robot |
| CN109008812A (en) * | 2018-07-20 | 2018-12-18 | 李兆勇 | A kind of old residential area stair step prosthetic appliance |
| CN109204603B (en) * | 2018-11-16 | 2020-12-04 | 广州联维物联网科技有限公司 | Four-footed bionic robot |
| CN111469945B (en) * | 2020-04-16 | 2021-06-22 | 山东大学 | Quadruped robot and slope motion posture adjusting method |
| CN111891247B (en) * | 2020-08-03 | 2021-07-27 | 常州大学 | Four-foot body-length-variable sliding advancing robot |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87214388U (en) * | 1987-10-14 | 1988-07-27 | 刘阿根 | Mechanism for quadruped toy |
| US6964309B2 (en) * | 2001-06-04 | 2005-11-15 | Biorobots, Llc | Vehicle with compliant drive train |
| US7249640B2 (en) * | 2001-06-04 | 2007-07-31 | Horchler Andrew D | Highly mobile robots that run and jump |
| CN101544267A (en) * | 2008-03-28 | 2009-09-30 | 庞明方 | Supporting power mechanism and driving method of same |
| CN201423166Y (en) * | 2008-12-09 | 2010-03-17 | 东莞龙昌数码科技有限公司 | Mechanical frog toy |
| CN101862542B (en) * | 2010-05-27 | 2012-07-04 | 西北工业大学 | Robot simulated jump aid |
| CN102060059B (en) * | 2010-11-23 | 2012-07-25 | 南京航空航天大学 | Telescopic four-link joint transmission mechanism based on parallelogram |
| CN202449094U (en) * | 2012-01-07 | 2012-09-26 | 张鹏程 | Moving mechanism of four-foot biomimetic robot |
| CN102973338B (en) * | 2012-12-07 | 2015-07-15 | 上海交通大学 | Active-passive type ankle joint prosthesis and movement mode thereof |
| CN203237311U (en) * | 2013-01-09 | 2013-10-16 | 西华大学 | Hydraulic bionic leg crawler-type chassis |
| CN104443104B (en) * | 2014-12-10 | 2017-01-25 | 山东大学 | Foot wheel type robot leg structure and foot wheel type robot with same |
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2015
- 2015-11-16 CN CN201510788713.3A patent/CN105235769B/en not_active Expired - Fee Related
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| CN105235769A (en) | 2016-01-13 |
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Granted publication date: 20170616 Termination date: 20171116 |