CN105235770A - Two-freedom-degree bionic flexible spinal structure of quadruped robot - Google Patents
Two-freedom-degree bionic flexible spinal structure of quadruped robot Download PDFInfo
- Publication number
- CN105235770A CN105235770A CN201510798688.7A CN201510798688A CN105235770A CN 105235770 A CN105235770 A CN 105235770A CN 201510798688 A CN201510798688 A CN 201510798688A CN 105235770 A CN105235770 A CN 105235770A
- Authority
- CN
- China
- Prior art keywords
- freedom
- quadruped robot
- flexible spinal
- forerunner
- guard
- 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.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a two-freedom-degree bionic flexible spinal structure of a quadruped robot. The two-freedom-degree bionic flexible spinal structure comprises a front drive, a flexible spine and a rear drive. The flexible spine comprises springs, a cable transmission device and a joint transmission device which is formed by overlaying a plurality of rotating mechanisms. Each rotating mechanism comprises a rotating table and a fixing frame. The cable transmission device comprises ropes and wheel discs, the rear drive is arranged on the right side of the front drive through the joint transmission device, the wheel discs are arranged in the front drive and the rear drive, and the springs are arranged between every two rotating tables. The two-freedom-degree bionic flexible spinal structure is reasonable in structure and high in universality, the flexible spinal structure capable of achieving posture adjustment and automatic turning is adopted, and the cable transmission device is adopted to control the joint transmission device to move passively so that the posture adjustment and automatic turning of the quadruped robot can be achieved at will. The two-freedom-degree bionic flexible spinal structure can be used for walking posture adjustment of the quadruped robot on the ground as well as posture adjustment and automatic turning of the quadruped robot falling off from the high altitude, and a certain buffering function is achieved.
Description
Technical field
The present invention relates to robotics, specifically the bionical flexible spinal structure of a kind of two degrees of freedom of quadruped robot.
Background technology
Walking robot is a kind of intelligent robot, and common walking robot is more with two-legged type, all fours type and six sufficient formula application.Wherein, four feet walking robot mechanism simple and flexible, load-carrying capacity are strong, good stability, in rescue and relief work, celestial body detecting, amusement and military affairs etc., have good application prospect, and most is representational is the BigDog that boston, u.s.a utility companies makes.
Present stage, both at home and abroad most adjustment of the research of quadruped robot all being concentrated to walking, and little to the research of the pose adjustment of the quadruped robot that high-altitude falls.Such as, the robot of this class of height rescue quadruped robot needs from falling to ground in the air, in order to ensure the safety of landing and stability, require that robot lands with a kind of correct attitude, therefore for this kind of robot, the adjustment of its aerial statue, automatic turning-right-side and landing and buffering just seem particularly important.And in the research of whereabouts, a few studies high-altitude quadruped robot, majority have employed this kind of simple rigid member of universal-joint to realize pose adjustment and automatic turning-right-side, the precision of this mechanism in most cases pose adjustment is on the low side, landform comformability is low, easily tumbles when causing high-altitude robot cannot adjust to correct attitude or land; In addition, when landing, rigid body cannot provide buffering, easily causes component damage.
Summary of the invention
The object of the present invention is to provide a kind of bionical flexible spinal structure of two degrees of freedom of quadruped robot of rational in infrastructure, highly versatile, to solve the problem proposed in above-mentioned background technology.
For achieving the above object, the invention provides following technical scheme:
A kind of bionical flexible spinal structure of two degrees of freedom of quadruped robot, comprise forerunner, flexible spinal and rear-guard, described flexible spinal comprises spring, rope driving device and the joint transmission means be formed by stacking by multiple rotating mechanism, described rotating mechanism comprises rotating table and fixed frame, described rope driving device comprises rope and wheel disc, described rear-guard is arranged on the right side of forerunner by joint transmission means, described wheel disc is provided with multiple, wheel disc is arranged on the inside of forerunner and rear-guard, described rotating table and fixed frame are equipped with multiple, rotating table is connected by fixed frame, described spring is arranged between two rotating tablees, described rope is through spring, the one ends wound of rope is on wheel disc, the other end of rope is fixed on forerunner or rear-guard.
As the further scheme of the present invention: be respectively provided with two wheel discs in described forerunner and rear-guard.
As the further scheme of the present invention: two described rotating tablees are equipped with four springs.
As the present invention's further scheme: described rope is provided with four altogether, wherein one end of two ropes is wrapped on the wheel disc in forerunner respectively, the other end is fixed on rear-guard, and one end of other two ropes is wrapped on the wheel disc in rear-guard respectively, and the other end is fixed on forerunner.
Compared with prior art, the invention has the beneficial effects as follows:
The present invention is rational in infrastructure, highly versatile, can realize the flexible spinal structure of pose adjustment and automatic turning-right-side, adopts rope driving device to control joint transmission means passive movement thus realizes any attitude adjustment and the automatic turning-right-side of quadruped robot.The walking adjustment of ground quadruped robot can not only be used for, pose adjustment and the automatic turning-right-side of the quadruped robot that high-altitude falls can be used for simultaneously, and have certain buffer action.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is the structural representation that Elastic backbone of the present invention rotates.
Fig. 3 is the axle side schematic diagram of rotating mechanism in the present invention.
Detailed description of the invention
Be described in more detail below in conjunction with the technical scheme of detailed description of the invention to this patent.
Refer to Fig. 1-3, a kind of bionical flexible spinal structure of two degrees of freedom of quadruped robot, comprise forerunner 1, flexible spinal and rear-guard 7, described flexible spinal comprises spring 4, rope driving device and the joint transmission means be formed by stacking by multiple rotating mechanism, described rotating mechanism comprises rotating table 3 and fixed frame 5, described rope driving device comprises rope 2 and wheel disc 6, described rear-guard 7 is arranged on the right side of forerunner 1 by joint transmission means, described wheel disc 6 is provided with multiple, wheel disc 6 is arranged on the inside of forerunner 1 and rear-guard 7, described rotating table 3 and fixed frame 5 are equipped with multiple, rotating table 3 is connected by fixed frame 5, described spring 4 is arranged between two rotating tablees 3, when spring 4 ensures passive movement, the anglec of rotation of each layer is comparatively even, also serve certain buffer action simultaneously, described rope 2 is through spring 4, the one ends wound of rope 2 is on wheel disc 6, the other end of rope 2 is fixed on forerunner 1 or rear-guard 7.
Two wheel discs 6 are respectively provided with in described forerunner 1 and rear-guard 7, two described rotating tablees 3 are equipped with four springs 4, described rope 2 is provided with four altogether, wherein one end of two ropes 2 is wrapped on the wheel disc 6 in forerunner 1 respectively, the other end is fixed on rear-guard 7, one end of other two ropes 2 is wrapped on the wheel disc 6 in rear-guard 7 respectively, and the other end is fixed on forerunner 1.
Described joint transmission means is formed by multi-layer rotating Mechanism Combination, whole device passive movement, and its power is provided by rope driving device, and rope driving device control mechanism realizes rolling and pitching two degree of freedom, described rope driving device comprises the identical wheel disc of shape 6 and two groups of ropes, wheel disc 6 is each in forerunner 1 and rear-guard 7 arranges two, two groups of ropes are made up of a pair rope respectively, four rope difference one ends wound are on wheel disc 6, then through joint transmission means, the other end and forerunner 1 or rear quarters 7 affixed, every a pair rope 2 realizes take-up and unwrapping wire by wheel disc 6, thus control mechanism carries out rolling and pitching, described joint transmission means two ends respectively with forerunner 1 and rear-guard 7 affixed, himself is formed by multi-layer rotating Mechanism Combination, every layer of rotating mechanism can realize 2 direction motions, described spring 4 is arranged on joint transmission means between layers, between often two-layer, four springs 4 are set, two groups of ropes of rope driving device pass from its centre, each fixed frame 5 connects one end of two rotating tablees 3, realize the rotation of both direction respectively.
What the present invention adopted is that rope driving device controls joint transmission means passive movement thus realizes any attitude adjustment and the automatic turning-right-side of quadruped robot, namely mechanism's rotary motion is realized by the take-up of rope 2 and unwrapping wire, the rotation in another direction is similar, the rotation of both direction, i.e. rolling and pitching, then predetermined pose adjustment and automatic turning-right-side can be realized when moving according to certain relation, the rotating mechanism number of plies is adjustable, within the specific limits, the number of plies is more, mechanism's anglec of rotation is larger, control accuracy is also higher, complicated attitude more easily realizes, but along with the increase of the number of plies, the difficulty controlled also increases thereupon.Due to rotating table 3 and the forerunner 1 at joint transmission means two ends and rear quarters 7 affixed, therefore slightly different with rotating table 3 structure of centre.
The present invention is rational in infrastructure, highly versatile, can realize the flexible spinal structure of pose adjustment and automatic turning-right-side, adopts rope driving device to control joint transmission means passive movement thus realizes any attitude adjustment and the automatic turning-right-side of quadruped robot.The walking adjustment of ground quadruped robot can not only be used for, pose adjustment and the automatic turning-right-side of the quadruped robot that high-altitude falls can be used for simultaneously, and have certain buffer action.
Above the better embodiment of this patent is explained in detail, but this patent is not limited to above-mentioned embodiment, in the ken that one skilled in the relevant art possesses, various change can also be made under the prerequisite not departing from this patent aim.
Claims (4)
1. the bionical flexible spinal structure of the two degrees of freedom of a quadruped robot, comprise forerunner (1), flexible spinal and rear-guard (7), it is characterized in that, described flexible spinal comprises spring (4), rope driving device and the joint transmission means be formed by stacking by multiple rotating mechanism, described rotating mechanism comprises rotating table (3) and fixed frame (5), described rope driving device comprises rope (2) and wheel disc (6), described rear-guard (7) is arranged on the right side of forerunner (1) by joint transmission means, described wheel disc (6) is provided with multiple, wheel disc (6) is arranged on the inside of forerunner (1) and rear-guard (7), described rotating table (3) and fixed frame (5) are equipped with multiple, rotating table (3) is connected by fixed frame (5), described spring (4) is arranged between two rotating tablees (3), described rope (2) is through spring (4), the one ends wound of rope (2) is on wheel disc (6), the other end of rope (2) is fixed on forerunner (1) or rear-guard (7).
2. the bionical flexible spinal structure of the two degrees of freedom of quadruped robot according to claim 1, is characterized in that, is respectively provided with two wheel discs (6) in described forerunner (1) and rear-guard (7).
3. the bionical flexible spinal structure of the two degrees of freedom of quadruped robot according to claim 1, is characterized in that, two described rotating tablees (3) are equipped with four springs (4).
4. the bionical flexible spinal structure of the two degrees of freedom of quadruped robot according to claim 1, it is characterized in that, described rope (2) is provided with four altogether, wherein one end of two ropes (2) is wrapped on the wheel disc (6) in forerunner (1) respectively, the other end is fixed on rear-guard (7), one end of other two ropes (2) is wrapped on the wheel disc (6) in rear-guard (7) respectively, and the other end is fixed on forerunner (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510798688.7A CN105235770A (en) | 2015-11-19 | 2015-11-19 | Two-freedom-degree bionic flexible spinal structure of quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510798688.7A CN105235770A (en) | 2015-11-19 | 2015-11-19 | Two-freedom-degree bionic flexible spinal structure of quadruped robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105235770A true CN105235770A (en) | 2016-01-13 |
Family
ID=55033690
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510798688.7A Pending CN105235770A (en) | 2015-11-19 | 2015-11-19 | Two-freedom-degree bionic flexible spinal structure of quadruped robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105235770A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105538338A (en) * | 2016-02-05 | 2016-05-04 | 东南大学 | Bionic spine mechanism applied to quadruped robot and robot |
| CN109940582A (en) * | 2019-02-19 | 2019-06-28 | 北京交通大学 | A kind of main passive matrix parallel flexible backbone mechanism of two degrees of freedom |
| CN112171646A (en) * | 2020-10-28 | 2021-01-05 | 西北工业大学深圳研究院 | Flexible spine mechanism and kangaroo-simulated jumping robot |
| CN113044133A (en) * | 2021-04-28 | 2021-06-29 | 北京理工大学 | Bionic flexible spine and robot |
| CN114313051A (en) * | 2021-12-15 | 2022-04-12 | 浙江大学杭州国际科创中心 | Multi-foot robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661667A (en) * | 2013-12-11 | 2014-03-26 | 北京航空航天大学 | Smart quadruped robot with flexible waist |
| CN103935417A (en) * | 2014-04-11 | 2014-07-23 | 哈尔滨工程大学 | Bionic four-foot robot provided with spinal joint and elastic legs |
| CN104555421A (en) * | 2014-12-31 | 2015-04-29 | 南京信息职业技术学院 | Five-degree of freedom stacking manipulator |
| CN104875812A (en) * | 2015-03-27 | 2015-09-02 | 北京交通大学 | Four-leaf clover shaped adjustable rigidity supple spine for quadruped robot |
-
2015
- 2015-11-19 CN CN201510798688.7A patent/CN105235770A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661667A (en) * | 2013-12-11 | 2014-03-26 | 北京航空航天大学 | Smart quadruped robot with flexible waist |
| CN103935417A (en) * | 2014-04-11 | 2014-07-23 | 哈尔滨工程大学 | Bionic four-foot robot provided with spinal joint and elastic legs |
| CN104555421A (en) * | 2014-12-31 | 2015-04-29 | 南京信息职业技术学院 | Five-degree of freedom stacking manipulator |
| CN104875812A (en) * | 2015-03-27 | 2015-09-02 | 北京交通大学 | Four-leaf clover shaped adjustable rigidity supple spine for quadruped robot |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105538338A (en) * | 2016-02-05 | 2016-05-04 | 东南大学 | Bionic spine mechanism applied to quadruped robot and robot |
| CN109940582A (en) * | 2019-02-19 | 2019-06-28 | 北京交通大学 | A kind of main passive matrix parallel flexible backbone mechanism of two degrees of freedom |
| CN112171646A (en) * | 2020-10-28 | 2021-01-05 | 西北工业大学深圳研究院 | Flexible spine mechanism and kangaroo-simulated jumping robot |
| CN113044133A (en) * | 2021-04-28 | 2021-06-29 | 北京理工大学 | Bionic flexible spine and robot |
| CN113044133B (en) * | 2021-04-28 | 2021-12-07 | 北京理工大学 | Bionic flexible spine and robot |
| CN114313051A (en) * | 2021-12-15 | 2022-04-12 | 浙江大学杭州国际科创中心 | Multi-foot robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105235770A (en) | Two-freedom-degree bionic flexible spinal structure of quadruped robot | |
| US9957002B2 (en) | Mobile platform | |
| CN107200075B (en) | A kind of mobile barrier-surpassing robot of the change wheel footpath of separable wheel rim | |
| CN103244801B (en) | Four-degree-of-freedom movement means | |
| Zhao et al. | Controlling aerial maneuvering of a miniature jumping robot using its tail | |
| CN104058022B (en) | A kind of transformable mobile robot of terrain self-adaptive | |
| Tadakuma et al. | Development of holonomic omnidirectional Vehicle with “Omni-Ball”: Spherical wheels | |
| WO2006073548A3 (en) | Robotic all terrain surveyor | |
| JP2016523759A5 (en) | ||
| CN107215403B (en) | Ball shape robot | |
| CN209008723U (en) | A kind of wheeled biped robot | |
| CN102126210B (en) | 7-DOF (Degree of Freedom) pneumatic muscle flexible mechanical arm | |
| CN104887414A (en) | Omni-directionally movable wheelchair with gravity center adjusting function | |
| CN108674513B (en) | Variable-configuration wheel leg moving action robot | |
| CN103085059A (en) | Five-degree-freedom parallel robot with one rotating drive branch and four moving drive branches | |
| CN107128378A (en) | Ball shape robot | |
| CN204506376U (en) | Dwelling in a kind of land, water and air three, nobody investigates device | |
| CN105599818A (en) | Obstacle-surmounting robot | |
| CN105752237A (en) | Balance car control rod telescopic mechanism | |
| Niu et al. | Mechanical development and control of a miniature nonholonomic spherical rolling robot | |
| CN105583808A (en) | Wheel-leg composite spherical surface parallel mechanism | |
| CN108502154A (en) | A kind of docking mechanism detached with Multifeet walking robot zoarium for more rotor robots | |
| Aoki et al. | Development of quadruped walking robot with spherical shell-mechanical design for rotational locomotion | |
| CN103413480B (en) | Three-dimensional simulation motion device | |
| CN105966481A (en) | Universal wheel type spherical carrying device and application method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160113 |