CN105835982B - The turning structure of 2D quadruped robots - Google Patents
The turning structure of 2D quadruped robots Download PDFInfo
- Publication number
- CN105835982B CN105835982B CN201610219590.6A CN201610219590A CN105835982B CN 105835982 B CN105835982 B CN 105835982B CN 201610219590 A CN201610219590 A CN 201610219590A CN 105835982 B CN105835982 B CN 105835982B
- Authority
- CN
- China
- Prior art keywords
- wire drawing
- straight legs
- lock
- ball
- motor
- 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.)
- Active
Links
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
Abstract
The present invention discloses a kind of turning structure and its control method of 2D quadruped robots, and the device includes a ball screw, the wire drawing of " people " character form structure, and the screw mandrel is fixed on robot upper part platform, and wire drawing is fixed between two legs, is pulled by motor.And the motor that drive screw rotates, motor are used for detecting motor speed equipped with encoder.The distance between two legs are limited by wire drawing pulling, change step sizes, accumulating can by the regular hour reaches the effect turned.The device is a kind of simple for structure, turning device of deft design, can realize turning action with less mechanical part structure, and efficiently solves the turning of 2D robots and unstable situation of turning.
Description
Technical field
The present invention relates to robot field, the specifically a kind of turning structure and its control method of 2D quadruped robots can
For fields such as rehabilitation medical, toy, military affairs.
Background technology
At present, the research of robot is all a focus in countries in the world, and the research to 2D legged type robots is even more such as fire
Such as the bitter edible plant, the 2D legged type robots that emerged at present have been achieved for certain achievement, but also have the shortcomings that obvious, are particularly turning
Control structure and method on the defects of certain be present, for example, being different from 3D legged type robots, 2D legged type robots are in structure
On lack the lateral movement of hip joint, therefore 2D biped robots typically can not normally realize turning walking.
The content of the invention
It is an object of the invention to provide a kind of dress that is simple, stable and can effectively making the turning of 2D quadruped robots
Put and its control method, the device and control method can realize the turning of 2D quadruped robots.
The present invention adopts the following technical scheme that to achieve these goals：The turning structure of 2D quadruped robots, including it is straight
Leg I, straight legs II, straight legs III, straight legs IV, and it is arranged at the straight legs I, straight legs II, straight legs III and the machine on the top of straight legs IV
People's upper brace, the ball screw being installed on the robot upper part platform, shaft coupling, motor, wire drawing I and wire drawing II,
The ball screw is made up of screw rod, ball slider and ball, and ball lies in the ball slider and screw rod junction, described
Screw rod by shaft coupling connect motor, in the straight legs I, straight legs II, straight legs III and straight legs IV respectively fixed setting lock I,
Lock II, lock III and lock IV, the wire drawing I and wire drawing II be in " people " font, and the upper end of wire drawing I and wire drawing II is consolidated respectively
It is scheduled on ball slider, two lower ends of wire drawing I are separately fixed on lock I and lock II, and two lower ends of wire drawing II are fixed respectively
On lock III and lock IV.Also include the encoder with motor connection, the rotating speed for measurement motor.
In order to which the present invention is better achieved, the wire drawing I in " people " font is made up of two flexible steel wires, wherein first
The length of bar flexible steel wire is more than spacing distance when normally being diverged at straight legs 1/2 inside and outside 2D quadruped robots the same side, the
Two flexible steel wire length is more than,, whereinFor straight legs length,For 2D four-footed machines
Device people's upper brace length, one end of Article 2 flexible steel wire is fixed on to the midpoint of first flexible steel wire；Wire drawing II
Constituted mode it is identical with wire drawing I.Wire drawing upper end is separately fixed at the midpoint of ball slider, and wire drawing lower end is separately fixed at lock
On, it is arranged on this in robot, " people " font is presented in the state that wire drawing I and wire drawing II are in tightening.
A kind of control method of the turning structure of 2D quadruped robots, including 2D quadruped robots send turn command, control
The motor of turning structure processed rotates and then drives ball slider to move to the left or to the right so that wire drawing II or wire drawing I tense upwards
So as to reduce on the right side of robot or left side step-length so as to produce step-length poor for robot both sides, and then cause robot to the right or to
Turn left.Under robot initial state and robot straight-going state, ball slider is located among screw rod.
The beneficial effects of the invention are as follows：The turning structure of this 2D quadruped robots, wire drawing is added by simple ball screw
Structure, in the case where ensuring mechanical system low complex degree, control 2D quadruped robots both sides leg produces step-length difference to realize
Turn.
Other advantages, target and the feature of the present invention will be illustrated in the following description to a certain extent, and
And to a certain extent, based on will be apparent to those skilled in the art to research hereafter, or can be from
Instructed in the practice of the present invention.The target and other advantages of the present invention can be realized and obtained by following specification
.
Brief description of the drawings
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with brief description of the drawings to the present invention
It is further elaborated, wherein：
Fig. 1 is the structure of the present invention and its scheme of installation on 2D quadruped robot platforms（Front）；
Fig. 2 is the view that 2D quadruped robots are turned using the present invention；
In figure：1- robot upper part platforms, 2- ball screws, 3- screw rods, 4- ball sliders, 5- shaft couplings, 6- motors, 7-
Encoder, 8- wire drawings II, 9- latch IV, 10- and latch III, 11- straight legs IV, 12- straight legs III, 13- straight legs II, 14- straight legs I, 15-
Latch I, 16- and latch II, 17- wire drawings I.
Embodiment
Hereinafter with reference to accompanying drawing, the preferred embodiments of the present invention are described in detail.It should be appreciated that preferred embodiment
Only for the explanation present invention, the protection domain being not intended to be limiting of the invention.
The 2D quadruped robots that the present invention is applicable are the legged type robot using bifurcated leg structure, such as Fig. 1 and Fig. 2 institutes
Show.Referring to Fig. 1, the turning structure of 2D quadruped robots, including straight legs I 14, straight legs II 13, straight legs III 12, straight legs IV 11, and
The straight legs I 14, straight legs II 13, straight legs III 12 and the robot upper part platform 1 on the top of straight legs IV 11, its feature is arranged to exist
In：Also include the ball screw 2 being installed on the robot upper part platform 1, shaft coupling 5, motor 6, wire drawing I 17 and wire drawing
II 8, the ball screw 2 is made up of screw rod 3, ball slider 4 and ball, and the screw rod 3 connects motor 6 by shaft coupling 5,
Fixed setting latches I 15, lock II 16, lock III respectively in the straight legs I 14, straight legs II 13, straight legs III 12 and straight legs IV 11
10 can not move up and down with lock IV 9, each lock after fixing along leg；The wire drawing I 17 and wire drawing II 8 are in " people " font,
The upper end of the structure of the two mirror image each other, wire drawing I 17 and wire drawing II 8 is separately fixed on ball slider 4, wire drawing I 17 two under
End is separately fixed on lock I 15 and lock II 16, and two lower ends of wire drawing II 8 are separately fixed on lock III 10 and lock IV 9.
The ball slider 4 is that the part of ball screw 2 can linearly move on screw rod 3；The ball lies in ball
Sliding block 4 and the junction of screw rod 3, and can be rolled along screw rod 3；The motor 6 carries encoder 7, and motor is measured by encoder 7
6 rotating speed uses PID closed loop control algorithm controlled motor rotating speeds so as to robot controller.
Whole turning structure is arranged on 2D quadruped robot platforms in the way of Fig. 1, and ball screw and robot
Four-footed keep vertical；The midpoint that screw rod is under the ball slider initial situation on rear ball screw is installed, is now drawn
" people " font state is presented as shown in figure 1, robot can normal straight-ahead operation in the state that silk I and wire drawing II are in tightening.
The turning structure of 2D quadruped robots of the present invention is turned by following control method control machine people：
1st, initial situation, i.e. 2D quadruped robots are in straight-going state, and now the ball slider on ball screw is in spiral shell
Bar midpoint, wire drawing I and wire drawing II are tightened；Robot both sides step-length is equal, i.e.,：Distance between leg I and leg II at lower end
Distance between leg III and leg IV at lower endMeet equation；
2nd, robot controller sends turn command, and control system drives the motor of turning structure using pid control algorithm
Rotate clockwise or counterclockwise, and then drive the screw rod of ball screw to rotate clockwise or counterclockwise by shaft coupling；
3rd, screw rod rotates clockwise or counterclockwise, and then drives ball slider to move to the left or to the right（With robot front
It is oriented front）, the corresponding relation of ball slider moving direction and screw rod rotation direction presses the specific mounting means of turning structure
Determine；
4th, ball slider is to the left（Or to the right）It is mobile, and then drive wire drawing I to tense upwards（Or wire drawing II tenses upwards）（With
Fig. 1 Oriented Documents one side is robot front）, then reduce on the right side of robot（Or left side）Step-length, and robot on the left of（Or
Right side）Step-length is constant, and then step-length occur poor for leg at left and right sides of robot, when robot both sides step-length difference reaches certain value,
Motor stalls；
5th, robot is walked on above-mentioned state, and the route of robot ambulation is to the right due to the step-length difference of both sides
（Or to the left）The camber line of bending, turned right so as to realize（Or turn left）；
6th, robot controller sends straight trip instruction, and the motor of turning structure, which rotates, causes the ball slider of ball screw to move
Screw rod midpoint is moved, direct current generator stops operating, and turning structure returns to original state, robot straight trip.
Claims (4)
1. the turning structure of 2D quadruped robots, including straight legs I（14）, straight legs II（13）, straight legs III（12）, straight legs IV（11）,
And it is arranged at the straight legs I（14）, straight legs II（13）, straight legs III（12）With straight legs IV（11）The robot upper part platform on top
（1）, it is characterised in that：Also include being installed on the robot upper part platform（1）On ball screw（2）, shaft coupling（5）, electricity
Machine（6）, wire drawing I（17）And wire drawing II（8）, the ball screw（2）By screw rod（3）, ball slider（4）Formed with ball,
The screw rod（3）Pass through shaft coupling（5）Connect motor（6）, in the straight legs I（14）, straight legs II（13）, straight legs III（12）With it is straight
Leg IV（11）The upper lock of fixed setting respectively I（15）, lock II（16）, lock III（10）With lock IV（9）, the wire drawing I
（17）With wire drawing II（8）It is in " people " font, wire drawing I（17）With wire drawing II（8）Upper end be separately fixed at ball slider（4）
On, wire drawing I（17）Two lower ends be separately fixed at lock I（15）With lock II（16）On, wire drawing II（8）Two lower ends it is solid respectively
It is scheduled on lock III（10）With lock IV（9）On.
2. the turning structure of 2D quadruped robots according to claim 1, it is characterised in that：The wire drawing in " people " font
Ⅰ（17）It is made up of two flexible steel wires, wherein the length of first flexible steel wire is more than inside and outside 2D quadruped robots the same side directly
Spacing distance when normally being diverged at leg 1/2, Article 2 flexible steel wire length is more than,,
WhereinFor straight legs length,For 2D quadruped robot upper brace length, by one end of Article 2 flexible steel wire
It is fixed on the midpoint of first flexible steel wire；Wire drawing II（8）Constituted mode and wire drawing I（17）It is identical.
3. the turning structure of 2D quadruped robots according to claim 1 or claim 2, it is characterised in that：Also include and motor（6）Even
The encoder connect（7）, for measurement motor（6）Rotating speed.
4. the turning structure of 2D quadruped robots according to claim 3, it is characterised in that：The ball lies in the rolling
Pearl sliding block（4）With screw rod（3）Junction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610219590.6A CN105835982B (en) | 2016-04-11 | 2016-04-11 | The turning structure of 2D quadruped robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610219590.6A CN105835982B (en) | 2016-04-11 | 2016-04-11 | The turning structure of 2D quadruped robots |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105835982A CN105835982A (en) | 2016-08-10 |
| CN105835982B true CN105835982B (en) | 2017-12-26 |
Family
ID=56597087
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610219590.6A Active CN105835982B (en) | 2016-04-11 | 2016-04-11 | The turning structure of 2D quadruped robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105835982B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107140054B (en) * | 2017-05-19 | 2019-08-02 | 山东大学 | A kind of turning robot and turning method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2841466Y (en) * | 2005-06-21 | 2006-11-29 | 赖秀坤 | Six-legged walking machine |
| CN102962842A (en) * | 2012-10-29 | 2013-03-13 | 安凯 | Spherical robot driving system and control method thereof |
| CN103318290A (en) * | 2013-07-08 | 2013-09-25 | 北京理工大学 | Similar dual-A-arm suspended robot crotch lateral-deviation damping system |
| CN203660421U (en) * | 2013-12-11 | 2014-06-18 | 国家电网公司 | Extra high voltage transmission line obstacle cleaning robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TR200300265A2 (en) * | 2003-03-04 | 2003-06-23 | Necati̇@Hacikadi̇roğlu | Balancing system for two or multi-legged robots. |
-
2016
- 2016-04-11 CN CN201610219590.6A patent/CN105835982B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2841466Y (en) * | 2005-06-21 | 2006-11-29 | 赖秀坤 | Six-legged walking machine |
| CN102962842A (en) * | 2012-10-29 | 2013-03-13 | 安凯 | Spherical robot driving system and control method thereof |
| CN103318290A (en) * | 2013-07-08 | 2013-09-25 | 北京理工大学 | Similar dual-A-arm suspended robot crotch lateral-deviation damping system |
| CN203660421U (en) * | 2013-12-11 | 2014-06-18 | 国家电网公司 | Extra high voltage transmission line obstacle cleaning robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105835982A (en) | 2016-08-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2017092463A1 (en) | Method of controlling walking posture of biped robot and device | |
| JP4998506B2 (en) | Robot control device, robot control method, and legged robot | |
| CN106741277B (en) | Hybrid mechanical leg mechanism | |
| CN101950170B (en) | Interaction control device and method oriented to intelligent indoor assisting system | |
| CN106426200B (en) | A kind of ping-pong robot and its control method | |
| CN101531006B (en) | Power type walking method for biped robot | |
| CN105835982B (en) | The turning structure of 2D quadruped robots | |
| US20110172824A1 (en) | Walking robot and method of controlling the same | |
| DE102016122340A1 (en) | Ankle-less walking assistance device and method for controlling the same | |
| CN104890760B (en) | A kind of imitative dinosaur robot | |
| Ogura et al. | A novel method of biped walking pattern generation with predetermined knee joint motion | |
| US20190038486A1 (en) | Moving apparatus | |
| CN107398889A (en) | Crusing robot guiding mechanism | |
| CN111176342B (en) | Walking speed adjusting method of humanoid gait of biped robot | |
| JP2010148760A (en) | Walking aid device | |
| JP2005288561A (en) | Humanoid robot | |
| JPH03166076A (en) | Control unit for movement of walking leg | |
| Tamada et al. | High-speed bipedal robot running using high-speed visual feedback | |
| CN106143720A (en) | A kind of balance car | |
| CN106080887A (en) | A kind of balance car | |
| CN205854359U (en) | A kind of balance car | |
| CN106143719A (en) | A kind of balance car | |
| KR20090131781A (en) | Robot and method for controlling walking of the same | |
| Li et al. | Fast bipedal walk using large strides by modulating hip posture and toe-heel motion | |
| CN113696994B (en) | Controllable multi-point contact ground leg structure of quadruped robot and control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210427 Address after: 450018 1601, 16th floor, Henan enterprise union building, Shangxian street, Mingli Road, Zhengdong New District, Zhengzhou City, Henan Province Patentee after: Zhongyuan power intelligent robot Co., Ltd Address before: 400065 Chongqing Nan'an District huangjuezhen pass Chongwen Road No. 2 Patentee before: CHONGQING University OF POSTS AND TELECOMMUNICATIONS |
|
| TR01 | Transfer of patent right |