CN106741281A - A kind of quadruped robot walking mechanism containing linear joint - Google Patents
A kind of quadruped robot walking mechanism containing linear joint Download PDFInfo
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- CN106741281A CN106741281A CN201611146893.6A CN201611146893A CN106741281A CN 106741281 A CN106741281 A CN 106741281A CN 201611146893 A CN201611146893 A CN 201611146893A CN 106741281 A CN106741281 A CN 106741281A
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- Prior art keywords
- leg
- walking mechanism
- quadruped robot
- robot walking
- robot
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Classifications
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- 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 invention discloses a kind of quadruped robot walking mechanism containing linear joint, including robot trunk part, robot trunk part both sides set two pairs of legs mechanism, every a pair of leg mechanisms are set along robot trunk partial symmetry, leg mechanism is connected by hip joint with robot trunk part, and leg mechanism bottom is connected with foot mechanism；The leg mechanism includes leg body, linear joint is equipped with the leg body, the linear joint includes initiative part and follower, the follower is connected by connector with transverse rotation power set, the initiative part running drives follower to move along a straight line up and down and then leg body is moved up and down lift leg, the operating of transverse rotation power set drives leg body front and rear to swing, the transverse rotation power set alternate-running of the transverse rotation power set alternate-running of every a pair of leg mechanisms and two leg mechanisms of homonymy drives leg body to realize that four-footed gait is walked.
Description
Technical field
The present invention relates to robotics, more particularly to a kind of quadruped robot vehicle with walking machine containing linear joint
Structure.
Background technology
Many animals in nature, especially quadruped mammal, not only can be fast under these complicated terrain environments
Speed walking, and with larger heavy burden ability.Therefore, the mankind have been working hard develop four-leg bionic machine miscellaneous
People.
Compare at present famous quadruped robot have boston, U.S.A utility companies " BigDog ", " LS3 ",
" WildCat " etc., " HyQ " of profit Institute for Research and Technology of Italy, " Cheetah " of Massachusetts Institute Technology etc..Chinese patent
Document CN 103465991A disclose a kind of simple type quadruped robot, and its feature is to set one on every leg of robot
Individual motor, manufacturing cost is reduced by the simplification of structure.Chinese patent literature CN103407514A discloses a kind of four
Sufficient bio-robot leg, the leg contains two rotary joints.Chinese patent literature CN103448828A discloses a kind of four-footed and imitates
Raw robot leg mechanism, the mechanism includes the rotary joints such as shoulder joint, knee joint.
The said goods and the designed quadruped robot of invention all simulate the leg structure of four-footed lactation substantially, and now four
The leg of biped robot often uses " elbow ", " knee " formula structure, and this kind of mode is in structure with certain bio-imitability, this kind knot
Result is that supporting leg has certain action of going down on one's knees to quadruped robot when walking caused by structure mode, and seemingly quadruped is crawling
The mode that crawl is advanced is walked, and this walking manner can cause robot joint actuator when walking or being stand-type to be required for continuing
Larger torsion is exported to maintain body attitude, thus supporting leg provides the straight of support force mainly by leg bone during compared with animal walking
Leg walking manner will expend bigger energy.The leg of existing quadruped robot can carry out action of going down on one's knees, when walking not
Only need four alternatings of leg of control to step leg to act, in addition it is also necessary to coordinate gone down on one's knees at every knee joint of leg of control action, wall scroll leg
Go down on one's knees actuation time and leg advanced in years need to coordinate well, the actuation time of going down on one's knees between four legs will also meet certain cooperation
Relation, could realize the normal walking of quadruped robot, thus precision of such quadruped robot when walking to controlling will
Ask and the cooperation requirement of each part is higher.
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 four-footed machine containing linear joint
People's walking mechanism, linear joint is set by the leg of walking mechanism, and directly control linear joint operating is capable of achieving walking of taking a step,
Gone down on one's knees without control between leg, only to stepping leg action control need to be coordinated to be capable of achieving the walking of four-footed gait.
To achieve the above object, the present invention uses following technical proposals：
A kind of quadruped robot walking mechanism containing linear joint, including robot trunk part, the robot body
Stem portion both sides set two pairs of legs mechanism, and every a pair of leg mechanisms are set along robot trunk partial symmetry, and leg mechanism leads to
Cross hip joint to be connected with robot trunk part, leg mechanism bottom is connected with foot mechanism；The leg mechanism includes leg
Body, is equipped with linear joint in the leg body, the linear joint includes initiative part and follower, the follower
It is connected with transverse rotation power set by connector, initiative part running drives follower to move along a straight line up and down and then makes leg
Portion's body moves up and down lift leg, and the operating of transverse rotation power set drives leg body front and rear to swing, every a pair of leg mechanisms
Transverse rotation power set alternate-running and two leg mechanisms of homonymy transverse rotation power set alternate-running drive
Leg body realizes that four-footed gait is walked.
The initiative part is leading screw, and the follower is the sliding block with silk hole.
Preferably, the sliding block is also engaged by linear bearing with line slideway, and line slideway is parallel to each other with leading screw.
The leading screw and line slideway are both secured on support frame, and support frame as described above is fixed with the shell of leg body and connected
Connect.
Preferably, the line slideway sets two, and it is in isosceles triangle that two line slideways cooperate with leading screw.
Or, the initiative part is gear, and the follower is tooth bar.
Or, the initiative part is Hydraulic Elements, and the follower is slide.
The hip joint includes the longitudinal rotary power unit being fixedly connected with robot trunk part, the longitudinal direction rotation
Power set are connected by connecting rod with transverse rotation power set, and longitudinal rotary power unit operating drives leg body laterally to put
It is dynamic.
The robot trunk part includes the first contiguous block and the second contiguous block that are connected by head rod, described
First contiguous block both sides are mutually fixed with the hip joint of first pair of leg mechanism, the second contiguous block both sides and second pair of leg machine
The hip joint of structure is mutually fixed.
The first contiguous block top sets the first connecting plate, and the second contiguous block top sets the second connecting plate, institute
State and be connected by the second connecting rod between the first connecting plate and the second connecting plate.
The head rod and the second connecting rod middle part are connected with reinforcing plate.
The foot mechanism is fixed on leg body bottom portion, and the foot mechanism bottom coats wear resistant material piece.
Beneficial effects of the present invention are：
Quadruped robot walking mechanism of the invention, a pair of leg mechanisms are respectively provided with robot trunk part both sides,
Linear joint is set in each leg mechanism, and linear joint running drives leg mechanism to move up and down realization lift leg, by control
The transverse rotation power dress of the transverse rotation power set alternate-running of every a pair of leg mechanisms and two leg mechanisms of homonymy
Alternate-running is put, is operated with linear joint and coordinated, realize that four-footed gait is walked.Walking process only has lift leg to step leg action, without
Go down on one's knees, consumed energy is less, fault rate reduction, control and cooperation simultaneously for walking process require to reduce, and improve walking
Speed.
Longitudinal rotary power unit is connected in the present invention on robot trunk part, longitudinal rotary power unit drives leg
Portion's body sideshake, and then realize moving left and right.
Robot trunk part of the invention sets each connecting rod and contiguous block, makes the steadiness and globality of whole mechanism
Enhancing, can realize robot ambulation with more reliable, while can be born a heavy burden on robot trunk part top, realize Transport work
Energy.
Foot mechanism of the invention sets cladding wear resistant material piece, can lift the wearability of foot mechanism, extends foot machine
The use time of structure.
Brief description of the drawings
Fig. 1 is quadruped robot walking mechanism overall schematic of the invention；
Fig. 2 splits schematic diagram for the quadruped robot leg mechanism that the present invention is provided；
In figure, 1 robot trunk part, 2 leg mechanisms, 3 foot mechanisms, 4 lateral electric rotating machines, 5 connecting rods, before and after 6 to
Electric rotating machine, 7 connectors, 8 sliding blocks, 9 linear bearings, 10 reducing motors, 11 shells, 12 support frames, 13 line slideways, 14
Thick stick, 15 head rods, 16 first contiguous blocks, 17 second contiguous blocks, 18 first connecting plates, 19 second connecting plates, 20 second connect
Extension bar, 21 reinforcing plates, 22 hip joints.
Specific embodiment
The present invention is further described with reference to the accompanying drawings and examples.
As Figure 1-Figure 2, a kind of four feet walking robot walking mechanism, including robot trunk part 1, leg mechanism
2 and foot mechanism 3.
Robot trunk part 1 is used to connect four leg mechanisms 2 of robot, while being also equipped with the control of robot
System and dynamical system.Weight can be also placed in robot trunk part 1 when needing and bearing a heavy burden to obtain on platform, four-footed machine is realized
The transportation function of people.
Robot trunk part 1 includes the first contiguous block 16 and the second contiguous block 17 that are connected by head rod 15,
The both sides of first contiguous block 16 are mutually fixed with first pair of hip joint of leg mechanism 2 22, the both sides of the second contiguous block 17 and second pair of leg
The hip joint 22 of portion mechanism 2 is mutually fixed.The top of first contiguous block 16 sets the first connecting plate 18, and the top of the second contiguous block 16 is set
Second connecting plate 19, is connected between the first connecting plate 18 and the second connecting plate 19 by the second connecting rod 20.Head rod
15 and the middle part of the second connecting rod 20 be connected with reinforcing plate 21.Robot trunk part sets each connecting rod and contiguous block, makes whole
Steadiness and the globality enhancing of mechanism, can realize robot ambulation with more reliable.
The left and right sides of robot trunk part 1 sets two pairs of legs mechanism 2, and (i.e. the both sides of robot trunk part 1 are respectively provided with
Front leg mechanism and rear leg mechanism, two front leg mechanisms are a pair of leg mechanisms, and leg mechanism is a pair of leg mechanisms after two), often
A pair of leg mechanisms 2 are symmetrical set along robot trunk part 1, and leg mechanism 2 passes through hip joint 22 and robot trunk
Part 1 connects, and the bottom of leg mechanism 2 is connected with foot mechanism 3, and hip joint 22 drives leg 2 to do phase by two sets of reducing motors
For body fore-and-aft direction and side to oscillating motion.Hip joint 22 includes that what is be fixedly connected with robot trunk part 1 indulges
It is front and rear to connect with lateral electric rotating machine 4 with by connecting rod 5 to electric rotating machine 6 to rotary power unit (i.e. lateral electric rotating machine 4)
Connect, the operating of lateral electric rotating machine 4 drives leg body sideshake.The wherein lateral body of electric rotating machine 4 and robot trunk portion
1 is divided to be connected, its rotary shaft is connected with front and rear by connecting rod 5 to the body of electric rotating machine 6.The front and rear output shaft to electric rotating machine 6 is then
It is connected with leg linear joint sliding block 8 by connector 7.
Leg mechanism 2 includes leg body, is equipped with linear joint in the body of leg, linear joint include initiative part and
Follower, follower is connected by connector 7 with transverse rotation power set (i.e. front and rear to electric rotating machine 6), initiative part running
Drive follower to move along a straight line up and down and then leg body is moved up and down lift leg, it is front and rear to drive leg to the operating of electric rotating machine 6
To swing before and after body, every a pair of leg mechanisms it is front and rear to the alternate-running of electric rotating machine 6 and homonymy (i.e. with left side or with right
Side) two leg mechanisms it is front and rear to the alternate-running of electric rotating machine 6 drive leg body realize four-footed gait walk.
Initiative part can be leading screw, and follower is the sliding block with silk hole.
Or, initiative part can be gear, and follower is tooth bar.
Or, initiative part can be Hydraulic Elements, and follower is slide.
It is described by taking leading screw and sliding block as an example in the present embodiment, as shown in Fig. 2 leg mechanism 2 is by regulation robot leg
The linear joint composition of motion.
Linear joint includes reducing motor 10, two line slideways 13, linear bearing 9, leading screw 14, sliding block 8, support frames 12
With shell 11, wherein reducing motor 10, line slideway 13 and leading screw 14 be fixed on support frame 12.Sliding block 8 is consolidated with linear bearing 9
Even, linear bearing 9 passes through line slideway 13,8 Kong Zeyu leading screws 14 of sliding block to coordinate.The output shaft of linear joint reducing motor 10 with
Leading screw 14 is connected, and drives leading screw 14 to rotate.Two line slideways 13 and the parallel installation of leading screw 14, its install end face in etc.
Lumbar triangle shape.Support frame 12 is connected by screw with shell 11.When reducing motor 10 is operated, leading screw 14 is with movable slider about 8
It is mobile, fixed to electric rotating machine 6, connecting rod 5, lateral electric rotating machine 4 and robot trunk part 1 before and after from sliding block 8, due to
Robot leg weight is lighter, and after the robot leg is connected with robot trunk part, robot trunk moiety by weight is bigger, machine
Device people's torso portion is motionless, so that leg body moves up and down realization lift leg action.
Foot mechanism 3 is arranged on leg body bottom portion shell 11, the bottom of foot mechanism 3 cladding wear resistant material piece, can be with
Abrasion resistant effect is reached by being molded one layer of wear-resisting polyurethane material in foot mechanism outer surface.
The operation of robot leg of the present invention is：
The lateral electric rotating machine 4 of each leg mechanism is operated, and by connecting rod 5, front and rear is transmitted to electric rotating machine 6, connector 7
To leg mechanism 2, drive leg mechanism 2 relative to side-to-side movement, complete to move left and right；Each leg mechanism it is front and rear to
Electric rotating machine 6 is operated, and leg mechanism 2 is delivered to by connector 7, drive leg mechanism 2 relative to before and after body to swing, it is complete
Into leg advanced in years action；The reducing motor 10 of each leg mechanism is operated, and leg linear joint sliding block 8, band are passed to by leading screw 14
Dynamic leg linear joint sliding block 8 moves up and down, motionless by robot trunk part, so that leg body is realized moving up and down
Complete lift leg action.Operated to electric rotating machine 6, reducing motor 10 before and after control system control, robot is completed single leg and step leg
Walking, to rotation before and after front and rear two leg mechanisms 2 to the alternate-running of electric rotating machine 6 and homonymy of every a pair of leg mechanisms 2
The alternate-running of rotating motor 6 drives leg body to realize that four-footed gait is walked.
When walking mechanism of the invention is walked, control system control be located at robot trunk part the same side (with left side or
Same right side) leg mechanism it is front and rear to electric rotating machine 6, the alternate-running of reducing motor 10, every a pair of leg mechanisms it is front and rear to
Electric rotating machine 6, the alternate-running of reducing motor 10, that is, realize that left front leg mechanism steps leg simultaneously with right side rear mechanism, behind left side
Leg mechanism and right front leg mechanism step leg simultaneously, and this two groups step leg alternately, realize whole robot and walk forward.Control
System processed control positioned at the leg mechanism of robot trunk part both sides the alternate-running of lateral electric rotating machine 4 (homonymy it is lateral
Electric rotating machine 4 is operated simultaneously), i.e., first lateral electric rotating machine 4 of the control positioned at side is operated, then controls the lateral rotation of opposite side
Motor 4 is operated, and realizes that robot moves left and right walking.
The present invention has mechanism simple, it is easy to safeguard, energy ezpenditure is low and the characteristics of strong heavy burden ability
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 (10)
1. a kind of quadruped robot walking mechanism containing linear joint, it is characterized in that, including robot trunk part, the machine
Device people's torso portion both sides set two pairs of legs mechanism, and every a pair of leg mechanisms are set along robot trunk partial symmetry, leg
Mechanism is connected by hip joint with robot trunk part, and leg mechanism bottom is connected with foot mechanism；The leg mechanism bag
Leg body is included, linear joint is equipped with the leg body, the linear joint includes initiative part and follower, described
Follower is connected by connector with transverse rotation power set, initiative part running drive follower move along a straight line up and down into
And leg body is moved up and down lift leg, the operating of transverse rotation power set drives leg body front and rear to swing, every a pair of legs
The transverse rotation power set of the transverse rotation power set alternate-running of portion mechanism and two leg mechanisms of homonymy are alternately transported
Turn to drive leg body to realize that four-footed gait is walked.
2. quadruped robot walking mechanism as claimed in claim 1, it is characterized in that, the initiative part is leading screw, described driven
Portion is the sliding block with silk hole.
3. quadruped robot walking mechanism as claimed in claim 2, it is characterized in that, the sliding block also by linear bearing with it is straight
Line guide rail is engaged, and line slideway is parallel to each other with leading screw.
4. quadruped robot walking mechanism as claimed in claim 3, it is characterized in that, the leading screw and line slideway are both secured to
On support frame, support frame as described above is fixedly connected with the shell of leg body.
5. quadruped robot walking mechanism as claimed in claim 1, it is characterized in that, the initiative part is gear, described driven
Portion is tooth bar；Or, the initiative part is Hydraulic Elements, and the follower is slide.
6. quadruped robot walking mechanism as claimed in claim 1, it is characterized in that, the hip joint includes and robot trunk
Longitudinal rotary power unit that part is fixedly connected, longitudinal rotary power unit is by connecting rod and transverse rotation power set
Connection, longitudinal rotary power unit operating drives leg body sideshake.
7. quadruped robot walking mechanism as claimed in claim 1, it is characterized in that, the robot trunk part includes passing through
First contiguous block and the second contiguous block of head rod connection, the first contiguous block both sides and first pair of hip of leg mechanism
Joint is mutually fixed, and the second contiguous block both sides are mutually fixed with the hip joint of second pair of leg mechanism.
8. quadruped robot walking mechanism as claimed in claim 7, it is characterized in that, the first contiguous block top sets first
Connecting plate, the second contiguous block top sets the second connecting plate, by the between first connecting plate and the second connecting plate
Two connecting rods are connected.
9. quadruped robot walking mechanism as claimed in claim 8, it is characterized in that, the head rod and the second connecting rod
Middle part is connected with reinforcing plate.
10. quadruped robot walking mechanism as claimed in claim 1, it is characterized in that, the foot mechanism is fixed on leg sheet
Body bottom, the foot mechanism bottom coats wear resistant material piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611146893.6A CN106741281B (en) | 2016-12-13 | 2016-12-13 | Four-footed robot running gear who contains straight line joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611146893.6A CN106741281B (en) | 2016-12-13 | 2016-12-13 | Four-footed robot running gear who contains straight line joint |
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| Publication Number | Publication Date |
|---|---|
| CN106741281A true CN106741281A (en) | 2017-05-31 |
| CN106741281B CN106741281B (en) | 2019-12-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611146893.6A Active CN106741281B (en) | 2016-12-13 | 2016-12-13 | Four-footed robot running gear who contains straight line joint |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131627A (en) * | 2018-10-22 | 2019-01-04 | 阮夏生 | The imitative sufficient running gear of one kind |
| CN109434810A (en) * | 2018-12-14 | 2019-03-08 | 深圳市行者机器人技术有限公司 | It is a kind of for controlling the drive mechanism of robot ambulation |
| CN109436125A (en) * | 2019-01-09 | 2019-03-08 | 安徽工业大学 | A kind of quadruped robot of ten two degrees of freedom |
| CN109484511A (en) * | 2018-10-29 | 2019-03-19 | 国家电网有限公司 | A kind of Weight upstairs climbing machine |
| CN110116768A (en) * | 2019-04-30 | 2019-08-13 | 厦门大学 | It is drawn by front and back and scrolls up and down the quadruped robot for realizing gait control |
| CN110126937A (en) * | 2019-05-21 | 2019-08-16 | 南华大学 | Bionical quadruped robot and gait control method |
| CN111232083A (en) * | 2020-02-25 | 2020-06-05 | 哈尔滨商业大学 | Robot ground |
| CN112984276A (en) * | 2021-02-26 | 2021-06-18 | 机械工业第九设计研究院有限公司 | Mechanism capable of walking in rectangular air duct |
| CN113212591A (en) * | 2021-05-12 | 2021-08-06 | 徐州木牛流马机器人科技有限公司 | Quadruped robot |
| CN114633823A (en) * | 2022-03-07 | 2022-06-17 | 清华大学 | Triphibian robot |
| CN115140214A (en) * | 2022-07-25 | 2022-10-04 | 安徽工程大学 | Disaster relief hexapod bionic robot |
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| CN103192898A (en) * | 2013-04-09 | 2013-07-10 | 北京交通大学 | Biomimetic quadruped robot provided with head and tail balance adjustment devices |
| CN103204194A (en) * | 2013-04-09 | 2013-07-17 | 北京交通大学 | Four-foot crawling robot simulating infants |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131627B (en) * | 2018-10-22 | 2020-11-17 | 阮夏生 | Foot-imitating walking system |
| CN109131627A (en) * | 2018-10-22 | 2019-01-04 | 阮夏生 | The imitative sufficient running gear of one kind |
| CN109484511A (en) * | 2018-10-29 | 2019-03-19 | 国家电网有限公司 | A kind of Weight upstairs climbing machine |
| CN109434810A (en) * | 2018-12-14 | 2019-03-08 | 深圳市行者机器人技术有限公司 | It is a kind of for controlling the drive mechanism of robot ambulation |
| CN109436125A (en) * | 2019-01-09 | 2019-03-08 | 安徽工业大学 | A kind of quadruped robot of ten two degrees of freedom |
| CN110116768A (en) * | 2019-04-30 | 2019-08-13 | 厦门大学 | It is drawn by front and back and scrolls up and down the quadruped robot for realizing gait control |
| CN110116768B (en) * | 2019-04-30 | 2020-09-04 | 厦门大学 | Four-footed robot realizing gait control by front-back traction and up-down rolling |
| CN110126937A (en) * | 2019-05-21 | 2019-08-16 | 南华大学 | Bionical quadruped robot and gait control method |
| CN110126937B (en) * | 2019-05-21 | 2023-12-12 | 南华大学 | Bionic quadruped robot and gait control method |
| CN111232083B (en) * | 2020-02-25 | 2020-09-22 | 哈尔滨商业大学 | Robot ground |
| CN111232083A (en) * | 2020-02-25 | 2020-06-05 | 哈尔滨商业大学 | Robot ground |
| CN112984276A (en) * | 2021-02-26 | 2021-06-18 | 机械工业第九设计研究院有限公司 | Mechanism capable of walking in rectangular air duct |
| CN112984276B (en) * | 2021-02-26 | 2023-03-28 | 机械工业第九设计研究院股份有限公司 | Mechanism capable of walking in rectangular air duct |
| CN113212591A (en) * | 2021-05-12 | 2021-08-06 | 徐州木牛流马机器人科技有限公司 | Quadruped robot |
| CN114633823A (en) * | 2022-03-07 | 2022-06-17 | 清华大学 | Triphibian robot |
| CN115140214A (en) * | 2022-07-25 | 2022-10-04 | 安徽工程大学 | Disaster relief hexapod bionic robot |
| CN115140214B (en) * | 2022-07-25 | 2023-09-05 | 安徽工程大学 | Disaster relief hexapod bionic robot |
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