CN106741281B - Four-footed robot running gear who contains straight line joint - Google Patents
Four-footed robot running gear who contains straight line joint Download PDFInfo
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- CN106741281B CN106741281B CN201611146893.6A CN201611146893A CN106741281B CN 106741281 B CN106741281 B CN 106741281B CN 201611146893 A CN201611146893 A CN 201611146893A CN 106741281 B CN106741281 B CN 106741281B
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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 four-legged robot walking mechanism with linear joints, which comprises a robot body part, wherein two pairs of leg mechanisms are arranged on two sides of the robot body part, each pair of leg mechanisms are symmetrically arranged along the robot body part, the leg mechanisms are connected with the robot body part through hip joints, and the bottoms of the leg mechanisms are connected with foot mechanisms; the leg mechanism comprises a leg body, a linear joint is arranged in the leg body in a matched mode and comprises a driving part and a driven part, the driven part is connected with the transverse rotation power device through a connecting piece, the driving part operates to drive the driven part to do vertical linear motion so as to enable the leg body to move up and down to lift the leg, the transverse rotation power device operates to drive the leg body to swing forwards and backwards, the transverse rotation power device of each pair of leg mechanisms operates alternately, and the transverse rotation power devices of the two leg mechanisms on the same side operate alternately to drive the leg body to realize walking of a four-foot gait.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a walking mechanism of a four-footed robot with linear joints.
Background
Many animals in nature, especially quadruped mammals, not only can walk rapidly in these complex terrain environments, but also have a large weight bearing capacity. Therefore, people are continuously striving to develop various four-footed bionic robots.
The four-legged robots currently known include BigDog, LS3, WildCat, etc., from Boston Power company, Italy's technical research institute "HyQ", and Cheetah, from Massachusetts institute of technology, USA. Chinese patent document CN 103465991a discloses a simple quadruped robot, which is characterized in that a driving motor is provided on each leg of the robot, and the manufacturing cost is reduced by simplifying the structure. Chinese patent document CN103407514A discloses a four-footed bionic robot leg, which contains two rotary joints. Chinese patent document CN103448828A discloses a leg mechanism of a four-legged bionic robot, which includes rotary joints such as shoulder joint and knee joint.
The quadruped robot designed by the product and the invention basically simulates the leg structure of quadruped lactation, the leg of the quadruped robot usually adopts an elbow and knee type structure, the structure has certain imitativeness, the structure causes that the support legs of the quadruped robot have certain knee bending action when walking, and the quadruped animal walks in a creeping advancing mode, and the walking mode causes that the joint actuator needs to continuously output larger torsion to maintain the posture of the robot when the quadruped robot walks or stands, so that larger energy is consumed compared with a straight leg walking mode that the support legs mainly provide supporting force by leg bones when the animal walks. The legs of the existing four-foot robot can perform knee bending actions, the alternating leg stepping actions of the four legs need to be controlled during walking, the knee bending actions of the knee joints of each leg need to be controlled in a matched mode, the knee bending action time of a single leg needs to be well matched with the leg stepping action, the knee bending action time among the four legs also needs to meet a certain matching relation, and normal walking of the four-foot robot can be realized.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a walking mechanism of a four-footed robot, which comprises linear joints, wherein the legs of the walking mechanism are provided with the linear joints, the walking can be realized by directly controlling the operation of the linear joints, the knees of the legs do not need to be controlled, and the walking of the four-footed robot can be realized by only matching and controlling the actions of the legs.
In order to achieve the purpose, the invention adopts the following technical scheme:
a four-legged robot walking mechanism with linear joints comprises a robot body part, wherein two pairs of leg mechanisms are arranged on two sides of the robot body part, each pair of leg mechanisms are symmetrically arranged along the robot body part, the leg mechanisms are connected with the robot body part through hip joints, and the bottoms of the leg mechanisms are connected with the foot mechanisms; the leg mechanism comprises a leg body, a linear joint is arranged in the leg body in a matched mode and comprises a driving part and a driven part, the driven part is connected with the transverse rotation power device through a connecting piece, the driving part operates to drive the driven part to do vertical linear motion so as to enable the leg body to move up and down to lift the leg, the transverse rotation power device operates to drive the leg body to swing forwards and backwards, the transverse rotation power device of each pair of leg mechanisms operates alternately, and the transverse rotation power devices of the two leg mechanisms on the same side operate alternately to drive the leg body to realize walking of a four-foot gait.
The driving part is a lead screw, and the driven part is a slide block with a screw hole.
Preferably, the sliding block is matched with a linear guide rail through a linear bearing, and the linear guide rail is parallel to the screw rod.
The lead screw and the linear guide rail are fixed on the support frame, and the support frame is fixedly connected with the shell of the leg body.
Preferably, the number of the linear guide rails is two, and the two linear guide rails are matched with the screw rod to form an isosceles triangle.
Or, the driving part is a gear, and the driven part is a rack.
Or, the driving part is a hydraulic element, and the driven part is a sliding seat.
The hip joint comprises a longitudinal rotation power device fixedly connected with the body part of the robot, the longitudinal rotation power device is connected with a transverse rotation power device through a connecting rod, and the longitudinal rotation power device operates to drive the leg body to swing laterally.
The robot trunk part comprises a first connecting block and a second connecting block which are connected through a first connecting rod, two sides of the first connecting block are fixed with hip joints of a first pair of leg mechanisms, and two sides of the second connecting block are fixed with hip joints of a second pair of leg mechanisms.
The upper portion of the first connecting block is provided with a first connecting plate, the upper portion of the second connecting block is provided with a second connecting plate, and the first connecting plate and the second connecting plate are connected through a second connecting rod.
And the middle parts of the first connecting rod and the second connecting rod are connected with a reinforcing plate.
The foot mechanism is fixed at the bottom of the leg body, and the bottom of the foot mechanism is coated with a wear-resistant material piece.
The invention has the beneficial effects that:
the walking mechanism of the four-footed robot is characterized in that a pair of leg mechanisms are respectively arranged at two sides of a body part of the robot, a linear joint is arranged in each leg mechanism, the linear joints operate to drive the leg mechanisms to move up and down to lift legs, and the walking mechanism realizes the walking of the four-footed gait by controlling the alternate operation of the transverse rotating power devices of each pair of leg mechanisms and the alternate operation of the transverse rotating power devices of the two leg mechanisms at the same side to be matched with the operation of the linear joints. Only the leg lifting and stepping actions are needed in the walking process, the knees do not need to be bent, the energy consumption is less, the fault rate is reduced, the control and matching requirements on the walking process are reduced, and the walking speed is increased.
According to the invention, the body part of the robot is connected with the longitudinal rotating power device, and the longitudinal rotating power device drives the leg body to swing laterally so as to realize left-right movement.
The connecting rods and the connecting blocks are arranged on the body part of the robot, so that the stability and the integrity of the whole mechanism are enhanced, the robot can walk more reliably, and meanwhile, the weight can be loaded on the body part of the robot, and the transportation function is realized.
The foot mechanism is provided with the coating wear-resistant material piece, so that the wear resistance of the foot mechanism can be improved, and the service life of the foot mechanism is prolonged.
Drawings
FIG. 1 is a schematic view of the walking mechanism of a four-legged robot according to the present invention;
FIG. 2 is a schematic diagram of a leg mechanism of a quadruped robot according to the present invention;
in the figure, 1 robot trunk part, 2 leg parts, 3 foot parts, 4 lateral rotating motors, 5 connecting rods, 6 front and back rotating motors, 7 connecting pieces, 8 sliding blocks, 9 linear bearings, 10 speed reducing motors, 11 shells, 12 supporting frames, 13 linear guide rails, 14 lead screws, 15 first connecting rods, 16 first connecting blocks, 17 second connecting blocks, 18 first connecting plates, 19 second connecting plates, 20 second connecting rods, 21 reinforcing plates and 22 hip joints.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
As shown in fig. 1-2, a walking mechanism of a quadruped walking robot includes a robot trunk part 1, leg mechanisms 2 and foot mechanisms 3.
The robot trunk part 1 is used for connecting four leg mechanisms 2 of the robot, and is also provided with a control system and a power system of the robot. When load is needed, a heavy object can be placed on the platform of the robot trunk part 1, and the transportation function of the four-legged robot is achieved.
The robot trunk part 1 comprises a first connecting block 16 and a second connecting block 17 which are connected through a first connecting rod 15, wherein both sides of the first connecting block 16 are fixed with hip joints 22 of the first pair of leg mechanisms 2, and both sides of the second connecting block 17 are fixed with hip joints 22 of the second pair of leg mechanisms 2. A first connecting plate 18 is arranged on the upper portion of the first connecting block 16, a second connecting plate 19 is arranged on the upper portion of the second connecting block 16, and the first connecting plate 18 and the second connecting plate 19 are connected through a second connecting rod 20. The first connecting rod 15 and the second connecting rod 20 are connected with a reinforcing plate 21 in the middle. The trunk of the robot is provided with the connecting rods and the connecting blocks, so that the stability and the integrity of the whole mechanism are enhanced, and the robot can walk more reliably.
Two pairs of leg mechanisms 2 are arranged on the left side and the right side of a robot trunk part 1 (namely, a front leg mechanism and a rear leg mechanism are arranged on the two sides of the robot trunk part 1, the two front leg mechanisms are a pair of leg mechanisms, the two rear leg mechanisms are a pair of leg mechanisms), each pair of leg mechanisms 2 are symmetrically arranged along the robot trunk part 1 in the left-right direction, the leg mechanisms 2 are connected with the robot trunk part 1 through hip joints 22, the bottoms of the leg mechanisms 2 are connected with foot mechanisms 3, and the hip joints 22 drive the leg mechanisms 2 to swing in the front-back direction and the side direction relative to the body through two sets of speed reduction motors. The hip joint 22 comprises a longitudinal rotating power device (namely a lateral rotating motor 4) fixedly connected with the robot trunk part 1, a front-back rotating motor 6 is connected with the lateral rotating motor 4 through a connecting rod 5, and the lateral rotating motor 4 operates to drive the leg body to swing laterally. Wherein, the body of the lateral rotating motor 4 is fixedly connected with the trunk part 1 of the robot, and the rotating shaft thereof is connected with the body of the front and back rotating motor 6 through a connecting rod 5. The output shaft of the front-back rotating motor 6 is connected with the leg linear joint sliding block 8 through a connecting piece 7.
Leg mechanism 2 includes the shank body, this internal cooperation of shank sets up linear joint, linear joint includes initiative portion and driven part, the driven part passes through connecting piece 7 and is connected with horizontal rotation power device (be around to rotating electrical machines 6 promptly), the action of initiative portion drives the up-and-down linear motion of driven part and then makes the shank body reciprocate and lift the leg, it is the swing around to rotating electrical machines 6 operation drive shank body around to the front and back, around to rotating electrical machines 6 alternate operation and the homonymy (be with the left side or with the right side) of every pair of leg mechanism to rotating electrical machines 6 alternate operation drive shank body around to two shank mechanisms of homonymy (be with the left side or with the right side) and realize.
The driving part can be a lead screw, and the driven part is a slide block with a screw hole.
Alternatively, the driving part may be a gear and the driven part may be a rack.
Alternatively, the driving part may be a hydraulic element and the driven part may be a slide.
In the present embodiment, a lead screw and a slider are described as an example, and as shown in fig. 2, the leg mechanism 2 is composed of a linear joint that adjusts the motion of a robot leg.
The linear joint comprises a speed reducing motor 10, two linear guide rails 13, a linear bearing 9, a lead screw 14, a sliding block 8, a support frame 12 and a shell 11, wherein the speed reducing motor 10, the linear guide rails 13 and the lead screw 14 are fixed on the support frame 12. The slide block 8 is fixedly connected with the linear bearing 9, the linear bearing 9 penetrates through the linear guide rail 13, and the screw hole of the slide block 8 is matched with the screw rod 14. The output shaft of the linear joint speed reducing motor 10 is connected with the screw rod 14 to drive the screw rod 14 to rotate. The two linear guide rails 13 are arranged in parallel with the screw 14, and the mounting end surfaces of the two linear guide rails are isosceles triangles. The support frame 12 is connected to the housing 11 by screws. When the speed reducing motor 10 operates, the lead screw 14 drives the sliding block 8 to move up and down, the sliding block 8 is fixed with the robot body part 1 through the front-back rotating motor 6, the connecting rod 5 and the lateral rotating motor 4, and the robot body part is heavier and does not move after being connected with the robot body part due to the fact that the weight of the robot body part is lighter, so that the leg body moves up and down to realize leg lifting.
Foot mechanism 3 is installed on shank body bottom shell 11, and 3 bottom cladding wear-resisting material pieces of foot mechanism can reach wear-resisting effect through the wear-resisting polyurethane material of a layer of injection moulding at foot mechanism surface.
The operation process of the robot leg comprises the following steps:
the lateral rotating motor 4 of each leg mechanism runs and is transmitted to the leg mechanism 2 through the connecting rod 5, the front and back rotating motor 6 and the connecting piece 7 to drive the leg mechanism 2 to swing laterally relative to the body to complete left and right movement; the front-back rotating motor 6 of each leg mechanism runs and is transmitted to the leg mechanism 2 through the connecting piece 7 to drive the leg mechanism 2 to swing back and forth relative to the body, so that the leg stepping action is completed; the speed reducing motor 10 of each leg mechanism operates, the speed reducing motor is transmitted to the leg linear joint sliding block 8 through the lead screw 14, the leg linear joint sliding block 8 is driven to move up and down, and the body of the robot does not move, so that the leg body can move up and down to complete leg lifting. The control system controls the forward and backward rotating motors 6 and the speed reducing motors 10 to operate, so that the robot can finish walking with one leg, the forward and backward rotating motors 6 of each pair of leg mechanisms 2 alternately operate, and the forward and backward rotating motors 6 of the two leg mechanisms 2 at the same side alternately operate to drive the leg bodies to realize walking with four feet.
When the walking mechanism walks, the control system controls the front-back rotating motor 6 and the speed reducing motor 10 of the leg mechanisms positioned on the same side (the same left side or the same right side) of the body part of the robot to alternatively operate, the front-back rotating motor 6 and the speed reducing motor 10 of each pair of leg mechanisms alternatively operate, namely, the left front leg mechanism and the right rear leg mechanism simultaneously step legs, the left rear leg mechanism and the right front leg mechanism simultaneously step legs, and the two groups of leg-stepping mechanisms alternately perform, so that the whole robot walks forwards. The control system controls the lateral rotating motors 4 of the leg mechanisms positioned at two sides of the body part of the robot to alternately operate (the lateral rotating motors 4 at the same side operate simultaneously), namely, the lateral rotating motor 4 positioned at one side is controlled to operate firstly, and then the lateral rotating motor 4 at the other side is controlled to operate, so that the robot moves left and right.
The invention has the characteristics of simple mechanism, easy maintenance, low energy consumption and strong load bearing capacity.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (8)
1. A walking mechanism of a quadruped robot with linear joints is characterized by comprising a robot body part, wherein two pairs of leg mechanisms are arranged on two sides of the robot body part, each pair of leg mechanisms are symmetrically arranged along the robot body part, the leg mechanisms are connected with the robot body part through hip joints, and the bottoms of the leg mechanisms are connected with foot mechanisms; the leg mechanism comprises a leg body, a linear joint is arranged in the leg body in a matched mode, the linear joint comprises a driving part and a driven part, the driven part is connected with a transverse rotation power device through a connecting piece, the driving part operates to drive the driven part to do vertical linear motion so as to enable the leg body to move up and down to lift the leg, the transverse rotation power device operates to drive the leg body to swing back and forth, the transverse rotation power devices of each pair of leg mechanisms operate alternately, and the transverse rotation power devices of the two leg mechanisms on the same side operate alternately to drive the leg body to realize four-foot gait walking;
the hip joint comprises a longitudinal rotation power device fixedly connected with the body part of the robot, the longitudinal rotation power device is connected with a transverse rotation power device through a connecting rod, and the longitudinal rotation power device operates to drive the leg body to swing laterally;
the robot trunk part comprises a first connecting block and a second connecting block which are connected through a first connecting rod, wherein two sides of the first connecting block are fixed with hip joints of a first pair of leg mechanisms, and two sides of the second connecting block are fixed with hip joints of a second pair of leg mechanisms;
the longitudinal rotating power device of each leg mechanism runs and is transmitted to the leg mechanisms through the connecting rod, the transverse rotating power device and the connecting piece to drive the leg mechanisms to swing laterally relative to the body so as to finish left and right movement; the transverse rotating power device of each leg mechanism operates and is transmitted to the leg mechanism through the connecting piece to drive the leg mechanism to swing back and forth relative to the body, so that the leg stepping action is completed; the speed reduction motor of each leg mechanism operates, the speed reduction motor is transmitted to the leg linear joint driven part through the driving part to drive the leg linear joint driven part to move up and down, and the robot body is fixed, so that the leg body can move up and down to complete leg lifting; the control system controls the transverse rotating power devices and the speed reducing motor to operate, so that the robot can finish walking with one leg, the transverse rotating power devices of each pair of leg mechanisms operate alternately, and the transverse rotating power devices of the two leg mechanisms on the same side operate alternately to drive the leg body to realize walking with four feet;
when the walking mechanism walks, the control system controls the transverse rotation power device and the speed reducing motor of the leg mechanisms positioned on the same side of the body part of the robot to alternately operate, and the transverse rotation power device and the speed reducing motor of each pair of leg mechanisms alternately operate, so that the left front leg mechanism and the right rear leg mechanism simultaneously step legs, the left rear leg mechanism and the right front leg mechanism simultaneously step legs, and the two groups of leg-stepping mechanisms alternately perform, so that the whole robot walks forwards; the control system controls the longitudinal rotating power devices of the leg mechanisms positioned at two sides of the body part of the robot to alternately operate, namely, the longitudinal rotating power device positioned at one side is controlled to operate firstly, and then the longitudinal rotating power device positioned at the other side is controlled to operate, so that the robot walks leftwards and rightwards.
2. The walking mechanism of four-footed robot as claimed in claim 1 wherein the driving part is a lead screw and the driven part is a slide block with threaded holes.
3. The walking mechanism of four-footed robot as claimed in claim 2 wherein the slider is further engaged by linear bearings with linear guides parallel to the lead screw.
4. The walking mechanism of the quadruped robot as claimed in claim 3, wherein the lead screw and the linear guide rail are both fixed on a support frame, and the support frame is fixedly connected with the shell of the leg body.
5. The walking mechanism of a quadruped robot as claimed in claim 1, wherein the driving part is a gear and the driven part is a rack; or, the driving part is a hydraulic element, and the driven part is a sliding seat.
6. The walking mechanism of four-footed robot as claimed in claim 1 wherein a first connecting plate is provided above the first connecting block and a second connecting plate is provided above the second connecting block, the first connecting plate and the second connecting plate being connected by a second connecting rod.
7. The walking mechanism of four-footed robot as claimed in claim 6 wherein a reinforcing plate is attached to the middle of the first and second connecting rods.
8. The walking mechanism of four-footed robot as claimed in claim 1 wherein the foot means is secured to the bottom of the leg body and the bottom of the foot means is coated with a piece of wear resistant material.
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 |
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| 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 |
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| CN106741281A CN106741281A (en) | 2017-05-31 |
| CN106741281B true CN106741281B (en) | 2019-12-31 |
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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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| CN109131627B (en) * | 2018-10-22 | 2020-11-17 | 阮夏生 | Foot-imitating walking system |
| CN109484511B (en) * | 2018-10-29 | 2020-09-04 | 国家电网有限公司 | Machine for loading heavy articles upstairs |
| 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 |
| CN109436125B (en) * | 2019-01-09 | 2020-12-29 | 安徽工业大学 | Twelve-degree-of-freedom quadruped robot |
| 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 |
| 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 |
| 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 |
| CN113212591B (en) * | 2021-05-12 | 2022-06-17 | 徐州木牛流马机器人科技有限公司 | Quadruped robot |
| CN114633823B (en) * | 2022-03-07 | 2023-04-11 | 清华大学 | Triphibian robot |
| CN115140214B (en) * | 2022-07-25 | 2023-09-05 | 安徽工程大学 | Disaster relief hexapod bionic robot |
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