CN106956247B - Active compliant vertebra of serial-parallel four-foot robot - Google Patents
Active compliant vertebra of serial-parallel four-foot robot Download PDFInfo
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- CN106956247B CN106956247B CN201710311320.2A CN201710311320A CN106956247B CN 106956247 B CN106956247 B CN 106956247B CN 201710311320 A CN201710311320 A CN 201710311320A CN 106956247 B CN106956247 B CN 106956247B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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Abstract
The invention discloses an active compliant vertebra of a serial-parallel four-foot robot. The invention consists of a front vertebra section and a rear vertebra section which are connected in series in a staggered and embedded way, each vertebra section comprises a chassis, a ball pair connecting piece, a rotating connecting piece, an non-fixed axis intervertebral disc and a plurality of linear drivers, one end of each linear driver is connected with the non-fixed axis intervertebral disc through the ball pair connecting piece, the other end of each linear driver is connected with the chassis through the rotating connecting piece, and the front vertebra section and the rear vertebra section are fixedly connected through dislocation of the two non-fixed axis intervertebral discs. The bionic multi-legged robot is developed in the direction of combining the fewly with the flexible vertebra by adding the actively driven flexible vertebra; the flexible vertebra adopts a serial-parallel connection mode of combining a parallel structure and a serial structure, has the characteristic of high positioning precision of the parallel structure, increases the stability of the whole vertebra structure, and simultaneously increases the movement range and the freedom degree of the whole flexible vertebra in a serial connection mode; the embedding mode increases the arm of force of each driver, thereby reducing the energy consumption of the whole bionic vertebra.
Description
Technical Field
The invention relates to the field of quadruped bionic robots, in particular to an active vertebra of a series-parallel hybrid quadruped robot.
Background
Mobile robots are often used in severe conditions such as disaster relief, and the continuous purpose of research is to enhance the movement ability of mobile systems. In nature, most mammals on land walk by means of legs and feet, so that the walking device is flexible and rapid, and has extremely strong adaptability to various complex terrains. And the spine, which is the central element of the mammalian body, can be used to increase the range of motion and absorb impact forces.
In recent years, the field of four-foot bionic robots is mostly focused on motion control of robot legs, the trunk of the existing multi-foot crawling robot has no flexible vertebra, and the developed rigid structural trunk for connecting forelimbs and hindlimbs is difficult to apply and extend to unstructured environments. From the bionics perspective, the spiniferous organisms show good motion control capability in the evolution of hundreds of millions of years, the improvement direction of combining the spiniferous feet with the flexible spiniferous organisms is more in line with the thought of the bionic evolution of the mechanism, and along with the appearance of the spiniferous flexible trunk, the design of the robot feet is simplified and the size is reduced.
At present, most of research on four-foot robots containing vertebrates at home and abroad is passive compliance, and elastic bodies are used for replacing the four-foot robots. Although the use of elastic elements may protect the system from hard and abrupt movements or vibrations, it may exhibit a superior stability during movement. But the active control of the robot's spinal deformations during steering, slapping or jumping is not possible, limiting the active degrees of freedom, gait length and running speed of the quadruped robot.
The parallel configuration is an ideal feature of a spinal joint. In a fast moving and unstructured environment, the spinal joint may be subjected to strong, unstable impact forces, the parallel configuration provides greater precision than the serial configuration, the end effector is supported on several mechanical chains, and the errors of a single drive do not accumulate. However, the range of motion of a single parallel mechanism is relatively small, while the series arrangement can increase the range of motion of the spine.
There are also solutions for using parallel mechanisms to make the flexible trunk of a quadruped robot to achieve rapid movement and terrain adaptation. Such as chinese patent literature [ application number: CN201510330474.7 discloses a four-foot robot with a parallel waist structure, which comprises a frame, a parallel waist structure and four parallel mechanical legs, and can realize six degrees of freedom under the cooperation of the parallel waist structure and the four parallel mechanical legs. The parallel waist structure has only four degrees of freedom, has a smaller rotation range and has weak adaptability.
Disclosure of Invention
The invention aims at overcoming the defects and shortcomings of the technology, and provides an active compliant spine of a serial-parallel four-foot robot, wherein a rigid material connected with the front limbs and the rear limbs is replaced by an elastic and driven active compliant spine, so that the mobility of a multi-motion system of the four-foot robot and the adaptability to the environment are improved.
The invention adopts the technical proposal for solving the problems that:
a four-foot robot active compliant vertebra of serial-parallel connection is composed of front and back vertebra segments, each comprising chassis, ball pair connector, rotary connector, non-fixed axis intervertebral disc and several linear drivers, and the front and back segments of bionic vertebra are connected via dislocation of two non-fixed axis intervertebral discs.
One end of the linear driver is connected with the non-fixed axis intervertebral disc through a ball pair connecting piece, the other end of the linear driver is connected with the chassis through a rotating connecting piece, and the front section and the rear section of the vertebra are fixedly connected through dislocation of the two non-fixed axis intervertebral discs.
In the device, the compliant vertebra adopts a hollow structure, thereby being convenient for air supply and wiring of power supply.
In the device, the number of each section of linear driver is three, and the linear drivers are uniformly distributed along the circumference to form a three-degree-of-freedom parallel structure, so that the stability and the positioning accuracy of the vertebra are improved.
In the device, the two non-fixed axis intervertebral discs are fixedly connected in a 60-degree dislocation way, so that the linear drivers are arranged in an embedded mode, the arm of force of the drivers is increased, the spine structure is uniform and compact, a series mechanism is formed, the movement range and the freedom degree of the integral spine structure are increased, and the integral spine is of a serial-parallel connection structure.
In the above device, the linear actuator adopts a pneumatic actuating element, such as a single-acting spring return cylinder; the pneumatic actuator can reliably work under severe conditions, is simple to operate, can basically realize maintenance-free, and simultaneously the use of the pneumatic actuator enables the whole vertebra structure to bear larger load.
In the device, an electric proportional valve is arranged at the air inlet of the pneumatic execution element and is communicated with a pressure reducing valve, the pressure reducing valve is communicated with an air source, and the electric proportional valve is connected with a controller; the stable speed control can be simply realized by adjusting the opening degree of the electric proportional valve.
In the device, a sensing unit is also arranged on the front cone, and the sensing unit is arranged on the front cone chassis and is used for measuring the attitude angle of the whole spine structure; the sensing unit adopts a motion attitude instrument, and can output attitude angle and acceleration in all directions.
The technical scheme of the invention has the following advantages:
the embodiment of the invention designs a bionic compliant vertebra of a four-foot robot which is compact in structure and actively driven; by adding the actively driven flexible vertebra, the bionic multi-foot robot is developed in the direction of combining the few feet with the flexible vertebra, and the design of the feet can be simplified; the flexible vertebra adopts a serial-parallel mode of combining a parallel structure and a serial structure, has the characteristic of high positioning precision of the parallel structure, increases the stability of the whole vertebra structure, simultaneously increases the movement range and the freedom degree of the whole flexible vertebra in a serial mode, and can realize six-freedom-degree movement of the front vertebra body under the action of a linear driver; the front and rear spinal levels adopt a staggered embedded serial mode, so that the whole structure is relatively compact, the motion between the front and rear spinal levels realizes non-fixed axis rotation, and the motion track of the mass center is in an arc shape and is more similar to a bionic rule; on the premise of compact structure, the force arm of each driver is increased in an embedding mode, so that the energy consumption of the whole bionic vertebra is reduced; the structure of each section of flexible vertebra is a 3-PRS parallel mechanism, and the kinematic inverse solution is relatively easy to solve. The invention well simulates the characteristics of the activities of the vertebrates of mammals, has compact structure, high precision and wide range, and is suitable for being applied to the field of robots.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an active compliant spine structure of a serial-parallel four-foot robot in an embodiment of the present invention;
fig. 2 is a schematic view of a partial structure of a posterior spinal active segment in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating the connection of a linear actuator according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a control system according to an embodiment of the invention.
In the figure, 1, a rear cone; 2. an anterior vertebral body; 3. a sensing unit; 4. a non-fixed axis intervertebral disc; 5. a linear driver; 6. a control system; 101. a rear cone chassis; 102. a rear cone rotating base; 201. an anterior cone chassis; 202. the front vertebral body rotates the base; 401. intervertebral disc screw holes; 402. an intervertebral disc ball pair base; 501. a driver revolute pair; 502. a driver ball pair; 601 a controller; 602. an air compressor; 603. an electrical proportional valve; 604. a pressure reducing valve.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, or can be communicated inside the two components, or can be connected wirelessly or in a wired way. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
The invention replaces the rigid material connected with the forelimbs and the hindlimbs with the elastic driven active compliant spine to improve the mobility of a multi-motion system of a four-foot robot and the adaptability to the environment, and the embodiment discloses a serial-parallel four-foot robot active compliant spine, referring to fig. 1, which is a schematic diagram of the serial-parallel four-foot robot active compliant spine structure, the flexible spine structure comprises: a rear vertebral body 1, an anterior vertebral body 2, a sensing unit 3, a non-fixed axis intervertebral disc 4, a linear driver 5 and a control system 6, wherein:
the nose cone 2 comprises a nose cone chassis 201 and a nose cone rotating base 202; the rear cone 1 comprises a rear cone chassis 101 and a rear cone rotating base 102; the non-fixed axis intervertebral disc 4 comprises an intervertebral disc screw hole 401 and an intervertebral disc ball auxiliary base 402; the linear driver 5 comprises a driver revolute pair 501 and a driver ball pair 502; the control system 6 comprises a controller 601, an air compressor 602, an electric proportional valve 603 and a pressure reducing valve 604; in the embodiment of the linear driver 5, a single-acting spring reset cylinder is selected, one end of the cylinder is fixed with a driver revolute pair 501, the other end of the cylinder is fixed with a driver ball pair 502, the driver revolute pair 501 is connected with the anterior vertebral body rotation base 102, and the driver ball pair 502 is connected with the intervertebral disc ball pair base 402; the front cone and the rear cone respectively comprise a linear driver 5, a driver revolute pair 501 and a driver ball pair 502 to form two three-degree-of-freedom parallel structures, and each of the front cone and the rear cone is provided with an non-fixed axis intervertebral disc 4, so that the size of the non-fixed axis intervertebral disc 4 is smaller than that of the front cone chassis and the rear cone chassis in order to prevent the generation of singular points; the two non-fixed axis intervertebral discs 4 are fixedly connected by the intervertebral disc screw holes 401 in a staggered way by 60 degrees, so that the effects of non-fixed axis rotation and space saving are achieved; the sensing unit 3 is arranged on the front cone 2 and outputs attitude angle and acceleration in all directions; the sensing unit 3 is connected with the controller 601, and is fed back to the controller 601, the controller 601 is connected with the electric proportional valve 603, one end of an air hole of the electric proportional valve 603 is communicated with the pressure reducing valve 604, and the other end of the air hole of the electric proportional valve 603 is communicated with the linear driver 5, namely a single-acting spring reset cylinder in the embodiment, and the pressure reducing valve 604 is communicated with the air compressor 602.
The sensing unit 3 is arranged on the front cone chassis 201 and is used for measuring the attitude angle of the whole spine structure; the sensing unit 3 adopts a motion attitude instrument and can output attitude angles and accelerations in all directions.
The working process of the device comprises the following steps: as shown in fig. 4, when the active vertebra of the serial-parallel connection works, the nose cone 2 can be made to take different postures by controlling the linear driver 5 to generate different shrinkage. The air compressor 602 is communicated with the pressure reducing valve 604, the pressure reducing valve 604 is communicated with the electric proportional valve 603, and the controller 601 controls the opening degree of the electric proportional valve 603, so that the air inflow of the linear actuator 5 can be regulated, and the contraction amount and the speed of the linear actuator 5 can be controlled. When the linear drivers 5 on the front cone 2 or the rear cone 1 all move in the same direction and at the same speed, the front cone chassis 201 can shrink or stretch axially; the front cone chassis 201 can achieve movement in pitch and yaw directions when not all of the linear drives 5 on the front cone 2 or rear cone 1 are moving; when the linear driver 5 of the front cone 2 and the rear cone 1 move in different directions, the non-fixed axis intervertebral disc 4 can rotate, but the front cone chassis 201 only can translate laterally; when the front cone 2 and the linear drive 5 of the adjacent rear cone 1 move together, a movement in the torsional direction can be achieved. The nose cone 2 can realize six degrees of freedom of movement under the drive of the overall spinal structure.
When the serial-parallel hybrid active vertebra works, when the front cone 2 inclines for a certain angle, the sensing unit 3 transmits the attitude signal of the front cone to the controller 601 in the control system 6 in real time, the controller 601 solves the motion quantity of each linear driver 5 through inverse kinematics by receiving the attitude angle and the acceleration transmitted by the sensing unit 3, and the structure of each section of flexible vertebra is a 3-PRS parallel mechanism, so that inverse kinematics solution is relatively easy to solve. The controller 601 of the control system 6 controls the opening of the electric proportional valve 603, and can adjust the air inflow of the linear actuator 5, thereby controlling the movement amount and speed of the linear actuator 5.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.
Claims (5)
1. The four-foot robot active compliant vertebra of serial-parallel series-parallel connection is characterized in that: the device consists of a front vertebra section and a rear vertebra section which are connected in series in a staggered and embedded manner, wherein each vertebra section comprises a chassis, a ball pair connecting piece, a rotating connecting piece, an non-fixed axis intervertebral disc and a plurality of linear drivers, one end of each linear driver is connected with the non-fixed axis intervertebral disc through the ball pair connecting piece, the other end of each linear driver is connected with the chassis through the rotating connecting piece, and the front vertebra section and the rear vertebra section are fixedly connected through dislocation of the two non-fixed axis intervertebral discs;
the linear driver adopts a pneumatic execution element, an air inlet of the pneumatic execution element is provided with an electric proportional valve, the electric proportional valve is communicated with a pressure reducing valve, the pressure reducing valve is communicated with an air source, and the electric proportional valve is connected with a controller; the stable speed control can be simply realized by adjusting the opening degree of the electric proportional valve;
wherein the front vertebral level is also provided with a sensing unit which is arranged on the chassis and is used for measuring the attitude angle of the whole vertebral structure;
when the front vertebral level is inclined by a certain angle, the sensing unit transmits the attitude signal of the front vertebral level to the controller in real time, and the controller obtains the motion quantity of each linear driver through inverse kinematics by receiving the attitude angle and the acceleration transmitted by the sensing unit; the controller controls the opening of the electric proportional valve to adjust the air inflow of the linear driver, so that the movement amount and the speed of the linear driver are controlled.
2. The active compliant spine of the serial-parallel four-foot robot of claim 1, wherein: the number of the linear drivers of each vertebra level is three, and the linear drivers are uniformly distributed along the circumference to form a three-degree-of-freedom parallel structure, so that the stability and the positioning accuracy of the vertebra are improved.
3. The active compliant spine of the serial-parallel four-foot robot of claim 1, wherein: the two non-fixed axis intervertebral discs are fixedly connected in a staggered way at 60 degrees, so that the linear drivers are arranged in an embedded way, and the force arm of the drivers is increased.
4. A four-legged robot active compliant spine according to any of claims 1 to 3, wherein: the pneumatic execution element adopts a single-acting spring reset cylinder.
5. A four-legged robot active compliant spine according to any of claims 1 to 3, wherein: the sensing unit adopts a motion attitude instrument, and can output attitude angle and acceleration in all directions.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107696024B (en) * | 2017-11-17 | 2020-05-12 | 嘉兴学院 | Cross-coupling bionic joint based on pneumatic muscles |
| CN108000503B (en) * | 2017-12-01 | 2019-12-13 | 嘉兴学院 | Multi-cylinder snake-shaped robot system based on pneumatic muscles |
| CN108453759B (en) * | 2018-05-21 | 2020-11-06 | 中国计量大学 | Bionic robot and spine device thereof |
| CN108621137A (en) * | 2018-06-22 | 2018-10-09 | 哈尔滨理工大学 | A kind of quadruped robot spinal device for earthquake rescue |
| CN111438694A (en) * | 2020-05-21 | 2020-07-24 | 中国计量大学 | Biped robot diagonal gait planning method based on double generation functions |
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| 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 |
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