CN107472396B

CN107472396B - Quadruped robot capable of realizing air posture adjustment

Info

Publication number: CN107472396B
Application number: CN201710878073.4A
Authority: CN
Inventors: 裴旭; 欧阳若愚; 王秀丽; 范晓铎; 潘博
Original assignee: Beihang University
Current assignee: Beihang University
Priority date: 2017-09-26
Filing date: 2017-09-26
Publication date: 2021-04-27
Anticipated expiration: 2037-09-26
Also published as: CN107472396A

Abstract

The invention designs a quadruped robot capable of realizing air attitude adjustment, which can be applied to the attitude adjustment process of robots and spacecrafts. The robot mainly comprises a body part and a limb part, wherein the body part and the limb part are connected by a hinge, the movement mode of the body part and the limb part is controlled by the hinge, a flywheel with larger rotary inertia is respectively arranged at the tail end of each limb part of the robot, the flywheel has larger rotary inertia (which can not be ignored compared with the limb parts) and an emergency stop effect, the direction of a flywheel shaft is the same as the direction of the central line of the limb part, and the whole posture of the robot can be finely adjusted by swinging the limb part of the robot and pointing to different rotary directions; the limbs can also point in the same direction, so that the robot rotates around a certain axis. The design reduces the mass of the flywheels required by the robot and the spacecraft; the robot and the spacecraft do not need to additionally increase excessive space, so that the volumes of the robot and the spacecraft are reduced; it can also make the flywheel set all put into operation, and improve the utilization ratio of the flywheel.

Description

Quadruped robot capable of realizing air posture adjustment

Technical Field

The invention designs a quadruped robot capable of realizing air attitude adjustment, which can be applied to the attitude adjustment process of robots and spacecrafts.

Background

In recent years, the application range of the bionic robot is continuously expanded, and the research on the bionic robot is more and more. For the existing walking, jumping, climbing and gliding robots, the movement mainly depends on the contact with foreign objects such as the ground, the wall surface and the like, the expected movement is realized through friction force and self power, along with the complication of the movement of the bionic robot, the movement range of the robot is gradually expanded from a two-dimensional plane to a three-dimensional space, the robot adjusts the self movement state without external force in the air, but the action of adjusting the rotational inertia is achieved by changing the body posture, the change of the whole posture is caused, and the robot belongs to the capability of actively adjusting the posture and is not possessed by most bionic robots.

The change of the robot posture can be realized through the rotation of a flywheel inside the mechanism, for example, the rotation of a flywheel inside a satellite. The aerial attitude adjustment system of the aircraft proposed in the Chinese patent (application number 02114585.7) adopts three pairs of six large flywheels to deflect the aircraft; the locust-simulated robot with the active posture adjusting capability, which is proposed by the Chinese patent (application number 201310016198.8), utilizes the swing of the tail part to enable the robot to pitch and deflect; the Chinese patent (application No. 201410011975.4) provides an air attitude adjustable single-leg continuous hopping robot, which adopts the rotation of an internal three-axis gyroscope to realize air attitude adjustment. The above patent adopts various modes to realize the air attitude transformation of the robot or the aircraft, but has the defects of non-adjustable flywheel direction, large flywheel mass, not fast enough attitude adjustment speed and the like. The mass of the flywheel in the satellite is large, at least three flywheels in the direction of X, Y, Z are needed to form a flywheel set, the occupied size is large, the operation and the quick attitude adjustment of the satellite are not facilitated, the pointing direction of the flywheel set cannot move, and if the satellite needs to rotate around a certain axis quickly, the flywheel set cannot be put into operation completely; if the mechanism is rotated by the swinging of the limbs, there is a possibility of interference of the limbs. A search of the prior art has not found a robot that completely overcomes the above problems.

Disclosure of Invention

The invention designs a quadruped robot capable of realizing air posture adjustment, which can realize the posture adjustment of the robot around any axis through turning over and other actions.

The technical scheme adopted by the invention for solving the technical problem is as follows: the tail end of each limb of the robot is respectively provided with a flywheel with large rotary inertia, so that the robot has large rotary inertia (which cannot be ignored compared with the limbs) and an emergency stop effect, and in the installation of the flywheel, the direction of a flywheel shaft is the same as the direction of the central line of the limb, as shown in the attached drawing 3. The whole posture of the robot can be finely adjusted by swinging the limbs of the robot and pointing to different rotation directions; the limbs can also point in the same direction, so that the robot rotates around a certain axis.

The design of the invention has the advantages that the robot can turn in the air, and by utilizing the directions of the limbs in different directions,

the robot can rotate around the axes with different directions, can rotate around a certain axis quickly, and can also perform attitude fine adjustment. The design makes the posture adjustment of the robot and the spacecraft more flexible and changeable and easy to control, and reduces the mass of the needed flywheel. Flywheels are added on four limbs of the quadruped robot, so that excessive space does not need to be additionally added; as for the satellite, the flywheel can be added on the mechanical arm for the work of the satellite, so that the installation space of the large flywheel in the satellite is saved, the size of the satellite is reduced, the flywheel set can be completely put into work, and the utilization rate of the flywheel is improved.

Drawings

Fig. 1 is an overall outline view of a novel air posture-changing quadruped robot of the present invention.

Fig. 2 is an internal view of limbs of the novel air posture-changing quadruped robot.

Fig. 3 shows a novel installation mode of the flywheel inside the limb of the quadruped robot with the air posture change.

FIG. 4 shows the initial pointing direction of the limbs of the novel air posture-changing quadruped robot when rotating around the Y axis

Fig. 5 shows the initial orientation of the limbs of the novel air posture-changing quadruped robot when the quadruped robot rotates around the Z axis.

FIG. 6 is an overall view of the attitude of a novel air attitude-changing quadruped robot when the robot rotates around a specific axis

FIG. 7 is an overall view of the attitude of the novel air attitude-changing quadruped robot during fine adjustment of the attitude

Wherein the reference symbols have the following meanings:

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples.

The invention relates to a quadruped robot capable of realizing air attitude adjustment, which utilizes a structure diagram of different attitude transformation modes of the robot in the air and introduces a control method and speed analysis of a flywheel in detail.

As shown in fig. 1, the robot is composed of a body part 1, limb parts 2, and a connecting part 3. The limb part 2 is connected on the trunk part 1 by a connecting part 3, specifically, a trunk motor 1B and a limb motor 2B are connected on a connecting piece 3A to form a two-degree-of-freedom hinge, the rotating shafts of the trunk motor 1B and the limb motor 1A are mutually vertical and intersect at a point, and the point is the actual rotating center of the hinge. Each limb can therefore perform a 2 degree of freedom rotation. The installation of the interior of the limb is shielded by the limb box cover 2E and is hidden inside when the robot operates. If the robot is required to rotate around the X axis, the initial pose of the limb is the pose of the figure.

As shown in fig. 2, a limb flywheel 2C is arranged inside the limb of the robot, and is fixed inside the limb by a limb flywheel mounting base 2D.

As shown in fig. 3, the installation direction of the rotating shaft of the limb flywheel 2C of the robot is the same as the direction of the limb.

As shown in fig. 4, if the robot needs to rotate around the Y axis, the limb orientation is rotated to the Y axis orientation by the hinge formed by the body motor 1B and the limb motor 2B, and the initial posture of the limb is the posture in the figure.

As shown in fig. 5, if the robot needs to rotate around the Z axis, the limbs are pointed and rotated to the Z axis by the hinge formed by the body motor 1B and the limb motor 2B, in order to stabilize the rotation, two limbs on the diagonal line need to be pointed upwards, two limbs on the other diagonal line need to be pointed downwards, and the initial posture of the limbs is the posture in the figure.

As shown in fig. 6, if the robot needs to rotate around a specific axis, the angles λ and θ between the axis and X, Y, Z axis need to be calculated, and then the limbs are swung to be parallel to the axis, the initial posture of the limbs is the posture of the figure, and at this time, the flywheel rotates, and the robot will rotate around the specific axis. Since the four limbs all point in the same direction, a single flywheel on a limb requires less mass.

As shown in fig. 7, if the robot needs to perform fine adjustment of the posture, the limbs are swung so that the three limbs face the X, Y, Z axes, respectively, and the fourth limb is redundant, and the posture adjustment of the other three limbs can be compensated.

The working process of the robot is as follows:

the robot is in a certain inclined posture in the air and needs to be adjusted to a specified posture, the direction of a specific axis around which the whole robot needs to wind is calculated through an algorithm, then four limbs swing, the four limbs are parallel to a specific rotating shaft as shown in fig. 6, at the moment, a flywheel rotates rapidly, the robot rotates in the opposite direction to the specified posture, then posture fine adjustment is carried out, three limbs of the robot point to X, Y, Z axes respectively, the fourth axis compensates posture adjustment of the other three limbs, as shown in fig. 7, at the moment, the flywheel rotates slowly, the robot is adjusted in a micro direction, and finally the specified posture is achieved.

Claims

1. A quadruped robot capable of realizing air attitude adjustment can be applied to the attitude adjustment process of a space robot; it comprises a trunk part (1), limb parts (2) and a connecting part (3); the limb part (2) is connected to the trunk part (1) through a connecting part (3), specifically, a trunk motor (1B) and a limb motor (2B) are connected to a connecting piece (3A) to form a two-degree-of-freedom hinge, the rotating shafts of the trunk motor (1B) and the limb motor (1A) are mutually vertical and intersect at one point, and the point is the actual rotating center of the hinge; each limb can therefore perform a 2 degree of freedom rotation; the installation of the interior of the limb is shielded by a limb box cover (2E), and the interior of the limb box cover is hidden when the robot operates; the robot limb is internally provided with a limb flywheel (2C) which is fixed inside the limb by a limb flywheel mounting seat (2D), and because the rotational inertia of the limb flywheel (2C) is far greater than that of the limb, the effect of emergency stop of the limb can be realized in the actual working process, and in the mounting of the flywheel, the direction of a flywheel shaft is the same as the direction of the central line of the limb; the whole posture of the robot can be finely adjusted by swinging the limbs of the robot and pointing to different rotation directions; the limbs can also point in the same direction, so that the robot rotates around a certain axis.

2. The quadruped robot capable of realizing air posture adjustment according to claim 1, wherein when the robot rotates around a specific axis, the limbs need to be swung to be parallel to the axis, and the flywheel rotates, so that the robot rotates around the specific axis; the directions of the four limbs can be adjusted at will, so that the mass required by a single flywheel on the limb is small; if the robot needs to perform posture fine adjustment, the limbs are swung to enable the three limbs to face towards the X, Y, Z shaft respectively, the fourth limb is redundant, and the posture adjustment of the other three limbs can be compensated.