CN107856756B - Variable-configuration bionic quadruped robot - Google Patents
Variable-configuration bionic quadruped robot Download PDFInfo
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- CN107856756B CN107856756B CN201711057881.0A CN201711057881A CN107856756B CN 107856756 B CN107856756 B CN 107856756B CN 201711057881 A CN201711057881 A CN 201711057881A CN 107856756 B CN107856756 B CN 107856756B
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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 variable configuration bionic quadruped robot, and belongs to the fields of robotics, mechanics, bionics and the like. The physical and mechanical structure comprises 4 variable-configuration single-leg structures and a body. Each variable-configuration single-leg structure comprises 4 degrees of freedom, namely four joints including a first hip joint, a second hip joint, a thigh joint and a shank joint. The first hip joint is directly connected with the body, the joint rotating shaft of the first hip joint is vertical to the plane of the body, and the first hip joint, the thigh joint and the shank joint move in a combined mode to realize the advancing form of the insect animal type crawling. The second hip joint is connected with the first hip joint, the joint rotating shaft of the second hip joint is parallel to the plane of the body, and the second hip joint, the thigh joint and the shank joint move in a combined mode to realize the advancing mode of mammal walking. The invention has two advancing forms of quadruped mammal type walking and quadruped insect type crawling which can be freely switched, and the structure is not complex, thereby realizing higher functional requirements and having stronger environmental adaptability.
Description
Technical Field
The invention belongs to the fields of robotics, mechanics, bionics and the like, and relates to a variable-configuration bionic quadruped robot which has two configurations of a mammal type and an insect type and can be freely switched.
Background
A multi-legged walking robot is an important branch of the field of modern robotics, and can be generally divided into a biped robot, a quadruped robot and a hexapod robot according to the number of legs. Compared with wheeled robots and tracked robots, the multi-legged walking robot has extremely strong terrain adaptability and movement flexibility due to the characteristic of discontinuous support. Compared with a biped robot, the quadruped robot has better bearing capacity and stability, and is simpler in structure and easier to control than a hexapod robot. From the engineering perspective, the quadruped robot is the best foot type robot form by integrating various aspects such as research and development cost, manufacturing difficulty, control method and system stability.
The quadruped robot can be generally divided into quadruped-imitating mammals and quadruped-imitating insect animals according to the arrangement mode of mechanical leg joints of the quadruped robot. The leg mechanism imitating quadruped mammal type is characterized in that a joint rotating shaft connected with a single leg and a body is parallel to the plane of a machine body, and the leg is folded under the body when a robot walks and moves forwards through kicking. Its advantages are high bearing power and flexibility, small supporting area, high center of gravity and low stability. On the contrary, the quadruped insect-imitating leg mechanism is characterized in that a joint rotating shaft connected with a single leg and a body is vertical to the plane of a machine body, and the legs are unfolded at two sides of the body when the robot walks and move forwards through swinging the legs. Its advantages are large supporting area, low center of gravity, high stability, low load power and low flexibility.
Disclosure of Invention
Aiming at the characteristics and functional characteristics of leg mechanisms of the traditional quadruped mammal-imitating robot and quadruped insect-imitating robot, the invention provides a variable configuration bionic quadruped robot, which is used for carrying out the special design of variable configuration of the mammal and the insect on each leg branch mechanism so as to realize the function multiplexing of the two.
The invention discloses a variable-configuration bionic quadruped robot which comprises a robot body and single-leg structures uniformly distributed on the robot body in the circumferential direction. The single-leg structure is a variable-configuration single-leg structure and is provided with a first hip joint, a second hip joint, a thigh joint and a shank joint.
The first hip joint is driven by a first hip joint steering engine; the first hip joint steering engine is fixed on the body, an output shaft is vertically arranged along the direction of a spatial z-axis, and a first correction hip is arranged on the output shaft and the extending shaft of the first hip joint steering engine; the two first modified hips are operated synchronously.
The second hip joint is driven by a second hip joint steering engine; and a second hip joint steering engine is fixed on a first modified hip in the first hip joint, and an output shaft is arranged along the direction of the spatial x axis. And the output shaft and the extending shaft of the second hip joint steering engine are provided with second modified hips, and the two second modified hips run synchronously.
The thigh joints are driven by thigh joint steering engines; the output shaft of the thigh joint steering engine is arranged along the y-axis of the space. The output shaft and the extending shaft of the thigh joint are provided with a third modified hip. The hip is fixed through two third modified hips and a second modified hip joint in a second hip joint steering engine; the thigh joint steering engine is arranged between the upper ends of the thigh plates which are mutually flat.
The shank joint is driven to rotate by a shank joint steering engine; the output shaft of the shank joint steering engine is arranged along the y-axis of the space; the shank joint steering engine is arranged between the lower ends of two parallel thigh plates; an output shaft and an extension shaft of the shank joint steering engine are respectively arranged between the tops of the two shank plates which are parallel to each other.
The lower end of the shank joint is provided with a foot end structure, and a damping device is arranged between the two shank plates.
The invention has the advantages that:
1. the configuration-variable bionic quadruped robot has two freely-switchable four-footed mammal type walking and four-footed insect type crawling advancing forms. Compared with the traditional two types of robots, the robot has the advantages that the fish and the bear paw are obtained, the structure is not complex, the higher functional requirement can be realized, and the robot has stronger environmental adaptability.
2. The variable configuration bionic quadruped robot has a single-leg structure with 4 degrees of freedom, and can be used as a quadruped robot experiment platform for researching a tandem single-leg mechanism with 4 degrees of freedom so as to realize more flexible movement and more complex control.
3. According to the variable-configuration bionic quadruped robot, the damping device is arranged at the bottom of the shank, and can effectively weaken the motion impact generated when the foot of the robot touches the ground, so that the motion stability of the robot is improved.
Drawings
FIG. 1 is a free-state overall structure diagram of a configuration-variable bionic quadruped robot of the present invention;
FIG. 2 is a schematic view of the whole structure of the variable configuration bionic quadruped robot under the condition of imitating the walking state of a mammal;
FIG. 3 is a schematic view of the overall structure of the configuration-changing bionic quadruped robot under the condition of imitating the crawling of insects;
FIG. 4 is a schematic structural diagram of a body of the configuration-changing bionic quadruped robot of the invention;
FIG. 5 is a schematic view of a single-leg structure of a variable configuration bionic quadruped robot under a mammal-simulated walking state;
FIG. 6 is a schematic view of a single-leg structure of a variable configuration bionic quadruped robot under the crawling shape of an insect-imitating animal;
FIG. 7 is a schematic structural view of a first hip joint in a variable configuration single-leg structure of the variable configuration bionic quadruped robot of the invention;
FIG. 8 is a schematic diagram of a second hip structure in a variable configuration single-leg structure of the variable configuration bionic quadruped robot of the present invention;
FIG. 9 is a schematic structural view of thigh joints and calf joints in a variable configuration single-leg structure of the variable configuration bionic quadruped robot of the present invention;
fig. 10 is a schematic structural view of a foot end and a damping device in a variable configuration single-leg structure of the variable configuration bionic quadruped robot.
In the figure:
1-robot body 2-variable configuration single leg structure 3-thigh plate
4-shank plate 5-damping device 101-lower plate of body
102-body upper plate 103-baffle plate 201-first hip joint
202-second hip joint 203-thigh joint 204-shank joint
201 a-first hip joint steering engine 201B-first modified hip a201 c-first modified hip B
201 d-first transmission connector 201 e-steering engine connector 202 a-second hip joint steering engine
202B-second modified hip A202 c-second modified hip B202 d-second transmission coupling
202 e-reinforcement column 203 a-thigh joint steering gear 203 b-third modified hip a
203 c-third modified hip B204 a-shank joint steering engine 205 a-ball foot
205 b-force sensor 205 c-force sensor connector 205 d-guide pin
501-damping mount 502-damper 503-damping washer
504-damping plate 505-damping nut
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The physical mechanical structure of the variable configuration bionic quadruped robot comprises a robot body 1 and four variable configuration single-leg structures 2, as shown in figure 1. Meanwhile, a control system and a sensing system of the device are built on the basis of a physical mechanical structure, and a power element is configured.
The robot body 1 includes a lower body plate 101, an upper body plate 102, and a baffle plate 103, as shown in fig. 4. Wherein, body upper plate 101 and body hypoplastron 102 are equidimension rectangular plate, and the longitudinal symmetry sets up, installs baffle 103 between 4 sides of its circumference, realizes the fixed between body hypoplastron 101 and body upper plate 102 to 6 stands of circumference equipartition between body hypoplastron 101 and body upper plate 102, in order to strengthen robot body 1's stability. Each auxiliary unit of the robot is mounted on the main body 1, and the auxiliary unit may be a controller module, a camera module, a battery pack, or the like.
The 4 variable-configuration single-leg structures 2 are respectively arranged at four circumferential corners of the robot body 1, so that the 4 variable-configuration single-leg structures 2 are symmetrically arranged on the robot body 1, and the installation positions of the variable-configuration single-leg structures 2 form 45-degree included angles with the central connecting line of the robot body 1 and the symmetry axis of the robot body 1. The variable-configuration single-leg structure 2 comprises four degrees of freedom and is driven by 4 steering engines, so that the free switching between two advancing forms of mammal walking and insect animal crawling can be realized, as shown in fig. 2 and 3. The variable configuration single leg structure 2 has four joints, namely a first hip joint 201, a second hip joint 202, a thigh joint 203 and a shank joint 204, as shown in fig. 5 and 6. The following explains each joint structure:
a. the first hip joint 201 is directly connected with the robot body 1 and is driven to rotate by a first hip joint steering engine 201 a. As shown in fig. 7, an output shaft of the first hip joint steering engine 201a is vertically arranged along the direction of the spatial z-axis, and the first hip joint steering engine 201a is respectively fixed with the upper plate 102 and the lower plate 101 of the body 1 through two steering engine connecting pieces 201e arranged up and down. The output shaft of the first hip joint steering engine 201a is fixed with a first modified hip a201b through a steering wheel. The end part of the extending shaft of the first hip joint steering engine 201a is fixed with a first modified hip B201c, and sealing and fastening are respectively realized through a joint end cover and a fastener. The first modified hip a201B and the first modified hip B201c are connected by the first transmission connecting member 201d to fix the two, and thus to realize the synchronous operation between the first modified hip a201B and the first modified hip B201 c.
b. The second hip joint 202 is driven to rotate by a second hip joint steering engine 202a, and an output shaft of the second hip joint steering engine 202a is arranged along the direction of the x axis of the space. As shown in fig. 8, a second hip joint actuator 202a is fixed to a mounting surface designed on first modified hip a201b in first hip joint 201, while a stiffener stabilization structure is designed on first modified hip a201 b. The output shaft of the second hip joint steering engine 202a is fixed with a second modified hip a202b through a steering wheel. The end of the extending shaft of the second hip joint steering engine 202a is fixed with the second modified hip B202c, and sealing and fastening are respectively realized through a joint end cover and a fastener. The second modified hip a202B and the second modified hip B202c are connected by the second transmission connecting member 202d to fix the two, so as to realize the synchronous operation between the second modified hip a202B and the second modified hip B202 c. In order to resist the turning moment applied to the second hip joint steering engine 202a in the second hip joint 202, 4 reinforcing columns 202e are uniformly arranged between two side plates of the second hip joint steering engine 202a in the circumferential direction, so that the stability of the second hip joint steering engine 202a is improved.
c. The thigh joint 203 is driven by a thigh joint steering engine 203a to rotate; an output shaft of the thigh joint steering engine 203a is arranged along a space y axis. As shown in fig. 9, the output shaft of the thigh joint steering engine 203a is fixed with the third modified hip a203b through a rudder plate. The end of the extending shaft of the third joint steering engine 203a is fixed with a third modified hip B203c, and sealing and fastening are respectively realized through a joint end cover and a fastener. Thigh joint steering engine 203a is fixed by a mounting surface designed on second modified hip a203B in second hip joint steering engine 202a, and third modified hip a203B and third modified hip B203 c. In the invention, the third modified hip A203B and the third modified hip B203c adopt curved plates with round corners in consideration of the compactness and the strength of the structure of the variable-configuration single-leg structure 2.
d. The lower leg joint 204 is driven to rotate by a lower leg joint steering engine 204 a. As shown in fig. 5 and 6, the output shaft of the lower leg joint steering engine 204a is arranged along the spatial y axis; the shank joint steering engine 204a is fixedly arranged between the lower ends of the two parallel thigh plates 3, and the upper sections of the parallel thigh plates 3 are fixedly arranged on two sides of the thigh joint steering engine 203 a. An output shaft of the shank joint steering engine 204a is fixed with the top of the shank plate 4 on one side through a rudder plate. The end part of the extending shaft of the shank joint steering engine 204a is fixed with the top of the shank plate 4 at the other side, and sealing and fastening are respectively realized through a joint end cover and a fastening piece. Because the thigh joint steering engine 203a and the crus joint steering engine 204a are both arranged on the thigh plate 3, a larger space can be reserved between the two crus plates 4 so as to install various devices such as the damping device 5 at the crus, thereby improving the function integration degree of the robot.
As shown in FIG. 3, a foot end structure 205 is attached to the lower end of the lower leg joint 204. The foot end structure 205 includes a ball foot 205a, a force sensor 205b, and a force sensor connection 205c, as shown in figure 10. The force sensor connecting piece 205c is a U-shaped structure, two ends of the force sensor connecting piece are respectively connected with the lower ends of the leg plates 4 at two sides through guide nails 205d, and the guide nails 205d are positioned in strip-shaped holes designed along the up-and-down direction of the leg plates 4, so that flexible connection is formed between the guide nails 205d and the leg plates 4 at two sides, and displacement required by the shock absorption device 5 during shock absorption and buffering is provided after the shock absorption device 5 is installed. The bottom surface of the force sensor connector 205c is fixedly connected with the three-dimensional force sensor 205b through threads, the three-dimensional force sensor 205b is connected with the rubber ball foot 205a through a connector, and a foot supporting sheet 205d is installed on the upper surface of the rubber ball foot 205a to reduce deformation of the rubber ball foot 205a when being stressed.
In the invention, a damping device 5 is also arranged at the position of the shank so as to improve the running stability of the robot; the shock absorbing device 5 includes a shock absorbing fixing member 501 and a shock absorber 502, as shown in fig. 10. Wherein, the upper end of the shock absorber 502 is fixed with the shank plates at two sides through the shock absorbing fixing pieces at two sides. The lower end of the damper 502 is connected to the force sensor connecting member 205c via a damper washer 503, a damper plate 504, and a damper nut 505 in this order. Thereby, the shock absorption of the variable configuration single-leg structure during the movement is realized by the shock absorption device 5.
According to the variable configuration bionic quadruped robot, a variable configuration single-leg structure can be freely switched into two configurations, namely a mammal type configuration and an insect type configuration, so that the quadruped robot has two advancing forms, namely quadruped mammal type walking and quadruped insect type crawling; the method comprises the following specific steps:
A. in the mammal type configuration, the first hip joint steering engine 201a is locked, and the advancing state of the mammal type walking is realized through the combined motion among the second hip joint 202a, the thigh joint 203 and the shank joint 204, as shown in fig. 2 and fig. 5.
B. In the insect-animal configuration, the second hip joint 202a is locked, and the combined motion among the first hip joint 201, the thigh joint 203 and the shank joint 204 is used to realize the advancing state of the insect-animal crawling, as shown in fig. 3 and 6.
Claims (2)
1. A variable configuration bionic quadruped robot comprises a robot body and single-leg structures which are uniformly distributed on the robot body in the circumferential direction; the method is characterized in that: the single-leg structure is a variable-configuration single-leg structure and is provided with a first hip joint, a second hip joint, a thigh joint and a shank joint;
the first hip joint is driven by a first hip joint steering engine; the first hip joint steering engine is fixed on the body, an output shaft is vertically arranged along the direction of a spatial z-axis, and a first correction hip A and a first correction hip B are arranged on the output shaft and an extending shaft of the first hip joint steering engine; the first modification hip A and the first modification hip B are connected through a first transmission connecting piece;
the second hip joint is driven by a second hip joint steering engine; the second hip joint steering engine is fixed on a first modified hip in the first hip joint, and an output shaft is arranged along the direction of the spatial x axis; an output shaft and an extension shaft of the second hip joint steering engine are arranged between the second correction hip A and the second correction hip B; the second correction hip A and the second correction hip B are connected through a second transmission connecting piece to realize fixation between the second correction hip A and the second correction hip B; reinforcing columns are uniformly arranged between the two side plates of the second hip joint steering engine in the circumferential direction;
the thigh joints are driven by thigh joint steering engines; an output shaft of the thigh joint steering engine is arranged along a space y axis; the output shaft and the extending shaft of the thigh joint are provided with a third correction hip A; the end part of an extending shaft of the thigh joint steering engine is fixed with the third correction hip B, and sealing and fastening are respectively realized through an output shaft of the thigh joint steering engine through a steering wheel, a joint end cover and a fastening piece; the thigh joint steering engine is fixed with a mounting surface designed on a second correction hip A in the second hip joint steering engine through a third correction hip A and a third correction hip B; simultaneously, a third modification hip A and a third modification hip B are designed to adopt bending plates, and the included angle of the bending plates is a fillet;
the shank joint is driven to rotate by a shank joint steering engine; the output shaft of the shank joint steering engine is arranged along the y-axis of the space; the shank joint steering engine is arranged between the lower ends of two parallel thigh plates; the upper sections of the thigh plates which are parallel to each other are fixedly arranged on two sides of the thigh joint steering engine; an output shaft of the shank joint steering engine is fixed with the top of a shank plate on one side through a rudder disc; the end part of a stretching shaft of the shank joint steering engine is fixed with the top of a shank plate on the other side, and sealing and fastening are respectively realized through a joint end cover and a fastening piece;
the lower end of the shank joint is provided with a foot end structure, and the foot end structure comprises a ball foot, a force sensor and a force sensor connecting piece; the force sensor connecting piece is of a U-shaped structure, two ends of the force sensor connecting piece are respectively connected with the lower ends of the shank plates on two sides through guide nails, and the guide nails are positioned in strip-shaped holes designed along the upper and lower directions of the shank plates, so that the guide nails are flexibly connected with the shank plates on two sides; the bottom surface of the force sensor connecting piece is fixedly connected with a three-dimensional force sensor through threads, the three-dimensional force sensor is connected with a rubber ball foot through a connecting piece, and a foot supporting sheet is arranged on the upper surface of the rubber ball foot to reduce deformation of the rubber ball foot when the rubber ball foot is stressed;
a shock absorption device is also arranged at the position of the shank, and the shock absorption device comprises a shock absorption fixing piece and a shock absorber; wherein, the upper end of the shock absorber is fixed with the shank plates at two sides through the shock absorbing fixing pieces at two sides; the lower end of the shock absorber is connected with the force sensor connecting piece through a shock absorption gasket, a shock absorption plate and a shock absorption nut in sequence; therefore, the shock absorption of the variable-configuration single-leg structure in the movement process is realized through the shock absorption device;
when the mammal is in a mammal type configuration, the first hip joint steering engine is locked, and the advancing state of mammal type walking is realized through the combined motion among the second hip joint, the thigh joint and the shank joint;
when the insect animal type configuration is adopted, the second hip joint is locked, and the moving state of the insect animal type crawling is realized through the combined motion among the first hip joint, the thigh joint and the shank joint.
2. The configuration-changing bionic quadruped robot as claimed in claim 1, wherein: the robot body adopts an upper-lower double-layer design, the installation positions of the single-leg structure are reserved in the circumferential direction, and baffles are installed at the rest positions in the circumferential direction; and upright columns are circumferentially and uniformly distributed between the upper layer and the lower layer.
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| CN107856756B true CN107856756B (en) | 2020-08-18 |
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