CN107878592B - Independent suspension mechanism for four-foot robot - Google Patents
Independent suspension mechanism for four-foot robot Download PDFInfo
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- CN107878592B CN107878592B CN201711339694.1A CN201711339694A CN107878592B CN 107878592 B CN107878592 B CN 107878592B CN 201711339694 A CN201711339694 A CN 201711339694A CN 107878592 B CN107878592 B CN 107878592B
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- connecting piece
- hinging rod
- transverse arm
- right end
- rod
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
- B60G11/15—Coil springs resisting deflection by winding up
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G15/00—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type
- B60G15/02—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/16—Running
- B60G2800/162—Reducing road induced vibrations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/20—Stationary vehicle
Abstract
The invention discloses an independent suspension mechanism for a quadruped robot, which comprises a double-transverse arm mechanism and a spring damping mechanism, wherein the double-transverse arm mechanism comprises an upper transverse arm, a lower transverse arm, a bracket, an upper connecting piece and a lower connecting piece, the right end of the upper transverse arm is rotationally connected with the left end of the upper connecting piece through a first upper hinging rod, the right end of the lower transverse arm is rotationally connected with the left end of the lower connecting piece through a first lower hinging rod, the vertical rotation of the bracket is arranged between the right end of the upper connecting piece and the right end of the lower connecting piece, the axes of the first upper hinging rod and the first lower hinging rod extend along the vertical direction, and the axes of the second upper hinging rod, the second lower hinging rod, an upper rotating shaft and the lower rotating shaft extend along the front-back direction; the spring damping mechanism comprises a shock absorber and a spring, the shock absorber is arranged on the lower cross arm through a base, and the spring is sleeved on the periphery of the shock absorber. Compared with the prior art, the invention has the following advantages: the stability of the frame of the quadruped robot in the moving process is ensured.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an independent suspension mechanism for a quadruped robot.
Background
In recent years, advances in science and technology have driven the development of mobile robots, and more four-legged robots are used in daily life and industrial production by people. Under the conditions of uneven pavement and larger robot load, the existing robot has the problems that the load of a driving system is suddenly increased due to larger inertia, the calculated amount of a feedback control system is large, and the like, and a proper active adjustment scheme is difficult to adopt. Therefore, people put forward new requirements on the aspects of improving the stability, smoothness and the like of the movement of the four-legged robot in an uneven environment and under the condition of large load.
It is well known that the suspension of an automobile functions to transmit forces and torsion forces acting between wheels and a vehicle frame, and to cushion impact forces transmitted to the vehicle frame or the vehicle body by an uneven road surface and to attenuate vibrations caused thereby, wherein passive suspensions that passively respond to external excitation based on elastic characteristics and damping characteristics are widely used.
The existing four-foot robot generally adopts a leg mechanism or a foot mechanism with flexibility to realize motion buffering. Chinese patent CN104386157a, a quadruped robot with flexible joints, characterized in that the robot comprises a frame and four mechanical legs; the mechanical legs are connected to the two sides of the frame through the outer swing joints. The four mechanical legs adopt an inner knee elbow type symmetrical structure; each mechanical leg is composed of an outer swing joint, a hip joint frame, a hip joint, a thigh, a knee joint, a shank and a foot in sequence. The hip joint and the knee joint comprise flexible joint bodies with the same structure and active flexibility, the knee joint and the hip joint are driven by a hip joint motor and a knee joint motor respectively, and the hip joint frame is L-shaped. The invention mainly utilizes the flexible joint with active flexibility to play a role of buffering and damping. The control mode is complex, and the robot frame still receives great impact when the complex ground moves.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an independent suspension mechanism for a quadruped robot so as to ensure the stability of a frame of the quadruped robot in the moving process.
The invention is realized by the following technical scheme:
an independent suspension mechanism for a four-legged robot comprises a frame and four mechanical legs arranged at four corners of the frame, wherein the independent suspension mechanism is arranged between the frame and the mechanical legs and comprises a double-cross arm mechanism and a spring damping mechanism,
the double-transverse arm mechanism comprises an upper transverse arm, a lower transverse arm, a bracket, an upper connecting piece and a lower connecting piece, wherein the upper transverse arm and the lower transverse arm are arranged in an up-down parallel manner, the right end of the upper transverse arm is rotationally connected with the left end of the upper connecting piece through a first upper hinging rod, the right end of the lower transverse arm is rotationally connected with the left end of the lower connecting piece through a first lower hinging rod, the bracket is vertically arranged between the right end of the upper connecting piece and the right end of the lower connecting piece, the upper end of the bracket is rotationally connected with the upper connecting piece through an upper rotating shaft, the lower end of the bracket is rotationally connected with the lower connecting piece through a lower rotating shaft, the bracket is hinged with the hip joint of a corresponding mechanical foot, the left end of the upper transverse arm is rotationally connected with the side wall of the machine frame through a second upper hinging rod, the left end of the lower transverse arm is rotationally connected with the side wall of the machine frame through a second lower hinging rod, the axes of the first upper hinging rod and the first lower hinging rod extend along the vertical direction, and the axes of the second upper hinging rod, the second lower hinging rod, the upper rotating shaft and the lower rotating shaft extend along the front-back direction;
the spring damping mechanism is installed on the lower cross arm and comprises a shock absorber and a spring, the shock absorber is installed on the lower cross arm through a base, the shock absorber can stretch upwards in the vertical direction, the upper end of the shock absorber stretches upwards from the cavity of the upper cross arm and contacts with the bottom end face of the frame, the spring is sleeved on the periphery of the shock absorber, the upper end of the spring is limited through an upper limiting plate arranged at the top end of the shock absorber, and the lower end of the spring is limited through a lower limiting plate arranged on the base.
Further, torsion springs are arranged on the first upper hinging rod, the first lower hinging rod, the second upper hinging rod and the second lower hinging rod.
Further, the connecting parts at the left and right ends of the upper cross arm, the connecting parts at the left end of the upper connecting piece, the connecting parts at the left and right ends of the lower cross arm and the connecting parts at the left end of the lower connecting piece are respectively U-shaped connecting plates in U shapes.
Compared with the prior art, the invention has the following advantages:
the invention provides an independent suspension mechanism for a quadruped robot, wherein a spring damping mechanism is fixed on a lower cross arm of a double cross arm mechanism, and the stability of a robot frame and a trunk on the frame in the moving process is ensured by the bearing and buffering characteristics of a spring and the energy absorption and dissipation characteristics of a shock absorber; the double-cross arm mechanism plays a role in connecting the frame and the mechanical foot of the robot, and the torsion springs are arranged on the corresponding hinge rods, so that impact on core components on the trunk of the robot due to rugged change of topography in the moving process of the robot is reduced. The invention ensures the stability of the robot trunk in the moving process of the four-foot robot, and has simple structure and remarkable effect.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic view of the structure of the four independent suspension mechanisms of the present invention mounted on a four-legged robot.
Fig. 3 is a schematic view of the structure of the single independent suspension mechanism of the present invention mounted on a four-legged robot.
Fig. 4 is a side view of fig. 3.
Fig. 5 is a schematic view of the structure of the stand of the present invention when subjected to a vertically downward force.
Fig. 6 is a schematic view of the structure of the stand of the present invention when subjected to horizontal parallel forces.
Reference numerals in the drawings: 1 a shock absorber, 2 springs, 3 an upper cross arm, 4 a first upper hinge rod, 5 a first upper torsion spring, 6 an upper connecting piece, 7a rotating shaft, 8 a bracket, 9 a rotating shaft, 10 a lower connecting piece, 11 a first lower torsion spring, 12 a first lower hinge rod, 13 a lower cross arm, 14 a second lower torsion spring, 15 second lower hinge rod, 16 second upper hinge rod, 17 second upper torsion spring, 18 thigh, 19 mid-leg drive point, 20 knee, 21 mid-leg, 22 base, 23 metatarsal shaft, 24 ankle, 25 hip, 26 thigh drive point, 27 frame, 28 mechanical foot, 29U-shaped connection plate.
Detailed Description
The following describes in detail the examples of the present invention, which are implemented on the premise of the technical solution of the present invention, and detailed embodiments and specific operation procedures are given, but the scope of protection of the present invention is not limited to the following examples.
Referring to fig. 1 to 6, the present embodiment discloses an independent suspension mechanism for a four-legged robot, the four-legged robot includes a frame 27 and four mechanical legs 28 disposed at four corners of the frame 27, each mechanical leg 28 is formed by hinging a thigh 18, a middle leg 21, and a metatarsal rod 23 in sequence, a hip joint 25 is disposed at an upper portion of the thigh 18, an upper end of the thigh 18 is a thigh driving point 26, a hinging point of the thigh 18 and the middle leg 21 forms a knee joint 20, a top end of the middle leg 21 is a middle leg driving point 19, and a hinging point of the middle leg 21 and the metatarsal rod 23 forms an ankle joint 24.
An independent suspension mechanism is arranged between the frame 27 and the mechanical foot 28, the independent suspension mechanism comprises a double cross arm mechanism and a spring damping mechanism,
the double-cross arm mechanism comprises an upper cross arm 3, a lower cross arm 13, a support 8, an upper connecting piece 6 and a lower connecting piece 10, wherein the upper cross arm 3 and the lower cross arm 13 are arranged in an up-down parallel mode, the right end of the upper cross arm 3 is rotationally connected with the left end of the upper connecting piece 6 through a first upper hinging rod 4, the right end of the lower cross arm 13 is rotationally connected with the left end of the lower connecting piece 10 through a first lower hinging rod 12, the support 8 is vertically arranged between the right end of the upper connecting piece 6 and the right end of the lower connecting piece 10, the upper end of the support 8 is rotationally connected with the upper connecting piece 6 through an upper rotating shaft 7, the lower end of the support 8 is rotationally connected with the lower connecting piece 10 through a lower rotating shaft 9, the support 8 is hinged with a hip joint of a corresponding mechanical foot 28, the left end of the upper cross arm 3 is rotationally connected with the side wall of the rack 27 through a second upper hinging rod 16, the left end of the lower cross arm 13 is rotationally connected with the side wall of the rack 27 through a second lower hinging rod 15, and the connecting parts of the left and right ends of the upper cross arm 3, the connecting parts of the left end of the upper connecting piece 6, the left end and the left end of the lower connecting piece 13 are respectively U-shaped connecting plates 29.
The axes of the first upper hinge rod 4 and the first lower hinge rod 12 extend in the vertical direction, and the axes of the second upper hinge rod 16, the second lower hinge rod 15, the upper rotating shaft 7 and the lower rotating shaft 9 extend in the front-rear direction;
the spring damping mechanism is mounted on the lower cross arm 13, the spring damping mechanism comprises a shock absorber 1 and a spring 2, the shock absorber 1 is mounted on the lower cross arm 13 through a base 22, the shock absorber 1 can stretch upwards in the vertical direction, the upper end of the shock absorber 1 extends upwards from the cavity of the upper cross arm 3 and contacts the bottom end face of the frame 27, the spring 2 is sleeved on the periphery of the shock absorber 1, the upper end of the spring 2 is limited through an upper limiting plate arranged at the top end of the shock absorber 1, and the lower end of the spring 2 is limited through a lower limiting plate arranged on the base 22.
The first upper hinge rod 4, the first lower hinge rod 12, the second upper hinge rod 16 and the second lower hinge rod 15 are all provided with torsion springs, wherein the torsion springs on the first upper hinge rod 4 are the first upper torsion springs 5, the torsion springs on the first lower hinge rod 12 are the first lower torsion springs 11, the torsion springs on the second upper hinge rod 16 are the second upper torsion springs 17, and the torsion springs on the second lower hinge rod 15 are the second lower torsion springs 14.
In the process of landing of the mechanical foot 28, the support 8 of the independent suspension mechanism is acted by upward force, the lower cross arm 13 rotates upward around the second lower hinging rod 15, so that the spring 2 and the shock absorber 1 on the lower cross arm 13 are driven to be compressed and deformed, and the independent suspension mechanism serving as a flexible connection mechanism reduces vibration impact of the mechanical foot 28 on the stand 27 and the trunk on the stand 27 in the process of contacting the ground, and reduces the influence of the complicated and rugged ground environment on the rolling angle of the stand 27.
Referring to fig. 5, when the hip joint 25 receives a vertical downward force, the bracket 8 receives a downward force, the entire bracket 8 moves downward, and accordingly, the upper cross arm 3 rotates in a vertical plane about the second upper hinge rod 16, and the lower cross arm 13 rotates in a vertical plane about the second lower hinge rod 15, and at this time, due to the presence of the second upper torsion spring 17 and the second lower torsion spring 14, a reverse buffering force can be provided, vibration of the entire robot in an up-down direction during movement is reduced, and an original rigid force impact is reduced. While also reducing the effect of the complex rugged surface environment on the pitch angle of the frame 27.
Referring to fig. 6, when the hip joint 25 receives a horizontal rearward force, the bracket 8 drives the upper link 6 to rotate in a horizontal plane about the first upper hinge rod 4 relative to the upper cross arm 3, and simultaneously the bracket 8 drives the lower link 10 to rotate in a horizontal plane about the first lower hinge rod 12 relative to the lower cross arm 13, and due to the existence of the first upper torsion spring 5 and the first lower torsion spring 11, a reverse buffering force can be provided, and the original rigid force impact is reduced. While also reducing the effect of the yaw angle of the airframe 27 due to the complex rugged surface environment.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (1)
1. An independent suspension mechanism for a four-legged robot, the four-legged robot includes frame (27) and four mechanical feet (28) that set up in frame (27) four corners, independent suspension mechanism sets up between frame (27) and mechanical feet (28), its characterized in that: each mechanical foot (28) is formed by hinging a thigh (18), a midleg (21) and a metatarsal rod (23) in sequence, the independent suspension mechanism comprises a double-transverse arm mechanism and a spring damping mechanism,
the double-transverse-arm mechanism comprises an upper transverse arm (3), a lower transverse arm (13), a support (8), an upper connecting piece (6) and a lower connecting piece (10), wherein the upper transverse arm (3) and the lower transverse arm (13) are in vertical parallel arrangement, the right end of the upper transverse arm (3) is rotationally connected with the left end of the upper connecting piece (6) through a first upper hinging rod (4), the right end of the lower transverse arm (13) is rotationally connected with the left end of the lower connecting piece (10) through a first lower hinging rod (12), the support (8) is vertically arranged between the right end of the upper connecting piece (6) and the right end of the lower connecting piece (10), the upper end of the support (8) is rotationally connected with the upper connecting piece (6) through an upper rotating shaft (7), the lower end of the support (8) is rotationally connected with the lower connecting piece (10) through a lower rotating shaft (9), the left end of the support (8) is rotationally hinged with the hip joint of a corresponding mechanical foot (28), the left end of the upper transverse arm (3) is rotationally connected with a frame (27) through a second upper hinging rod (16), the lower transverse arm (8) is vertically arranged between the right end of the upper hinging rod (6) and the right end of the lower hinging rod (27), the upper hinging rod (27) and the right end of the lower hinging rod (15) is vertically connected with the upper hinging rod (27) through the first hinging rod (15) and the upper hinging rod (15) The axes of the upper rotating shaft (7) and the lower rotating shaft (9) extend along the front-back direction;
the spring damping mechanism is arranged on the lower cross arm (13), the spring damping mechanism comprises a shock absorber (1) and a spring (2), the shock absorber (1) is arranged on the lower cross arm (13) through a base (22), the shock absorber (1) can stretch upwards in the vertical direction, the upper end of the shock absorber (1) extends upwards from the cavity of the upper cross arm (3) and contacts the bottom end surface of the frame (27), the spring (2) is sleeved on the periphery of the shock absorber (1), the upper end of the spring (2) is limited through an upper limiting plate arranged at the top end of the shock absorber (1), and the lower end of the spring is limited through a lower limiting plate arranged on the base (22);
torsion springs are arranged on the first upper hinging rod (4), the first lower hinging rod (12), the second upper hinging rod (16) and the second lower hinging rod (15);
the connecting parts at the left end and the right end of the upper cross arm (3), the connecting parts at the left end of the upper connecting piece (6), the connecting parts at the left end and the right end of the lower cross arm (13) and the connecting parts at the left end of the lower connecting piece (10) are U-shaped connecting plates (29) which are respectively in U shapes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711339694.1A CN107878592B (en) | 2017-12-14 | 2017-12-14 | Independent suspension mechanism for four-foot robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711339694.1A CN107878592B (en) | 2017-12-14 | 2017-12-14 | Independent suspension mechanism for four-foot robot |
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| CN107878592A CN107878592A (en) | 2018-04-06 |
| CN107878592B true CN107878592B (en) | 2023-05-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711339694.1A Active CN107878592B (en) | 2017-12-14 | 2017-12-14 | Independent suspension mechanism for four-foot robot |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110014451B (en) * | 2019-04-24 | 2021-12-21 | 哈尔滨理工大学 | Crawling robot hip device suitable for slope road surface and control |
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| WO2015097712A1 (en) * | 2013-12-23 | 2015-07-02 | Agarwal Narendra Swarup | Very low jerk and low cost vehicle suspension |
| CN104960409A (en) * | 2015-05-28 | 2015-10-07 | 东南大学 | Integrated wheel edge driving system equipped with unequal-length double transverse arm suspending frame and capable of reducing unsprung mass |
| CN105752197A (en) * | 2016-04-05 | 2016-07-13 | 重庆大学 | Resilient four-link mechanical leg and test platform thereof |
| CN106062413A (en) * | 2014-03-05 | 2016-10-26 | 奥迪股份公司 | Electromechanical rotational damper with tension and compression stop |
| CN106347519A (en) * | 2016-11-13 | 2017-01-25 | 吉林大学 | Self-adaption sand land biomimetic mechanical foot |
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2017
- 2017-12-14 CN CN201711339694.1A patent/CN107878592B/en active Active
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|---|---|---|---|---|
| CN102167103A (en) * | 2011-03-31 | 2011-08-31 | 西北工业大学 | Machine body of bionic quadruped robot |
| CN202319806U (en) * | 2011-11-15 | 2012-07-11 | 陕西重型汽车有限公司 | Dual balance suspension frame for spiral spring with double transverse arms for automobile |
| CN203094172U (en) * | 2012-12-24 | 2013-07-31 | 中国科学院深圳先进技术研究院 | Steer-by-wire device capable of independent steering and driving electric automobile and suspension system thereof |
| CN103318289A (en) * | 2013-07-04 | 2013-09-25 | 北京理工大学 | Modular hydraulic-drive four-leg robot with variable leg shape structures |
| WO2015097712A1 (en) * | 2013-12-23 | 2015-07-02 | Agarwal Narendra Swarup | Very low jerk and low cost vehicle suspension |
| CN106062413A (en) * | 2014-03-05 | 2016-10-26 | 奥迪股份公司 | Electromechanical rotational damper with tension and compression stop |
| CN104085266A (en) * | 2014-06-30 | 2014-10-08 | 深圳市科松电子有限公司 | Suspension for chassis of four-wheel moving robot |
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| CN107878592A (en) | 2018-04-06 |
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