CN108248717A - It is a kind of can operated tool have terminal stabilization control function quadruped robot - Google Patents
It is a kind of can operated tool have terminal stabilization control function quadruped robot Download PDFInfo
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
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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
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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Abstract
本发明属于机器人技术领域，具体涉及一种能够操控工具具有末端稳定控制功能的四足机器人，包括四足机器人和机械臂，所述的四足机器人包括躯干本体和四条设置在躯干本体下侧且前后对称、左右对称的机械腿，所述的机械臂包括四自由度关节结构和抓手，所述的抓手可拆卸的安装在四自由度关节结构上，所述的四自由度关节结构通过底座安装在躯干本体上，所述的躯干本体前端设有视觉传感单元，所述的躯干本体上还集成有动力和控制单元。本发明结构简单、运动灵活、能在机器人自重和灵活步态之间进行合理平衡，能精准分析环境判断行走路径的同时完成抓取物体或操控工具的任务，具有极大的市场价值。
The invention belongs to the technical field of robots, and specifically relates to a quadruped robot capable of manipulating tools and having terminal stability control functions, including a quadruped robot and a mechanical arm. A mechanical leg with front-back symmetry and left-right symmetry. The robotic arm includes a four-degree-of-freedom joint structure and a gripper. The gripper is detachably mounted on the four-degree-of-freedom joint structure. The four-degree-of-freedom joint structure passes through The base is installed on the trunk body, the front end of the trunk body is provided with a visual sensing unit, and the power and control unit is also integrated on the trunk body. The invention has the advantages of simple structure, flexible movement, reasonable balance between the robot's self-weight and flexible gait, and the ability to accurately analyze the environment and judge the walking path while completing the task of grasping objects or manipulating tools, and has great market value.
Description
技术领域technical field
本发明属于机器人技术领域，具体涉及一种能够操控工具具有末端稳定控制功能的四足机器人。The invention belongs to the technical field of robots, and in particular relates to a quadruped robot capable of manipulating tools and having terminal stability control functions.
背景技术Background technique
纵观自然界，大型陆生动物大多为四足动物，无论在峭壁、丘陵、草原，还是沙漠，总能见到四足动物的身影，这充分表明了自然选择对四足移动方式的认可。四足机器人因其优越的地形适应能力，近年来一直是国内外研究的重点，其中最卓越的莫过于美国波士顿动力公司的bigdog系列机器人。Throughout nature, most large terrestrial animals are quadrupeds. No matter on cliffs, hills, grasslands, or deserts, quadrupeds can always be seen, which fully demonstrates the recognition of natural selection for quadrupeds. Quadruped robots have been the focus of research at home and abroad in recent years because of their superior terrain adaptability, among which the most outstanding is the bigdog series robots of Boston Dynamics.
目前主流的四足机器人，其区别主要在动力系统上，一类采用液压驱动，一类采用电机驱动；其侧重点在运动能力上，机器人作为移动平台进行负重或侦察任务；缺陷是机器人与外界环境的交互比较少，无法像人一样完成对一些工具的使用。At present, the mainstream quadruped robots differ mainly in the power system, one is driven by hydraulic pressure, and the other is driven by motor; its focus is on the ability of movement, and the robot is used as a mobile platform to carry out load-bearing or reconnaissance tasks; the defect is that the robot and the outside world There is relatively little interaction with the environment, and it is impossible to use some tools like humans.
发明内容Contents of the invention
本发明的目的是为了解决现有技术中存在的机器人功能单一、市场价值低、仅能完成行走或跳跃动作等问题，提供了一种能够操控工具具有末端稳定控制功能的四足机器人。The purpose of the present invention is to provide a quadruped robot capable of manipulating tools and having a terminal stability control function in order to solve the problems in the prior art that the robot has single function, low market value, and can only complete walking or jumping actions.
为实现上述目的，本发明所采用的技术方案是：一种能够操控工具具有末端稳定控制功能的四足机器人，包括四足机器人和机械臂，所述的四足机器人包括躯干本体和四条设置在躯干本体下侧且前后对称、左右对称的机械腿，所述的机械臂包括四自由度关节结构和抓手，所述的抓手可拆卸的安装在四自由度关节结构上，所述的四自由度关节结构通过底座安装在躯干本体上，所述的躯干本体前端设有视觉传感单元，所述的躯干本体上还集成有动力和控制单元。In order to achieve the above object, the technical solution adopted by the present invention is: a quadruped robot capable of manipulating tools and having a terminal stability control function, including a quadruped robot and a mechanical arm. The quadruped robot includes a trunk body and four The lower side of the torso body is a mechanical leg that is symmetrical front and rear and left and right. The mechanical arm includes a four-degree-of-freedom joint structure and a gripper. The gripper is detachably installed on the four-degree-of-freedom joint structure. The degree of freedom joint structure is installed on the trunk body through the base, the front end of the trunk body is provided with a visual sensing unit, and the power and control unit is also integrated on the trunk body.
优选的，所述的机械腿包括第一连杆和第二连杆，所述的第一连杆和第二连杆之间通过第一转轴连接，所述的第一连杆和躯干本体之间通过第二转轴连接，所述的第一连杆和躯干本体之间设有第一液压缸，所述的第一连杆和第二连杆之间设有第二液压缸，所述的第二转轴与躯干本体之间设有转动杆，所述的转动杆与躯干本体之间通过第三液压缸连接。Preferably, the mechanical leg includes a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are connected through a first rotating shaft, and the connection between the first connecting rod and the trunk body are connected by a second rotating shaft, a first hydraulic cylinder is provided between the first connecting rod and the trunk body, a second hydraulic cylinder is provided between the first connecting rod and the second connecting rod, and the A rotating rod is provided between the second rotating shaft and the trunk body, and the rotating rod and the trunk body are connected through a third hydraulic cylinder.
优选的，所述的机械臂包括大臂、小臂和抓手,所述的大臂和底座之间设有电机，所述的大臂在电机的驱动下可绕底座转动，所述的大臂和小臂之间设有第三转轴，所述的小臂和抓手之间设有第四转轴，所述的抓手和第四转轴之间为可拆卸连接。Preferably, the mechanical arm includes a boom, a small arm and a gripper, a motor is arranged between the boom and the base, the boom can rotate around the base driven by the motor, and the big A third rotating shaft is provided between the arm and the small arm, a fourth rotating shaft is provided between the small arm and the gripper, and the gripper and the fourth rotating shaft are detachably connected.
优选的，所述的抓手包括上下两个夹爪。Preferably, the gripper includes upper and lower jaws.
优选的，所述的视觉传感单元为摄像机模块。Preferably, the visual sensing unit is a camera module.
优选的，所述的躯干本体上设有通孔。Preferably, the torso body is provided with through holes.
优选的，所述的第二连杆末端设有缓冲防滑块。Preferably, the end of the second connecting rod is provided with a buffer anti-slip block.
优选的，所述的动力和控制单元包括主芯片、电源模块、Wi-Fi模块/蓝牙模块、控制端口、USART、电源输出模块、传感器模块和程序下载模块。Preferably, the power and control unit includes a main chip, a power module, a Wi-Fi module/Bluetooth module, a control port, a USART, a power output module, a sensor module and a program download module.
采用上述技术方案后，本发明具有以下有益效果：After adopting the above technical scheme, the present invention has the following beneficial effects:
本发明提供的一种能够操控工具具有末端稳定控制功能的四足机器人通过视觉传感单元获取环境的图像，并通过识别及分析，让机器人能够辨识物体及所处的环境；所述一种能够操控工具具有末端稳定控制功能的四足机器人腿部机构包括第一连杆、第二连杆、和足部缓冲防滑块的设置，在机器人自重和灵活步态之间进行合理平衡的同时可以增大足部受力面积，而且能够减缓地面冲击力对机器人的损害；通过通孔的设置，可以减轻机器人整体重量,提高运动速度并且降低能耗；机械臂通过设置在底座上，可以在身体行走的过程中保证机械臂的稳定；通过灵活机械臂的设置，同时抓手与机械臂之间为可拆卸连接，因此可以根据情况需要替换抓手，使得该机器人的运用范围更加广泛灵活，大大拓展了机器人的使用场景，使得原本仿四足动物的机器人拥有了像人手一样抓取物体、操控工具的能力。The invention provides a quadruped robot capable of manipulating tools and having terminal stability control functions to obtain images of the environment through a visual sensing unit, and through recognition and analysis, the robot can recognize objects and the environment in which they are located; The quadruped robot leg mechanism with terminal stability control function includes the first link, the second link, and the setting of the foot buffer anti-slip block, which can increase the balance between the robot's own weight and flexible gait. The force-bearing area of the foot is large, and it can slow down the damage of the ground impact to the robot; through the setting of the through hole, the overall weight of the robot can be reduced, the movement speed can be improved and the energy consumption can be reduced; the mechanical arm can walk on the body by setting it on the base. The stability of the robot arm is guaranteed during the process; through the setting of the flexible robot arm, at the same time, the gripper and the robot arm are detachably connected, so the gripper can be replaced according to the needs of the situation, making the robot's application range more extensive and flexible, greatly expanding The usage scenarios of robots enable the quadruped-like robot to have the ability to grasp objects and manipulate tools like a human hand.
综上所述，本发明提供的一种能够操控工具具有末端稳定控制功能的四足机器人结构简单、运动灵活、能在机器人自重和灵活步态之间进行合理平衡，能精准分析环境判断行走路径的同时完成抓取物体或操控工具的任务，具有极大的市场价值。In summary, the present invention provides a quadruped robot capable of manipulating tools and having terminal stability control functions. It has simple structure, flexible movement, a reasonable balance between the robot's own weight and flexible gait, and can accurately analyze the environment to judge the walking path. At the same time, it can complete the task of grabbing objects or manipulating tools, which has great market value.
附图说明Description of drawings
图1为本发明一种能够操控工具具有末端稳定控制功能的四足机器人的结构示意图一；Fig. 1 is a structural schematic diagram 1 of a quadruped robot capable of manipulating a tool and having terminal stability control function according to the present invention;
图2为本发明一种能够操控工具具有末端稳定控制功能的四足机器人的结构示意图二；Fig. 2 is a structural schematic diagram 2 of a quadruped robot capable of manipulating tools and having terminal stability control function according to the present invention;
图3为本发明一种能够操控工具具有末端稳定控制功能的四足机器人的结构示意图三。FIG. 3 is a structural schematic diagram 3 of a quadruped robot capable of manipulating a tool and having terminal stability control function according to the present invention.
其中：抓手1、小臂2、大臂3、电机4、视觉传感单元5、第一连杆6、第二连杆7、躯干本体8、第一液压缸9、第二液压缸10、第三液压缸11、转动杆12、底座13、第一转轴14、第二转轴15、第三转轴16、第四转轴17、四足机器人18、机械臂19、机械腿20、四自由度关节结构21、通孔22、缓冲防滑块23。Among them: gripper 1, small arm 2, large arm 3, motor 4, visual sensing unit 5, first connecting rod 6, second connecting rod 7, trunk body 8, first hydraulic cylinder 9, second hydraulic cylinder 10 , the third hydraulic cylinder 11, the rotating rod 12, the base 13, the first rotating shaft 14, the second rotating shaft 15, the third rotating shaft 16, the fourth rotating shaft 17, the quadruped robot 18, the mechanical arm 19, the mechanical leg 20, four degrees of freedom Joint structure 21, through hole 22, buffer anti-slip block 23.
具体实施方式Detailed ways
下面结合附图和具体实施方式对本发明作进一步详细说明。The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应作广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。In the present invention, terms such as "installation", "connection", "connection" and "fixation" should be interpreted in a broad sense, for example, it can be a fixed connection or a detachable connection, unless otherwise clearly specified and limited. , or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.
如图1-3所示，为本发明的一种能够操控工具具有末端稳定控制功能的四足机器人，包括四足机器人18和机械臂19，所述的四足机器人18包括躯干本体8和四条设置在躯干本体8下侧且前后对称、左右对称的机械腿20，所述的机械臂19包括四自由度关节结构21和抓手1，所述的抓手1可拆卸的安装在四自由度关节结构21上，所述的四自由度关节结构21通过底座13安装在躯干本体8上，所述的躯干本体8前端设有视觉传感单元5，所述的躯干本体8上还集成有动力和控制单元，所述的视觉传感单元5为摄像机模块，所述的躯干本体8上设有通孔22。As shown in Figures 1-3, it is a quadruped robot capable of manipulating tools and having a terminal stability control function according to the present invention, including a quadruped robot 18 and a mechanical arm 19, and the quadruped robot 18 includes a trunk body 8 and four The mechanical legs 20 arranged on the lower side of the trunk body 8 and symmetrical front and rear, left and right, the mechanical arm 19 includes a four-degree-of-freedom joint structure 21 and a gripper 1, and the gripper 1 is detachably mounted on a four-degree-of-freedom On the joint structure 21, the four-degree-of-freedom joint structure 21 is installed on the trunk body 8 through the base 13, the front end of the trunk body 8 is provided with a visual sensing unit 5, and the trunk body 8 is also integrated with a power and a control unit, the visual sensing unit 5 is a camera module, and the torso body 8 is provided with a through hole 22 .
其中，所述的机械腿20包括第一连杆6和第二连杆7，所述的第一连杆6和第二连杆7之间通过第一转轴14连接，所述的第一连杆6和躯干本体8之间通过第二转轴15连接，所述的第一连杆6和躯干本体8之间设有第一液压缸9，所述的第一连杆6和第二连杆7之间设有第二液压缸10，所述的第二转轴15与躯干本体8之间设有转动杆12，所述的转动杆12与躯干本体8之间通过第三液压缸11连接，所述的机械臂19包括大臂3、小臂2和抓手1,所述的大臂3和底座13之间设有电机4，所述的大臂3在电机4的驱动下可绕底座13转动，所述的大臂3和小臂2之间设有第三转轴16，所述的小臂2和抓手1之间设有第四转轴17，所述的抓手1和第四转轴17之间为可拆卸连接，所述的抓手1包括上下两个夹爪，第二连杆7末端设有缓冲防滑块23，动力和控制单元包括主芯片、电源模块、Wi-Fi模块/蓝牙模块、控制端口、USART、电源输出模块、传感器模块和程序下载模块。Wherein, the mechanical leg 20 includes a first connecting rod 6 and a second connecting rod 7, the first connecting rod 6 and the second connecting rod 7 are connected by a first rotating shaft 14, and the first connecting rod The rod 6 and the trunk body 8 are connected by a second rotating shaft 15, a first hydraulic cylinder 9 is arranged between the first connecting rod 6 and the trunk body 8, and the first connecting rod 6 and the second connecting rod 7 is provided with a second hydraulic cylinder 10, and a rotating rod 12 is provided between the second rotating shaft 15 and the trunk body 8, and the rotating rod 12 is connected with the trunk body 8 through a third hydraulic cylinder 11, The mechanical arm 19 includes a boom 3, a small arm 2 and a gripper 1, a motor 4 is arranged between the boom 3 and the base 13, and the boom 3 can be driven around the base by the motor 4. 13 rotation, the third rotating shaft 16 is set between the big arm 3 and the small arm 2, the fourth rotating shaft 17 is set between the small arm 2 and the handle 1, the handle 1 and the fourth The rotating shafts 17 are detachably connected. The gripper 1 includes two upper and lower jaws. The end of the second connecting rod 7 is provided with a buffer anti-slip block 23. The power and control unit includes a main chip, a power module, and a Wi-Fi module. /Bluetooth module, control port, USART, power output module, sensor module and program download module.
本发明一种能够操控工具具有末端稳定控制功能的四足机器人的工作原理如下：四足机器人的头部视觉传感单元5获取外界环境信息，在躯干本体8上动力和控制单元的协同作用下，第二液压缸10驱动第二连杆7相对于第一连杆6围绕第一转轴14转动，第一液压缸9驱动第一连杆6相对于躯干本体8围绕第二转轴15前后摆动，第三液压缸11驱动转动杆12带动第一连杆6和第二连杆7围绕第二转轴15侧向偏转，机械臂底座13安装在机器人躯干本体8上面，机械臂大臂3经电机4驱动绕底座13转动，机械臂小臂2经电机4驱动绕大臂3上的第三转轴16转动，机械抓手1安装在小臂2末端，经电机4驱动绕第四转轴17转动，机械抓手1本身拥有上下两个夹爪，能够相对运动实施抓取动作，同时抓手1可拆卸替换其他工具，实现机器人操控工具进行工作。The working principle of a quadruped robot capable of manipulating tools and having a terminal stability control function of the present invention is as follows: the head visual sensor unit 5 of the quadruped robot obtains external environment information, and under the synergy of the power and control unit on the trunk body 8 , the second hydraulic cylinder 10 drives the second connecting rod 7 to rotate around the first rotating shaft 14 relative to the first connecting rod 6, and the first hydraulic cylinder 9 drives the first connecting rod 6 to swing back and forth relative to the trunk body 8 around the second rotating shaft 15, The third hydraulic cylinder 11 drives the rotating rod 12 to drive the first connecting rod 6 and the second connecting rod 7 to deflect laterally around the second rotating shaft 15. The mechanical arm base 13 is installed on the robot torso body 8. Driven to rotate around the base 13, the small arm 2 of the mechanical arm is driven by the motor 4 to rotate around the third shaft 16 on the big arm 3, the mechanical gripper 1 is installed at the end of the small arm 2, and driven by the motor 4 to rotate around the fourth shaft 17, mechanically The gripper 1 itself has two upper and lower jaws, which can carry out the grasping action with relative movement. At the same time, the gripper 1 can be disassembled and replaced with other tools, so that the robot can control the tool to work.
本发明提供的一种能够操控工具具有末端稳定控制功能的四足机器人通过视觉传感单元获取环境的图像，并通过识别及分析，让机器人能够辨识物体及所处的环境；所述一种能够操控工具具有末端稳定控制功能的四足机器人腿部机构包括第一连杆、第二连杆、和足部缓冲防滑块的设置，在机器人自重和灵活步态之间进行合理平衡的同时可以增大足部受力面积，而且能够减缓地面冲击力对机器人的损害；通过通孔的设置，可以减轻机器人整体重量,提高运动速度并且降低能耗；通过灵活机械臂的设置，同时抓手与机械臂之间为可拆卸连接，因此可以根据情况需要替换抓手，使得该机器人的运用范围更加广泛灵活，大大拓展了机器人的使用场景，使得原本仿四足动物的机器人拥有了像人手一样抓取物体、操控工具的能力。The invention provides a quadruped robot capable of manipulating tools and having terminal stability control functions to obtain images of the environment through a visual sensing unit, and through recognition and analysis, the robot can recognize objects and the environment in which they are located; The quadruped robot leg mechanism with terminal stability control function includes the first link, the second link, and the setting of the foot buffer anti-slip block, which can increase the balance between the robot's own weight and flexible gait. The force-bearing area of the foot is large, and it can slow down the damage of the ground impact to the robot; through the setting of the through hole, the overall weight of the robot can be reduced, the movement speed can be improved and the energy consumption can be reduced; through the setting of the flexible mechanical arm, the gripper and the mechanical arm The connection between them is detachable, so the gripper can be replaced according to the needs of the situation, which makes the application range of the robot more extensive and flexible, greatly expands the use scene of the robot, and makes the robot that originally imitated a quadruped have the ability to grab objects like a human hand , the ability to manipulate tools.
综上所述，本发明提供的一种能够操控工具具有末端稳定控制功能的四足机器人结构简单、运动灵活、能在机器人自重和灵活步态之间进行合理平衡，能精准分析环境判断行走路径的同时完成抓取物体或操控工具的任务，具有极大的市场价值和市场竞争力。In summary, the present invention provides a quadruped robot capable of manipulating tools and having terminal stability control functions. It has simple structure, flexible movement, a reasonable balance between the robot's own weight and flexible gait, and can accurately analyze the environment to judge the walking path. At the same time, it can complete the task of grabbing objects or manipulating tools, which has great market value and market competitiveness.
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，根据本发明的技术方案及其发明构思加以等同替换或改变，都应涵盖在本发明的保护范围之内。The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, any person familiar with the technical field within the technical scope disclosed in the present invention, according to the technical solution of the present invention Any equivalent replacement or change of the inventive concepts thereof shall fall within the protection scope of the present invention.
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| CN114986480A (en) * | 2022-05-31 | 2022-09-02 | 国网上海市电力公司 | A four-footed robot structure for cable tunnel patrols and examines |
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