CN108622228B - Quadruped robot with flexible waist - Google Patents
Quadruped robot with flexible waist Download PDFInfo
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- CN108622228B CN108622228B CN201810511523.0A CN201810511523A CN108622228B CN 108622228 B CN108622228 B CN 108622228B CN 201810511523 A CN201810511523 A CN 201810511523A CN 108622228 B CN108622228 B CN 108622228B
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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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Abstract
The invention discloses a quadruped robot with a flexible waist, which comprises a frame, a flexible waist and four same three-degree-of-freedom legs; the frame is divided into a front frame and a rear frame, the front frame is connected with the movable platform of the flexible waist, and the rear frame is connected with the fixed platform of the flexible waist; the flexible waist is formed by adopting a parallel mechanism and has three degrees of freedom; the four same three-freedom-degree legs are composed of hip joints, knee joints, thighs, calf plates and sole plates, the hip joints have two degrees of freedom which are respectively a lateral swing degree of freedom and a rotational degree of freedom, and the knee joints have one rotational degree of freedom. The structure of the invention is added with the flexible waist with three degrees of freedom, which not only can improve the motion speed and stability of the quadruped robot, but also can simulate the biological structure of the dog to a greater extent.
Description
Technical Field
The invention discloses a quadruped robot with a flexible waist, and belongs to the field of bionic robots.
Background
Over 50% of the total land surface of the earth is swamp, both rugged hills and potholes. The foot robot has good advantages compared with a wheel robot, can better adapt to unstructured environments, and has high leg flexibility. The legged robot has wide application prospect in the fields of military transportation, rescue and relief work, planet detection, scientific research and education, family service, accompanying and the like. The quadruped robot has more advantages than a biped robot in static stability, stronger adaptive capacity on the ground, larger load limit capacity, simpler structural design and control and larger leg working motion space than a hexapod robot.
At present, most quadruped robots are still modeled by rigid waists.
Disclosure of Invention
The invention provides a quadruped robot with a flexible waist, which is characterized in that the flexible waist with three degrees of freedom is added into the structure, so that the movement speed and the stability of the quadruped robot are improved.
The technical scheme of the invention is as follows: a quadruped robot with a flexible waist comprises a frame, a flexible waist and four same legs with three degrees of freedom; the frame is divided into a front frame 2 and a rear frame 4, the front frame 2 is connected with a movable platform 13 of the flexible waist, and the rear frame 4 is connected with a fixed platform 18 of the flexible waist; the flexible waist is formed by adopting a parallel mechanism and has three degrees of freedom; the four same three-freedom-degree legs are composed of hip joints, knee joints, thighs, calf plates and sole plates, the hip joints have two degrees of freedom which are respectively a lateral swing degree of freedom and a rotational degree of freedom, and the knee joints have one rotational degree of freedom.
The flexible waist structure consists of a movable platform 13, a fixed platform 18, a driven branched chain and three same driving branched chains; one end of each of the three driving branched chains symmetrically arranged in a regular triangle and one end of each of the driven branched chains located in a space enclosed by the three driving branched chains are respectively connected with the movable platform 13, and the other ends of the driven branched chains are respectively connected with the fixed platform 18.
The driven branched chain consists of a universal hinge 19, a constraint sleeve 20, a constraint rod 21 and an electric spindle 22; wherein, a universal hinge 19 welded at one end of a constraint sleeve 20 is connected with the fixed platform 18 through a bolt, and the other end of the constraint sleeve 20 is coaxially connected with a constraint rod 21 and an electric main shaft 22 fixedly welded on the movable platform 13 in sequence.
The three driving branched chains consist of a spherical hinge 14, a telescopic rod 15, an electric cylinder 16, a motor 17 and a universal hinge 19; wherein, a universal hinge 19 which is connected on the motor 17 by welding/bolt is connected with the fixed platform 18 by bolt, one end of an electric cylinder 16 is fixed on the output shaft of the motor 17, and the other end of the electric cylinder 16 is coaxially connected with a telescopic rod 15 and a spherical hinge 14 which is fixedly welded on the movable platform 13.
The four same three-degree-of-freedom legs comprise universal joints 5, solid belt wheels 6, synchronous belts 7, orifice plate belt wheels 8, shank plates 9 and sole plates 10; the three-degree-of-freedom leg has three degrees of freedom which are respectively hip joint side swing, hip joint rotation and knee joint rotation;
the side swing of the hip joint drives the universal joint 5 by controlling the rotation of the output shaft of the hip joint side swing motor 11, and the side swing of the hip joint is realized through the axial change of the universal joint 5; wherein the hip joint side swing motor 11 is fixed on the shaft of the universal joint 5 through a flange;
the rotation of the hip joint drives the universal joint 5 to rotate by controlling the output shaft of the hip joint rotating motor 12, and the rotation of the hip joint is realized through the axial change of the universal joint 5; wherein the hip joint rotating motor 12 is fixed on the frame;
the knee joint rotates and drives the universal joint 5 to rotate by controlling an output shaft of the hip joint rotating motor 12, the universal joint 5 rotates to drive the solid belt wheel 6 connected with the universal joint through a key, the solid belt wheel 6 transmits power to the orifice plate belt wheel 8 through meshing motion with the synchronous belt 7, the orifice plate belt wheel 8 rotates to drive a shaft of the orifice plate belt wheel 8 to rotate, the power is transmitted to the lower leg plate 9 through a bearing, and the lower leg plate 9 is connected with the sole plate 10 in a welding mode.
The invention has the beneficial effects that:
(1) compared with the traditional quadruped robot with rigid waist, the novel quadruped robot with the flexible waist has the advantages that the flexible waist with three degrees of freedom is added to the structure, the moving speed and the stability of the quadruped robot can be improved, and the biological structure of a dog is simulated to a greater degree.
(2) The motor is arranged on the frame, and the moment of inertia of the leg plate part is reduced.
(3) The novel quadruped robot with the flexible waist is small in size, light in weight, simple in structure and easy to maintain.
Drawings
FIG. 1 is an isometric view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a top view of the present invention;
FIG. 4 is a left side view of the present invention;
FIG. 5 is a right side view of the present invention;
FIG. 6 is a leg assembly view of the present invention;
FIG. 7 is a waist assembly view of the present invention;
the reference numbers in the figures are: 1-leg assembly, 2-front support, 3-waist assembly, 4-rear support, 5-universal joint, 6-solid belt wheel, 7-synchronous belt, 8-orifice plate belt wheel, 9-shank plate, 10-foot palm plate, 11-hip joint side swing motor, 12-hip joint rotating motor, 13-moving platform, 14-ball hinge, 15-telescopic rod, 16-electric cylinder, 17-motor, 18-fixed platform, 19-universal hinge, 20-constraint sleeve, 21-constraint rod and 22-electric spindle.
Detailed Description
The invention will be further described with reference to the following figures and examples, without however restricting the scope of the invention thereto.
Example 1: as shown in fig. 1-7, a quadruped robot with a flexible waist comprises a frame, a flexible waist and four identical legs with three degrees of freedom; the frame is divided into a front frame 2 and a rear frame 4, the front frame 2 is connected with a movable platform 13 of the flexible waist, and the rear frame 4 is connected with a fixed platform 18 of the flexible waist; the flexible waist is formed by adopting a parallel mechanism and has three degrees of freedom; the four same three-freedom-degree legs are composed of hip joints, knee joints, thighs, calf plates and sole plates, the hip joints have two degrees of freedom which are respectively a lateral swing degree of freedom and a rotational degree of freedom, and the knee joints have one rotational degree of freedom.
Further, the flexible waist structure can be set to be composed of a movable platform 13, a fixed platform 18, a driven branched chain and three same driving branched chains; one end of each of the three driving branched chains symmetrically arranged in a regular triangle and one end of each of the driven branched chains located in a space enclosed by the three driving branched chains are respectively connected with the movable platform 13, and the other ends of the driven branched chains are respectively connected with the fixed platform 18.
Furthermore, the driven branched chain can be composed of a universal hinge 19, a constraint sleeve 20, a constraint rod 21 and an electric spindle 22; wherein, a universal hinge 19 welded at one end of a constraint sleeve 20 is connected with the fixed platform 18 through a bolt, and the other end of the constraint sleeve 20 is coaxially connected with a constraint rod 21 and an electric main shaft 22 fixedly welded on the movable platform 13 in sequence.
Furthermore, the three driving branched chains can be composed of a spherical hinge 14, a telescopic rod 15, an electric cylinder 16, a motor 17 and a universal hinge 19; wherein, a universal hinge 19 which is connected on the motor 17 by welding/bolt is connected with the fixed platform 18 by bolt, one end of an electric cylinder 16 is fixed on the output shaft of the motor 17, and the other end of the electric cylinder 16 is coaxially connected with a telescopic rod 15 and a spherical hinge 14 which is fixedly welded on the movable platform 13.
Furthermore, the four same legs with three degrees of freedom can be arranged to comprise universal joints 5, solid belt wheels 6, synchronous belts 7, pore plate belt wheels 8, shank plates 9 and sole plates 10; the three-degree-of-freedom leg has three degrees of freedom which are respectively hip joint side swing, hip joint rotation and knee joint rotation; the side swing of the hip joint drives the universal joint 5 by controlling the rotation of the output shaft of the hip joint side swing motor 11, and the side swing of the hip joint is realized through the axial change of the universal joint 5; wherein the hip joint side swing motor 11 is fixed on the shaft of the universal joint 5 through a flange; the rotation of the hip joint drives the universal joint 5 to rotate by controlling the output shaft of the hip joint rotating motor 12, and the rotation of the hip joint is realized through the axial change of the universal joint 5; wherein the hip joint rotating motor 12 is fixed on the frame; the knee joint rotates and drives the universal joint 5 to rotate by controlling an output shaft of the hip joint rotating motor 12, the universal joint 5 rotates to drive the solid belt wheel 6 connected with the universal joint through a key, the solid belt wheel 6 transmits power to the orifice plate belt wheel 8 through meshing motion with the synchronous belt 7, the orifice plate belt wheel 8 rotates to drive a shaft of the orifice plate belt wheel 8 to rotate, the power is transmitted to the lower leg plate 9 through a bearing, and the lower leg plate 9 is connected with the sole plate 10 in a welding mode.
The working principle of the invention is as follows:
when the quadruped robot moves forwards or backwards, the output shafts of the four hip joint side-swinging motors 11 are controlled to drive the universal joints 5, the solid belt wheels 6 and the universal joints 5 are driven to rotate through the axis change of the universal joints 5, and the solid belt wheels 6 are meshed with the synchronous belts 7 to transmit power to the orifice plate belt wheels 8 so as to drive the knee joints to rotate. The rotation of the orifice plate belt wheel 8 drives the rotation of the axis of the orifice plate belt wheel 8 and transmits power to the lower leg plate 9 through the bearing. The lower leg plate 9 and the sole plate 10 are welded together.
When the quadruped robot is impacted laterally, the output shafts of the four hip joint rotating motors 12 are controlled to drive the universal joints 5, and the universal joints are laterally swung and rotated at proper angles through axis change, so that the quadruped robot is restored to a balanced state.
When the quadruped robot jumps, the quadruped robot keeps stable motion through controlling the four hip joint side swing motors 11 and the four hip joint rotating motors 12; meanwhile, the length of the three telescopic rods 15 extending out of the electric cylinder 16 is controlled by three motors 17 in a driving branched chain in the waist assembly 3, the movable platform 13 is driven by the spherical hinge 14, meanwhile, the constraint rods 21 in the driven branched chain can stretch out and draw back in the constraint sleeve 20, so that the movable platform rotates around a universal hinge (two degrees of freedom) connected with the fixed platform, the movable platform moves back and forth along the driving branched chain and the driven branched chain relative to the fixed platform (one degree of freedom), and then the four-legged robot performs pitching motion of the front support 2 lifted up or fallen down relative to the rear support 4 and turning motion of the front support 2 relative to the rear support 4.
While the present invention has been described in detail with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (1)
1. A quadruped robot with a flexible waist, characterized in that: the device comprises a frame, a flexible waist and four same three-degree-of-freedom legs; the frame is divided into a front frame (2) and a rear frame (4), the front frame (2) is connected with a movable platform (13) of the flexible waist, and the rear frame (4) is connected with a fixed platform (18) of the flexible waist; the flexible waist is formed by adopting a parallel mechanism and has three degrees of freedom; the four same three-degree-of-freedom legs are composed of hip joints, knee joints, thighs, calf plates and sole plates, the hip joints have two degrees of freedom which are respectively a lateral swing degree of freedom and a rotational degree of freedom, and the knee joints have one rotational degree of freedom;
the flexible waist structure consists of a movable platform (13), a fixed platform (18), a driven branched chain and three same driving branched chains; one end of each of the three driving branched chains which are symmetrically arranged in a regular triangle and one end of each of the driven branched chains which are positioned in a space enclosed by the three driving branched chains are respectively connected with the movable platform (13), and the other ends of the driven branched chains are respectively connected with the fixed platform (18);
the driven branched chain consists of a universal hinge (19), a constraint sleeve (20), a constraint rod (21) and an electric spindle (22); wherein, a universal hinge (19) welded at one end of a constraint sleeve (20) is connected with the fixed platform (18) through a bolt, and the other end of the constraint sleeve (20) is coaxially connected with a constraint rod (21) and an electric spindle (22) fixedly welded on the movable platform (13) in sequence;
the three driving branched chains consist of a spherical hinge (14), a telescopic rod (15), an electric cylinder (16), a motor (17) and a universal hinge (19); wherein a universal hinge (19) connected with a motor (17) through welding/bolts is connected with a fixed platform (18) through bolts, one end of an electric cylinder (16) is fixed on an output shaft of the motor (17), and the other end of the electric cylinder (16) is coaxially connected with a telescopic rod (15) and a spherical hinge (14) fixedly welded on a movable platform (13) in sequence;
the four same three-degree-of-freedom legs comprise universal joints (5), solid belt pulleys (6), synchronous belts (7), orifice plate belt pulleys (8), shank plates (9) and sole plates (10); the three-degree-of-freedom leg has three degrees of freedom which are respectively hip joint side swing, hip joint rotation and knee joint rotation;
the side swing of the hip joint drives the universal joint (5) by controlling the rotation of an output shaft of a hip joint side swing motor (11), and the side swing of the hip joint is realized through the axial change of the universal joint (5); wherein the hip joint side swing motor (11) is fixed on the shaft of the universal joint (5) through a flange;
the rotation of the hip joint is realized by controlling the output shaft of the hip joint rotating motor (12) to drive the universal joint (5) to rotate and through the axial change of the universal joint (5); wherein the hip joint rotating motor (12) is fixed on the frame;
the knee joint rotates through the rotation of controlling hip joint rotating electrical machines (12) output shaft drive universal joint (5), the rotation of universal joint (5) drives rather than the rotation of solid band pulley (6) through the key-type connection, solid band pulley (6) pass through the meshing motion with hold-in range (7) with power transmission to orifice plate band pulley (8), the rotation of orifice plate band pulley (8) drives the rotation of the axle of orifice plate band pulley (8) to pass power transmission to shank board (9) through the bearing, shank board (9) and sole board (10) welding link to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810511523.0A CN108622228B (en) | 2018-05-25 | 2018-05-25 | Quadruped robot with flexible waist |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810511523.0A CN108622228B (en) | 2018-05-25 | 2018-05-25 | Quadruped robot with flexible waist |
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| Publication Number | Publication Date |
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| CN108622228A CN108622228A (en) | 2018-10-09 |
| CN108622228B true CN108622228B (en) | 2020-11-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810511523.0A Active CN108622228B (en) | 2018-05-25 | 2018-05-25 | Quadruped robot with flexible waist |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110104091A (en) * | 2019-05-22 | 2019-08-09 | 中南大学 | Two leg walking robot based on parallel institution |
| CN113353172B (en) * | 2021-06-04 | 2022-01-07 | 华中科技大学 | Leg structure with low inertia and high bearing capacity and foot type robot applying same |
| CN113511283B (en) * | 2021-07-14 | 2022-05-06 | 昆明理工大学 | Leg structure adopting multi-rod mechanism and quadruped robot constructed by leg structure |
| CN114408048B (en) * | 2022-02-09 | 2023-03-14 | 北京理工大学 | Leg-foot robot mouse active spring damping waist simulation device and robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661667B (en) * | 2013-12-11 | 2015-11-18 | 北京航空航天大学 | A kind of dexterous type quadruped robot with flexible waist |
| CN104386157B (en) * | 2014-11-17 | 2017-02-01 | 河北工业大学 | Quadruped robot with flexible joints |
| CN104386158B (en) * | 2014-11-17 | 2016-08-17 | 河北工业大学 | A kind of quadruped robot based on series elastic driver |
| CN104924294B (en) * | 2015-06-15 | 2017-03-08 | 上海交通大学 | There is the quadruped robot of waist structure in parallel |
| CN106627831B (en) * | 2017-02-21 | 2018-12-07 | 哈尔滨工业大学 | A kind of quadruped robot list leg mechanism |
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