CN108639182A - A kind of four-leg bionic robot based on six-degree-of-freedom parallel connection mechanism - Google Patents
A kind of four-leg bionic robot based on six-degree-of-freedom parallel connection mechanism Download PDFInfo
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- CN108639182A CN108639182A CN201810579166.1A CN201810579166A CN108639182A CN 108639182 A CN108639182 A CN 108639182A CN 201810579166 A CN201810579166 A CN 201810579166A CN 108639182 A CN108639182 A CN 108639182A
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- Prior art keywords
- rod piece
- degree
- parallel connection
- connection mechanism
- freedom parallel
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
Abstract
The invention discloses a kind of four-leg bionic robot based on six-degree-of-freedom parallel connection mechanism, including trunk and four lower limb, four lower limb symmetrically are distributed in the quadrangle below trunk, and the structure of four lower limb is identical；Trunk includes six-degree-of-freedom parallel connection mechanism and four driving units；Six-degree-of-freedom parallel connection mechanism both ends respectively set two driving units；Six-degree-of-freedom parallel connection mechanism includes moving platform and silent flatform arranged in parallel, and fixed on moving platform there are six rod piece motors, and six rods are connected between rod piece motor and silent flatform；Lower limb include thigh, shank and foot；The upper end of thigh is fixedly connected with driving unit, and thigh lower end is rotatably connected with shank upper end, and shank lower end connects foot.The trunk of the present invention expands the space of robot, reduces the complexity of robot waist portion mechanism, improves the kinematic accuracy of quadruped robot waist, improve legged type robot stability and movenent performance, expands the application field of legged type robot.
Description
Technical field
The invention belongs to robot fields, and in particular to a kind of four-leg bionic machine based on six-degree-of-freedom parallel connection mechanism
People.
Background technology
Currently, robot is divided into biomimetic type leg legged type robot, wheeled robot, crawler frame according to move mode
People, the main purpose of research are the carrying abilities of the movenent performance and robot platform that enhance robot moving system.Tradition
Legged type robot waist mainly designed using serial mechanism mode, mechanical complexity is high, and kinematic dexterity and precision are low, machine
Device people's platform carrying ability is weak, and the weight and volume of robot entirety is excessive, it is difficult to meet actual demands of engineering.Therefore, it develops
Go out movenent performance of the robot to hoisting machine people's entirety of the waist (trunk) based on parallel institution, carry ability and control essence
It spends most important.
Invention content
For the defects in the prior art and insufficient, the present invention provides a kind of four-footeds based on six-degree-of-freedom parallel connection mechanism
Bio-robot overcomes the defect that existing robotic complexity is high, kinematic dexterity and precision are low.
In order to achieve the above objectives, the present invention takes the following technical solution：
A kind of multiple degrees of freedom four-leg bionic robot, including trunk and four lower limb, four lower limb symmetrically are distributed
Quadrangle below trunk, and the structure of four lower limb is identical；The trunk includes six-degree-of-freedom parallel connection mechanism and is used for
Respectively drive four driving units of each lower extremity movement；Two drivings are fixed in one end of the six-degree-of-freedom parallel connection mechanism
Unit, the other end fix another two driving unit；
The six-degree-of-freedom parallel connection mechanism includes moving platform and silent flatform arranged in parallel, is fixed on moving platform
Six rod piece motors are connected with six rods for having connected moving platform with silent flatform between rod piece motor and silent flatform
Come；Six rods energy independent telescope and can freely swing around tie point to simultaneously coordination to realize in three dimensions
Corresponding actions improve movenent performance and the flexibility of robot；
The lower limb upper end is fixedly connected with the driving unit.
The present invention also has following technical characteristic：
Optionally, two, six rod piece motors are distributed in by even circumferential on moving platform for one group, on silent flatform
Three groups of rod piece articulation pieces are distributed with by even circumferential, there are two every group of rod piece articulation pieces；
Every group of rod piece motor is shifted to install with rod piece articulation piece, in rod piece motor and between nearest rod piece articulation piece
It is hinged with the rod piece, to realize six-degree-of-freedom parallel by six mobilizable rod pieces between moving platform and silent flatform
The multifreedom motion of structure.
Optionally, the rod piece and rod piece articulation piece are hinged；Connecting rod, connecting rod one are equipped between the rod piece and rod piece motor
End is rotatably connected with rod piece motor, and the other end of connecting rod is connect with rod piece by flake flexural pivot；
Rod piece can do spatial movement, connecting rod can do circle rotation around rod piece motor, in connecting rod under the cooperation of flake flexural pivot
Under the action of flake flexural pivot, the spatial movement of rod piece increases；Wherein flake flexural pivot makes the space of six degree of freedom platform increase
Greatly, movenent performance and the flexibility of complete machine are improved.
Optionally, the driving unit includes driving motor, and driving motor lower end is fixedly connected with the upper end of the leg；It drives
One end of dynamic motor is fixed on the outside of moving platform or silent flatform, and the other end of driving motor is fixed with vertical driving motor and fixes
Plate, lateral driving motor support plate is connected in driving motor fixed plate lower end, and driving motor support plate is located at driving motor
Lower section, and the end vertical connection silent flatform of driving motor support plate or the outside of moving platform；The driving motor fixed plate and
Driving motor support plate is T-shaped structure.
Optionally, the lower limb include thigh, shank and foot；The upper end of thigh is fixedly connected with the driving unit, greatly
Leg lower end is rotatably connected with shank upper end, and shank lower end connects foot；Axis connection is used between the thigh and shank；It is described
The bottom of foot is spherical structure.
Compared with prior art, the present invention beneficial has the technical effect that：
A kind of four-leg bionic robot based on six-degree-of-freedom parallel connection mechanism provided by the invention, with ordinary robot's phase
Than parallel institution can contribute to the adjustment of posture, for external interference, can play cushioning effect, improve robot
Stability；The trunk of the six-degree-of-freedom parallel connection mechanism of design expands the space of robot, reduces robot waist machine
The mechanical complexity of structure improves the kinematic accuracy of quadruped robot waist, improves legged type robot stability and motility
Can, expand the application field of legged type robot.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is the trunk structural schematic diagram of the present invention.
Fig. 3 is the overall structure diagram of the six-degree-of-freedom parallel connection mechanism of the present invention.
Fig. 4 is the driving motor structural schematic diagram of the present invention.
Fig. 5 is the driving motor structural schematic diagram of the present invention.
Fig. 6 is the driving motor fixed plate structure schematic diagram of the present invention.
Fig. 7 is the driving motor supporting plate structure schematic diagram of the present invention.
Fig. 8 is the lower limb structure schematic diagram of the present invention.
Fig. 9 is the overall structure diagram of the ankle-joint and sole of the present invention.
Figure 10 is the integrally-built side view of the ankle-joint and sole of the present invention.
Figure 11 is the overall structure diagram of the ankle-joint of the present invention.
Figure 12 is the structural schematic diagram of the support plate of the present invention.
Figure 13 is the structural schematic diagram of the supporting rack of the present invention.
Figure 14 is the structural schematic diagram of the first connecting rod of the present invention.
Figure 15 is the structural schematic diagram of the second connecting rod of the present invention.
Each label is expressed as in figure：1- lower limb, 2- trunks；
10- ankle-joints, 20- soles, 40- six-degree-of-freedom parallel connection mechanisms, 50- driving units, 60- thighs, 70- shanks, 80-
Foot；
11- support plates, 12- support frames, 13- supporting racks, 14- screw rod transmission units, 15- ankle-joint control units, 16-
One connecting rod, 17- second connecting rods；
The first support shafts of 111-, the second support shafts of 112-, 113- limit holes, 114- sole connectors；
The legs 131- connection ring, 132- second connecting rod articulation pieces, 133- stand connection；
The connecting pins 141-, 142- lead screws, 143- self-locking mainshaft nuts mechanism, 144- motors, 145- lead screw motion guide rails,
146- connects bearings, 147- counterweight vibration damper bars；
151- control box；
161- mounting holes；
21- heels, 22- arch of foots, 23- sole control units, 24- toes, 25- elasticity hawsers；
211- ankle-joint connectors；
41- moving platforms, 42- silent flatforms, 43- rod pieces, 44- connecting rods, 45- flake flexural pivots；
411- rod piece motors, 421- rod piece articulation pieces；
51- driving motors, 52- driving motor fixed plates, 53- driving motor support plates.
Specific implementation mode
The specific implementation mode of the present invention is described in detail below in conjunction with Figure of description.It should be understood that this
The described specific implementation mode in place is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
Embodiment 1：
The present embodiment provides a kind of multiple degrees of freedom four-leg bionic robots, as shown in Figures 1 to 8, including trunk 2 and four
Lower limb 1, four lower limb 1 symmetrically are distributed in the quadrangle of 2 lower section of trunk, and the structure of four lower limb 1 is identical；It is described
Trunk 2 includes six-degree-of-freedom parallel connection mechanism 40 and four driving units 50 for respectively driving the movement of each lower limb 1；Described six
Two driving units 50 are fixed in one end of freedom degree parallel connection mechanism 40, and the other end fixes another two driving unit 50；It is described
Lower limb 1 include thigh 60, shank 70 and foot 80；The upper end of thigh 60 is fixedly connected with the driving unit 50,60 lower end of thigh
It is rotatably connected with 70 upper end of shank, 70 lower end of shank connects foot 80.
The six-degree-of-freedom parallel connection mechanism 40 includes moving platform 41 and silent flatform 42 arranged in parallel, in moving platform 41
There are six rod piece motors 411 for upper fixation, and it is flat for that will move that six rods 43 are connected between rod piece motor 411 and silent flatform 42
Platform and silent flatform connect；Six rods 43 can independent telescope and can freely swing around tie point to coordination simultaneously with
It realizes the corresponding actions in three dimensions, improves movenent performance and the flexibility of robot；
Through the above technical solutions, a kind of four-leg bionic machine based on six-degree-of-freedom parallel connection mechanism provided by the invention
People, compared with ordinary robot, parallel institution can contribute to the adjustment of posture, for external interference, can play buffering
Effect, improves the stability of robot；The trunk of the six-degree-of-freedom parallel connection mechanism of design expands the space of robot, drop
The low mechanical complexity of robot waist portion mechanism, improves the kinematic accuracy of quadruped robot waist, improves sufficient formula machine
People's stability and movenent performance expand the application field of legged type robot.
In the present embodiment, six 411 two, rod piece motors are distributed in by even circumferential on moving platform 41 for one group,
Three groups of rod piece articulation pieces 421 are distributed with by even circumferential on silent flatform 42, there are two every group of rod piece articulation pieces 421；
Every group of rod piece motor 411 is shifted to install with rod piece articulation piece 421, in rod piece motor 411 and apart from nearest rod piece
The rod piece 43 is hinged between articulation piece 421, to pass through six mobilizable bars between moving platform 41 and silent flatform 42
Part 43 realizes the multifreedom motion of six-degree-of-freedom parallel connection mechanism 40.
Specifically, rod piece 43 is hinged with rod piece articulation piece 421；Connecting rod is equipped between the rod piece 43 and rod piece motor 411
44,44 one end of connecting rod is rotatably connected with rod piece motor 411, and the other end of connecting rod 44 is connected with rod piece 43 by flake flexural pivot 45
It connects；
Rod piece 43 can do spatial movement, connecting rod 44 can do circumference rotation around rod piece motor 411 under the cooperation of flake flexural pivot 45
Turn, under the action of connecting rod 44 and flake flexural pivot 45, the spatial movement of rod piece 43 increases；Wherein flake flexural pivot 45 makes six degree of freedom
The space of platform substantially increases, and improves movenent performance and the flexibility of complete machine.
In the present embodiment, driving unit 50 includes driving motor 51, and 51 lower end of driving motor is fixedly connected with the leg
The upper end in portion 80；One end of driving motor 51 is fixed on 42 outside of moving platform 41 or silent flatform, and the other end of driving motor 51 is solid
Surely there is vertical driving motor fixed plate 52, lateral driving motor support plate is connected in 52 lower end of driving motor fixed plate
53, driving motor support plate 53 is located at 51 lower section of driving motor, and the end vertical of driving motor support plate 53 connects silent flatform
42 or moving platform 41 outside；The driving motor fixed plate 52 and driving motor support plate 53 are T-shaped structure.
In the present embodiment, axis connection is used between thigh 60 and shank 70；The bottom of the foot 80 is spherical junctions
Structure.
Embodiment 2：
Difference lies in the lower limb 1 in the present embodiment include thigh 60, ankle-joint 10 and foot to the present embodiment with embodiment 1
The palm 20, the rotatably mounted ankle-joint in 20 upper end of sole 10.
As shown in Fig. 9 to Figure 15, ankle-joint 10 includes the support plate 11 being connect with sole 20 and 11 rear and front end of support plate
The support frame 12 that is rotatably connected, the supporting rack 13 being rotatably connected with 12 left and right ends of support frame, screw rod transmission unit 14 and
Ankle-joint control unit 15 for controlling ankle-joint 10；14 upper end of screw rod transmission unit is fixed on 13 top of supporting rack,
Two connecting pins 141 of 14 lower end of screw rod transmission unit pass through the left and right ends of two 16 hinged support plates 11 of first connecting rod, logical
The left and right ends for crossing two 17 hinged support framves 13 of second connecting rod, to realize pitching movement and the flip-flop movement of support plate 11；
Support plate is attached with first connecting rod by connecting rod shaft by ankle portion, and first connecting rod can drive inner support
Body rotates, and greatly reduces mechanical complications, improves robot motion's stationarity, and robot anklebone is made to have one
Fixed flexibility；Realize that pitching movement and the flip-flop movement of ankle-joint, kinetic stability are high using symmetrical two double leval jibs
And it is easily controllable；Self-locking lead screw mainshaft nut mechanism is used to provide power for two four-bar mechanisms, in ankle in stabilization
When state, the self-locking function of screw rod transmission unit can ensure the action stability of robot, and can be in robot by stablizing
State improves the response time of system when switching to move state, and screw rod transmission unit is connect with supporting rack using articulated manner, because
This its can be rotated relative to supporting rack, be added significantly to robot and encountering extraneous hit or system flexibility when complicated landform
And kinetic stability.
Sole 20 includes the heel 21 being connect with ankle-joint 10, tilts the arch of foot 22 laid, set on 22 upper surface of arch of foot
Sole control unit 23 and toe 24 positioned at 22 end of arch of foot；The both ends of the arch of foot 22 by torsional spring respectively with heel 21
Top and toe 24 connect, and torsional spring can realize the relative rotation between arch of foot 22 and heel 21, toe 24, make 21 bottom surface of heel and
Toe 24 can be contacted as supporting point with ground.Torsional spring is used between the heel and arch of foot of sole part, arch of foot and left and right toe
Connection, and it is provided with a large amount of sensor for obtaining robot and terrain environment in foot palm part point, it is not only able to reduce foot
The complexity of some mechanical mechanism is slapped, robot entirety control accuracy is improved, moreover it is possible to mitigate sole part total quality, reduce control
System difficulty processed；In addition, being provided with elastic hawser between heel and arch of foot, elastic rope exterior is by the good material of elastoplasticity
Cladding, and heel is provided with vibration when the good rubber material of elasticity contacts to earth for reducing sole to robot body
Influence, and elastic hawser also ensure sole still can have with ground when encountering raised barrier it is good contact, with
Ensure the dynamic stability and static stability of robot entirety.
Through the above technical solutions, ankle-joint provided in this embodiment and sole, can effectively improve legged mobile robot pair
The adaptability and anti-interference ability of complicated landform enhance the reliability contacted with ground, improve robot in irregular terrain profiles
Walking stability under environment, expands the interaction capabilities of robot sole and environment, and correspondingly reduces the mechanical complexity of sole,
Improve the control accuracy of ankle-joint and sole.
In the present embodiment, ankle-joint control unit 15 includes control box 151 and sensor；Control box 151 is mounted on support
On frame 13, control box 151 sends out corresponding control instruction so that ankle for receiving, handling the sensor information on ankle-joint 10
Joint 10 executes corresponding operating.
Screw rod transmission unit 14 includes sequentially connected connecting pin 141, lead screw 142, self-locking mainshaft nut machine from bottom to up
Structure 143, motor 144, the lead screw motion guide rail 145 coaxial with lead screw 142 and connects bearing 146；Connecting pin in the present embodiment
141 be inverted U-shaped, and 142 one end of lead screw is achieved a fixed connection by screw thread and 141 top of connecting pin, 142 other end of lead screw with
The self-locking mainshaft nut mechanism 143 configured on the output shaft of motor 144 is connected, and realizes by motor output power, drives self-locking
Mainshaft nut mechanism 143 rotates, and then lead screw 142 is driven to move up and down, and is compiled by the increment in ankle-joint control unit 15
144 rotational angle of code device and digital Hall sensor detection motor, the positive and negative rotation for controlling motor 144, realize ankle-joint 10
Up and down motion and flip-flop movement；Lead screw 142 is inducted into after being engaged with self-locking mainshaft nut mechanism 143 in lead screw motion guide rail 145,
145 upper end of lead screw motion guide rail is hinged with connects bearing 146, and connects bearing 146 is fixed on 13 top of supporting rack；The self-locking master
Axis nut body 143 connects the motor 144, and the motor 144 is the linear brushless DC motor with retarder, in motor
144 tops are equipped with the connector for connecting counterweight vibration damper bar 147, and counterweight vibration damper bar 147 is moved for screw rod transmission unit 14
When for first connecting rod 16 and second connecting rod 17 provide certain lateral force so as to its stable motion and alleviate system vibration to four-footed machine
The influence of device human body.
In the present embodiment, the connecting pin 141 of screw rod transmission unit 14, lead screw 142, self-locking mainshaft nut mechanism 143, electricity
Machine 144 and lead screw motion guide rail 145 be parallel side-by-side setting two, two 145 upper ends of lead screw motion guide rail with it is same
A connects bearing 146 is hinged, and connects bearing 146 is fixed on 13 top of supporting rack.When two motors 144 receive ankle-joint control list
After the 15 rotating Vortex signals that send out of member, self-locking mainshaft nut mechanism 143 can push lead screw 142 so that drive first connecting rod 16,
Second connecting rod 17, support frame 12, support plate 11 do the pitching movement of certain angle around supporting rack 13；When two motors 144 receive
After the counter rotating signal that ankle-joint control unit 15 is sent out, self-locking mainshaft nut mechanism 143 can push lead screw 142 and then drive
First connecting rod 16, second connecting rod 17, support frame 12, support plate 11 do the flip-flop movement of certain angle around the first support shaft 111, into
And keep the kinetic stability of robot entirety.
In the present embodiment, 11 rear and front end of support plate is equipped with rotatable first support shaft 111, in the left and right of support plate 11
Both ends are equipped with rotatable second support shaft 112, and the limit hole 113 of perforation, support plate 11 are offered in the second support shaft 112
Lower end is equipped with sole connector 114；Preferably, through hole is equipped in support plate 11, to mitigate the weight of ankle-joint；Support
Frame 13 is Y-shaped structure, and the upper end of supporting rack 13 is leg connection ring 131, and the intersection position of the Y-shaped structure of supporting rack 13 is left
Right both sides are set there are two second connecting rod articulation piece 132.
Specifically, support frame 12 is square structure, before support plate 11 is mounted on support frame 12 by the first support shaft 111
Afterwards on two sides, the first support shaft 111 is fixedly connected by being interference fitted with the connecting hole before and after support frame 12 on two sides；
Two ends of 13 lower section of support frame as described above are connected to by stand connection 133 on the side of left and right two of support frame 12, holder
Connector 133 is fixed by bolts with supporting rack 13 and connect, and support frame 12 can relative to supporting rack 13 and stand connection 133
Rotation.
Specifically, 16 upper and lower ends of first connecting rod are equipped with mounting hole 161,161 sets of the lower end mounting hole of first connecting rod 16
It is realized outside the second support shaft 112 and by connecting rod shaft and is connected with each other, connecting rod shaft passes through limit hole 113 and passed through
It is full of cooperation and 161 inner wall of lower end mounting hole of first connecting rod 16 achieves a fixed connection；Second connecting rod 17 is H-shaped structure, and second connects
The upper end hinge splint of bar 17 is hinged by the second connecting rod articulation piece 132 of connecting rod shaft and supporting rack 13；First connecting rod 16
The mounting hole 161 of upper end, second connecting rod 17 lower end handing-over clamping plate and the connecting pin of 14 lower end of screw rod transmission unit U-shaped
Hinge splint it is hinged by connecting rod shaft, wherein the mounting hole 161 of the upper end of first connecting rod 16 is located at screw rod transmission unit
Between the hinge splint of the U-shaped of the connecting pin of 14 lower ends, the hinge splint position of the U-shaped of the connecting pin of 14 lower end of screw rod transmission unit
Between the handing-over clamping plate of the lower end of second connecting rod 17, to being hinged for three components of realization.
In the present embodiment, sole control unit 23 is fixedly connected by screw with arch of foot 22, sole control unit 23 with
Rubber material is nested between the upper surface of arch of foot 22 to protect sole control unit 23 not interfered by external environment；In torsional spring
Installation site be equipped with arch of foot absolute encoder, the relative rotation angle for detecting arch of foot 22 and heel 21, toe 24, and
The signal of detection is transmitted to sole control unit 23；And then foundation is provided for the control and optimisation strategy of whole system, it is foot
Palm control unit 23 judges that 20 current state of sole provides state parameter；21 lower section of heel is equipped with displacement sensor and diaphragm type pressure
Force snesor, to measure heel 21 at a distance from ground and the non-coplanar force of foot of robot distribution；24 position of toe is arranged
There are diaphragm type pressure sensor and acceleration transducer, the non-coplanar force distribution and robot to obtain foot of robot are advanced
Speed.Specifically, in the present embodiment, there are two toe 24 is set, respectively left foot toe and right crus of diaphragm toe improve the stabilization of sole 20
Property and flexibility.
Preferably, elastic hawser 25 is equipped between heel 21 and the end of arch of foot 22, elastic hawser 25 can ensure foot
It slaps and still keeps good when 20 parts encounter complicated landform with ground and contact to ensure the mobile stabilization of quadruped robot ontology
Property and static stability.
Specifically, being equipped with the ankle-joint connector that can be rotatably connected sole 20 and ankle-joint 10 in the upper end of heel 21
211, so that the two is had the deflection degree of freedom of certain angle, to alleviate when robot encounters collision or interference to robot stabilization
It influences.
More specifically, ankle-joint connector 211 is rotatably connected with sole connector 114.
In other embodiments, first connecting rod 16 and the left and right ends of support plate 11 can be connect using ball-and-socket hinge device to
Realize that first connecting rod 16 does flip-flop movement with support plate 11 around the first support shaft 111.
The preferred embodiment of the present invention is described in detail above in association with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical scheme of the present invention
Monotropic type, these simple variants all belong to the scope of protection of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the present invention to it is various can
The combination of energy no longer separately illustrates.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should also be regarded as the disclosure of the present invention.
Claims (5)
1. a kind of four-leg bionic robot based on six-degree-of-freedom parallel connection mechanism, including trunk (2) and four lower limb (1), four
Lower limb (1) symmetrically are distributed in the quadrangle below trunk (2), and the structure of four lower limb (1) is identical；Its feature exists
In the trunk (2) includes six-degree-of-freedom parallel connection mechanism (40) and four drivings for respectively driving each lower limb (1) movement
Unit (50)；Two driving units (50) are fixed in one end of the six-degree-of-freedom parallel connection mechanism (40), and the other end is fixed another
Two driving units (50)；
The six-degree-of-freedom parallel connection mechanism (40) includes moving platform (41) and silent flatform (42) arranged in parallel, in moving platform
(41) fixed on there are six rod piece motors (411), and six rods are connected between rod piece motor (411) and silent flatform (42)
(43) it is used to connect moving platform and silent flatform；Six rods (43) can independent telescope and the use that can freely swing around tie point
With coordination simultaneously to realize the corresponding actions in three dimensions, movenent performance and the flexibility of robot are improved；
The upper end of the lower limb (1) is fixedly connected with the driving unit (50).
2. the four-leg bionic robot based on six-degree-of-freedom parallel connection mechanism as described in claim 1, which is characterized in that described six
(411) two, a rod piece motor is distributed in by even circumferential on moving platform (41) for one group, equal by circumference on silent flatform (42)
Even that three groups of rod piece articulation pieces (421) are distributed with, there are two every group of rod piece articulation pieces (421)；
Every group of rod piece motor (411) shifts to install with rod piece articulation piece (421), in rod piece motor (411) and apart from nearest bar
The rod piece (43) is hinged between part articulation piece (421), to pass through six between moving platform (41) and silent flatform (42)
Mobilizable rod piece (43) realizes the multifreedom motion of six-degree-of-freedom parallel connection mechanism (40).
3. the four-leg bionic robot based on six-degree-of-freedom parallel connection mechanism as claimed in claim 2, which is characterized in that the bar
Part (43) is hinged with rod piece articulation piece (421)；Connecting rod (44), connecting rod are equipped between the rod piece (43) and rod piece motor (411)
(44) one end is rotatably connected with rod piece motor (411), and the other end and the rod piece (43) of connecting rod (44) pass through flake flexural pivot (45)
Connection；
Rod piece (43) can do spatial movement, connecting rod (44) can do circle around rod piece motor (411) under flake flexural pivot (45) cooperation
Zhou Xuanzhuan, under the action of connecting rod (44) and flake flexural pivot (45), the spatial movement of rod piece (43) increases；Wherein flake flexural pivot
(45) so that the space of six degree of freedom platform is substantially increased, improve movenent performance and the flexibility of complete machine.
4. the four-leg bionic robot based on six-degree-of-freedom parallel connection mechanism as described in claim 1, which is characterized in that the drive
Moving cell (50) includes driving motor (51), and driving motor (51) lower end is fixedly connected with the upper end of the leg (80)；Driving electricity
One end of machine (51) is fixed on the outside of moving platform (41) or silent flatform (42), and the other end of driving motor (51) is fixed with vertical
Driving motor fixed plate (52) is connected with lateral driving motor support plate (53) in driving motor fixed plate (52) lower end, drives
Dynamic motor support plate (53) is located at below driving motor (51), and the end vertical of driving motor support plate (53) connects silent flatform
(42) or the outside of moving platform (41)；The driving motor fixed plate (52) and driving motor support plate (53) are T-shaped knot
Structure.
5. the four-leg bionic robot based on six-degree-of-freedom parallel connection mechanism as described in claim 1, which is characterized in that under described
Limb (1) includes thigh (60), shank (70) and foot (80)；The upper end of thigh (60) is fixedly connected with the driving unit (50),
Thigh (60) lower end is rotatably connected with shank (70) upper end, and shank (70) lower end connects foot (80)；The thigh (60) with
Axis connection is used between shank (70)；The bottom of the foot (80) is spherical structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810579166.1A CN108639182A (en) | 2018-06-07 | 2018-06-07 | A kind of four-leg bionic robot based on six-degree-of-freedom parallel connection mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810579166.1A CN108639182A (en) | 2018-06-07 | 2018-06-07 | A kind of four-leg bionic robot based on six-degree-of-freedom parallel connection mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN108639182A true CN108639182A (en) | 2018-10-12 |
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| CN201810579166.1A Pending CN108639182A (en) | 2018-06-07 | 2018-06-07 | A kind of four-leg bionic robot based on six-degree-of-freedom parallel connection mechanism |
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