CN108749951B - Quadruped robot - Google Patents
Quadruped robot Download PDFInfo
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- CN108749951B CN108749951B CN201810594605.6A CN201810594605A CN108749951B CN 108749951 B CN108749951 B CN 108749951B CN 201810594605 A CN201810594605 A CN 201810594605A CN 108749951 B CN108749951 B CN 108749951B
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- leg
- machine body
- legs
- thigh
- shank
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention discloses a quadruped robot, which comprises a front body and a rear body, wherein the front body is connected with the rear body through an elastic device; two front legs are arranged on the front machine body, two rear legs are arranged on the rear machine body, the two front legs and the two rear legs are respectively arranged on a rotating shaft, and the swinging of the rear legs relative to the rear machine body and the swinging of the front legs relative to the front machine body are realized; the lower leg parts of the front supporting leg and the rear supporting leg can stretch relative to the corresponding thigh parts.
Description
Technical Field
The invention discloses a quadruped robot.
Background
With the development of technology, quadruped robots have been applied to more and more fields, and the lower leg part of the existing quadruped robot cannot be stretched relative to the thigh part. When the quadruped robot moves on an uneven road surface, such as a pit, a slope, a step and the like, the stability is more difficult to control than on a flat ground, mainly the robot is easy to overturn, and the stability of the robot is greatly reduced. At present, the body of the quadruped robot is mostly rigid, so that the body of the quadruped robot lacks flexibility when walking or running, the stability is insufficient, and the quadruped robot can overturn easily.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention discloses a quadruped robot.
The technical scheme disclosed by the invention is as follows:
a quadruped robot comprises a front body and a rear body, wherein the front body is connected with the rear body through an elastic device, a driving cylinder is arranged between the front body and the rear body, the driving cylinder is inflated and deflated to realize the relative rotation between the front body and the rear body, so that the straightening or bending of the bodies is realized, and the bodies are flexible; two front legs are arranged on the front machine body, two rear legs are arranged on the rear machine body, the two front legs and the two rear legs are respectively arranged on a rotating shaft, and the swinging of the rear legs relative to the rear machine body and the swinging of the front legs relative to the front machine body are realized; the lower leg parts of the front supporting leg and the rear supporting leg can stretch and contract relative to the corresponding thigh parts.
Furthermore, the two front supporting legs are respectively connected with the front machine body through a front swinging cylinder; when the front swing cylinder stretches out and draws back, the front supporting leg is driven to swing relative to the front machine body, and leg swing is achieved.
Furthermore, the two rear supporting legs are respectively connected with the rear machine body through a rear swinging cylinder; when the rear swing cylinder stretches, the rear supporting leg is driven to swing relative to the rear machine body, and leg swing is achieved.
Furthermore, the front supporting leg and the rear supporting leg adopt the same driving mode; the front supporting leg and the rear supporting leg respectively comprise a thigh part and a shank part, the thigh part is provided with an electromagnet, the shank part is arranged in the electromagnet, and the rear part of the shank part is connected with the thigh through an elastic device; when the electromagnet is electrified, the shank part extends out, so that the effect of extending the length of the leg is achieved; when the electromagnet is powered off, the lower leg part is pulled up under the action of the elastic device, so that the effect of shortening the leg length is achieved.
Furthermore, the front supporting leg and the rear supporting leg adopt the same driving mode; the front supporting leg and the rear supporting leg respectively comprise a thigh part and a shank part, a motor is installed on the thigh part, the motor drives a lead screw to rotate through a coupler, the shank part is matched with the lead screw through threads, the lead screw rotates, and the shank part stretches up and down.
Furthermore, the front supporting leg and the rear supporting leg adopt different driving modes; the front supporting leg comprises a thigh part and a shank part, the thigh part is provided with an electromagnet, the shank part is arranged in the electromagnet, and the rear part of the shank part is connected with the thigh through an elastic device; when the electromagnet is electrified, the shank part extends out, so that the effect of extending the length of the leg is achieved; when the electromagnet is powered off, the lower leg part is pulled up under the action of the elastic device, so that the effect of shortening the leg length is achieved;
the rear supporting legs respectively comprise thigh parts and shank parts, motors are mounted on the thigh parts, the motors drive a lead screw to rotate through a coupler, the shank parts are matched with the lead screw through threads, the lead screw rotates, and the shank parts stretch up and down.
Furthermore, the front supporting leg and the rear supporting leg adopt different driving modes; the back leg comprises a thigh part and a shank part, the thigh part is provided with an electromagnet, the shank part is arranged in the electromagnet, and the rear part of the shank part is connected with the thigh through an elastic device; when the electromagnet is electrified, the shank part extends out, so that the effect of extending the length of the leg is achieved; when the electromagnet is powered off, the lower leg part is pulled up under the action of the elastic device, so that the effect of shortening the leg length is achieved;
the front supporting legs respectively comprise thigh parts and shank parts, motors are mounted on the thigh parts, the motors drive a lead screw to rotate through a coupler, the shank parts are matched with the lead screw through threads, the lead screw rotates, and the shank parts stretch up and down.
Furthermore, the front supporting leg and the rear supporting leg can be driven by cylinders to realize the extension of the lower leg.
Furthermore, the elastic device adopts a rubber rod; the rubber rod comprises a plurality of rubber rods.
The invention has the following beneficial effects:
when the quadruped robot moves on an uneven road surface, such as a pit, a slope, a step and the like, the balance of the robot is adjusted by adjusting the leg length, so that the robot is not easy to overturn, and the walking stability of the robot is ensured. The body of the quadruped robot adopts a flexible structure, so that the body of the quadruped robot has flexibility when walking or running, the stability is guaranteed, and the quadruped robot is not easy to tip over.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a general assembly block diagram of the present invention;
FIG. 2 is a front elevational view of the assembly of the present invention;
FIG. 3 is a cross-sectional view A-A of FIG. 2;
FIG. 4 is a schematic structural view of the rear leg;
in the figure: 1-rear machine body, 2-bearing seat, 3-rear swinging cylinder, 4-rear leg assembly, 5-driving cylinder, 6-rubber bar, 7-rotating shaft, 8-front machine body, 9-front swinging cylinder, 10-thigh part, 11-electromagnet and 12-armature; 4-1 thigh part, 4-2 motor, 4-3 motor base, 4-4 coupler, 4-5 cylindrical guide rail, 4-6 screw rod and 4-7 shank part.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
for convenience of description, the words "up", "down", "left" and "right" in the present invention, if any, merely indicate correspondence with up, down, left and right directions of the drawings themselves, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, rather than indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
As described in the background, the prior art has shortcomings, and in order to solve the above technical problems, the present application proposes a quadruped robot.
Example 1
In a typical embodiment of the present application, as shown in fig. 1, the quadruped robot includes a front body 8 and a rear body 1, the front body 8 and the rear body 1 are connected through an elastic device, a driving cylinder 5 is further disposed between the front body 8 and the rear body 1, relative rotation between the front body 8 and the rear body 1 is realized by inflating and deflating the driving cylinder 5, straightening or bending of the bodies is realized, and the bodies are flexible; when driving the cylinder gassing, preceding organism 8 and back organism 1 are crooked, when driving the cylinder inflation gas, preceding organism 8 and back organism 1 straighten.
Two front support legs are arranged on the front machine body 8, two rear support legs are arranged on the rear machine body 1, the two front support legs and the two rear support legs are respectively arranged on a rotating shaft, and the swinging of the rear support legs relative to the rear machine body and the swinging of the front support legs relative to the front machine body are realized; the lower leg parts of the front supporting leg and the rear supporting leg can stretch and contract relative to the corresponding thigh parts.
Preferably, the elastic device between the front body and the rear body can be a rubber rod 6 with rigidity and elasticity, and specifically, as shown in fig. 1 and 2, a plurality of rubber rods are arranged; the robot is divided into a front machine body and a rear machine body, the middle of the robot is connected with a rubber rod 6, and two ends of the rubber rod 6 are respectively fixed with the rear machine body 1 and the front machine body 8. Two ends of the cylinder 5 are respectively hinged with the front machine body and the rear machine body. When the air cylinder 5 is inflated and deflated, the air cylinder stretches along the axial direction, and the rubber rod 6 is bent, so that the front machine body 8 and the rear machine body 1 rotate relatively by a certain angle to form machine body bending.
Preferably, the cylinder that drives actuating cylinder is articulated with preceding organism, and the piston rod is articulated with back organism or selects the cylinder that drives actuating cylinder to articulate with back organism, and the piston rod is articulated with preceding organism, and two kinds of implementation ways can all.
Preferably, the two rear legs 4 are keyed at both ends of the same rotation shaft 7. The two bearing seats 2 are connected with the rear machine body 1 through bolts, and the rotating shaft realizes rotation relative to the rear machine body 1 through a bearing, namely the rear legs 4 swing relative to the rear machine body 1; similarly, the two front supporting legs are fixed at the two ends of the same rotating shaft through keys; the two bearing seats are connected with the front machine body 1 through bolts, and the rotating shaft realizes the rotation relative to the front machine body through the bearings, namely the front supporting legs swing relative to the front machine body 1
Preferably, the two front supporting legs are respectively connected with the front machine body through a front swing cylinder 9; when the front swing cylinder stretches out and draws back, the front supporting leg is driven to swing relative to the front machine body, and leg swing is achieved.
Furthermore, the two rear supporting legs are respectively connected with the rear machine body through a rear swinging cylinder 3; when the rear swing cylinder stretches, the rear supporting leg is driven to swing relative to the rear machine body, and leg swing is achieved.
Furthermore, the front supporting leg and the rear supporting leg adopt different driving modes;
as shown in fig. 2, the front leg comprises a thigh part 10 and a lower leg part, an electromagnet 11 is arranged on the thigh part 10, the lower leg part is arranged in the electromagnet 11, and the rear part of the lower leg part is connected with the thigh through an elastic device; when the electromagnet is electrified, the shank part extends out, so that the effect of extending the length of the leg is achieved; when the electromagnet is powered off, the lower leg part is pulled up under the action of the elastic device, so that the effect of shortening the leg length is achieved; the lower leg portion employs an armature 12 as shown;
as shown in figure 4, each rear leg comprises a thigh part 4-1 and a shank part 4-7, a motor 4-2 is mounted on each thigh part 4-1, the motor 4-2 drives a screw rod 4-6 to rotate through a coupling 4-4, the shank part 4-7 is matched with the screw rod through threads, the screw rod rotates, and the shank part stretches up and down.
The motor 4-2 is arranged on the motor base 4-3, and the lower leg part 4-7 moves along the two cylindrical guide rails 4-5.
Example 2
The front supporting leg and the rear supporting leg in the embodiment adopt the same driving mode; the front supporting leg and the rear supporting leg respectively comprise a thigh part and a shank part, the thigh part is provided with an electromagnet, the shank part is arranged in the electromagnet, and the rear part of the shank part is connected with the thigh through an elastic device; when the electromagnet is electrified, the shank part extends out, so that the effect of extending the length of the leg is achieved; when the electromagnet is powered off, the lower leg part is pulled up under the action of the elastic device, so that the effect of shortening the leg length is achieved; the rest is the same as in example 1.
Example 3
The front supporting leg and the rear supporting leg in the embodiment adopt the same driving mode; the front supporting leg and the rear supporting leg respectively comprise a thigh part and a shank part, a motor is arranged on the thigh part, the motor drives a lead screw to rotate through a coupling, the shank is matched with the lead screw through threads, the lead screw rotates, and the shank part stretches up and down; the rest is the same as in example 1.
Example 4
The front supporting leg and the rear supporting leg in the embodiment adopt different driving modes; the back leg comprises a thigh part and a shank part, the thigh part is provided with an electromagnet, the shank part is arranged in the electromagnet, and the rear part of the shank part is connected with the thigh through an elastic device; when the electromagnet is electrified, the shank part extends out, so that the effect of extending the length of the leg is achieved; when the electromagnet is powered off, the lower leg part is pulled up under the action of the elastic device, so that the effect of shortening the leg length is achieved;
the front supporting legs respectively comprise thigh parts and shank parts, motors are mounted on the thigh parts, the motors drive a screw rod to rotate through a coupler, the shanks are matched with the screw rod through threads, the screw rod rotates, and the shank parts stretch up and down. The rest is the same as in example 1.
Example 5
The front supporting leg and the rear supporting leg can be driven by cylinders to realize the extension of the lower leg; the rest is the same as in example 1; or a combination of cylinder drive and other drive means.
The thigh sections of the above embodiments 1 to 5 may have an angled plate-like structure as shown in the drawings.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (7)
1. A quadruped robot comprises a front body and a rear body, and is characterized in that the front body is connected with the rear body through an elastic device, a driving cylinder is arranged between the front body and the rear body, relative rotation between the front body and the rear body is realized by inflating and deflating the driving cylinder, straightening or bending of the bodies is realized, and the bodies are flexible; two front legs are arranged on the front machine body, two rear legs are arranged on the rear machine body, the two front legs and the two rear legs are respectively arranged on a rotating shaft, and the swinging of the rear legs relative to the rear machine body and the swinging of the front legs relative to the front machine body are realized; the lower leg parts of the front supporting leg and the rear supporting leg can stretch relative to the corresponding thigh parts;
the two front supporting legs are respectively connected with the front machine body through a front swing cylinder; when the front swing cylinder stretches, the front support leg is driven to swing relative to the front machine body, so that leg swing is realized; the two rear supporting legs are respectively connected with the rear machine body through a rear swinging cylinder; when the rear swing cylinder stretches, the rear support leg is driven to swing relative to the rear machine body, so that leg swing is realized;
the front supporting leg and the rear supporting leg adopt the same driving mode; the front supporting leg and the rear supporting leg respectively comprise a thigh part and a shank part, the thigh part is provided with an electromagnet, the shank part is arranged in the electromagnet, and the rear part of the shank part is connected with the thigh part through an elastic device; when the electromagnet is electrified, the shank part extends out, so that the effect of extending the length of the leg is achieved; when the electromagnet is powered off, the lower leg part is pulled up under the action of the elastic device, so that the effect of shortening the leg length is achieved;
the two rear supporting legs are fixed at the two ends of the same rotating shaft through keys; the two bearing seats are connected with the rear machine body through bolts, and the rotating shaft realizes rotation relative to the rear machine body through the bearings, namely the rear supporting legs swing relative to the rear machine body; the two front supporting legs are fixed at the two ends of the same rotating shaft through keys; the two bearing seats are connected with the front machine body through bolts, and the rotating shaft realizes rotation relative to the front machine body through the bearings, namely the front support legs swing relative to the front machine body.
2. The quadruped robot as claimed in claim 1, wherein, alternatively, the front leg and the rear leg are driven in the same way; the front supporting leg and the rear supporting leg respectively comprise a thigh part and a shank part, a motor is installed on the thigh part, the motor drives a lead screw to rotate through a coupler, the shank part is matched with the lead screw through threads, the lead screw rotates, and the shank part stretches up and down.
3. The quadruped robot as claimed in claim 1, wherein the front leg and the rear leg are alternatively driven in different manners; the front supporting leg comprises a thigh part and a shank part, the thigh part is provided with an electromagnet, the shank part is arranged in the electromagnet, and the rear part of the shank part is connected with the thigh part through an elastic device; when the electromagnet is electrified, the shank part extends out, so that the effect of extending the length of the leg is achieved; when the electromagnet is powered off, the lower leg part is pulled up under the action of the elastic device, so that the effect of shortening the leg length is achieved;
the rear supporting legs respectively comprise thigh parts and shank parts, motors are mounted on the thigh parts, the motors drive a lead screw to rotate through a coupler, the shank parts are matched with the lead screw through threads, the lead screw rotates, and the shank parts stretch up and down.
4. A quadruped robot as claimed in claim 3, wherein the drive modes of the front leg and the rear leg are alternatively switched.
5. The quadruped robot as claimed in claim 1, wherein the front leg and the rear leg can be driven by air cylinders to realize the extension and contraction of the lower leg.
6. The quadruped robot as claimed in claim 1, wherein the elastic means between the front body and the rear body is a rubber rod.
7. The quadruped robot as claimed in claim 6, wherein the rubber bars comprise a plurality of rubber bars.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810594605.6A CN108749951B (en) | 2018-06-11 | 2018-06-11 | Quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810594605.6A CN108749951B (en) | 2018-06-11 | 2018-06-11 | Quadruped robot |
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| Publication Number | Publication Date |
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| CN108749951A CN108749951A (en) | 2018-11-06 |
| CN108749951B true CN108749951B (en) | 2021-07-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810594605.6A Expired - Fee Related CN108749951B (en) | 2018-06-11 | 2018-06-11 | Quadruped robot |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110539821A (en) * | 2019-09-06 | 2019-12-06 | 燕山大学 | small pneumatic quadruped robot with automatic tracking function |
| CN110654473B (en) * | 2019-09-30 | 2021-08-03 | 武汉轻工大学 | Bionic foot component |
| CN110641569B (en) * | 2019-11-07 | 2020-06-05 | 武汉轻工大学 | Pneumatic bionic wall-climbing walking device capable of crossing outer wall |
| CN111469945B (en) * | 2020-04-16 | 2021-06-22 | 山东大学 | Quadruped robot and slope motion posture adjusting method |
| CN111422277A (en) * | 2020-05-08 | 2020-07-17 | 山东大学 | Robot with buffer feet |
| CN112623065B (en) * | 2021-02-04 | 2021-10-22 | 德鲁动力科技(成都)有限公司 | Simple quadruped robot structure |
| CN114906248B (en) * | 2021-09-30 | 2023-10-17 | 山东聚一天工工业自动化有限公司 | Mobile device and control method thereof |
| LU102911B1 (en) * | 2022-02-17 | 2023-08-17 | Georg Huber | Mobile robot |
| CN115352550B (en) * | 2022-08-09 | 2023-10-24 | 武汉科技大学 | Leg structure of foot type robot with variable length and four-foot type robot |
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| CN103192365A (en) * | 2013-03-28 | 2013-07-10 | 燕山大学 | Metamorphic wall-climbing parallel robot |
| CN103744426A (en) * | 2014-01-02 | 2014-04-23 | 上海大学 | Bionic flexible body bending control system of quadruped robot |
| RU146773U1 (en) * | 2014-02-12 | 2014-10-20 | Николай Петрович Пупков | STEPPING PUPKOV PLATFORM |
| CN105109575A (en) * | 2015-09-17 | 2015-12-02 | 山东大学 | Dog-like quadruped robot |
| CN105691485A (en) * | 2016-03-16 | 2016-06-22 | 北京理工大学 | Active-softening mechanism of hydraulic robot |
| CN106965954A (en) * | 2017-04-28 | 2017-07-21 | 南京航空航天大学 | Force transducer for sole of foot stretches protection device |
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2018
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Patent Citations (7)
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|---|---|---|---|---|
| CN102991602A (en) * | 2012-12-07 | 2013-03-27 | 浙江大学 | Automatically telescopic robot leg |
| CN103192365A (en) * | 2013-03-28 | 2013-07-10 | 燕山大学 | Metamorphic wall-climbing parallel robot |
| CN103744426A (en) * | 2014-01-02 | 2014-04-23 | 上海大学 | Bionic flexible body bending control system of quadruped robot |
| RU146773U1 (en) * | 2014-02-12 | 2014-10-20 | Николай Петрович Пупков | STEPPING PUPKOV PLATFORM |
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