CN108791562B - Steering device and quadruped robot comprising same - Google Patents
Steering device and quadruped robot comprising same Download PDFInfo
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- CN108791562B CN108791562B CN201810594121.1A CN201810594121A CN108791562B CN 108791562 B CN108791562 B CN 108791562B CN 201810594121 A CN201810594121 A CN 201810594121A CN 108791562 B CN108791562 B CN 108791562B
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- leg
- robot
- legs
- quadruped robot
- hydraulic cylinder
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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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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a steering device and a quadruped robot comprising the same, wherein the steering device comprises a supporting base, a hydraulic telescopic device is vertically arranged on the supporting base, a disc-shaped supporting shaft is arranged at the top of the hydraulic telescopic device, a stator core is arranged at the upper part of the supporting shaft, a coil winding is arranged on the stator core, a rotor permanent magnet is arranged at the center of the stator core, and the rotor permanent magnet is fixed at the bottom of the body of the robot; the rotor permanent magnet rotates under the action of the magnetic field, and the permanent magnet is fixedly connected with the robot body, so that the robot body rotates at a certain angle under the condition that four feet are lifted off the ground.
Description
Technical Field
The invention belongs to the field of quadruped robots, and particularly relates to a steering device for steering a quadruped robot and a leg length-variable quadruped robot with the steering device.
Background
In order to realize steering of the existing quadruped robot, the steering needs to be realized by controlling the stepping gaits of four legs or by adopting the step length difference between the leg on the same side and the leg on the other side. The two steering methods are complex to control, steering is performed only by walking in multiple steps, steering is very inconvenient, and sometimes the robot is easy to steer and overturn, so that the steering stability of the robot is greatly reduced. The shank part of the current quadruped robot is mostly unable to stretch relative to the thigh. When the quadruped robot moves on an uneven road surface, such as a pitted ground, a step, etc., the control of stability is more difficult than on a flat ground, mainly the robot is easily overturned.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention discloses a steering device and a leg length variable quadruped robot comprising the same.
The technical scheme adopted by the invention is as follows:
the invention provides a steering device, which comprises a supporting base, wherein a hydraulic telescopic device is vertically arranged on the supporting base, a disc-shaped supporting shaft is arranged at the top of the hydraulic telescopic device, a stator core is arranged on the disc-shaped upper surface of the supporting shaft, a coil winding is arranged on the stator core, a rotor permanent magnet is arranged at the center of the stator core, and the rotor permanent magnet is fixed at the bottom of a machine body of a robot; the rotor permanent magnet rotates a certain angle under the action of the magnetic field, and the permanent magnet is fixedly connected with the robot body, so that the robot body rotates at a certain angle under the condition that four feet are simultaneously lifted off the ground.
The hydraulic telescopic device controls the support base to move downwards or upwards, and when the robot does not need to turn, the hydraulic telescopic device is contracted, and the support base does not touch the ground; when the robot needs to turn, the hydraulic telescopic device extends to enable the supporting base to touch the ground, the quadruped robot is jacked, and at the moment, the four legs are all emptied.
The invention also provides a quadruped robot, which comprises the steering device.
The invention also provides a leg length variable quadruped robot which comprises the steering device.
Furthermore, the leg length variable quadruped robot comprises a front leg and a rear leg, and the front leg and/or the rear leg are/is stretched and contracted by adopting pneumatic muscles.
The two front legs are connected through a connecting rod, and the two rear legs are connected through a connecting rod; the front leg and the rear leg respectively comprise thighs arranged on a machine body, a supporting plate is fixed to the lower portion of each thigh, 4 holes are formed in the supporting plate, the upper ends of 4 anti-bending rods penetrate through the 4 holes, the upper ends of the 4 anti-bending rods can slide up and down in the 4 holes, pneumatic muscles are arranged in a space surrounded by the 4 anti-bending rods, the bottoms of the pneumatic muscles and the lower ends of the 4 anti-bending rods are connected to the foot end together, and the length of the legs is adjusted through inflation and deflation of the pneumatic muscles.
Furthermore, the leg length variable quadruped robot comprises a front leg and a rear leg, and the front leg and/or the rear leg are/is stretched and contracted by adopting a hydraulic cylinder or an air cylinder. The two front legs are connected through a connecting rod, and the two rear legs are connected through a connecting rod; the front legs and the rear legs respectively comprise thighs arranged on the machine body, the thighs are stretched by adopting a telescopic hydraulic cylinder or an air cylinder, and the length of the legs is adjusted by stretching of the hydraulic cylinder or the air cylinder.
Furthermore, the leg length-variable quadruped robot comprises a front leg and a rear leg, wherein the front leg is stretched by adopting a hydraulic cylinder or an air cylinder, and the rear leg is stretched by adopting pneumatic muscles.
Furthermore, the leg length-variable quadruped robot comprises a front leg and a rear leg, wherein the rear leg is stretched by adopting a hydraulic cylinder or an air cylinder, and the front leg is stretched by adopting pneumatic muscles.
The invention has the following beneficial effects:
the steering mechanism supports the machine body at the central part and then enables the machine body to rotate at a certain angle, thereby realizing steering. The steering structure and the steering method are simple, the control is also simple, the steering is convenient, the steering of the robot is stable, and the robot cannot tip over. The cost for manufacturing the steering structure and controlling the steering of the robot is greatly reduced. In order to adapt to the ground with a pit, a step and the like, the front legs and the rear legs of the four-legged robot adopt leg length adjusting structures, namely the front legs are stretched and contracted by adopting a hydraulic cylinder or an air cylinder, and the rear legs are stretched and contracted by adopting pneumatic muscles, so that the walking stability is ensured.
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 top view of a quadruped robot;
FIG. 2 is a cross-sectional view A-A of FIG. 1;
FIG. 3 is a view of a steering device;
FIG. 4 is a cross-sectional view B-B of FIG. 2;
FIG. 5 is a cross-sectional view C-C of FIG. 2;
FIG. 6 is a schematic structural view of the rear leg;
FIG. 7 is a schematic structural view of the front leg;
in the figure: the device comprises a rear leg foot end 1, a rear leg bending-resistant rod 2, a pneumatic muscle 3, an inter-rear leg connecting rod 4, a rear leg thigh rod 5, a rear leg swing hydraulic cylinder 6, a machine body 7, a front leg swing hydraulic cylinder 8, an inter-front leg connecting rod 9, a front leg thigh hydraulic cylinder 10, a front leg foot end 11, a supporting base 12, a central hydraulic cylinder 13, a supporting shaft 14, a connecting bolt 15, a winding 16, a stator core 17, a rotor permanent magnet 18, a thrust bearing 19, a fastening bolt 20, a deep groove ball bearing 21, a flat key 22, a short shaft 23 and an end cover 24.
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.
The terms "mounted", "connected", "fixed", and the like in the present invention are to be understood in a broad sense, and may be, for example, fixedly connected, detachably connected, or integrated; the two components can be connected mechanically or electrically, directly or indirectly through an intermediate medium, or connected internally or in an interaction relationship, and the terms used in the present invention should be understood as having specific meanings to those skilled in the art.
As described in the background, the prior art has disadvantages, and in order to solve the above technical problems, the present application proposes a steering apparatus and a quadruped robot including the same.
In a typical embodiment of the present application, as shown in fig. 3 and 5, the present invention discloses a steering apparatus, which includes a supporting base 12, a hydraulic telescopic device is vertically disposed on the supporting base 12, a disc-shaped supporting shaft 14 is mounted on the top of the hydraulic telescopic device, a stator core 17 is disposed on the disc-shaped upper surface of the supporting shaft 14, a coil winding 16 is disposed on the stator core 17, a rotor permanent magnet 18 is disposed at the center of the stator core 17, and the rotor permanent magnet 18 is fixed at the bottom of the body 7 of the robot; the rotating magnetic field is generated by controlling the power-on or power-off of the coil winding, the rotor permanent magnet 18 rotates under the action of the magnetic field, and the rotor permanent magnet 18 is fixedly connected with the robot body, so that the robot body rotates at a certain angle under the condition that all four feet are off the ground.
The hydraulic telescopic device controls the support base to move downwards or upwards, and when the robot does not need to turn, the hydraulic telescopic device contracts and the support base does not touch the ground; when the robot needs to turn, the hydraulic telescopic device extends to enable the supporting base to touch the ground, the quadruped robot is jacked, and at the moment, the four legs are all emptied.
The hydraulic telescopic device is in the form of a central hydraulic cylinder 13, the machine body 7 is fixed on the cylinder body of the central hydraulic cylinder 13 through a support rod, and the machine body 7 and the support rod can rotate mutually and are realized through a thrust bearing 19 and a fastening bolt 20.
The structure of the steering device is shown in figure 3, and the schematic diagram is shown in figure 5; when the robot does not need to turn, the central hydraulic cylinder 13 is contracted, and the supporting base 12 does not touch the ground; when the robot needs to turn, the central hydraulic cylinder 13 is extended to enable the supporting base 12 to touch the ground, the quadruped robot is jacked up, and at the moment, the four legs are all emptied. When the robot turns, in order to rotate a certain angle, the windings of D, E, F can be electrified in turn to generate a rotating magnetic field, the rotor permanent magnet 18 rotates under the action of the magnetic field, the permanent magnet is glued with the robot body together, so that the robot body rotates at a certain angle, after the rotation is finished, the central hydraulic cylinder contracts, the four legs touch the ground, and the robot continues running.
The invention also provides a quadruped robot, which comprises the steering device.
The invention also provides a leg length variable quadruped robot which comprises the steering device.
Example 1
The leg length variable quadruped robot comprises a front leg and a rear leg, wherein the front leg and/or the rear leg are/is stretched by adopting pneumatic muscles, the front leg and the rear leg respectively comprise two, the two front legs are connected through a connecting rod, and the two rear legs are connected through the connecting rod; the front leg and the rear leg respectively comprise thighs installed on a machine body, a supporting plate is fixed to the lower portion of each thigh, 4 holes are formed in the supporting plate, the upper ends of 4 bending resistant rods penetrate through the 4 holes in the supporting plate, the upper ends of the 4 bending resistant rods can slide up and down in the 4 holes, pneumatic muscles are arranged in a space surrounded by the 4 bending resistant rods, the bottoms of the pneumatic muscles and the lower ends of the 4 bending resistant rods are connected to the foot end together, and the length of the legs can be adjusted through inflation and deflation of the pneumatic muscles.
Specifically, as shown in fig. 2, 4 and 6, the structure diagram of the rear leg part is taken as an example, and comprises a rear leg foot end 1, a rear leg bending resistant rod 2, a pneumatic muscle 3, a rear leg inter-connecting rod 4, a rear leg thigh rod 5 and a rear leg swing hydraulic cylinder 6; the lower part of a thigh rod 5 of a rear leg is fixedly connected with a supporting plate, 4 holes are formed in the supporting plate, the upper ends of 4 anti-bending rods penetrate through the 4 holes in the supporting plate, the upper ends of the 4 anti-bending rods can slide up and down in the 4 holes, pneumatic muscles 3 are arranged in a space enclosed by the 4 anti-bending rods 2 of the rear leg, the bottom of each pneumatic muscle 3 and the lower ends of the 4 anti-bending rods are connected to the foot end 1 of the rear leg together, and the length of the leg is adjusted through inflation and deflation of the pneumatic muscles 3; the two rear legs are connected through a connecting rod 4 between the rear legs; and the swinging of the rear legs is realized by a rear leg swinging hydraulic cylinder 6.
The axes of the 4 holes are all positioned at the outer side of the thigh rod 5 of the rear leg, and the upper ends of the 4 anti-bending rods are uniformly distributed around the outer ring of the thigh rod, so that the up-and-down sliding of the anti-bending rods is realized.
Example 2
Furthermore, the leg length variable quadruped robot comprises a front leg and a rear leg, and the front leg and/or the rear leg are/is stretched and contracted by adopting a hydraulic cylinder. The two front legs are connected through a connecting rod, and the two rear legs are connected through a connecting rod; the front leg and the rear leg respectively comprise thighs arranged on the machine body, the thighs are telescopic hydraulic cylinders, and the length of the legs is adjusted through the telescopic hydraulic cylinders.
Specifically, as shown in fig. 7 and fig. 2, the structure diagram of the front leg part includes a front leg foot end 11, the front leg foot end 11 is connected to the driving end of a front leg thigh hydraulic cylinder 10, and the leg length adjustment is realized by the extension and contraction of the hydraulic cylinder; the two front legs are connected by a front leg connecting rod 9.
Further, in the above embodiment: the leg length can be adjusted by replacing the telescopic cylinder with the telescopic cylinder by the telescopic cylinder.
Example 3
Further, the leg length variable quadruped robot comprises a front leg and a rear leg, wherein the front leg is stretched by adopting a hydraulic cylinder or an air cylinder, and the rear leg is stretched by adopting pneumatic muscles, as shown in fig. 1;
the back leg is a leg joint structure configuration, 1 thigh pitching degree of freedom, and has a thigh with variable leg length. The left and right rear legs are connected by a connecting rod between the rear legs 4 through a bolt group shown in figure 4, one end of a rear leg swing hydraulic cylinder 6 is hinged on the machine body, and the other end is hinged at the center of the connecting rod between the rear legs 4 (as shown in figure 4). The stretching of the rear leg swing hydraulic cylinder 6 can drive the left and right rear legs to move synchronously, so as to realize the bound gait of the robot. The stretching of the rear legs is realized by pneumatic muscles 3, and 4 rear leg bending rods 2 are arranged to improve the rigidity of the leg parts;
the front legs are also configured in a leg joint structure, 1 thigh has a variable leg length thigh in the pitching degree of freedom, the left front leg and the right front leg are connected through a bolt group shown in fig. 7 by a front leg connecting rod 9, one end of a front leg swinging hydraulic cylinder 8 is hinged on the machine body, and the other end is hinged at the center of the front leg connecting rod 9. The stretching of the rear leg swing hydraulic cylinder 8 can drive the left and right rear legs to move synchronously, so as to realize the bound gait of the robot. The front legs are extended and contracted by front leg thigh hydraulic cylinders 10.
Example 4
Furthermore, the leg length-variable quadruped robot comprises a front leg and a rear leg, wherein the rear leg is stretched by adopting a hydraulic cylinder or an air cylinder, and the front leg is stretched by adopting pneumatic muscles.
The invention relates to a leg length variable quadruped robot and a steering device thereof. Has the characteristics of variable leg length of four legs and capability of being rotated at any angle.
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 (10)
1. A steering device is characterized by comprising a supporting base, wherein a hydraulic telescopic device is vertically arranged on the supporting base, a disc-shaped supporting shaft is installed at the top of the hydraulic telescopic device, a stator core is arranged at the upper part of the supporting shaft, a coil winding is arranged on the stator core, a rotor permanent magnet is arranged at the center of the stator core, and the rotor permanent magnet is fixed at the bottom of a machine body of a robot; the rotor permanent magnet is fixedly connected with the robot body, so that the robot body rotates at a certain angle under the condition that four feet are lifted off the ground.
2. A steering assembly according to claim 1, wherein said hydraulic telescopic means controls the downward or upward movement of the support base.
3. A quadruped robot comprising the steering apparatus according to any one of claims 1 to 2.
4. A variable leg length quadruped robot comprising the steering apparatus according to any one of claims 1 to 2.
5. The leg length variable quadruped robot as claimed in claim 4, wherein the robot comprises a front leg and a rear leg, and the front leg and/or the rear leg are/is extended and contracted by adopting pneumatic muscles.
6. The leg length variable quadruped robot as claimed in claim 5, wherein the front legs and the rear legs respectively comprise two, the two front legs are connected through a connecting rod, and the two rear legs are connected through a connecting rod; the front leg and the rear leg respectively comprise thighs arranged on a machine body, a supporting plate is fixed to the lower portion of each thigh, 4 holes are formed in the supporting plate, the upper ends of 4 anti-bending rods penetrate through the 4 holes, the upper ends of the 4 anti-bending rods can slide up and down in the 4 holes, pneumatic muscles are arranged in a space surrounded by the 4 anti-bending rods, the bottoms of the pneumatic muscles and the lower ends of the 4 anti-bending rods are connected to the foot end together, and the length of the legs is adjusted through inflation and deflation of the pneumatic muscles.
7. The leg length variable quadruped robot as claimed in claim 4, wherein the leg length variable quadruped robot comprises a front leg and a rear leg, and the front leg and/or the rear leg are/is extended and retracted by using a hydraulic cylinder or an air cylinder.
8. The leg length variable quadruped robot as claimed in claim 7, wherein the front legs and the rear legs respectively comprise two, the two front legs are connected through a connecting rod, and the two rear legs are connected through a connecting rod; the front legs and the rear legs respectively comprise thighs arranged on the machine body, the lower parts of the thighs are connected with a hydraulic cylinder or an air cylinder, and the length of the legs is adjusted by stretching of the hydraulic cylinder or the air cylinder.
9. The leg length variable quadruped robot as claimed in claim 4, wherein the robot comprises a front leg and a rear leg, the front leg is telescopic by adopting a hydraulic cylinder or an air cylinder, and the rear leg is telescopic by adopting pneumatic muscles.
10. The leg length variable quadruped robot as claimed in claim 4, wherein the robot comprises a front leg and a rear leg, the rear leg is extended and retracted by a hydraulic cylinder or an air cylinder, and the front leg is extended and retracted by pneumatic muscles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810594121.1A CN108791562B (en) | 2018-06-11 | 2018-06-11 | Steering device and quadruped robot comprising same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810594121.1A CN108791562B (en) | 2018-06-11 | 2018-06-11 | Steering device and quadruped robot comprising same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108791562A CN108791562A (en) | 2018-11-13 |
| CN108791562B true CN108791562B (en) | 2020-07-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810594121.1A Expired - Fee Related CN108791562B (en) | 2018-06-11 | 2018-06-11 | Steering device and quadruped robot comprising same |
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| Country | Link |
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| CN (1) | CN108791562B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110294040A (en) * | 2019-05-17 | 2019-10-01 | 北京建筑大学 | A kind of mobile walking devices |
| CN110125809B (en) * | 2019-06-27 | 2024-02-06 | 安徽理工大学 | Wall climbing type rust removing device |
| CN110368212B (en) * | 2019-08-19 | 2021-03-12 | 武汉轻工大学 | Wheel chair |
| CN112388644A (en) * | 2020-09-24 | 2021-02-23 | 特斯联科技集团有限公司 | Foot type robot parking assisting device, foot type robot and parking method |
| CN112407087B (en) * | 2020-11-17 | 2021-12-03 | 缇麦(深圳)科技开发有限公司 | High-precision open type robot moving carrier and high-precision moving method thereof |
| CN113070864B (en) * | 2021-04-15 | 2023-08-04 | 西南科技大学 | Electromagnetic driving microminiature robot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DD291899A7 (en) * | 1988-07-26 | 1991-07-18 | Bauakademie,De | STEERING DEVICE FOR FLUID-LOADED LOADS |
| CN103963866B (en) * | 2014-04-24 | 2016-06-01 | 北京航空航天大学 | Full landform Retractive leg formula six foot rotates advance robot |
| CN106428290B (en) * | 2016-12-09 | 2018-06-19 | 山东大学 | A kind of flexibility quadruped robot |
| CN106737578B (en) * | 2016-12-15 | 2018-11-13 | 山东大学 | A kind of quadruped robot |
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2018
- 2018-06-11 CN CN201810594121.1A patent/CN108791562B/en not_active Expired - Fee Related
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| CN108791562A (en) | 2018-11-13 |
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Granted publication date: 20200731 Termination date: 20210611 |