CN109176455A - More mechanical arm quadruped robots - Google Patents

More mechanical arm quadruped robots Download PDF

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Publication number
CN109176455A
CN109176455A CN201811192788.5A CN201811192788A CN109176455A CN 109176455 A CN109176455 A CN 109176455A CN 201811192788 A CN201811192788 A CN 201811192788A CN 109176455 A CN109176455 A CN 109176455A
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CN
China
Prior art keywords
joint
axis
shank
hole
thigh
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
CN201811192788.5A
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Chinese (zh)
Inventor
高胜
郑文
潘云龙
曹柏寒
陈俊星
张国鹏
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Northeast Petroleum University
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Northeast Petroleum University
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Application filed by Northeast Petroleum University filed Critical Northeast Petroleum University
Priority to CN201811192788.5A priority Critical patent/CN109176455A/en
Publication of CN109176455A publication Critical patent/CN109176455A/en
Withdrawn legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06Safety devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/08Programme-controlled manipulators characterised by modular constructions

Abstract

A kind of more mechanical arm quadruped robots.The drive part of this kind of robot is leg and mechanical arm hydraulic-driven, and leg structure takes the collocation form of knee formula after preceding elbow, and open loop joint link lever mechanism is divided into the form of hip connection thigh shank, configures rotary joint between any two to reach purpose of walking about;Robot fuselage is steel frame construction, has sufficiently strong rigidity and bearing capacity;Sixdegree-of-freedom simulation is to be composed in series by six rotary joints and different joint segments by certain configuration; using modularized joint Design of Mechanical Structure; the kind of drive of AC servo motor, hollow harmonic speed reducer and loss protecting device, centre bore wiring, has standard mechanical interface.This kind of robot can be operated in reachable tree with multiple degrees of freedom, and the object that end can be made to clamp transforms to any position, meanwhile, this robot architecture is simple, with higher safety exposed without route.

Description

More mechanical arm quadruped robots
Technical field
The present invention relates to a kind of more mechanical arm Quadruped Robots.
Background technique
Existing wheeled and caterpillar type robot is poor for rugged topography adaptability, can not quickly be moved, difficult To carry out large-scale goods and materials transport and transfer in the narrow place such as mountain area.Therefore, in movement or shipped item, top cloth The legged type robot for being equipped with the mechanical arm of six degree of freedom is compared to other wheeled, caterpillar type robots in robot, Obstacle climbing ability when movement is stronger, can be across the obstacle of certain altitude, and has very high freedom degree, kinematic dexterity compared with It is high, it is only necessary to several discrete space support points, with the relatively high flexible motion ability in complicated unstructured landform. But domestic multi-degree-of-freemechanical mechanical arm still has that structure is complicated, route is exposed and the problem of without safety guard at present.
Summary of the invention
In order to solve the technical problems mentioned in the background art, the present invention provides a kind of more mechanical arm all fours type machines People, the drive part of this kind of robot are leg and mechanical arm hydraulic-driven, and leg structure takes the configuration shape of knee formula after preceding elbow Formula, open loop joint link lever mechanism are divided into the form of hip connection thigh shank, configure rotary joint between any two and walked about with reaching Purpose;Robot fuselage is steel frame construction, has sufficiently strong rigidity and bearing capacity;Sixdegree-of-freedom simulation is revolved by six Turn joint and different joint segments is composed in series by certain configuration, using modularized joint Design of Mechanical Structure, hands over The kind of drive of flow servo motor, hollow harmonic speed reducer and loss protecting device, centre bore wiring, connects with standard mechanical Mouthful, multiple degrees of freedom operates in reachable tree, and the object that end can be made to clamp transforms to any position.This robot architecture Simply, exposed without route, safety with higher.
The technical scheme is that mechanical arm quadruped robot more than this kind, including mainframe 1, it is unique in that: Mainframe 1 is trapezoid steel pipe structure, and two sixdegree-of-freedom simulations 2, the following installation of mainframe 1 are installed in the top of mainframe 1 Four pedipulators 3;Mechanical arm mounting seat 4 is installed, mechanical arm mounting seat 4 two opposite among the mainframe on position Side on be provided with 4 through-holes, sixdegree-of-freedom simulation 2 is bolted;
Wherein, the sixdegree-of-freedom simulation 2, including several modularized joints, the modularized joint include motor cover 5, close Saving shell 6, bearing, flange 8 and flange-interface, the flange-interface includes harmonic speed reducer large flange 10 and motor connection method Orchid 11;
Wherein, flange 8 is located at the inside of motor cover 5, and centre is provided with through-hole for positioning AC servo motor 14;In motor cover 5 Side motor vertical axis the fixed flange with standard mechanical interface in direction, far from flange side cover and motor cover end Lid 9 connects, and the side close to flange 8 is connected with joint housing 6;The joint housing 6 is connect with motor cover 5, in joint housing The other end be connected with joint transparent cover 12;
Motor cover 1 and next joint unit are connect with connector by flange-interface, and each unit is installed and successively in this approach It is connected in series, in last joint, connects gripper 13, form last complete sixdegree-of-freedom simulation 2;
The pedipulator 3 is leg structure, including hip combines 17 3 15, thigh 16 and shank main members;Hip combination There are two rotary joint 18 and a side-sway joints 19 between 15 and thigh 16, between thigh 16 and shank 17;The hip group 15 are closed, there is the axis hole passed through for axis in top, and lower part hole location connects 16 part of thigh by rotary joint 18, and middle part hole location passes through side The side-sway axis 20 in joint 19 is put, top hole location is connected through a screw thread side swing hydraulic cylinder 21;The rotary joint 18 divides for hip group It closes between 15 and thigh 16 two between thigh 16 and shank 17, centre connects two adjacent moulds using a rotary shaft 22 Block, rotary shaft 22 is connected by thin type flat key and a upper module keeps rotating synchronously, and is matched by deep groove ball bearing and next module It closes;One end of rotary shaft 22 is connected with angular transducer, and is fixed in module by support base 23, and support base 23 and angle pass Transparent cover 24 is connected between sensor, and the other side of rotary shaft 22 then passes through end cap 25 and fixes.
The thigh 16, is made of large arm 26 and hydraulic cylinder 30;Partition is opened and had in the centre of the large arm 26, described big It is opened at the top of arm there are two through-hole, bottom is provided with a through-hole, and the top through-hole placement rotary joint 18 of top position connects hip Combination 15, the through hole under resting against in place is fixedly connected with the side of hydraulic cylinder 30, and 30 other side of hydraulic cylinder is connected in shank 17 Portion, lower part are also provided with a through-hole and rotary joint 18 are disposed to connect shank 17;The hydraulic cylinder 30, arranged parallel is in thigh 16 Below main body and it is connected between thigh 16 and shank 17.
The shank 17, including spring unit 27 and shank axis 28 and vola 29,27 top of spring unit are provided with Slot, and hole is opened, through hole disposes rotary joint 18 to connect thigh 16, and lower part connects shank axis 28 and its axis coaxle, leads to A spring buffer structure is crossed to be connected with shank axis 28;The shank axis 28, top connecting spring unit 27, lower part dispose vola 29;The vola 29 is one piece of rubber material in the connection of 17 end of shank.
The side-sway joint 19, including side swing hydraulic cylinder 21, side-sway axis 20, hydraulic cylinder 30, hydraulic cylinders bearing 31 and axis Hold support 32;Wherein side swing hydraulic cylinder 21 is secured transverse in rack 1 by hydraulic cylinders bearing 31, and one end is around bearing hole center It swings, the other side is combined 15 holes around hip and swung;The side-sway axis 20, is a cylindrical, massive axis, and side-sway axis passes through zanjon Ball bearing is connect with two sides bearing spider 32;30 side of hydraulic cylinder is connected to hydraulic cylinders bearing 31, and it is big that the other side is connected to thigh In arm 26, hip combination 15 and hydraulic cylinders bearing 31 are connected by key;The bearing spider 32, is fixed by bolts in rack 1, Side-sway axis 20 is connect by deep groove ball bearing with bearing spider 32, and 32 both ends of bearing spider are equipped with transparent cover 24 and end cap 25.
The pedipulator 3 provides power when walking movement, by hydraulic cylinder 30, combines 15 Hes by being placed in hip The rotation of rotary joint 18 between thigh 16 and thigh 16 and shank 17, which drives, achievees the effect that walking, and hydraulic cylinder 30 is as dynamic The angle that the rotation of power source driving side balance staff 20 needs, hip combination 15 and hydraulic cylinders bearing 31 are connected by key same with side-sway axis 20 Step rotation, to realize the side-sway of pedipulator 3.
It is that can be fast moved under complicated unstructured landform the invention has the following beneficial effects: the present invention, completes The quadruped robot of the special duties such as jungle rescue and Material Transportation, and having can be such that end clamps in reachable tree Object transform to any pose, can satisfy the mechanical arm of the six degree of freedom of the requirement of most production processes.
Beneficial effect is described in detail below:
Firstly, the robot uses all fours type, there is shape adaptability higher, in the latent of unstructured ground flexible motion In ability.There is better kinetic stability compared with biped robot, and compares six foots, eight biped robots in structure and control algolithm Upper simple more, comprehensive performance is best, and the drop point of foot is discrete in space in motion process, can in working space Drop point is actively selected, the ability across obstacle and dell is stronger.No transverse movement constraint, may be implemented the shifting of space omnidirectional It is dynamic.Sufficient end motion and rack center of mass motion decouple, and the relatively steady of gantry motion is able to maintain when out-of-flatness landform is mobile.It can be with The barrier and recess that certain altitude was stepped with leg, the energy energy consumption needed for avoiding mass center from moving up and down.
Secondly, when the leg of robot is designed, in order to simplify the structure and control difficulty of robot, the ankle-joint of foot It is omitted, we are replaced in mechanical structure with a passive freedom degree, for alleviating impact force.In order to provide certain delay Punching and certain energy storage effect can select an appropriate spring structure to replace in the leg structure design of quadruped robot Foot, design flexibility buffer link and pass through a spring buffer structure and shank axis phase with its axis coaxle in shank position Even.By designing and choosing spring structure appropriate, robot is running or in out-of-flatness movement over ground, foot is contiguously The peak value of the impact force generated when face will greatly reduce.Meanwhile to increase the wearability and ground grip ability at robot foot bottom, Robot shank end is connected with one piece of rubber material as foot, plays certain buffer function.
Again, sixdegree-of-freedom simulation is designed, is routed using centre bore, the design of modularized joint uses centre bore The design form of wiring, servo motor, the harmonic speed reducer of selection have a biggish centre bore.In wiring, power line And controller signals line can pass through from the centre bore inside modularized joint, avoid the problem of external wiring causes, and Keep mechanical arm more beautiful.And there is standard mechanical interface, it is easily installed mechanical arm.
Finally, the kind of drive of the mechanical arm using AC servo motor, hollow harmonic speed reducer and loss protecting device, work Make reliably, it is high-efficient.Encoder can be embedded on servo motor simultaneously, compact-sized, reduce modularization pass on the whole The size of section.Harmonic speed reducer structure is simple, the small reduction ratio of size is big, transmission efficiency is high, in this way in the power of motor and revolving speed The lesser motor of torque can be selected in the case where meeting the requirements, reduces the size of motor, to reduce mould on the whole The size in block joint.When joint powers off suddenly, due to increasing loss protecting device in transmission system, joint can be made Braking rapidly, to avoid the generation of safety accident.
Detailed description of the invention:
Fig. 1 is mechanical arm Quadruped Robot general assembly drawing more than this kind.
Fig. 2 is mechanical arm Quadruped Robot sixdegree-of-freedom simulation structure chart more than this kind.
Fig. 3 is AC servo motor schematic diagram built in mechanical arm Quadruped Robot mechanical arm more than this kind.
Fig. 4 is spherical bearing structure used in AC servo motor built in mechanical arm Quadruped Robot mechanical arm more than this kind Figure.
Fig. 5 is deep groove ball bearing structure used in AC servo motor built in mechanical arm Quadruped Robot mechanical arm more than this kind Figure.
Fig. 6 is the structure chart of the harmonic speed reducer large flange of mechanical arm Quadruped Robot mechanical arm connector more than this kind.
Fig. 7 is the structure chart of the motor connecting flange of mechanical arm Quadruped Robot mechanical arm connector more than this kind.
Fig. 8 is mechanical arm Quadruped Robot pedipulator structure chart more than this kind.
Fig. 9 is mechanical arm Quadruped Robot thigh and shank structure chart more than this kind.
Figure 10 is the structure chart of mechanical arm Quadruped Robot side-sway joint hydraulic cylinder more than this kind.
Figure 11 is the structure chart of mechanical arm Quadruped Robot rotary joint more than this kind.
Figure 12 is the structure chart of mechanical arm Quadruped Robot leg end cap more than this kind.
Figure 13 is the structure chart of mechanical arm Quadruped Robot support base more than this kind.
1- mainframe in figure, 2- sixdegree-of-freedom simulation, 3- pedipulator, 4- mechanical arm mounting seat, 5- motor cover, 6- are closed Save shell, 7a- spherical bearing, 7b- deep groove ball bearing, 8- flange-interface connector, 9- motor cover end cap, 10- harmonic speed reducer Large flange, 11- motor connecting flange, the joint 12- transparent cover, 13- gripper, AC servo motor built in 14- mechanical arm, 15- hip Portion's combination, 16- leg portion, 17- lower leg portion, 18- rotary joint, 19- side-sway joint, 20- side-sway axis, 21- side swing hydraulic Cylinder, 22- rotary joint rotary shaft, 23- rotary joint support base, 24- rotary joint connection transparent cover, 25- rotary joint end cap, 26- thigh large arm, 27- shank spring unit, 28- shank axis, 29- shank vola, 30- thigh hydraulic cylinder, 31- hydraulic cylinder branch Seat, 32- bearing spider.
Specific embodiment:
The invention proposes a kind of novel more mechanical arm Quadruped Robots, walking mechanism is bionical right with mammal As in quadruped mammal, leg mainly plays a supportive role to body, and does pitching or side-sway under the driving of leg muscle Movement drives body to advance.Based on this physiological structure, when carrying out structure design to robot leg, leg structure is contained Hip, thigh, shank three between main member and hip and thigh, two rotary joints between thigh and shank, use Connecting rod replaces the bone of leg, and hydraulic cylinder replaces the muscle of leg as driving, an appropriate spring structure is selected to replace Foot can fast move under complicated unstructured landform, complete the special duties such as jungle rescue and Material Transportation.Six Degree-of-freedom manipulator uses modularized joint Design of Mechanical Structure, is by six rotary joints and different joint segments by one What fixed configuration was composed in series, each joint is all made of the transmission side that hollow servo motor drives hollow harmonic speed reducer to slow down Formula, the needs based on positioning, first three joint use rotation-pitching-pitching structure, and rear three joints are adjacent using three The parallel structure of joint shaft, centre bore wiring, has standard mechanical interface, multiple degrees of freedom, which operates in, can make end in reachable tree The object of end clamping transforms to any position.It is many technical to be solved the problems, such as in life production.
This kind of more mechanical arm Quadruped Robot, including body, manufacture, Yi Jiwei to copy four-footed mammal Body provides the hydraulic system of power, and the body includes leg structure, is made of hip, thigh and lower leg portion, host Frame, is used as carrier, connected legs and mechanical arm, and six degree of freedom modular mechanical arm, is mounted on the rack totally by two.
Wherein, the rack, rack use trapezium structure, and rectangular steel tube and angle steel welding are used as skeleton, privileged sites weldering The mode of steel plate is connect, 5 identical rectangular steel tubes, outer diameter 16mm, 1.5 mm of thickness have been used in rack.It is arbitrarily square in rack All at least two steel pipe supports upwards, before rack in after position be welded with 3 blocks of steel plates, for fixing the axis of side-sway joint Hold seat, side swing hydraulic cylinder support and mechanical arm pedestal.The mechanical arm mounting seat, shape are a hollow terrace with edge, cross section It is rectangle.Two opposite sides are provided with 4 through-holes, and sixdegree-of-freedom simulation is bolted.Bottom connecting flange is provided with 6 A through-hole, for connected with quadruped robot rack.Positioned at the center of robot, it is placed in the central platform of rack On.
The leg structure, by hip, thigh, shank three between main member and hip and thigh, thigh and shank Between two rotary joints and side-sway joint composition.
The hip, global shape are cuboid, and top has the axis hole passed through for axis, single part, and lower part hole location is led to Rotary joint connection leg portion is crossed, middle part hole location passes through the side-sway axis of side-sway joint, and top hole location is connected through a screw thread side-sway Hydraulic cylinder.The rotary joint, is divided between hip and thigh, and two between thigh and shank, structure design is identical, intermediate Two adjacent modules of axis connection are rotated using one, rotary shaft connects turn synchronous with upper module holding by type thin flat key It is dynamic, cooperated by deep groove ball bearing and next module, realizes the relative rotation of the two.One end of rotary shaft is connected with angle sensor Device, and be fixed in module by support base, transparent cover is connected between support base and angular transducer, and the other side of rotary shaft is then It is fixed by end cap.The thigh, is made of large arm and hydraulic cylinder, the large arm, and shape is irregular cuboid, intermediate Partition is opened and has, top is opened there are two through-hole, and bottom is provided with a through-hole, and the top through-hole of top position disposes rotary joint Hip is connected, the through hole under resting against in place is fixedly connected with the side of hydraulic cylinder, and the hydraulic cylinder other side is connected to inside shank, Lower part is also provided with a through-hole and rotary joint is disposed to connect shank.The hydraulic cylinder, arranged parallel below thigh main body simultaneously It is connected between thigh and shank.The shank is made of spring unit and shank axis and foot, outside the spring unit For a cuboid, top is provided with slot, and opens hole, through hole dispose rotary joint connect thigh, lower part connect shank axis with Its axis coaxle is connected by a spring buffer structure with shank axis.The shank axis, shape are one cylindrical, and top connects Spring unit is connect, lower part disposes vola.The vola is in the one piece of rubber material connected in robot shank end.It is described Side-sway joint is made of side swing hydraulic cylinder, side-sway axis, hydraulic cylinder, hydraulic cylinders bearing, bearing spider.Wherein side swing hydraulic cylinder leads to It crosses its support to be secured transverse in rack, one end is swung around bearing hole pivot, the other side around hip hole.The side-sway axis, For a cylindrical, massive axis, side-sway axis is connect by deep groove ball bearing with two sides bearing spider.The hydraulic cylinder, hydraulic cylinder branch Seat, hydraulic cylinder side are connected to hydraulic cylinders bearing, and the other side is connected in thigh large arm, and hip and hydraulic cylinders bearing are connected by key It connects.The bearing spider, is fixed by bolts in rack, and side-sway axis is connect by deep groove ball bearing with bearing spider, bearing branch Seat both ends are fitted with transparent cover or end cap.
The six degree of freedom modular mechanical arm, by modularized joint and it includes motor cover, joint housing, bearing, Interface and connector form.The modularized joint, by end cap, AC servo motor, torque sensor, type thin flat key, joint Shell, thrust ball bearing, deep groove ball bearing, sleeve, top cover, adapter flange, transparent cover, deep groove ball bearing, joint output shaft, harmonic wave Retarder, connecting flange, electromagnetic brake, motor cover composition.The motor cover, shape are a cylinder barrel shaped, and duralumin is selected to close There are a flange in golden material, inside, and a through-hole is provided among flange, position AC servo motor.There are four flange outer ring is opened The flange of servo motor, fixed motor is bolted in through-hole.Inner ring has 8 logical threaded holes and electromagnetic brake, torque Sensor is connected, and electromagnetic brake and torque sensor lead to the hole site will have 45 degree of angle.The side motor vertical of motor cover The direction of axis is equipped with the adapter flange of standard mechanical interface, and side of the motor cover far from flange is provided with 4 centainly on cover The threaded hole of depth is connect with motor cover end cap.Motor cover is also provided with 4 logical threaded holes close to the side of flange, with joint Shell is connected.The joint housing, shape are a hollow cylindrical tube, are connect with motor cover, and duralumin, hard alumin ium alloy material is selected.End face has One flange, there is 6 through-holes on flange, the steel wheel and joint housing of fixed harmonic speed reducer, and in 1 ladder of interior design Hole carries out axially position to deep groove ball bearing, is provided with threaded hole on the outer ring shell of 6 through-holes, passes through bolt and motor cover It is connected.It is also provided with threaded hole in the other end of joint housing, is connected with joint transparent cover.The connector, have axis it is rectilinear and Two kinds of modular connecting elements of axis run-in index, the rectilinear connector of axis connect the parallel modularized joint of two axis, axis Run-in index connector connects the vertical modularized joint of two axis.Finally modularized joint and connector are together in series, most Six degree of freedom modular mechanical arm is formd eventually.
The present invention will be further explained below with reference to the attached drawings.
As shown in Figure 1, in conjunction with Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, mechanical arm Quadruped Robot more than this kind, tool There is a mainframe 1, rack uses trapezium structure, use 5 identical rectangular steel tubes, outer diameter 16mm, 1.5 mm of thickness, arbitrarily All at least two steel pipe supports on direction, it is preceding in after position be welded with 3 blocks of steel plates.The main function of mainframe 1 is for solid Determine the bearing spider 32 of side-sway joint 19, side swing hydraulic cylinder support 31 and mechanical arm mounting seat 4.In addition, more mechanical arms four Legged type robot top further includes two sixdegree-of-freedom simulations 2, by the way that modularized joint and connector are together in series, most The modular mechanical arm with six degree of freedom is formd eventually, and inside is driven by AC servo motor 14, and at last certainly Gripper 13 is connected by degree.
Sixdegree-of-freedom simulation 2, as shown in Fig. 2, the sixdegree-of-freedom simulation 2 is by modularized joint, inside include: Thrust ball bearing 7a, deep groove ball bearing 7b, AC servo motor 14(torque sensor, type thin flat key, electromagnetic brake), and its The motor cover 5 and its inner output shaft that include, each joint housing 6, harmonic speed reducer large flange connector 10, motor connecting flange 11, motor cover end cap 9, the composition such as joint transparent cover 12 and gripper 13.The motor cover 5, shape is a cylinder barrel shaped, internal There is a flange 8, a through-hole is provided among flange 8, positions AC servo motor 14.8 outer ring of flange opens that there are four through-hole is logical Cross the flange 11 for being bolted servo motor.Inner ring has 8 logical threaded holes to be connected with electromagnetic brake, torque sensor, electricity Magnetic brake and torque sensor lead to the hole site will have 45 degree of angle.The direction of the side motor vertical axis of motor cover 5 is set There is the adapter flange 11 of standard mechanical interface, side of the motor cover 5 far from flange 11 is provided with 4 certain depths on cover Threaded hole is connect with motor cover end cap 9.Motor cover 5 is also provided with 4 logical threaded holes close to the side of flange 11, with each joint Shell 6 is connected.Each joint housing 6, shape are a hollow cylindrical tube, are connect with motor cover 5, there are a flange 8, method in end face There are 6 through-holes on orchid 8, connects harmonic speed reducer large flange 10, the steel wheel and each joint housing 6 of fixed harmonic speed reducer, and 1 stepped hole of interior design carries out axially position to deep groove ball bearing 7b, is provided with threaded hole on the outer ring shell of 6 through-holes, It is connected by bolt with motor cover 5.It is provided with threaded hole in the other end of each joint housing 6, is connected with joint transparent cover 12.The machine Machinery claw 13 is blocked three finger chucks of the pawl heart and is connected the connector composition in the last one the 6th joint by the gripper pawl heart, from It is mobile with the 6th joint by spending.Because having six-freedom degree, which can make workpiece clamped by end up to work Any attitude is converted into space, the design of intra-articular transmission scheme is motor-harmonic speed reducer, current popular transmission Scheme has selected harmonic speed reducer as deceleration mechanism, and AC servo motor is centrally arranged, by harmonic speed reducer directly dynamic Power is transmitted to output shaft, and motor is centrally arranged.Reduce the rotary inertia in each joint, simultaneously to obtain better kinematic accuracy.
Pedipulator 3, referring to Fig. 8, Fig. 9, Figure 10, Figure 11, the pedipulator 3 combines 15, leg portion 16, small by hip Leg section 17, rotary joint 18 and side-sway joint 19 form.The leg portion 16, by thigh large arm 26 and thigh hydraulic cylinder 30 compositions, the thigh large arm 26, shape are irregular cuboid, and partition is opened and had in centre, and top is opened there are two through-hole, Bottom is provided with a through-hole, and the top through-hole placement rotary joint 18 of top position connects hip combination 15, under resting against in place Through hole is fixedly connected with the side of hydraulic cylinder 30, and 30 other side of hydraulic cylinder is connected to inside lower leg portion 17, and lower part is also provided with one A through-hole simultaneously disposes rotary joint 18 to connect lower leg portion 17.The hydraulic cylinder 30, arranged parallel is under 16 main body of leg portion Side is simultaneously connected between leg portion 16 and lower leg portion 17.The rotary joint 18, centre are connected using a rotary shaft 22 Two adjacent modules, rotary shaft 22 is connected by type thin flat key and a upper module keeps rotating synchronously, and passes through deep groove ball bearing 7b and the cooperation of next module, realize the relative rotation of the two.One end of rotary shaft 22 is connected with angular transducer, and passes through support Seat 23 is fixed in module, and transparent cover 24 is connected between support base and angular transducer, and the other side of rotary shaft then passes through end cap 25 fix.The lower leg portion 17 is made of spring unit 27 and shank axis 28 and foot 29, outside the spring unit 27 Portion is a cuboid, and top is provided with slot, and opens hole, and through hole disposes rotary joint 18 to connect leg portion 16, and lower part connects Shank axis 28 and its axis coaxle are connect, is connected by a spring buffer structure with shank axis 28.The shank axis 28, shape are One is cylindrical, and top connecting spring unit 27, lower part disposes vola 29.The vola 29 is connected in robot shank end The one piece of rubber material connect, the side-sway joint 19, by side-sway axis 20, side swing hydraulic cylinder 21, hydraulic cylinder 30, hydraulic cylinders bearing 31, bearing spider 32 forms.The side swing hydraulic cylinder 21 is secured transverse in rack 1 by its support 31, and one end is around bearing hole Pivot, the other side are swung around hip hole.The side-sway axis 20, is a cylindrical, massive axis, and side-sway axis 20 passes through zanjon Ball bearing 7b is connect with two sides bearing spider 32.
The collocation form of knee formula after four legs have selected preceding elbow when pedipulator 3 is run, when the control motor of four legs is beaten It opens, the power of robot ambulation is provided, hydraulic servo oil cylinder driving is all made of between leg portion 16 and lower leg portion 17, it is hydraulic Cylinder driving, leg portion 16 move, while rotating mechanism 18 drives lower leg portion 17 and leg portion to carry out opposite rotation, lead to Cross the elastic buffer link 27 in 17 position of shank, robot is running or in out-of-flatness movement over ground, foot is contiguously The peak value of the impact force generated when face will greatly reduce, so that robot leg is moved.

Claims (1)

1. a kind of more mechanical arm quadruped robots, including mainframe (1), it is characterised in that: mainframe (1) is trapezoid steel pipe knot The top of structure, mainframe (1) is installed by two sixdegree-of-freedom simulations (2), four pedipulators (3) of following installation of mainframe (1); Mechanical arm mounting seat (4) are installed on position among the mainframe, on (4) two opposite sides of mechanical arm mounting seat 4 through-holes are provided with, sixdegree-of-freedom simulation (2) are bolted;
Wherein, the sixdegree-of-freedom simulation (2), including several modularized joints, the modularized joint include motor cover (5), joint housing (6), bearing, flange (8) and flange-interface, the flange-interface include harmonic speed reducer large flange (10) With motor connecting flange (11);
Wherein, flange (8) is located at the inside of motor cover (5), and centre is provided with through-hole for positioning AC servo motor (14);In electricity The fixed flange (8) with standard mechanical interface in the direction of the side motor vertical axis of hood (5), far from flange (8) side Cover is connect with motor cover end cap (9), and the side close to flange (8) is connected with joint housing (6);The joint housing (6) with Motor cover (5) connection, is connected in the other end of joint housing with joint transparent cover (12);
Connect motor cover (1) and next joint unit with connector by flange-interface, each unit install in this approach and according to Secondary series connection connects gripper (13) in last joint, forms last complete sixdegree-of-freedom simulation (2);
The pedipulator (3) i.e. leg structure, including hip combine (17) three (15), thigh (16) and shank main members; Hip combines between (15) and thigh (16), there are two rotary joint (18) and a side-sways between thigh (16) and shank (17) Joint (19);The hip combines (15), and there is the axis hole passed through for axis in top, and lower part hole location is big by rotary joint (18) connection Leg (16) part, middle part hole location pass through the side-sway axis (20) of side-sway joint (19), and top hole location is connected through a screw thread side swing hydraulic Cylinder (21);The rotary joint (18) is divided between hip combination (15) and thigh (16) between thigh (16) and shank (17) Two, centre connects two adjacent modules using rotary shaft (22), rotary shaft (22) by thin type flat key connect and on One module keeps rotating synchronously, and is cooperated by deep groove ball bearing and next module;One end of rotary shaft (22) connects angled biography Sensor, and be fixed in module by support base (23), transparent cover (24) are connected between support base (23) and angular transducer, and revolve The other side of shaft (22) then passes through end cap (25) and fixes;
The thigh (16), is made of large arm (26) and hydraulic cylinder (30);Open and have partition, institute in the centre of the large arm (26) It states and is opened at the top of large arm (26) there are two through-hole, bottom is provided with a through-hole, and the top through-hole of top position disposes rotary joint (18) connection hip combination (15), the through hole under resting against in place, are fixedly connected with the side of hydraulic cylinder (30), and hydraulic cylinder (30) is another Side is connected to shank (17) inside, and lower part is also provided with a through-hole and rotary joint (18) is disposed to connect shank (17);It is described Hydraulic cylinder (30), arranged parallel is below thigh (16) main body and is connected between thigh (16) and shank (17);
The shank (17), including spring unit (27) and shank axis (28) and vola (29), on the spring unit (27) Portion is provided with slot, and opens hole, and through hole disposes rotary joint (18) connection thigh (16), and lower part connects shank axis (28) and its Axis coaxle is connected by a spring buffer structure with shank axis (28);The shank axis (28), top connecting spring unit (27), lower part placement vola (29);The vola (29) is one piece of rubber material in the connection of shank (17) end;
The side-sway joint (19), including side swing hydraulic cylinder (21), side-sway axis (20), hydraulic cylinder (30), hydraulic cylinders bearing (31) And bearing spider (32);Wherein side swing hydraulic cylinder (21) are secured transverse on rack (1), one by hydraulic cylinders bearing (31) End is swung around bearing hole pivot, the other side around hip combination (15) hole;The side-sway axis (20) is a cylindrical, massive Axis, side-sway axis are connect by deep groove ball bearing with two sides bearing spider (32);Hydraulic cylinder (30) side is connected to hydraulic cylinders bearing (31), the other side is connected in thigh large arm (26), and hip combination (15) and hydraulic cylinders bearing (31) are connected by key;The axis Support (32) are held, are fixed by bolts on rack (1), side-sway axis (20) is connect by deep groove ball bearing with bearing spider (32), Bearing spider (32) both ends are equipped with transparent cover (24) and end cap (25);
The pedipulator (3) provides power when walking movement, by hydraulic cylinder (30), by being placed in hip combination (15) Rotary joint (18) rotation between thigh (16) and thigh (16) and shank (17), which drives, achievees the effect that walking, hydraulic The angle that cylinder (30) is needed as power source drive side-sway axis (20) rotation, hip combination (15) and hydraulic cylinders bearing (31) pass through Key connection and side-sway axis (20) rotate synchronously, to realize the side-sway of pedipulator (3).
CN201811192788.5A 2018-10-13 2018-10-13 More mechanical arm quadruped robots Withdrawn CN109176455A (en)

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* Cited by examiner, † Cited by third party
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CN112937720A (en) * 2021-02-05 2021-06-11 重庆工程职业技术学院 Walking robot
CN112937720B (en) * 2021-02-05 2021-09-28 重庆工程职业技术学院 Walking robot

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CN102672701A (en) * 2012-04-27 2012-09-19 华东交通大学 Master-slave robot for high obstacle crossing and accurate bomb disposal and explosion elimination
CN103921267A (en) * 2014-03-18 2014-07-16 上海交通大学 All-directional movable manipulator with four feet
CN204893954U (en) * 2015-06-26 2015-12-23 天津市福臻机电工程有限公司 Mechanical arm device of flexible die massing multiaxis linkage
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CN112937720A (en) * 2021-02-05 2021-06-11 重庆工程职业技术学院 Walking robot
CN112937720B (en) * 2021-02-05 2021-09-28 重庆工程职业技术学院 Walking robot

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Application publication date: 20190111