CN109436125A - A kind of quadruped robot of ten two degrees of freedom - Google Patents
A kind of quadruped robot of ten two degrees of freedom Download PDFInfo
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- CN109436125A CN109436125A CN201910020090.3A CN201910020090A CN109436125A CN 109436125 A CN109436125 A CN 109436125A CN 201910020090 A CN201910020090 A CN 201910020090A CN 109436125 A CN109436125 A CN 109436125A
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- 210000002414 leg Anatomy 0.000 claims abstract description 133
- 230000007246 mechanism Effects 0.000 claims abstract description 75
- 210000004394 hip joint Anatomy 0.000 claims abstract description 14
- 239000003638 chemical reducing agent Substances 0.000 claims description 34
- 239000011664 nicotinic acid Substances 0.000 claims description 11
- 210000000003 hoof Anatomy 0.000 claims description 10
- 239000011248 coating agent Substances 0.000 claims description 3
- 238000000576 coating method Methods 0.000 claims description 3
- 230000035939 shock Effects 0.000 claims description 3
- 238000010521 absorption reaction Methods 0.000 claims description 2
- 210000001624 hip Anatomy 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 46
- 230000014759 maintenance of location Effects 0.000 abstract description 2
- 210000001364 upper extremity Anatomy 0.000 description 13
- 238000000034 method Methods 0.000 description 9
- 230000005021 gait Effects 0.000 description 7
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 210000000689 upper leg Anatomy 0.000 description 4
- 244000309466 calf Species 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 210000003127 knee Anatomy 0.000 description 3
- 210000001015 abdomen Anatomy 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000009191 jumping Effects 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 239000002356 single layer Substances 0.000 description 2
- 238000009333 weeding Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 244000025254 Cannabis sativa Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
本发明公开一种十二自由度的四足机器人，属于工业机器人技术领域。该机器人包括四个结构相同的机器人腿、平板机身及直流电源，四个结构相同的机器人腿均布在平板机身的四周，机器人腿包括腿部伸缩机构、髋关节机构及腿部摆动机构；腿部摆动机构固连于髋关节机构末端，腿部伸缩机构为本四足机器人提供用于直线运动的移动自由度，髋关节机构为本四足机器人提供侧倾控制以及姿态保持的转动自由度，腿部摆动机构为本四足机器人提供用于抬腿，放腿的转动自由度。本发明采用单腿具有两转动一移动自由度替代传统四足机器人单腿三转动自由度的技术方案，解决了传统四足机器人速度慢，效率低以及难以精准控制的问题，并且本机器人腿部结构简单，更能够适应于草地、丛林等植被覆盖的复杂地形。The invention discloses a four-legged four-legged robot, belonging to the technical field of industrial robots. The robot comprises four robot legs with the same structure, a flat body and a DC power supply. Four robot legs with the same structure are arranged around the flat body. The robot legs include a leg extension mechanism, a hip joint mechanism and a leg swing mechanism. The leg swing mechanism is fixed to the end of the hip joint mechanism, and the leg telescopic mechanism provides the four-legged robot with freedom of movement for linear motion, and the hip joint mechanism provides roll control for the quadruped robot and freedom of rotation for posture retention. Degree, the leg swing mechanism provides the quadruped robot with the freedom of rotation for lifting the leg and releasing the leg. The invention adopts the technical solution that the single leg has two rotations and one movement degree of freedom to replace the one-leg three-rotation degree of the traditional four-legged robot, and solves the problem that the traditional four-footed robot has the advantages of slow speed, low efficiency and difficulty in precise control, and the robot leg The structure is simple, and it is more suitable for complex terrain covered by vegetation such as grassland and jungle.
Description
技术领域：Technical field:
本发明属于工业机器人技术领域，具体涉及一种十二自由度的四足机器人。The invention belongs to the technical field of industrial robots, and in particular relates to a four-legged robot with twelve degrees of freedom.
背景技术：Background technique:
传统移动机器人主要包括履带式移动机器人、轮式移动机器人，相对上述两种机器人，足式机器人能更好适应于外部环境，可在不规则和较为复杂的地面行进，并具备一定越障能力。Traditional mobile robots mainly include crawler-type mobile robots and wheeled mobile robots. Compared with the above two types of robots, the foot-type robots can better adapt to the external environment, can travel on irregular and more complex grounds, and have certain obstacle-blocking capabilities.
传统四足机器人腿部往往采用肘式或膝式设计，并常搭载电动缸或其他驱动元件，虽可实现预期运动但其腿部机构往往较为复杂，容易被地面杂物附着和缠绕，甚至出现被绊倒的情况。故当前在民用方面，四足机器人在草地等植被覆盖场所的适用性不佳，在军用方面，对于丛林等场合也缺乏适配性。与此同时，传统四足机器人前进运动完全依靠腿部摆动，从功耗角度而言效率较低。本发明对上述两问题进行了结构性的优化，将传统四足机器人单腿三转动自由度的技术方案改为单腿具有两转动自由度和一移动自由度，保证该四足机器人单腿腿部活动区域相较于传统四足机器人相同甚至更大的的同时，能实现腿部结构的简化，效率的提升以及重心一定程度的降低。The legs of traditional four-legged robots are often designed with elbow or knees, and are often equipped with electric cylinders or other driving components. Although the expected movement can be achieved, the leg mechanism is often complicated, and it is easy to be attached and entangled by ground debris. The situation of being tripped. Therefore, in civilian use, the quadruped robot has poor applicability in vegetation covering places such as grassland, and in military applications, it lacks adaptability to occasions such as jungle. At the same time, the forward movement of the traditional quadruped robot relies entirely on leg swings, which is less efficient from a power consumption perspective. The invention optimizes the above two problems structurally, and changes the technical scheme of the single-legged three-rotation degree of freedom of the traditional four-legged robot to two legs with two degrees of rotational freedom and one degree of freedom to ensure the one-legged leg of the four-legged robot. Compared with the traditional quadruped robot, the active area can achieve the simplification of the leg structure, the improvement of the efficiency and the certain reduction of the center of gravity.
发明内容：Summary of the invention:
本发明针对现有四足机器人的技术不足，提供一种腿部结构更简单，效率更高，稳定性更佳的十二自由度的四足机器人，该四足机器人可用于山地，沙漠，泥泞地带以及植被覆盖区域。本发明使用腿部伸缩机构提供直线运动的移动自由度，使用髋关节机构提供侧倾控制以及姿态保持的转动自由度，使用腿部摆动机构提供抬腿，放腿的转动自由度。三者组合，可以实现四足机器人前进、后退、转弯及跳跃的运动期望。The invention aims at a technical problem of the existing four-legged robot, and provides a four-legged four-legged robot with simple leg structure, higher efficiency and better stability. The four-legged robot can be used for mountain, desert and muddy. Strip and vegetation cover. The invention uses the leg telescopic mechanism to provide the freedom of movement of the linear motion, the hip joint mechanism to provide the roll control and the rotational freedom of the posture maintaining, and the leg swinging mechanism to provide the lifting leg and the rotational freedom of the leg. The combination of the three can realize the movement expectation of the quadruped robot to advance, retreat, turn and jump.
本发明提供的一种十二自由度的四足机器人包括四个结构相同的机器人腿、平板机身1及直流电源5，所述四个结构相同的机器人腿均布在所述平板机身1的四周，所述直流电源5设置在所述平板机身1的后部，所述机器人腿包括腿部伸缩机构2、髋关节机构3及腿部摆动机构4。The twelve-degree-of-freedom four-legged robot provided by the present invention comprises four robot legs of the same structure, a flat body 1 and a DC power supply 5, and the four structurally identical robot legs are evenly distributed on the flat body 1 The DC power source 5 is disposed at the rear of the flat panel body 1, and the robot leg includes a leg extension mechanism 2, a hip joint mechanism 3, and a leg swing mechanism 4.
所述腿部伸缩机构2包括辅助安装板7、第一驱动电机8、丝杠螺母9、连接杆件10、连接轴承11、丝杠固定法兰12、丝杠固定轴承13、花键轴14及花键轴末端法兰15，所述辅助安装板7固连在所述平板机身1上，所述第一驱动电机8固连在所述辅助安装板7上，所述丝杠螺母9套接所述第一驱动电机8的丝杠并保持活动连接，所述丝杠固定法兰12安装在所述平板机身1上，所述丝杠固定轴承13安装在所述丝杠固定法兰12上，所述丝杠固定轴承13两侧设置卡簧以轴向固定，所述丝杠固定轴承13套接所述第一驱动电机8的丝杠末端，所述连接杆件10的一端套接所述丝杠螺母9，并使用螺钉将所述连接杆件10与所述丝杠螺母9固连，所述连接杆件10的另一端套接所述连接轴承11，所述连接轴承11两侧设置卡簧以轴向固定，所述连接轴承11套接所述花键轴14中部并保持固连，所述花键轴末端法兰15套接所述花键轴14末端并保持固连。The leg telescopic mechanism 2 includes an auxiliary mounting plate 7, a first driving motor 8, a screw nut 9, a connecting rod 10, a connecting bearing 11, a screw fixing flange 12, a screw fixing bearing 13, and a spline shaft 14. And a spline shaft end flange 15, the auxiliary mounting plate 7 is fixedly connected to the flat body 1, the first driving motor 8 is fixedly connected to the auxiliary mounting plate 7, and the lead screw nut 9 Threading the lead screw of the first driving motor 8 and maintaining the movable connection, the screw fixing flange 12 is mounted on the flat body 1, and the screw fixing bearing 13 is mounted on the screw fixing method On the flange 12, a retaining spring 13 is disposed on both sides of the lead screw fixing bearing 13 for axial fixing, and the lead screw fixed bearing 13 is sleeved to the end of the lead screw of the first driving motor 8, and one end of the connecting rod member 10 The lead screw nut 9 is sleeved, and the connecting rod member 10 is fixedly connected to the lead screw nut 9 by a screw, and the other end of the connecting rod member 10 is sleeved with the connecting bearing 11, the connecting bearing 11 is disposed on both sides of the circlip to be axially fixed, and the connecting bearing 11 is sleeved in the middle of the spline shaft 14 and remains fixed, the spline shaft Sleeved end flanges 15 of the spline shaft 14 and held fixedly connected end.
所述髋关节机构3包括第二驱动电机16、第一减速器17、第一同步带轮18、第二同步带轮19、同步带20、花键副安装法兰21及花键副22，所述第二驱动电机16固连在所述辅助安装板7上，所述第一减速器17固连于所述辅助安装板7并轴向平行于所述第二驱动电机16，所述第一同步带轮18通过键与所述第二驱动电机16的输出轴连接，所述第二同步带轮19固连于所述第一减速器17输入端，所述同步带20的一端套接所述第一同步带轮18，所述同步带20的另一端套接所述第二同步带轮19，所述花键副安装法兰21固连于所述第一减速器17输出端，所述花键副安装法兰21套接所述花键副22并使用螺钉固连，所述花键副22套接所述花键轴14并保持活动连接。The hip joint mechanism 3 includes a second drive motor 16, a first reducer 17, a first timing pulley 18, a second timing pulley 19, a timing belt 20, a splined mounting flange 21, and a spline pair 22, The second driving motor 16 is fixedly connected to the auxiliary mounting plate 7, and the first speed reducer 17 is fixed to the auxiliary mounting plate 7 and axially parallel to the second driving motor 16, the first A timing pulley 18 is connected to the output shaft of the second driving motor 16 by a key, and the second timing pulley 19 is fixedly connected to the input end of the first speed reducer 17, and one end of the timing belt 20 is sleeved. The first timing pulley 18, the other end of the timing belt 20 is sleeved with the second timing pulley 19, and the splined sub-mounting flange 21 is fixed to the output end of the first speed reducer 17, The splined sub-mounting flange 21 sleeves the spline pair 22 and is fixed by screws, and the spline pair 22 sleeves the spline shaft 14 and maintains an active connection.
所述腿部摆动机构4包括腿部摆动机构连接法兰23、第三驱动电机安装法兰24、第三驱动电机25、第二减速器26、腿部摆动机构主体27、仿生蹄28及减震脚垫29，所述腿部摆动机构连接法兰23固连于所述花键轴末端法兰15并且保持两者同心，所述第三驱动电机安装法兰24固连于所述腿部摆动机构连接法兰23并且两者相互垂直，所述第三驱动电机25安装于所述第三驱动电机安装法兰24内侧，所述第二减速器26安装于所述第三驱动电机安装法兰24外侧，所述第三驱动电机25通过键与所述第二减速器26相连，所述腿部摆动机构主体27安装于所述第二减速器26输出端，所述仿生蹄28顶部固连于所述腿部摆动机构主体27末端平面，所述减震脚垫29固连于所述仿生蹄28底部。The leg swinging mechanism 4 includes a leg swinging mechanism connecting flange 23, a third driving motor mounting flange 24, a third driving motor 25, a second speed reducer 26, a leg swinging mechanism body 27, a bionic hoof 28 and a reduction a shock pad 29, the leg swinging mechanism connecting flange 23 is fixed to the spline shaft end flange 15 and keeps the two concentric, and the third driving motor mounting flange 24 is fixed to the leg The swinging mechanism is connected to the flange 23 and is perpendicular to each other, the third driving motor 25 is mounted inside the third driving motor mounting flange 24, and the second speed reducer 26 is mounted to the third driving motor mounting method On the outer side of the blue 24, the third drive motor 25 is connected to the second reducer 26 by a key, and the leg swing mechanism main body 27 is mounted on the output end of the second reducer 26, and the top of the bionic hoof 28 is fixed. Attached to the end plane of the leg swinging mechanism body 27, the shock-absorbing foot pad 29 is fixed to the bottom of the bionic hoof 28.
所述第一驱动电机8为步进丝杠电机，所述第二驱动电机16及所述第三驱动电机25为步进电机，所述第一减速器17及所述第二减速器26为谐波减速器，所述连接轴承11为深沟球轴承，所述丝杠固定轴承13为圆柱滚子轴承。The first driving motor 8 is a stepping screw motor, the second driving motor 16 and the third driving motor 25 are stepping motors, and the first speed reducer 17 and the second speed reducer 26 are The harmonic reducer, the connecting bearing 11 is a deep groove ball bearing, and the lead screw fixed bearing 13 is a cylindrical roller bearing.
考虑到该四足机器人使用环境较为恶劣(草地，丛林湿度过高)，并且要求该四足机器人具有一定涉水功能，所述平板机身1、所述腿部伸缩机构2、所述髋关节机构3、所述腿部摆动机构4及所述直流电源5的表面设有防水涂层6。Considering that the quadruped robot uses a harsh environment (grass, the jungle humidity is too high), and requires the quadruped robot to have a certain wading function, the flat body 1, the leg telescopic mechanism 2, the hip joint The surface of the mechanism 3, the leg swinging mechanism 4, and the DC power source 5 is provided with a waterproof coating 6.
所述平板机身为本四足机器人的搭载平台，各零部件固连于机身上部。由于平板机身较比传统柱形机身或管状机身具有更大的使用面积，故该方案拥有实现零部件单层排布的最大可能性。平板机身采用铝合金材质并合理打出通孔，在降低平板机身质量的同时，可以将通孔作为各种外挂设备的固定锚点以增加本四足机器人的实用性。The flat body is a mounting platform for the quadruped robot, and the components are fixed to the upper part of the fuselage. Since the flat panel has a larger area of use than a conventional cylindrical or tubular body, the solution has the greatest possibility of achieving a single layer arrangement of components. The flat body is made of aluminum alloy and the through hole is reasonably punched. While reducing the quality of the flat body, the through hole can be used as a fixed anchor point for various external devices to increase the practicality of the quadruped robot.
本发明使用腿部转动配合腿部直动的方法替代传统四足机器人分别转动大腿和小腿的行进方式，得益于该运动方式，该四足机器人采用一体式腿部结构取代传统大腿小腿分体式腿部结构。The invention uses the method of leg rotation to cooperate with the straight movement of the leg to replace the traditional four-legged robot to rotate the thigh and the calf respectively, and the four-legged robot adopts the integrated leg structure to replace the traditional thigh and the calf split type. Leg structure.
本发明具有如下技术特点：The invention has the following technical features:
1、该四足机器人行进主要依靠腿部伸缩机构直线运动，相对于传统四足机器人依靠腿部摆动获得直线运动的前进方式，从功耗角度而言效率更高，在实际验证过程中，运动速度也更快。得益于腿部伸缩机构直线运动距离并非为一定值，故可以根据实际需要确定每步步长，从而实现更精准的运动控制。1. The four-legged robot travels mainly by linear motion of the leg telescopic mechanism, which is more efficient than the traditional quadruped robot by relying on the leg swing to obtain a linear motion. In terms of power consumption, the efficiency is higher. The speed is also faster. Thanks to the linear movement distance of the leg telescopic mechanism is not a certain value, it is possible to determine the step size per step according to actual needs, thereby achieving more precise motion control.
2、该四足机器人一体式腿部结构相比传统四足机器人大腿小腿分体式腿部结构更为简单，体积更为紧凑。从而可实现重心更低，稳定性更高，腿部运动惯性更小，并且不容易被地面杂物所附着和缠绕，使得该四足机器人对于植被覆盖区域的适应性更强。2. The four-legged robot integrated leg structure is simpler and more compact than the traditional four-legged robot thigh and calf split leg structure. Thereby, the center of gravity can be lower, the stability is higher, the inertia of the leg movement is smaller, and it is not easy to be attached and entangled by the ground debris, so that the quadruped robot is more adaptable to the vegetation coverage area.
3、该四足机器人腿部摆动主体结构简单并且未搭载主要元器件，可定制多个尺寸的腿部摆动主体以适应不同使用场景，如作为检测，侦查机器人时使用小尺寸腿部摆动主体以增加稳定性，作为工具型机器人时使用大尺寸腿部摆动主体为腹部所搭载的外挂式设备提供空间，如在腹部搭载除草机可作为除草机器人使用。3. The swinging body of the quadruped robot has a simple structure and is not equipped with main components, and can be customized with a plurality of sizes of leg swinging bodies to adapt to different use scenarios. For example, as a detection, a small-sized leg swinging body is used for detecting a robot. Increased stability, as a tool-type robot, the large-sized leg swinging body provides space for the external device mounted on the abdomen. For example, a weeding machine can be used as a weeding robot in the abdomen.
4、本四足机器人的所有零部件单层排布于平板机身上部，可提高后期检修和维护的便利性，并且能够降低二次硬件开发难度，有利于本发明成为一种实验平台。4. All the parts of the quadruped robot are arranged in a single layer on the upper part of the flat body, which can improve the convenience of later maintenance and maintenance, and can reduce the difficulty of secondary hardware development, and is beneficial to the invention to become an experimental platform.
附图说明：BRIEF DESCRIPTION OF THE DRAWINGS:
图1为本发明四足机器人的结构示意图；1 is a schematic structural view of a quadruped robot of the present invention;
图2为本发明四足机器人的腿部伸缩机构结构示意图；2 is a schematic structural view of a leg telescopic mechanism of a quadruped robot of the present invention;
图3为本发明四足机器人中的髋关节机构结构示意图；3 is a schematic structural view of a hip joint mechanism in a quadruped robot of the present invention;
图4为本发明四足机器人中的腿部摆动机构结构示意图；4 is a schematic structural view of a leg swinging mechanism in a quadruped robot of the present invention;
图5(a)为现有四足机器人中的四足肘式机器人结构示意图；Figure 5 (a) is a schematic structural view of a four-legged elbow robot in the existing four-legged robot;
图5(b)为现有四足机器人中的四足膝式机器人结构示意图；Figure 5 (b) is a schematic structural view of a four-legged knee robot in the existing four-legged robot;
图6(a)为本发明四足机器人腿部站立状态示意图；Figure 6 (a) is a schematic view showing the standing state of the legs of the quadruped robot of the present invention;
图6(b)为本发明四足机器人迈腿状态示意图；6(b) is a schematic view showing the state of the leg of the quadruped robot of the present invention;
图6(c)为本发明四足机器人伸腿状态示意图；Figure 6 (c) is a schematic view showing the state of the legs of the quadruped robot of the present invention;
图6(d)为本发明四足机器人收腿状态示意图。Fig. 6(d) is a schematic view showing the state of the leg of the quadruped robot of the present invention.
图中：1：平板机身；2：腿部伸缩机构；3：髋关节机构；4：腿部摆动机构；5：直流电源；6：防水涂料；7：辅助安装板；8：第一驱动电机；9：丝杠螺母；10：连接杆件；11：连接轴承；12：丝杠固定法兰；13：丝杠固定轴承；14：花键轴；15：花键轴末端法兰；16：第二驱动电机；17：第一减速器；18：第一同步带轮；19：第二同步带轮；20：同步带；21：花键副安装法兰；22：花键副；23：腿部摆动机构连接法兰；24：第三驱动电机安装法兰；25：第三驱动电机；26：第二减速器；27：腿部摆动机构主体；28：仿生蹄；29：减震脚垫；30：右前腿；31：左前腿；32：左后腿；33：右后腿；34：柱形机身；35：腿部连接板；36：管形机身；37；膝式腿部大腿；38：膝式腿部小腿。In the figure: 1: flat body; 2: leg telescopic mechanism; 3: hip joint mechanism; 4: leg swing mechanism; 5: DC power supply; 6: waterproof coating; 7: auxiliary mounting plate; 8: first drive Motor; 9: lead screw nut; 10: connecting rod; 11: connecting bearing; 12: screw fixing flange; 13: screw fixed bearing; 14: spline shaft; 15: spline shaft end flange; : second drive motor; 17: first reducer; 18: first timing pulley; 19: second timing pulley; 20: timing belt; 21: splined mounting flange; 22: splined pair; : leg swing mechanism connection flange; 24: third drive motor mounting flange; 25: third drive motor; 26: second reducer; 27: leg swing mechanism body; 28: bionic hoof; 29: shock absorption Foot pad; 30: right front leg; 31: left front leg; 32: left rear leg; 33: right rear leg; 34: cylindrical body; 35: leg connecting plate; 36: tubular body; 37; knee type Leg thighs; 38: knee-leg legs.
具体实施方式：Detailed ways:
为更清楚阐述本发明，下面结合附图对本发明做进一步说明。In order to explain the present invention more clearly, the present invention will be further described with reference to the accompanying drawings.
如图1所示：本发明提供的一种十二自由度的四足机器人包括四个结构相同的机器人腿、平板机身1及直流电源5，所述四个结构相同的机器人腿均布在所述平板机身1的四周，所述直流电源5设置在所述平板机身1的后部，所述机器人腿包括腿部伸缩机构2、髋关节机构3及腿部摆动机构4。As shown in FIG. 1 , a twelve-degree-of-freedom four-legged robot provided by the present invention includes four robot legs of the same structure, a flat body 1 and a DC power source 5, and the four robot legs of the same structure are evenly distributed. Around the flat body 1, the DC power source 5 is disposed at a rear portion of the tablet body 1, and the robot leg includes a leg extension mechanism 2, a hip joint mechanism 3, and a leg swing mechanism 4.
如图1，图2所示，所述腿部伸缩机构2包括辅助安装板7、第一驱动电机8、丝杠螺母9、连接杆件10、连接轴承11、丝杠固定法兰12、丝杠固定轴承13、花键轴14及花键轴末端法兰15；所述辅助安装板7以左右对称，前后非对称的方式固连于所述平板机身1四角位置处；所述第一驱动电机8固连在所述辅助安装板7上；所述丝杠螺母9套接所述第一驱动电机8的丝杠并保持活动连接，所述丝杠固定法兰12安装在所述平板机身1上，所述丝杠固定轴承13安装在所述丝杠固定法兰12上，所述丝杠固定轴承13两侧设置卡簧以轴向固定，所述丝杠固定轴承13套接所述第一驱动电机8的丝杠末端，所述连接杆件10的一端套接所述丝杠螺母9，并使用螺钉将所述连接杆件10与所述丝杠螺母9固连，所述连接杆件10的另一端套接所述连接轴承11，所述连接轴承11两侧设置卡簧以轴向固定，所述连接轴承11套接所述花键轴14中部并保持固连，所述花键轴末端法兰15套接所述花键轴14末端并保持固连。所述第一驱动电机8驱动所述丝杠螺母9产生直线运动，所述丝杠螺母9通过所述连接杆件10以及所述花键轴14带动所述腿部摆动主体27沿丝杠直线运动，从而实现所述四足机器人腿部伸缩运动。As shown in FIG. 1 and FIG. 2, the leg telescopic mechanism 2 includes an auxiliary mounting plate 7, a first driving motor 8, a screw nut 9, a connecting rod 10, a connecting bearing 11, a screw fixing flange 12, and a wire. a bar fixed bearing 13, a spline shaft 14 and a spline shaft end flange 15; the auxiliary mounting plate 7 is fixed to the four corners of the flat body 1 in a bilaterally symmetrical manner, a front-back asymmetric manner; a driving motor 8 is fixedly attached to the auxiliary mounting plate 7; the lead screw nut 9 is sleeved to the lead screw of the first driving motor 8 and is kept in a movable connection, and the lead screw fixing flange 12 is mounted on the flat plate The lead screw fixing bearing 13 is mounted on the lead screw fixing flange 12, and the yoke fixing bearing 13 is provided with a circlip on both sides thereof to be axially fixed, and the lead screw fixed bearing 13 is sleeved. One end of the connecting rod member 10 of the first driving motor 8 is sleeved with the lead screw nut 9, and the connecting rod member 10 is fixedly connected with the lead screw nut 9 by using a screw. The other end of the connecting rod 10 is sleeved with the connecting bearing 11 , and the connecting bearing 11 is provided with a retaining spring on both sides thereof for axial fixing. Bearing socket contact 11 of the spline shaft 14 and held fixedly connected to the middle of the spline shaft end flange 15 of the socket end of the spline shaft 14 and held fixedly connected. The first driving motor 8 drives the spindle nut 9 to generate a linear motion, and the spindle nut 9 drives the leg swinging body 27 along the straight line of the screw through the connecting rod member 10 and the spline shaft 14 Movement, thereby realizing the telescopic movement of the leg of the quadruped robot.
如图1，图3所示，所述髋关节机构3包括第二驱动电机16、第一减速器17、第一同步带轮18、第二同步带轮19、同步带20、花键副安装法兰21及花键副22，所述第二驱动电机16固连在所述辅助安装板7上，所述第一减速器17固连于所述辅助安装板7并轴向平行于所述第二驱动电机16，所述第一同步带轮18通过键与所述第二驱动电机16的输出轴连接，所述第二同步带轮19固连于所述第一减速器17输入端，所述同步带20的一端套接所述第一同步带轮18，所述同步带20的另一端套接所述第二同步带轮19，所述花键副安装法兰21固连于所述第一减速器17输出端，所述花键副安装法兰21套接所述花键副22并使用螺钉固连，所述花键副22套接所述花键轴14并保持活动连接。所述第二驱动电机16驱动所述第一同步带轮18，经所述同步带20将动力传递至第二同步带轮19，通过所述第一减速器17减速增扭将动力传递至所述花键轴14，最终由所述花键轴末端法兰15将动力作用于所述腿部摆动机构4，由此实现所述四足机器人的侧倾控制以及姿态保持。As shown in FIG. 1 and FIG. 3, the hip joint mechanism 3 includes a second drive motor 16, a first reducer 17, a first timing pulley 18, a second timing pulley 19, a timing belt 20, and a spline pair installation. a flange 21 and a spline pair 22, the second drive motor 16 is fixed to the auxiliary mounting plate 7, the first reducer 17 is fixed to the auxiliary mounting plate 7 and axially parallel to the a second driving motor 16, the first timing pulley 18 is connected to the output shaft of the second driving motor 16 by a key, and the second timing pulley 19 is fixed to the input end of the first speed reducer 17, One end of the timing belt 20 is sleeved with the first timing pulley 18, and the other end of the timing belt 20 is sleeved with the second timing pulley 19, and the splined sub-mounting flange 21 is fixedly attached thereto. The output end of the first reducer 17 is sleeved and the splined pair 22 is sleeved and fixed by screws. The spline pair 22 sleeves the spline shaft 14 and maintains an active connection. . The second drive motor 16 drives the first timing pulley 18 to transmit power to the second timing pulley 19 via the timing belt 20, and the first speed reducer 17 is decelerated and twisted to transmit power to the The spline shaft 14 is finally actuated by the spline shaft end flange 15 to the leg swinging mechanism 4, thereby achieving roll control and posture retention of the quadruped robot.
如图1，图4所示，所述腿部摆动机构4包括腿部摆动机构连接法兰23、第三驱动电机安装法兰24、第三驱动电机25、第二减速器26、腿部摆动机构主体27、仿生蹄28及减震脚垫29，所述腿部摆动机构连接法兰23固连于所述花键轴末端法兰15并且保持两者同心，所述第三驱动电机安装法兰24固连于所述腿部摆动机构连接法兰23并且两者相互垂直，所述第三驱动电机25安装于所述第三驱动电机安装法兰24内侧，所述第二减速器26安装于所述第三驱动电机安装法兰24外侧，所述第三驱动电机25通过键与所述第二减速器26相连，所述腿部摆动机构主体27安装于所述第二减速器26输出端，所述仿生蹄28顶部固连于所述腿部摆动机构主体27末端平面，所述减震脚垫29固连于所述仿生蹄28底部。所述第三驱动电机25经所述第二减速器26驱动腿部摆动机构主体27转动即实现所述四足机器人摆腿运动。As shown in FIG. 1 and FIG. 4, the leg swinging mechanism 4 includes a leg swinging mechanism connecting flange 23, a third driving motor mounting flange 24, a third driving motor 25, a second speed reducer 26, and a leg swing. The main body 27, the bionic hoof 28 and the damper foot pad 29, the leg oscillating mechanism connecting flange 23 is fixed to the spline shaft end flange 15 and keeps the two concentric, the third driving motor mounting method The flange 24 is fixed to the leg swinging mechanism connecting flange 23 and the two are perpendicular to each other, the third driving motor 25 is mounted inside the third driving motor mounting flange 24, and the second speed reducer 26 is mounted Outside the third drive motor mounting flange 24, the third drive motor 25 is coupled to the second reducer 26 by a key, and the leg swing mechanism body 27 is mounted to the second reducer 26 output. The top of the bionic hoof 28 is fixed to the end plane of the leg oscillating mechanism main body 27, and the damper foot pad 29 is fixed to the bottom of the bionic hoof 28. The third driving motor 25 drives the leg swinging mechanism main body 27 to rotate by the second speed reducer 26 to realize the four-legged robot swinging leg motion.
图1，图5对比可见，本发明极大简化了现有四足机器人腿部摆动机构，一体式腿部结构相比传统大腿小腿分体式结构更为简洁和紧凑，该结构在降低四足机器人重心，提高稳定性的同时，可减小腿部惯性。1 and FIG. 5, the present invention greatly simplifies the swinging mechanism of the existing four-legged robot leg. The integrated leg structure is simpler and more compact than the traditional thigh-leg split structure, and the structure reduces the quadruped robot. The center of gravity can improve the stability of the leg while reducing the inertia of the leg.
本四足机器人定位为仿生机器人，参考常规四足动物的站立姿态，本四足机器人默认站立姿态为四足垂直地面，此时四腿腿部状态如图6(a)所示(d2为步长，L为腿部长度)。The quadruped robot is positioned as a bionic robot. Referring to the standing posture of the conventional quadruped, the four-legged robot defaults to a four-legged vertical ground, and the four-legged leg state is as shown in Fig. 6(a) (d2 is a step). Long, L is the length of the leg).
图6(a)、图6(b)、图6(c)、图6(d)依次展示了本四足机器人前进过程中腿部的状态。本四足机器人常规行进采用两足步态，行进过程如下:右前腿和左后腿保持站立姿态，左前腿和右后腿的所述第三驱动电机25经运动控制驱动所述腿部摆动机构主体27转动角度θ3，该时间段记作t1，此时左前腿和右后腿腿部状态如图6(b)所示。与此同时，左前腿和右后腿的所述第一驱动电机8经运动控制驱动所述丝杠螺母副9带动所述腿部摆动机构主体27实现预期直线运动，该时间段记作t2，此时腿部状态如图6(c)所示。随即左前腿和右后腿的所述第三驱动电机25经运动控制驱动所述腿部摆动机构主体27转动角度-θ3，该时间段记作t3，此时腿部状态如图6(d)所示。经t1t3两阶段运动，所述腿部摆动机构主体27实现迈腿与收腿循环，回归与地面垂直站立姿态，经t2阶段运动，所述腿部摆动机构主体27产生距离为d2的直线运动，但该阶段机身并未移动，而是仅改变腿部与机身相对位置。为提高运动速度，t1，t2，t3段运动并非交替进行，而是t1，t3阶段运动交替进行，t2阶段运动迅速开始于t1阶段运动之后，并且t1+t3略大于t2，上述过程称为第一运动步态。相应地，右前腿和左后腿协同运动称为第二运动步态，在第二运动步态发生过程中，左前腿和右后腿第一驱动电机8经运动控制产生相较于第一运动步态时的反向旋转，此时四足机器人机身实现前进，运动距离为d2，左前腿和右后腿的所述腿部摆动机构主体27相对机身的距离回归初始值,此时状态如图6(a)所示。两种运动步态交替即为一个完整运动周期，并由此实现该四足机器人前进运动。6(a), 6(b), 6(c), and 6(d) sequentially show the state of the leg during the progress of the quadruped robot. The quadruped robot conventionally adopts a two-legged gait, and the traveling process is as follows: the right front leg and the left rear leg maintain the standing posture, and the third driving motor 25 of the left front leg and the right rear leg drives the leg swinging mechanism via motion control The main body 27 is rotated by an angle θ 3 , which is denoted by t 1 , and the left front leg and the right rear leg leg state are as shown in Fig. 6(b). At the same time, the first driving motor 8 of the left front leg and the right rear leg drives the spindle nut pair 9 to control the linear motion of the leg swinging mechanism main body 27 by motion control, and the time period is denoted as t 2 At this time, the leg state is as shown in Fig. 6(c). Then, the third driving motor 25 of the left front leg and the right rear leg drives the leg swinging mechanism main body 27 to rotate by an angle -θ 3 by motion control, and the period is denoted by t 3 , and the leg state is as shown in FIG. 6 ( d) shown. Through the two-stage movement of t 1 t 3 , the leg swinging mechanism main body 27 realizes the cycle of the leg and the leg, and returns to the vertical standing posture with the ground. After the t 2 phase movement, the leg swinging mechanism body 27 generates the distance d. 2 linear motion, but the fuselage did not move at this stage, but only changed the relative position of the leg and the fuselage. To improve the speed of movement, t 1, t 2, t 3 are not alternating motion segment, but t 1, t 3 phase alternating motion, t 2 after the stage starts moving quickly moving stage t 1 and t 1 + t 3 Slightly larger than t 2 , the above process is called the first motion gait. Correspondingly, the coordinated motion of the right front leg and the left rear leg is referred to as a second motion gait. During the second motion gait generation, the left front leg and the right rear leg first drive motor 8 are controlled by motion to generate a comparison with the first motion. In the reverse rotation of the gait, the quadruped robot body advances, the moving distance is d 2 , and the distance between the left front leg and the right rear leg of the leg swinging mechanism body 27 relative to the body returns to the initial value. The state is shown in Figure 6(a). The two types of motion gait alternately represent a complete motion cycle, and thereby the forward motion of the quadruped robot is achieved.
如上所述，该四足机器人前进运动相比传统四足机器人(如图5所示)具有如下显著优点：As described above, the quadruped robot forward movement has the following significant advantages over the conventional quadruped robot (shown in Figure 5):
(1)运动效率更高；从功能转化角度而言，相比由摆动腿部获得直线位移的传统运动方式，该四足机器人借助腿部伸缩机构获得直线位移可大幅提高效率。(1) The movement efficiency is higher; from the point of view of function conversion, the quadruple robot obtains linear displacement by the leg extension mechanism to greatly improve the efficiency compared to the conventional movement mode in which the linear displacement is obtained by the swinging leg.
(2)更易实现位移精准控制；传动四足机器人运动距离为频率*步长，故运动距离较为固定，往往是一个常数的倍数，修改步长也较为复杂(需要根据预期位移反求髋关节与膝关节转角)。得益于步进直线电机的加入，我们可将步长设置为任意期望值(上述d2并非定值，小于丝杠长度即可)，从而实现精准运动。(2) It is easier to achieve accurate displacement control; the driving distance of the transmission quadruped robot is frequency * step length, so the moving distance is fixed, often a multiple of constant, and the modification step is also more complicated (requires the hip joint according to the expected displacement) Knee joint corner). Thanks to the addition of the stepper linear motor, we can set the step size to any desired value (the above d 2 is not a fixed value, less than the length of the screw), so as to achieve precise motion.
该四足机器人顺时针转弯过程如下：在上述四足机器人直线运动第一步态发生过程中，减小右前腿步长，即实现左后腿步长大于右前腿步长较小，从而该四足机器人可实现一定量顺时针转角。同理，在第二步态发生过程中保持右后腿步长不变并减小左前腿步长可获得预期逆时针转角。得益于特有的所述腿部伸缩机构2控制步长，该四足机器人可实现更精准的转角控制。The clockwise turning process of the quadruped robot is as follows: during the first step of the linear motion of the quadruped robot, the step size of the right front leg is reduced, that is, the step length of the left hind leg is smaller than that of the right front leg, so that the fourth The foot robot can achieve a certain amount of clockwise rotation. Similarly, the expected right counterclockwise angle can be obtained by keeping the right hind leg step length and reducing the left front leg step during the second gait. Thanks to the unique leg extension mechanism 2 control step size, the quadruped robot can achieve more precise corner control.
本发明四足机器人的跳跃过程如下：四条腿的所述第三驱动电机25经运动控制，可将所述腿部摆动机构主体27调整为跳跃预备姿态(此时四条腿与地面存在夹角，角度可自定义，为实现相同功耗下的最远跳跃，该夹角默认值为45度)，随即经由运动控制，四腿的所述腿部摆动机构主体27获得较大瞬时加速度，进而实现预期跳跃运动。本发明四足机器人可以前进，后退，正逆时针转弯，以及跳跃运动，得益于较为简洁的腿部结构以及防水特性，该四足机器人可适用于大多数植被覆盖地区甚至环境更为恶劣的丛林区域，从而弥补了传统四足机器人适用场合的空白。The jumping process of the quadruped robot of the present invention is as follows: the third driving motor 25 of the four legs is controlled by motion, and the leg swinging mechanism main body 27 can be adjusted to a jumping preparatory posture (at this time, the four legs have an angle with the ground, The angle can be customized, in order to achieve the farthest jump under the same power consumption, the angle is defaulted to 45 degrees), and then through the motion control, the leg swinging mechanism body 27 of the four legs obtains a large instantaneous acceleration, thereby realizing Expected jump movement. The quadruped robot of the present invention can advance, retreat, turn counterclockwise, and jump motion. Thanks to the relatively simple leg structure and waterproof characteristics, the quadruped robot can be applied to most vegetation coverage areas and even the environment is more severe. The jungle area makes up for the gaps in the application of traditional quadruped robots.
上述实施方式，并不构成对本发明保护的限定。任何基于本发明的精神和原则之上所做出的修改、等同替换及改进等，均应包含在本发明的保护范围之内。The above embodiments do not constitute a limitation on the protection of the present invention. Any modifications, equivalent substitutions and improvements made on the basis of the spirit and principles of the present invention are intended to be included within the scope of the present invention.
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| CN112849298A (en) * | 2021-04-07 | 2021-05-28 | 常州大学 | Walking quadruped robot in body sliding mode |
| CN114620160A (en) * | 2022-03-23 | 2022-06-14 | 北京理工大学 | Electric four-foot robot based on multi-stage electric cylinder parallel type leg-foot structure |
| CN114954729A (en) * | 2022-06-29 | 2022-08-30 | 武汉大学 | A quadruped robot with twelve degrees of freedom |
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| CN112114585A (en) * | 2020-08-18 | 2020-12-22 | 黄河 | Four-foot gait interactive bionic deduction robot |
| CN112193344A (en) * | 2020-11-16 | 2021-01-08 | 辽宁工程技术大学 | Two-wheeled quadruped robot |
| CN112193344B (en) * | 2020-11-16 | 2024-04-30 | 辽宁工程技术大学 | Two-wheeled quadruped robot |
| CN112849298A (en) * | 2021-04-07 | 2021-05-28 | 常州大学 | Walking quadruped robot in body sliding mode |
| CN112849298B (en) * | 2021-04-07 | 2022-01-28 | 常州大学 | Walking quadruped robot in body sliding mode |
| CN114620160A (en) * | 2022-03-23 | 2022-06-14 | 北京理工大学 | Electric four-foot robot based on multi-stage electric cylinder parallel type leg-foot structure |
| CN114620160B (en) * | 2022-03-23 | 2024-04-05 | 北京理工大学 | Electric quadruped robot based on multistage electric cylinder parallel leg-foot structure |
| CN114954729A (en) * | 2022-06-29 | 2022-08-30 | 武汉大学 | A quadruped robot with twelve degrees of freedom |
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