CN109941370B - Four-legged walking robot based on three-axis linkage control structure - Google Patents
Four-legged walking robot based on three-axis linkage control structure Download PDFInfo
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- CN109941370B CN109941370B CN201910202936.5A CN201910202936A CN109941370B CN 109941370 B CN109941370 B CN 109941370B CN 201910202936 A CN201910202936 A CN 201910202936A CN 109941370 B CN109941370 B CN 109941370B
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- 210000002414 leg Anatomy 0.000 claims abstract description 37
- 210000000689 upper leg Anatomy 0.000 claims abstract description 33
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 239000003638 chemical reducing agent Substances 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 abstract description 23
- 230000005540 biological transmission Effects 0.000 abstract description 7
- 210000001699 lower leg Anatomy 0.000 description 16
- 238000010586 diagram Methods 0.000 description 10
- 238000005452 bending Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 244000309466 calf Species 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The invention provides a four-footed walking robot based on a three-axis linkage control structure, which comprises: the square frame body comprises a square frame and fixing pieces, and the four fixing pieces are arranged at four corners of the frame; the supporting legs consist of thighs and shanks, the thighs are connected with the shanks through revolute pairs, the inner parts of the thighs are hollow, and one ends of the thighs are connected with the fixing parts through connecting mechanisms; the transmission mechanism is arranged in the fixing piece, the first rotating shaft and the second rotating shaft are concentric shafts, the concentric shafts penetrate through the fixing piece, and the third rotating shaft and the concentric shafts are perpendicular to each other and penetrate through the fixing piece. According to the four-foot walking robot based on the three-axis linkage control structure, when the three motors work simultaneously, the supporting legs swing back and forth and swing laterally at the same time, and the flexibility of the supporting legs is effectively enhanced. The requirement for the rotational inertia of the motor can be reduced by reducing the weight of the legs and utilizing the pull rod to pull and drive, so that the inertia of the leg movement of the robot is smaller, and the overshoot phenomenon is avoided conveniently.
Description
Technical Field
The invention relates to the technical field of control structures of four-footed walking robots, in particular to a four-footed walking robot based on a three-axis linkage control structure.
Background
Mobile robots capable of performing exploration tasks in unknown environments are being studied by researchers around the world, wherein the main moving means are wheel type, crawler type, foot type and the like. The wheeled robot can well complete tasks in a continuous and flat ground, but cannot normally work on a slope or a concave-convex ground; the tracked robot has certain obstacle-crossing capability, but needs a large turning radius when turning, so that the tracked robot cannot turn flexibly, and particularly in narrow terrain, the tracked robot becomes fatal; from the bionics development, the foot robot has high flexibility and obstacle-crossing capability, has strong adaptability to terrain, and greatly improves the application field of the foot robot. The flexibility and obstacle-surmounting capability of the foot robot are not separated from the structure of the foot robot, but the structure makes a control system complicated, which is a great difficulty to be solved. Most of the existing foot robots can only swing the big shank and the small shank back and forth, and work by adopting a differential principle when turning and avoiding obstacles, so that the movement becomes slow and heavy, and the original advantages of the foot robots are lost. The legged robots have two, four, six and eight foot forms, where the stability and load capacity of the two-legged robot is poor and the mechanical redundancy and control complexity of the six-and eight-legged robots are high.
Chinese patent No. 105856250B discloses a "four-footed walking robot", which can swing back and forth and stretch out and draw back a support leg by the synchronous motion of a first driving branched chain and a second driving branched chain, and can swing sideways and stretch out and draw back a support leg by the asynchronous motion of the first driving branched chain and the second driving branched chain, but can not swing back and forth and swing sideways at the same time, and the number of revolute pairs of the support leg is too large, so that it is difficult to precisely control the amplitude of the swing.
Disclosure of Invention
The invention aims to provide a four-legged walking robot based on a three-axis linkage control structure, and aims to solve the problems of how to improve the control accuracy of supporting legs, enhance the turning flexibility and avoid obstacles quickly.
In order to solve the technical problems, the technical scheme of the invention is as follows: provided is a four-footed walking robot based on a three-axis linkage control structure, comprising: the square frame body comprises a square frame and fixing pieces, and the four fixing pieces are arranged at four corners of the square frame; the supporting legs consist of thighs and shanks, the thighs are connected with the shanks through revolute pairs, the thighs are hollow, and one ends of the thighs are connected with the fixing pieces through connecting mechanisms; a drive mechanism disposed within the mount, the drive mechanism comprising: a first motor; the first crank rocker element is connected with the first motor through a first speed reducer; a first cam connected to the first crank rocker element through a first pivot; one end of the first pull rod is fixed on the edge of the first cam, and the other end of the first pull rod is fixed on the shank; a second motor; the second crank rocker element is connected with the second motor through a second speed reducer; the second cam is connected with the second crank rocker element through a second rotating shaft; one end of the second pull rod is fixed on the edge of the second cam, and the other end of the second pull rod is fixed on the thigh; a third motor; the third crank rocker element is connected with the third motor through a third speed reducer; a third cam connected with the third crank rocker element through a third rotating shaft; one end of the third pull rod is fixed on the edge of the third cam, and the other end of the third pull rod is fixed on the connecting mechanism; the first rotating shaft and the second rotating shaft are concentric shafts, two ends of each concentric shaft are arranged through the fixing pieces, and the third rotating shaft is perpendicular to the concentric shafts and arranged through the fixing pieces.
Furthermore, the thigh structure is hollow and frustum-shaped.
Further, the connecting mechanism is provided with a protruding piece which is arranged in the hole of the fixing piece.
Furthermore, the other end of the first pull rod is fixed at the top end of the side, close to the thigh, of the shank, and the revolute pair is used as a fulcrum during operation of the first pull rod.
The invention provides a four-footed walking robot based on a three-axis linkage control structure, which is a three-axis linkage control structure based on the motion principle of a crank and rocker mechanism. The first motor and the second motor which are arranged on the same side respectively control the bending of the crus and the bending of the thighs, so that the front and back swing of the supporting legs is realized, and the third motor on the other side controls the lateral swing of the supporting legs. When three motors work simultaneously, the supporting legs swing back and forth and swing laterally at the same time, and the flexibility of the supporting legs is effectively enhanced. The requirement for the rotational inertia of the motor can be reduced by reducing the weight of the legs and utilizing the pull rod to pull and drive, so that the inertia of the leg movement of the robot is smaller, and the overshoot phenomenon is avoided conveniently. The motion mode is changed through the crank and rocker mechanism, so that the control is more accurate. The arrangement of the whole structure of the four-legged walking robot based on the three-axis linkage control structure enables the weight to be concentrated above the supporting legs, and meanwhile, the principle of triangle stability is well utilized, so that the robot has better stability during movement.
Drawings
The invention is further described with reference to the accompanying drawings:
fig. 1 is a schematic structural diagram of a four-footed walking robot based on a three-axis linkage control structure according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a support leg control structure of a four-legged walking robot based on a three-axis linkage control structure according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a transmission device from a first motor to a first pull rod and from a second motor to a second pull rod in a transmission mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a fixing member according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a square frame according to an embodiment of the present invention.
Detailed Description
The following describes the four-legged walking robot based on the three-axis linkage control structure in detail with reference to the accompanying drawings and specific embodiments. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are all used in a non-precise ratio for the purpose of facilitating and distinctly aiding in the description of the embodiments of the invention.
The core idea of the invention is that the four-legged walking robot based on the three-axis linkage control structure provided by the invention is a three-axis linkage control structure based on the motion principle of a crank and rocker mechanism. The first motor and the second motor which are arranged on the same side respectively control the bending of the crus and the bending of the thighs, so that the front and back swing of the supporting legs is realized, and the third motor on the other side controls the lateral swing of the supporting legs. When three motors work simultaneously, the supporting legs swing back and forth and swing laterally at the same time, and the flexibility of the supporting legs is effectively enhanced. The requirement for the rotational inertia of the motor can be reduced by reducing the weight of the legs and utilizing the pull rod to pull and drive, so that the inertia of the leg movement of the robot is smaller, and the overshoot phenomenon is avoided conveniently. The motion mode is changed through the crank and rocker mechanism, so that the control is more accurate. The arrangement of the whole structure of the four-legged walking robot based on the three-axis linkage control structure enables the weight to be concentrated above the supporting legs, and meanwhile, the principle of triangle stability is well utilized, so that the robot has better stability during movement.
Fig. 1 is a schematic structural diagram of a four-footed walking robot based on a three-axis linkage control structure according to an embodiment of the present invention; fig. 2 is a schematic structural diagram of a support leg control structure of a four-legged walking robot based on a three-axis linkage control structure according to an embodiment of the present invention. Referring to fig. 1 and 2, there is provided a four-footed walking robot based on a three-axis linkage control structure, comprising: the square frame body comprises a square frame 101 and four fixing pieces 102, wherein the four fixing pieces 102 are arranged at four corners of the square frame 101; the supporting leg consists of an upper leg 103 and a lower leg 104, the upper leg 103 is connected with the lower leg 104 through a revolute pair, the inner part of the upper leg is hollow, and one end of the upper leg is connected with the fixing part 102 through a connecting mechanism 330; a transmission mechanism disposed within the fixture 102, the transmission mechanism comprising: a first motor 210; a first crank-rocker element connected to said first motor 210 through a first reducer 211; a first cam 215 connected to the first crank rocker element via a first shaft 214; a first pull rod 216 having one end fixed to the edge of the first cam 215 and the other end fixed to the lower leg 104; wherein the first crank and rocker element comprises a first crank and rocker master 213 and a first crank and rocker handle 212; a second motor 220; a second crank-rocker element connected to said second motor 220 through a second reducer 221; a second cam 225 connected to said second crank rocker element via a second shaft 224; a second pull rod 226, one end of which is fixed on the edge of the second cam 225 and the other end of which is fixed on the thigh 103; wherein the second crank and rocker element comprises a second crank and rocker master 223 and a second crank and rocker handle 222; a third motor 230; a third crank-rocker element connected to said third motor 230 through a third reducer 231; a third cam 235 connected to the third crank rocker element via a third shaft 234; a third pull rod 236, one end of which is fixed on the edge of the third cam 235 and the other end of which is fixed on the connecting mechanism 330; wherein the third crank and rocker element comprises a third crank and rocker master 233 and a third crank and rocker handle 232.
The hollow design of thigh has alleviateed the quality of robot itself, allows the robot to have bigger load in the motion, and coupling mechanism 330 is connected in the upper end of thigh, controls the swing back and forth of thigh through the power that acts on it, thigh 103 with connect through the revolute pair between the shank 104, constitute the knee joint of supporting leg, set up the aperture in the top of revolute pair, be used for connecting first pull rod 216, through the inside of thigh, first pull rod 216 can the lug connection to the shank for pass power more efficient, reduces inertia simultaneously, the structure of the lower extreme of shank comprises cylinder and round platform, and the round platform is slightly flexible, can increase the stability of walking like this when contacting ground walking.
Referring to fig. 1 and 2, each of the support legs is controlled by three motors, wherein a first motor 210 and a second motor 220 are arranged on the same connecting rod to control the movement of the lower leg and the upper leg respectively to complete the back-and-forth swing of the support leg, a third motor 230 is arranged on the other connecting rod to control the lateral swing of the support leg, and twelve motors controlling the movement of the support leg are arranged in the same plane of the square frame body. The three-axis linkage control structure based on the crank rocker motion principle can enable the robot to obtain better passing right through front-back swing and side-to-side swing when turning and avoiding obstacles.
Fig. 5 is a schematic structural diagram of a square frame according to an embodiment of the present invention. Referring to fig. 5, a square frame 101 and a fixing member 102 together constitute a square frame body.
Fig. 4 is a schematic structural diagram of a fixing element according to an embodiment of the present invention. Referring to fig. 2 and 4, the first rotating shaft 214 and the second rotating shaft 224 are concentric shafts, the concentric shafts are disposed through the fixing member 102, specifically, the concentric shafts are disposed through the first hole 42, the third rotating shaft 234 and the concentric shafts are perpendicular to each other and are disposed through the fixing member 102, specifically, the third rotating shaft 234 is disposed through the second hole 41. The connecting mechanism 330 has a protrusion, which is disposed in the third hole 43 of the fixing member 102. When the robot walks, a triangular support is formed, and the stability of the robot in motion is better kept.
Fig. 3 is a schematic structural diagram of a transmission device from a first motor to a first pull rod and from a second motor to a second pull rod in a transmission mechanism according to an embodiment of the present invention. Referring to fig. 1 to 3, in the control of the whole structure, every three motors control the movement of one support leg, the first motor 210 is output to the first crank rocker element through the speed reduction and torque increase of the speed reducer 211, the first crank rocker handle 212 applies acting force on the first rotating shaft 214, the first rotating shaft 214 drives the first cam 215 to rotate, so as to drive the first pull rod 216 connected with the first cam 215 to do pendulum movement, and finally control the movement of the lower leg; the second motor 220 is output to the second crank rocker element through the speed reduction and torque increase of the second reducer 221, the second crank rocker handle 222 applies an acting force on the second rotating shaft 224, the second rotating shaft 224 drives the second cam 225 to rotate, so that the second pull rod 226 connected with the second cam 225 is driven to do pendulum motion, and the motion of the thigh is finally controlled; when the leg is bent and raised, the direction of the force acting on the thigh is in a diagonally downward direction, and the direction of the force acting on the calf is in a diagonally upward direction, and therefore, the two motors on the same side are respectively arranged on both sides of the concentric shaft.
The third motor 230 is output to the third crank rocker element through the speed reduction and torque increase of the third reducer 231, the third crank rocker handle 232 applies an acting force on the third rotating shaft 234, the third rotating shaft 234 drives the third cam 235 to rotate, so that the third pull rod 236 connected with the third cam 235 is driven to do pendulum motion, and the lateral swing of the whole supporting leg is finally controlled.
The crank rocker element arranged between the motor and the rotating shaft can enable the gait of the robot to achieve the expected result, and meanwhile, the later feedback adjustment and the deep learning can be utilized to achieve more accurate control.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (4)
1. A four-footed walking robot based on a three-axis linkage control structure, comprising:
the square frame body comprises a square frame and fixing pieces, and the four fixing pieces are arranged at four corners of the square frame;
the supporting legs consist of thighs and shanks, the thighs are connected with the shanks through revolute pairs, the thighs are hollow, and one ends of the thighs are connected with the fixing pieces through connecting mechanisms;
a drive mechanism disposed within the mount, the drive mechanism comprising:
a first motor;
the first crank rocker element is connected with the first motor through a first speed reducer;
a first cam connected to the first crank rocker element through a first pivot;
one end of the first pull rod is fixed on the edge of the first cam, and the other end of the first pull rod is fixed on the shank;
a second motor;
the second crank rocker element is connected with the second motor through a second speed reducer;
the second cam is connected with the second crank rocker element through a second rotating shaft;
one end of the second pull rod is fixed on the edge of the second cam, and the other end of the second pull rod is fixed on the thigh;
a third motor;
the third crank rocker element is connected with the third motor through a third speed reducer;
a third cam connected with the third crank rocker element through a third rotating shaft;
one end of the third pull rod is fixed on the edge of the third cam, and the other end of the third pull rod is fixed on the connecting mechanism;
the first rotating shaft and the second rotating shaft are concentric shafts, two ends of each concentric shaft are arranged through the fixing pieces, and the third rotating shaft is perpendicular to the concentric shafts and arranged through the fixing pieces.
2. The quadruped walking robot based on the three-axis linkage control structure as claimed in claim 1, wherein the inside of the thigh structure is hollow and has a truncated cone shape.
3. The quadruped walking robot based on the three-axis linkage control structure as claimed in claim 1, wherein the connecting mechanism has a protrusion member provided in the hole of the fixing member for connecting the leg portion and the body.
4. The quadruped walking robot based on the three-axis linkage control structure as claimed in claim 1, wherein the other end of the first pull rod is fixed at the top end of the shank close to the thigh, and the first pull rod is used as a fulcrum during operation.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2019100079209 | 2019-01-04 | ||
| CN201910007920 | 2019-01-04 |
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| Publication Number | Publication Date |
|---|---|
| CN109941370A CN109941370A (en) | 2019-06-28 |
| CN109941370B true CN109941370B (en) | 2020-07-24 |
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| CN201910202936.5A Expired - Fee Related CN109941370B (en) | 2019-01-04 | 2019-03-18 | Four-legged walking robot based on three-axis linkage control structure |
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Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102211627B (en) * | 2011-04-27 | 2012-10-17 | 浙江大学 | Four-leg robot mechanism based on bionic design |
| NL2010078C2 (en) * | 2012-06-30 | 2013-12-31 | Cyrill Breukelaar | WALKING MECHANISM FOR A ROBOT AND ROBOT EQUIPPED WITH THE WALKING MECHANISM. |
| CN104986240B (en) * | 2015-06-15 | 2017-09-08 | 上海交通大学 | The walking robot leg configuration of linear drives and four feet walking robot in parallel |
| CN204871277U (en) * | 2015-07-10 | 2015-12-16 | 陕西九立机器人制造有限公司 | Four -footed robot |
| CN206782031U (en) * | 2017-04-21 | 2017-12-22 | 合肥工业大学 | One kind is based on bionic stable motion device |
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2019
- 2019-03-18 CN CN201910202936.5A patent/CN109941370B/en not_active Expired - Fee Related
Non-Patent Citations (1)
| Title |
|---|
| 奔跑马的机构设计与运动学仿真分析;孙伟等;《 陕西理工学院学报(自然科学版)》;20141231;第30卷(第6期);第6-10页 * |
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Granted publication date: 20200724 |