CN110329389B - Double-foot bionic robot based on link mechanism - Google Patents
Double-foot bionic robot based on link mechanism Download PDFInfo
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- CN110329389B CN110329389B CN201910607944.8A CN201910607944A CN110329389B CN 110329389 B CN110329389 B CN 110329389B CN 201910607944 A CN201910607944 A CN 201910607944A CN 110329389 B CN110329389 B CN 110329389B
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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
The invention discloses a biped bionic robot based on a link mechanism, which belongs to the field of bionic robots and comprises a robot body and two walking mechanisms, wherein the robot body is respectively provided with two thigh pulleys, a shank pulley, a thigh driving slide block and a shank driving slide block; the robot body is also provided with two double-rod cylinders which respectively and independently control the two walking mechanisms to move; a front end piston rod of the double-rod cylinder is connected with one end of a thigh traction rope, and a rear end piston rod of the double-rod cylinder is connected with one end of a shank traction rope; the other end of the thigh traction rope rounds the thigh pulley and is connected with the front end of the thigh driving sliding block; the other end of the shank traction rope rounds the shank pulley and is connected with the rear end of the shank driving slide block; the rear end of the thigh driving sliding block is connected with the robot body by adopting a thigh return spring; the invention relates to a biped bionic robot which has a leg structure with small load, lighter weight, low movement energy consumption and a link mechanism for driving the robot to move forwards.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to a biped bionic robot based on a connecting rod mechanism.
Background
The legged robot with the leg lifting and walking actions can advance under the condition of bumpiness or no road, has the characteristic of being widely suitable for the terrain environment of a complex road surface, and has more important application value compared with a roller to enable the advancing robot. The leg structure of the existing legged robot usually comprises a joint power device and a joint driving device, so that the leg joint motion inertia is large, the leg is loaded with load, the energy consumption is large, and the like. Document 1(CN109720434A) in the prior art discloses a robot, in which a hip joint is provided between a carrying mechanism and a traveling mechanism, so that the traveling mechanism rotates relative to the carrying mechanism, and the robot is driven to travel in multiple directions, thereby increasing the service area, the traveling capability, and the carrying capability of the robot. In the prior art, a connecting rod is also adopted to design a walking mechanism, but the walking mechanism still has the defects of complex joint structure and large energy consumption of the walking mechanism in the whole movement process, so that the requirements of light weight and high stability walking on a complex road surface are difficult to meet. Therefore, it is necessary to design a biped bionic robot with lighter leg structure, no power and driving device, and more stable walking.
Disclosure of Invention
The invention aims to provide a biped bionic robot based on a link mechanism, which aims to solve one of the defects or shortcomings caused by the prior art.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
a biped bionic robot based on a link mechanism comprises a robot body and two walking mechanisms fixed on the robot body; the walking mechanism comprises a thigh link mechanism, a double-rod cylinder, a thigh pulley, a shank pulley, a thigh driving slider and a shank driving slider, wherein the thigh link mechanism is connected with the robot body, the thigh driving slider and the shank driving slider are connected to the robot body in a sliding mode, one end of the thigh link mechanism is connected with the robot body, the other end of the thigh link mechanism is connected with the shank link mechanism, one output end of the double-rod cylinder is connected with one end of a thigh traction rope, the other end of the thigh traction rope bypasses the thigh pulley and is connected with the thigh driving slider, and the thigh driving slider is connected with the thigh link mechanism through a thigh driving rod; the other output end of the double-rod cylinder is connected with one end of a lower leg traction rope, the other end of the lower leg traction rope is connected with a lower leg driving sliding block by bypassing the lower leg pulley, and the lower leg driving sliding block is connected with the lower leg connecting rod mechanism through a transmission mechanism; the thigh driving slide block moves to drive the thigh connecting rod mechanism to move, and the shank driving slide block moves to drive the shank connecting rod mechanism to move through the transmission mechanism connected with the shank driving slide block.
Furthermore, the robot further comprises a thigh return spring, one end of the thigh return spring is connected with the robot body, and the other end of the thigh return spring is connected with the thigh driving sliding block; the thigh return spring and the thigh traction rope are respectively positioned at two ends of the thigh driving sliding block.
Furthermore, one section of the thigh traction rope between the double-rod cylinder and the thigh pulley is parallel to one section of the thigh traction rope between the thigh pulley and the thigh driving sliding block, and the two sections of the thigh traction ropes are parallel to the movement direction of the thigh driving sliding block.
Furthermore, the thigh link mechanism comprises a thigh connecting rod A and a thigh connecting rod B which are parallel to each other, the top end of the thigh connecting rod A and the top end of the thigh connecting rod B are both hinged on the robot body, and a thigh connecting rod C is hinged between the bottom end of the thigh connecting rod A and the bottom end of the thigh connecting rod B; the thigh driving rod is hinged with the thigh connecting rod A, and the other end of the thigh driving rod is hinged with the thigh driving sliding block.
Further, the thigh link C is parallel to the movement direction of the thigh driving slider, and the length thereof is smaller than that of the thigh link a.
Furthermore, the shank link mechanism comprises a shank link A and a shank link B, the top end of the shank link A is hinged to the intersection point of the thigh link A and the thigh link C, the top end of the shank link B is hinged to the intersection point of the thigh link B and the thigh link C, and a foot bottom plate is hinged between the bottom end of the shank link A and the bottom end of the shank link B.
Furthermore, the transmission mechanism comprises a traction sliding block, a shank return spring, a shank traction rod and a shank driving rod, the traction sliding block is connected to a thigh connecting rod B in a sliding mode, the bottom end of the shank return spring is connected to the hinged point of the thigh connecting rod B and the thigh connecting rod C, the top end of the shank return spring is connected to the bottom end of the traction sliding block, and the top end of the traction sliding block is connected with the shank driving sliding block through a steel wire rope; one end of the shank driving rod is connected to the shank connecting rod B, the other end of the shank driving rod is hinged to the bottom end of the shank traction rod, and the top end of the shank traction rod is hinged to the traction sliding block.
Furthermore, a steel wire ring B is fixed on the thigh connecting rod B, and the steel wire rope penetrates through the steel wire ring B to be connected with the traction sliding block.
Furthermore, the shank driving rod is vertically fixed on the shank connecting rod B, and the length of the shank driving rod is not more than that of the thigh connecting rod C.
The invention has the advantages that:
1. the walking mechanism comprises a thigh link mechanism and a shank link mechanism, and power devices of the walking mechanism are not arranged on legs, so that the self weight of a leg structure is reduced, and the walking mechanism is lighter; moreover, the invention adopts a double-rod cylinder to realize the movement with two degrees of freedom of leg lifting and walking, thereby saving energy consumption;
2. the thigh return spring and the shank return spring can store certain potential energy, so that the driving force is formed by the upright movement of the walking mechanism and the gravity work, and the landing energy consumption of the robot during walking is reduced.
Drawings
FIG. 1 is a schematic structural diagram of a biped bionic robot according to an embodiment of the present invention;
fig. 2 is a schematic structural view of the walking mechanism in the leg raising and standing state according to the embodiment of the present invention.
Wherein: 1-a robot body; 10-steel wire ring A; 11-thigh pulley; 12-calf pulley; 2-thigh link mechanism; 21-thigh link a; 22-thigh link B; 221-a traction block; 222-steel wire ring B; 23-thigh link C; 24-thigh drive lever; 25-thigh drive slide; 26-thigh hauling rope; 3-shank link mechanism; 30-a sole plate; 31-shank link a; 32-shank link B; 33-shank drive rod; 34-shank drawbar; 35-a shank driving slide block; 36-a calf traction rope; 4-double-rod cylinder; 5-thigh return spring; 6-shank return spring.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
It should be noted that in the description of the present invention, the terms "front", "rear", "left", "right", "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention but do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. As used in the description of the present invention, the terms "front," "back," "left," "right," "up," "down" and "in" refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
Referring to fig. 1 and 2, the link mechanism-based biped bionic robot of the present invention comprises a robot body 1 and two traveling mechanisms with identical structures and mounted on the robot body 1.
The robot body 1 is respectively provided with two thigh pulleys 11 with the same structure and two shank pulleys 12 with the same structure, two thigh driving slide blocks 25 with the same structure and two shank driving slide blocks 35 with the same structure, which freely slide along the advancing direction; the robot body 1 is also provided with two double-rod cylinders 4 which respectively and independently control the motion of the two connecting rod structure legs to realize leg lifting and walking actions.
The front end piston rod of the double-rod cylinder 4 is connected with one end of a thigh traction rope 26, and the rear end piston rod of the double-rod cylinder is connected with one end of a shank traction rope 36; the other end of the thigh traction rope 26 passes around the thigh pulley 11 and is connected with the front end of the thigh driving slider 25; the other end of the shank traction rope 36 rounds the shank pulley 12 and is connected with the rear end of the shank driving slide block 35; the rear end of the thigh driving slide block 25 is connected with the robot body 1 by a thigh return spring 5. When the front end piston rod of the double-rod cylinder 4 is shortened, the thigh traction rope 26 drives the thigh driving slide block 25 to move forwards, and further drives the thigh driving rod 24 to pull the thigh connecting rod A21 forwards, so that the thigh connecting rod mechanism 2 is driven to rotate relative to the robot body 1, and the leg lifting action is completed; in the process, the thigh return spring 5 is stretched to be long in side length and stores elastic potential energy; when the front end piston rod of the double-rod cylinder 4 extends, the thigh traction rope 26 is in a loose state, and at the moment, the thigh return spring 5 pulls the thigh driving slide block 25 to move backwards under the action of the spring restoring force, so that the thigh driving rod 24 is pushed backwards, and the thigh link mechanism 2 rotates reversely relative to the robot body 1 by virtue of the self gravity of the link structure leg, so that the standing process of the thigh link mechanism 2 is completed.
The link structure leg comprises a thigh link mechanism 2 rotatably arranged on the robot body 1 and a shank link mechanism 3 rotatably arranged on the thigh link mechanism 2. When the thigh link mechanism 2 and the shank link mechanism 3 are both in the upright state, the legs of the link mechanisms are in the upright state.
The thigh link mechanism 2 comprises a thigh link A21 and a thigh link B22 which are arranged in parallel, a thigh link C23 and a thigh driving rod 24; one end of the thigh connecting rod A21 is hinged on the robot body 1, and the other end is hinged with one end of the thigh connecting rod C23; one end of the thigh connecting rod B22 is hinged on the robot body 1, and the other end is hinged with the other end of the thigh connecting rod C23; one end of the thigh drive lever 24 is hinged to the middle upper portion of the thigh link a21, and the other end thereof is hinged to the thigh drive slider 25. The thigh connecting rod A21, the thigh connecting rod B22, the thigh connecting rod C23 and the robot body 1 form a thigh with a parallelogram connecting rod structure, so that the motion stability is improved, a power device of the thigh is led out of the robot body 1 through the thigh driving rod 24, the leg load of the robot is reduced, the leg is lighter, and the motion energy consumption is low.
The shank link mechanism 3 comprises a shank link A31 and a shank link B32 which are parallel to each other, a shank traction rod 33 fixedly arranged on the shank link B32, a shank traction rod 34 hinged at the free end of the shank traction rod 33, and a foot bottom plate 30 which is parallel to the thigh link 23 and hinged with the shank link A31 and the shank link B32; the upper end of the shank link A31 is hinged and arranged at the intersection point of the thigh link A21 and the thigh link C23; the upper end of the shank link B32 is hinged and arranged at the intersection point of the thigh link B22 and the thigh link C23; the upper end of the thigh driving lever 24 is hinged to a traction slider 221 which can freely slide along the thigh link B22. The shank traction rod 33 changes the stress direction of the shank connecting rod B32, thereby effectively avoiding the phenomenon of 'jamming' of the movement when the shank is erected and then walks.
A shank return spring 6 is arranged on the thigh connecting rod B22, one end of the shank return spring 6 is connected with the lower end of the traction sliding block 221, and the other end thereof is connected with a hinged point of the thigh connecting rod B22 and the thigh connecting rod C23. The spring force of the shank return spring 6 and the gravity of the shank link mechanism 3 jointly constitute the driving force when the shank link mechanism 3 stands upright. Therefore, the energy consumption for the double-rod cylinder 4 to drive the lower leg connecting rod mechanism 3 to stand is lower.
The upper end of the traction slider 221 is connected to the lower leg driving slider 35 by a wire rope, and the wire rope passes through a wire ring a10 installed on the robot body 1 and a wire ring B222 installed on the thigh link B22. The steel wire ring B222 effectively ensures the traction direction of the steel wire rope to the lower leg driving slide block 35.
Preferably, a section of the thigh traction rope 26 located between the two-rod cylinder 4 and the thigh pulley 11 and a section of the thigh traction rope 26 located between the thigh pulley 11 and the thigh driving slider 25 are parallel to the moving direction of the thigh driving slider 25. At this time, the piston rod of the double-rod cylinder 4 moves most laborsavingly.
The thigh return spring 5 is preferably a metal coil spring having a large tensile stiffness, and its zero force state corresponds to the vertical state of the thigh link mechanism 2. The elastic potential energy stored by the thigh reset spring 5 and the gravity of the connecting rod structure leg form the vertical movement driving force of the thigh connecting rod mechanism 2, so that the energy consumption is saved for the extending movement of the piston rod of the double-rod cylinder 4.
Preferably, the lower leg return spring 6 is a metal coil spring having a large tensile rigidity, and its zero force state corresponds to the vertical state of the lower leg link mechanism 3.
Preferably, the thigh link C23 is parallel to the direction of movement of the thigh drive slide 25 and has a length less than the length of the thigh link a 21.
Preferably, the wire rope between the traction block 221 and the wire loop B222 is parallel to the thigh link B22.
Preferably, the lower leg pull rod 33 is mounted perpendicular to the lower leg link B32 and has a length no greater than the length of the thigh link C23.
The working process of the invention is as follows:
first, it is assumed that both the link structure legs are in an upright state, i.e., both the thigh link mechanisms 2 and both the shank link mechanisms 3 are in an upright state. In order to distinguish the two running gears, the left connecting rod structure leg and the right connecting rod structure leg are not named.
The front end piston rod of the double-rod cylinder 4 in the right connecting rod structure leg is shortened, the thigh traction rope 26 moves backwards, the thigh driving slide block 25 is driven to slide forwards, the thigh driving rod 24 pulls the thigh connecting rod A21 to rotate around the corresponding hinge point, and the thigh connecting rod mechanism 2 is a parallelogram connecting rod mechanism, so that the thigh connecting rod mechanism 2 rotates forwards relative to the robot body 1, and the right leg lifting action is realized. In this process, the thigh return spring 5 is subjected to tensile deformation, and stores elastic potential energy.
The rear end piston rod of the double-rod cylinder 4 in the right connecting rod structure leg is shortened, the lower leg traction rope 36 moves forwards, the lower leg driving slide block 35 is driven to move backwards, the steel wire rope traction slide block 221 slides upwards relative to the thigh connecting rod B22, the lower leg traction rod 34 pulls the lower leg driving rod 33 upwards, the lower leg connecting rod B32 is pulled to rotate backwards relative to the thigh connecting rod B22, and therefore the walking action of the lower leg of the right leg is achieved. In this process, the lower leg return spring 6 stores elastic potential energy.
The front end piston rod of the double-rod cylinder 4 in the right connecting rod structure leg extends, the thigh traction rope 26 is loosened, the spring force of the thigh reset spring 5 drives the thigh driving slide block 25 to slide backwards, and the thigh driving rod 24 pushes the thigh connecting rod A21 to rotate around the corresponding hinge point in the opposite direction, and meanwhile, the self weight of the right connecting rod structure leg also generates a rotating moment which drives the thigh connecting rod mechanism 2 to move towards the vertical state together with the spring force of the thigh reset spring 5.
A piston rod at the rear end of a double-rod cylinder 4 in the leg of the right connecting rod structure extends, a lower leg traction rope 36 is loosened, and a steel wire rope is loosened; the elastic potential energy of the shank return spring 6 is released, the spring force drives the traction slide block 221 to slide downwards relative to the thigh connecting rod B22, the shank traction rod 34 pushes the shank driving rod 33 downwards, the shank connecting rod B32 is further pulled to rotate forwards relative to the thigh connecting rod B22 and is straightened, and the shank of the right leg is landed in a strolling mode.
The left connecting rod structure leg is similar to the motion process of the right connecting rod structure leg, so that the advancing action of the left connecting rod structure leg and the right connecting rod structure leg is realized.
In the description of the present invention, it should be understood that the terms "a", "B", "C", etc. are used to limit the components, and are only used for the convenience of distinguishing the components, and if not stated otherwise, the terms have no special meaning, and thus, should not be construed as limiting the scope of the present invention.
It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of or equivalence to the invention are intended to be embraced therein.
Claims (5)
1. A biped bionic robot based on a link mechanism is characterized by comprising a robot body (1) and two walking mechanisms fixed on the robot body (1);
the walking mechanism comprises a thigh link mechanism (2), a double-rod cylinder (4), a thigh pulley (11), a shank pulley (12) and a thigh driving slider (25) and a shank driving slider (35) which are connected with the robot body (1) in a sliding manner, one end of the thigh link mechanism (2) is connected with the robot body (1), the other end of the thigh link mechanism is connected with the shank link mechanism (3),
one output end of the double-rod cylinder (4) is connected with one end of a thigh traction rope (26), the other end of the thigh traction rope (26) bypasses the thigh pulley (11) and is connected with the thigh driving slide block (25), and the thigh driving slide block (25) is connected with the thigh link mechanism (2) through a thigh driving rod (24);
the other output end of the double-rod cylinder (4) is connected with one end of a lower leg traction rope (36), the other end of the lower leg traction rope (36) is connected with a lower leg driving slide block (35) by bypassing the lower leg pulley (12), and the lower leg driving slide block (35) is connected with the lower leg connecting rod mechanism (3) through a transmission mechanism;
the thigh driving slide block (25) moves to drive the thigh link mechanism (2) to move, the shank driving slide block (35) moves, and the shank link mechanism (3) is driven to move through a transmission mechanism connected with the shank driving slide block;
the robot is characterized by further comprising a thigh return spring (5), wherein one end of the thigh return spring (5) is connected with the robot body (1), and the other end of the thigh return spring is connected with the thigh driving sliding block (25); the thigh return spring (5) and the thigh traction rope (26) are respectively positioned at two ends of the thigh driving sliding block (25);
the thigh link mechanism (2) comprises a thigh link A (21) and a thigh link B (22) which are parallel to each other, the top end of the thigh link A (21) and the top end of the thigh link B (22) are both hinged on the robot body (1), and a thigh link C (23) is hinged between the bottom end of the thigh link A (21) and the bottom end of the thigh link B; the thigh driving rod (24) is hinged with the thigh connecting rod A (21), and the other end of the thigh driving rod is hinged with the thigh driving sliding block (25);
the shank link mechanism (3) comprises a shank link A (31) and a shank link B (32), the top end of the shank link A (31) is hinged to the intersection point of the thigh link A (21) and the thigh link C (23), the top end of the shank link B (32) is hinged to the intersection point of the thigh link B (22) and the thigh link C (23), and a sole plate (30) is hinged between the bottom end of the shank link A (31) and the bottom end of the shank link B (32);
the transmission mechanism comprises a traction sliding block (221), a shank return spring (6), a shank traction rod (34) and a shank driving rod (33), the traction sliding block (221) is connected to a thigh connecting rod B (22) in a sliding mode, the bottom end of the shank return spring (6) is connected to the hinged point of the thigh connecting rod B (22) and a thigh connecting rod C (23), the top end of the shank return spring is connected to the bottom end of the traction sliding block (221), and the top end of the traction sliding block (221) is connected with the shank driving sliding block (35) through a steel wire rope; one end of the shank driving rod (33) is connected to the shank connecting rod B (32), the other end of the shank driving rod is hinged to the bottom end of the shank traction rod (34), and the top end of the shank traction rod (34) is hinged to the traction sliding block (221).
2. The link mechanism based biped biomimetic robot according to claim 1, characterized in that a section of the thigh traction rope (26) between the two-rod cylinder (4) and the thigh pulley (11) is parallel to a section of the thigh traction rope (26) between the thigh pulley (11) and a thigh drive slider (25), and both sections of the thigh traction rope (26) are parallel to the movement direction of the thigh drive slider (25).
3. The link mechanism-based biped biomimetic robot according to claim 1, characterized in that the thigh link C (23) is parallel to the movement direction of the thigh drive slider (25) and its length is smaller than the length of the thigh link A (21).
4. The link mechanism-based biped bionic robot as claimed in claim 1, wherein a steel wire ring B (222) is fixed on the thigh link B (22), and the steel wire rope passes through the steel wire ring B (222) and is connected with the traction slider (221).
5. The link mechanism-based biped biomimetic robot according to claim 1, wherein the lower leg drive rod (33) is vertically fixed on the lower leg link B (32) and has a length not greater than the length of the thigh link C (23).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910607944.8A CN110329389B (en) | 2019-07-08 | 2019-07-08 | Double-foot bionic robot based on link mechanism |
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| CN201910607944.8A CN110329389B (en) | 2019-07-08 | 2019-07-08 | Double-foot bionic robot based on link mechanism |
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| CN110329389A CN110329389A (en) | 2019-10-15 |
| CN110329389B true CN110329389B (en) | 2021-07-27 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110723231A (en) * | 2019-11-11 | 2020-01-24 | 太原科技大学 | Biped parallel ground walking robot |
| CN111942496B (en) * | 2020-08-21 | 2021-06-08 | 常州大学 | Mechanical stepping leg for biped obstacle crossing robot |
| CN112849298B (en) * | 2021-04-07 | 2022-01-28 | 常州大学 | Walking quadruped robot in body sliding mode |
| CN113753151B (en) * | 2021-08-17 | 2022-07-26 | 常州大学 | Obstacle crossing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06102307B2 (en) * | 1985-03-07 | 1994-12-14 | 元田電子工業株式会社 | Robot leg mechanism |
| CN201089485Y (en) * | 2007-09-05 | 2008-07-23 | 何胜权 | Robot leg mechanism |
| CN201424067Y (en) * | 2009-06-24 | 2010-03-17 | 吴玉禄 | Walking mechanism using crank rocker |
| CN104401419B (en) * | 2014-11-25 | 2017-03-01 | 北京工业大学 | A kind of new biped humanoid robot system based on Pneumatic artificial muscle |
| US10189519B2 (en) * | 2015-05-29 | 2019-01-29 | Oregon State University | Leg configuration for spring-mass legged locomotion |
| CN106428290B (en) * | 2016-12-09 | 2018-06-19 | 山东大学 | A kind of flexibility quadruped robot |
| CN109720434A (en) * | 2018-11-28 | 2019-05-07 | 歌尔股份有限公司 | Robot |
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