CN110422246B - Quadruped robot and movement method - Google Patents
Quadruped robot and movement method Download PDFInfo
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- CN110422246B CN110422246B CN201910608281.1A CN201910608281A CN110422246B CN 110422246 B CN110422246 B CN 110422246B CN 201910608281 A CN201910608281 A CN 201910608281A CN 110422246 B CN110422246 B CN 110422246B
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000005021 gait Effects 0.000 claims abstract description 7
- 230000007306 turnover Effects 0.000 claims abstract description 4
- 238000009434 installation Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 230000009193 crawling Effects 0.000 abstract description 10
- 241000238631 Hexapoda Species 0.000 abstract 1
- 239000000654 additive Substances 0.000 abstract 1
- 230000000996 additive effect Effects 0.000 abstract 1
- 238000001514 detection method Methods 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 230000005484 gravity Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 6
- 239000011664 nicotinic acid Substances 0.000 description 5
- 244000309464 bull Species 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000013585 weight reducing agent Substances 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
A quadruped robot and a motion method belong to the technical field of robots. The robot comprises a rack, a driving system and a mechanical leg system, wherein the rack comprises a left rack and a right rack, the driving system comprises a power supply, a motor, a gear and a driving shaft, and the mechanical leg system consists of four sub-mechanical leg systems. The quadruped robot is driven by a single motor, so that the robot can rapidly walk with diagonal gait, a sub-mechanical leg system of the robot simulates crawling of insects, the contact track of the tail end of a foot and the ground is approximately a straight line through special size limitation, and the duration time of the straight line track is half of the motor turnover period, so that the robot cannot fluctuate up and down when crawling, and can efficiently and stably crawl on the ground; by adopting light weight design and additive manufacturing technology, the size and the weight of the robot are reduced, the robot is convenient to carry and is applied to the tasks of narrow space and environment detection.
Description
Technical Field
The invention relates to the field of robot design, in particular to a miniature quadruped robot which is driven efficiently and walks quickly and stably.
Background
With the continuous improvement of the technical level of robots, the application of a bionic robot mechanism is gradually wide, wherein a miniature bionic robot which can be stably, quickly and simply driven has unique advantages when executing special tasks in a narrow space.
Chinese patent CN20191016372 discloses a bionic quadruped robot, the robot has more degrees of freedom, can adapt to complex road surfaces and has multiple actions, but the drive is complicated and the quality and size are large, and it can not be applied to narrow space to execute special tasks, chinese patent zl201610176243.x discloses a link mechanism bionic mechanical leg and quadruped robot thereof, the robot drives simple end output flexibility, therefore the stability is good, but except that the number of rods is more, the center of gravity of the robot is higher, and the overall size is large. Chinese patent CN201810149665 discloses an environment-friendly four-footed robot for building, which is simple in driving and capable of walking rapidly, but the center of gravity can fluctuate up and down, and the stability is poor, at present, no four-footed bionic robot which is simple in driving, light in weight, small in size, convenient to carry, fast in speed, stable in crawling, and free of fluctuation up and down in center of gravity is available.
Disclosure of Invention
The invention aims to provide a miniature quadruped robot which is driven efficiently, walks quickly and stably, can overcome the defects of the existing robot, is simple to drive, and can be driven by a single motor to realize quick walking; the leg output track is flexible, the gravity center can not fluctuate up and down when the walking is carried out, and the running is stable; the gravity center is low, the mass and the volume are small, the carrying is convenient, and special tasks can be executed in narrow space.
The invention achieves the above purpose by the following technical scheme: a quadruped robot, characterized in that:
the device comprises a frame, a driving system, an auxiliary gear system and a mechanical leg system;
the rack comprises a left rack, a right rack, a front fixing rod and a rear fixing rod; the front ends of the left rack and the right rack are respectively connected with the left end and the right end of the front fixing rod, and the rear ends of the left rack and the right rack are respectively connected with the left end and the right end of the rear fixing rod; the front section of the left frame is provided with an annular boss and a mounting hole from back to front; the rear section is also provided with an annular boss and a mounting hole from front to back; the front section and the rear section of the right rack are respectively provided with an annular boss and a mounting hole corresponding to the left rack;
the driving system comprises a power supply, a motor, a pinion, a first gearwheel, a second gearwheel, a first driving shaft and a second driving shaft;
the power supply supplies power to the motor, and an output shaft of the motor is fixedly connected with the pinion and drives the pinion to rotate along the axial direction; the first driving shaft is installed through the annular bosses at the front sections of the left bracket and the right bracket; the second driving shaft is installed through the annular bosses at the rear sections of the left bracket and the right bracket; the first gearwheel is fixed on the first driving shaft, the second gearwheel is fixed on the second driving shaft, the first gearwheel and the second gearwheel are respectively meshed with the front side and the rear side of the pinion, and the axes of the three gears are parallel and positioned in the same plane;
the auxiliary wheel system comprises a left auxiliary wheel and a right auxiliary wheel which are respectively arranged below the left rack and the right rack;
the mechanical leg system consists of four sub-mechanical leg systems; each sub mechanical leg comprises a driving rod, a long connecting rod, a front rocker, a rear rocker, a transverse connecting rod, a short connecting rod and a mechanical leg; the mechanical leg consists of a mechanical leg transverse rod part and a mechanical leg vertical rod part; the first end of the driving rod is fixedly connected with the first driving shaft, the second end of the driving rod is connected with the first end of the long connecting rod through a pin, the middle part of the long connecting rod, the first end of the transverse connecting rod and the first end of the front rocker are connected together through a pin, the second end of the long connecting rod is connected with the first end of the cross rod part of the mechanical leg through a pin, and the second end of the cross rod part of the mechanical leg is connected with the first end of the short connecting rod through a pin; the second end of the transverse connecting rod, the second end of the short connecting rod and the first end of the rear rocker are connected together through a pin; the second end of the front rocker is connected with the mounting hole on the bracket through a pin, and the second end of the rear rocker is sleeved on the annular boss of the rack and can rotate relative to the rack.
In each sub-mechanical leg system, the distance from the annular boss to the corresponding mounting hole is the same as the length of the transverse connecting rod and the length of the transverse rod part of the mechanical leg, and is 2 times of the length of the driving rod; the lengths of the front rocker, the rear rocker and the short connecting rod are the same and are 2.5 times of the length of the driving rod; the length of the long connecting rod is 5 times of that of the driving rod;
the driving rods in the four sub-mechanical leg systems are kept parallel, specifically, the mounting angles of the driving rods are the same as those of the driving rods positioned on the same side, and the difference between the mounting angles of the driving rods and those of the driving rods on the other side is 180 degrees.
The moving method of the quadruped robot is characterized by comprising the following processes:
the driving rod of the sub-mechanical leg system rotates for a circle, the vertical rod part of the mechanical leg (the tail end of the vertical rod part is the same as the ground contact time and the non-contact time and is half of the turnover period), therefore, the driving rod in the four sub-mechanical leg systems can be reasonably installed, the robot can realize quick walking with diagonal gait, at the moment, the motor drives the first gear wheel and the second gear wheel to rotate through the pinion, and then the driving rod is driven to rotate, so that the motion of the quadruped robot is realized, and the robot can be efficiently driven to move.
The invention has the outstanding advantages that:
1. the quadruped robot has light weight and small volume. The weight reduction design is adopted, and the mass and the volume of the robot are as much as possible on the premise of material performance allowance;
2. the phenomenon that the gravity center fluctuates up and down can not occur in the crawling process. In the crawling process, when the legs are in a ground supporting state, the track of the tail ends of the feet is in an approximately linear state, and the time is half of the whole rotation period, so that the distance from the gravity center of the robot to the ground is always kept unchanged in the crawling process, and the up-and-down fluctuation phenomenon cannot occur;
3. the robot can stably move without left and right dumping. The robot adopts diagonal gait, two legs at the diagonal are contacted with the ground at any time, a support point of the robot forms a closed quadrangle on a plane at any time under the support of the auxiliary wheels, the gravity center projection always falls in the quadrangle, and the phenomenon of toppling is avoided;
3. the robot has simple driving, small reduction ratio, and high crawling speed by adopting diagonal gait. The crawling speed is high because the crawling speed is small due to the fact that the crawling speed is driven by a motor and is reduced through a first-stage gear.
Drawings
FIG. 1 is a schematic structural view of a quadruped robot according to the present invention;
FIG. 2 is a general schematic diagram of a quadruped robot and a mechanical leg trajectory curve according to the present invention;
FIG. 3 is a side view of the quadruped robot of the present invention;
FIG. 4 is a schematic structural diagram of a left frame of the quadruped robot according to the present invention;
FIG. 5 is a schematic diagram of the structure of the right frame of the quadruped robot;
FIG. 6 is a schematic structural view of a quadruped robot of the present invention, except for a mechanical leg system;
FIG. 7 is a schematic view of the mechanical leg structure of the quadruped robot of the present invention;
FIG. 8 is a schematic view of a long link structure of the quadruped robot according to the present invention;
FIG. 9 is a schematic view of the driving rod structure of the quadruped robot according to the present invention;
FIG. 10 is a schematic view of the cross link structure of the quadruped robot of the present invention;
FIG. 11 is a schematic diagram of the rear rocker structure of the quadruped robot of the present invention;
FIG. 12 is a schematic diagram of the front rocker structure of the quadruped robot according to the present invention;
FIG. 13 is a schematic structural diagram of a mechanical leg system of a quadruped robot according to the present invention;
FIG. 14 is a schematic view of a Hoken mechanism structure and end trajectory;
the symbols in the drawings represent the meanings of 1: a left bracket; 2: a right bracket; 3: a front fixing rod; 4: a rear fixing rod; 5: a power source; 6: a motor; 7: a pinion gear; 8: a first bull gear; 9: a second bull gear; 10: a second drive shaft; 11: a first drive shaft; 12: a right auxiliary wheel; 13: a left auxiliary wheel; 14: a drive rod; 15: a long connecting rod; 16: a front rocker; 17: a rear rocker; 18: a transverse connecting rod; 19: a short connecting rod; 20: a mechanical leg; 21: a mechanical leg crossbar portion; 22: a mechanical leg vertical bar part; 24: a mechanical leg tail end track curve; 25: a Hoken mechanism E point track; 101: an annular boss; 102: and (7) installing holes.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings and embodiments, and it is to be understood that the embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 14, the quadruped robot of the present invention is characterized in that:
the device comprises a frame, a driving system, an auxiliary gear system and a mechanical leg system;
the rack comprises a left rack 1, a right rack 2, a front fixing rod 3 and a rear fixing rod 4; the front ends of the left frame 1 and the right frame 2 are respectively connected with the left end and the right end of the front fixing rod 3, and the rear ends of the left frame 1 and the right frame 2 are respectively connected with the left end and the right end of the rear fixing rod 4; the front section of the left frame 1 is provided with an annular boss 101 and a mounting hole 102 from back to front; the rear section is also provided with an annular boss and a mounting hole from front to back; the front section and the rear section of the right frame 2 are also respectively provided with an annular boss and a mounting hole which correspond to the left frame;
the driving system comprises a power supply 5, a motor 6, a pinion 7, a first gearwheel 8, a second gearwheel 9, a first driving shaft 11 and a second driving shaft 10;
the power supply 5 supplies power to the motor 6, an output shaft of the motor 6 is fixedly connected with the pinion 7, and the pinion 7 is driven to rotate along the axial direction; the first driving shaft 11 is installed through the annular bosses at the front sections of the left bracket and the right bracket; the second driving shaft 10 is installed through the annular bosses at the rear sections of the left bracket and the right bracket; the first gearwheel 8 is fixed on the first driving shaft 11, the second gearwheel 9 is fixed on the second driving shaft 10, the first gearwheel 8 and the second gearwheel 9 are respectively meshed with the front side and the rear side of the pinion 7, and the axes of the three gears are parallel and positioned in the same plane;
the auxiliary wheel system comprises a left auxiliary wheel 13 and a right auxiliary wheel 12 which are respectively arranged below the left frame 1 and the right frame 2;
the mechanical leg system consists of four sub-mechanical leg systems; each sub mechanical leg system comprises a driving rod 14, a long connecting rod 15, a front rocker 16, a rear rocker 17, a transverse connecting rod 18, a short connecting rod 19 and a mechanical leg 20; the mechanical leg 20 consists of a mechanical leg transverse rod part 21 and a mechanical leg vertical rod part 22; a first end of a driving rod 14 is fixedly connected with a first driving shaft 11, a second end of the driving rod 14 is connected with a first end of a long connecting rod 15 through a pin, the middle part of the long connecting rod 15, a first end of a transverse connecting rod 18 and a first end of a front rocker 16 are connected together through a pin, a second end of the long connecting rod 15 is connected with a first end of a mechanical leg cross rod part 21 through a pin, and a second end of the mechanical leg cross rod part 21 is connected with a first end of a short connecting rod 19 through a pin; the second end of the transverse connecting rod 18, the second end of the short connecting rod 19 and the first end of the rear rocker 17 are connected together through a pin; the second end of the front rocker 16 is connected with a mounting hole 102 on the bracket through a pin, and the second end of the rear rocker 17 is sleeved on an annular boss 101 of the frame and can rotate relative to the frame.
The driving rod 14 rotates for a circle, the contact time and the non-contact time of the tail end of the vertical rod part 22 of the mechanical leg are the same as those of the ground and are half of the turnover period, so that the robot can walk quickly in diagonal gait by reasonably installing the driving rods in four sub-mechanical leg systems, at the moment, the motor drives the first large gear 8 and the second large gear 9 to rotate simultaneously through the small gear 7, and then the driving rod 14 is driven to rotate, and the motion of the quadruped robot is realized.
As shown in the attached drawings, when AB =2AC, BD =2.5AC, CE =5AC, and D is a CE midpoint, a trajectory of a point E is a closed curve composed of a straight line and an arc line, and through an improved design of the hopken mechanism, the hopken mechanism can be applied to a leg structure of a robot, and a trajectory of a tail end of a mechanical leg of the robot is a closed curve composed of a straight line and an arc line, a size relationship should be satisfied: the distance from the annular boss 101 to the corresponding mounting hole 102 is the same as the length of the transverse connecting rod 18 and the length of the mechanical leg cross rod part 21 and is 2 times of the length of the driving rod 14; the length of the front rocker 16, the length of the rear rocker 17 and the length of the short connecting rod 19 are the same and are 2.5 times of the length of the driving rod 14; the long link 15 is 5 times as long as the driving rod 14. In the sub-mechanical leg system meeting the size requirement, when the driving rod 14 rotates for one circle, the supporting track of the tail end of the mechanical leg 20 on the ground is an approximate straight line, as shown in the attached drawings, and the supporting time and the swinging time of the mechanical leg 20 are the same and are half of the rotation period, that is, when each driving rod 14 rotates for one circle, half of the time of the mechanical leg 20 driven by the driving rod is in the supporting state and half of the time is in the swinging state, when the driving rod 14 is installed, because the first large gear 8 and the second large gear 9 are respectively positioned at two sides of the small gear 7 and driven by the small gear 7, the rotating directions of the first driving shaft 11 and the second driving shaft 10 are opposite, so that the driving rods 14 in the four sub-mechanical leg systems are kept parallel, specifically, the installation angle of the driving rod 14 is the same as that of the driving rod 14 positioned at the same side, and is different from that of the driving rod 14 at the other side by 180 degrees, as shown in the drawings, the state of the mechanical leg 20 at the diagonal position is the same, and the mechanical leg 20 at the diagonal position is in the supporting state or the swinging state, and the state is opposite to the state of the mechanical leg 20 at the other diagonal position, so that the robot can realize rapid movement in a diagonal gait, and the robot can be ensured to stably move.
Claims (2)
1. A quadruped robot, characterized in that:
the device comprises a frame, a driving system, an auxiliary gear system and a mechanical leg system;
the rack comprises a left rack (1), a right rack (2), a front fixing rod (3) and a rear fixing rod (4); the front ends of the left rack (1) and the right rack (2) are respectively connected with the left end and the right end of the front fixing rod (3), and the rear ends of the left rack (1) and the right rack (2) are respectively connected with the left end and the right end of the rear fixing rod (4); the front section of the left frame (1) is provided with an annular boss (101) and a mounting hole (102) from back to front; the rear section is also provided with an annular boss and a mounting hole from front to back; the front section and the rear section of the right rack (2) are also respectively provided with an annular boss and a mounting hole which correspond to the left rack;
the driving system comprises a power supply (5), a motor (6), a pinion (7), a first gearwheel (8), a second gearwheel (9), a first driving shaft (11) and a second driving shaft (10); the power supply (5) supplies power to the motor (6), an output shaft of the motor (6) is fixedly connected with the pinion (7) and drives the pinion (7) to rotate along the axial direction; the first driving shaft (11) is installed through the annular bosses at the front sections of the left bracket and the right bracket; the second driving shaft (10) is installed through the annular bosses at the rear sections of the left bracket and the right bracket; the first large gear (8) is fixed on the first driving shaft (11), the second large gear (9) is fixed on the second driving shaft (10), the first large gear (8) and the second large gear (9) are respectively meshed with the front side and the rear side of the small gear (7), and the axes of the three gears are parallel and positioned in the same plane;
the auxiliary wheel system comprises a left auxiliary wheel (13) and a right auxiliary wheel (12), which are respectively arranged below the left rack (1) and the right rack (2);
the mechanical leg system consists of four sub-mechanical leg systems; each sub mechanical leg system comprises a driving rod (14), a long connecting rod (15), a front rocker (16), a rear rocker (17), a transverse connecting rod (18), a short connecting rod (19) and a mechanical leg (20); the mechanical leg (20) consists of a mechanical leg cross rod part (21) and a mechanical leg vertical rod part (22); the first end of a driving rod (14) is fixedly connected with a first driving shaft (11) or a second driving shaft (10), the second end of the driving rod (14) is connected with the first end of a long connecting rod (15) through a pin, the middle part of the long connecting rod (15), the first end of a transverse connecting rod (18) and the first end of a front rocker (16) are connected together through a pin, the second end of the long connecting rod (15) is connected with the first end of a mechanical leg transverse rod part (21) through a pin, and the second end of the mechanical leg transverse rod part (21) is connected with the first end of a short connecting rod (19) through a pin; the second end of the transverse connecting rod (18), the second end of the short connecting rod (19) and the first end of the rear rocker (17) are connected together through a pin; the second end of the front rocker (16) is connected with a mounting hole (102) on the bracket through a pin, and the second end of the rear rocker (17) is sleeved on an annular boss (101) of the rack and can rotate relative to the rack;
in each sub-mechanical leg system, the distance from the annular boss (101) to the corresponding mounting hole (102) is the same as the length of the transverse connecting rod (18) and the length of the mechanical leg transverse rod part (21), and is 2 times of the length of the driving rod (14); the front rocker (16), the rear rocker (17) and the short connecting rod (19) have the same length which is 2.5 times of the length of the driving rod (14); the length of the long connecting rod (15) is 5 times of that of the driving rod (14);
the driving rods (14) in the four sub-mechanical leg systems are kept parallel, and particularly, the installation angle of the driving rod (14) is the same as that of the driving rod (14) on the same side, and is different from that of the driving rod (14) on the other side by 180 degrees.
2. The method of moving a quadruped robot according to claim 1, characterized by comprising the following processes:
the driving rods (14) of the sub-mechanical leg systems rotate for a circle, the contact time and the non-contact time of the tail ends of the vertical rod parts (22) of the mechanical legs are the same as those of the ground and are half of the turnover period, if the driving rods (14) in the four sub-mechanical leg systems are parallel during installation, specifically, the installation angles of the driving rods (14) and the driving rods (14) positioned on the same side are the same, and the installation angle of the driving rods (14) on the other side are different by 180 degrees, so that the robot can rapidly walk in an opposite-angle gait; at the moment, the motor simultaneously drives the first gearwheel (8) and the second gearwheel (9) to rotate through the pinion (7), and then drives the driving rod (14) to rotate, so that the motion of the quadruped robot is realized.
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| CN201910608281.1A CN110422246B (en) | 2019-07-08 | 2019-07-08 | Quadruped robot and movement method |
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| CN201910608281.1A CN110422246B (en) | 2019-07-08 | 2019-07-08 | Quadruped robot and movement method |
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| CN110422246B true CN110422246B (en) | 2021-08-06 |
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| CN113511285B (en) * | 2021-08-26 | 2022-08-09 | 苏州大学 | Humanoid biped leg mechanism capable of walking stably |
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2019
- 2019-07-08 CN CN201910608281.1A patent/CN110422246B/en active Active
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| CN103963869A (en) * | 2014-05-14 | 2014-08-06 | 王岳林 | Elliptic gear drive walking robot and manufacturing method thereof |
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