CN110641571A - Twelve-degree-of-freedom bionic quadruped robot and working method thereof - Google Patents
Twelve-degree-of-freedom bionic quadruped robot and working method thereof Download PDFInfo
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- CN110641571A CN110641571A CN201910818087.6A CN201910818087A CN110641571A CN 110641571 A CN110641571 A CN 110641571A CN 201910818087 A CN201910818087 A CN 201910818087A CN 110641571 A CN110641571 A CN 110641571A
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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
Abstract
The invention provides a twelve-degree-of-freedom bionic quadruped robot and a working method thereof, the robot comprises a robot body and four-limb structures arranged at the front part and the rear part of the robot body, the robot body is provided with a driving device which is positioned at four corners and used for driving each four-limb structure to swing, the driving device comprises a lateral rotating motor, an output shaft of the lateral rotating motor is fixedly connected with a vertical swinging motor, an output shaft of the vertical swinging motor is fixedly connected with a leg swinging motor, the four-limb structures comprise a thigh member and a shank member, the upper end of the shank member is hinged with the lower end of the thigh member through a penetrating rotating shaft, the upper end of the shank member is fixedly provided with a driven belt wheel sleeved on the rotating shaft, the output end of the leg swinging motor is fixedly provided with a driving belt wheel, and the driving belt wheel and the driven, low cost, can complete a series of actions by imitating organisms and has wide adaptability of tasks.
Description
Technical Field
The invention relates to a twelve-degree-of-freedom bionic quadruped robot and a working method thereof.
Background
The research and manufacturing level of robots has become a sign of the combined strength of the academic level and the science and technology of the country and the region. The robot has wide market prospect in many aspects such as military combat, rescue and relief work, family life and the like, so that the research of the robot becomes the first choice research object of many scientific research teams at home and abroad. The quadruped walking robot has strong environment adaptability under the condition of complex and unknown ground, can complete tasks only by requiring at most four supporting points, and is developing towards miniaturization, intellectualization and the like.
Disclosure of Invention
The invention improves the problems, namely the technical problem to be solved by the invention is that a robot structure capable of adapting to a complex environment needs to be designed under the application scene of the existing robot.
The specific embodiment of the invention is as follows: a twelve-degree-of-freedom bionic quadruped robot comprises a robot body and four-limb structures arranged on two sides of the front portion and the rear portion of the robot body, wherein a driving device which is positioned at four corners and used for driving the four-limb structures to swing is arranged on the robot body, the driving device comprises a lateral rotating motor fixed on the robot body, an output shaft of the lateral rotating motor is fixedly connected with a vertical swinging motor, an output shaft of the vertical swinging motor is perpendicular to an output shaft of the lateral rotating motor and is fixedly connected with a leg swinging motor, the four-limb structure comprises a thigh member and a shank member which are fixedly connected with the leg swinging motor, the upper end of the shank member and the lower end of the thigh member are hinged through a penetrating rotating shaft, a driven belt pulley sleeved on the rotating shaft is fixed at the upper end of the shank member, and a driving belt pulley is fixed at the, and a transmission belt is sleeved outside the driving belt pulley and the driven belt pulley so as to drive the shank component to swing around the hinged part of the shank component by utilizing the leg swinging motor.
Further, the robot body includes the shell body, both ends are fixed with the connection pad around the shell body, the side direction rotates the outside that the motor is fixed in the connection pad, the outside that the motor was rotated to the side direction still is fixed with interior side shield.
Furthermore, the vertical swing motor is fixedly connected with the output end of the lateral rotation motor through the first connecting frame, the outer side end of the vertical swing motor is fixedly connected with the second connecting frame, and the outer side baffle is fixedly connected to the outer side of the second connecting frame.
Furthermore, the outer side baffle and the inner side baffle at the two ends of the robot body are penetrated by connecting rods fixedly connected with the outer side baffle and the inner side baffle.
Further, a spherical foot member is fixed to a lower portion of the lower leg member.
The invention also comprises a working method of the twelve-degree-of-freedom bionic quadruped robot, which utilizes the twelve-degree-of-freedom bionic quadruped robot and comprises the following specific operation steps: the lateral rotation motor is used for driving the vertical swing motor, the leg swing motor and the four-limb structure to swing integrally to the inner side and the outer side of the robot body, the vertical swing motor is used for realizing the front-back swing of the plane where the leg swing motor and the four-limb structure are located, and the leg swing motor is used for realizing the control and the driving of the swing of the shank component around the hinged part with the thigh component through the belt transmission.
Compared with the prior art, the invention has the following beneficial effects: the invention has simple structure, convenient manufacture and low cost, can imitate organisms to complete a series of actions and has wide task adaptability.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural diagram of the robot body of the present invention.
Fig. 3 is a partial schematic view of the structure of the limbs of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 3, a twelve-degree-of-freedom bionic quadruped robot comprises a robot body 10 and four-limb structures arranged at two sides of the front part and the rear part of the robot body, wherein the robot body is provided with driving devices positioned at four corners and used for driving the four-limb structures to swing, each driving device comprises a lateral rotating motor 210 fixed on the robot body, an output shaft of each lateral rotating motor is fixedly connected with a vertical swinging motor 220, an output shaft of each vertical swinging motor is perpendicular to an output shaft of each lateral rotating motor and is fixedly connected with a leg swinging motor 230, each four-limb structure comprises a thigh member 310 and a shank member 320, the upper ends of the shank members 320 and the lower ends of the thigh members 310 are hinged through a penetrating rotating shaft, and the upper ends of the shank members are fixed with driven belt pulleys 330 sleeved on the rotating shaft, the output end of the leg swing motor is fixed with a driving belt pulley, and the driving belt pulley and the driven belt pulley are externally sleeved with a driving belt 340 so as to drive the shank component to swing around the hinged part of the shank component by using the leg swing motor.
In this implementation, the robot body includes shell body 110, and shell body 110 design is the symmetry design, and shell body 110 cavity is in order to put into the power or the control circuit who is used for controlling each motor, both ends are fixed with connection pad 120 around shell body 110, the side direction is rotated the motor and is fixed in the outside of connection pad, the outside of side direction is rotated the motor and is still fixed with inboard baffle 410.
The vertical swing motor 220 is fixedly connected with the output end of the lateral rotation motor 210 through a first connecting frame 510, the outer side end of the vertical swing motor 220 is fixedly connected with a second connecting frame 520, and the outer side of the second connecting frame 520 is fixedly connected with an outer side baffle 420.
The outer baffle 420 and the inner baffle 410 at both ends of the robot body are penetrated with a connecting rod 430 fixedly connected with the outer baffle and the inner baffle.
In this embodiment, a ball-shaped foot member 350 is fixed to the lower portion of the lower leg member.
In this embodiment, the outer side barrier 420 and the inner side barrier 410 at the two ends of the robot body are connected by a plurality of connecting rods 430 located on the periphery of the robot body, so that the four-limb structure part and the whole robot are connected with better rigidity, and the rigidity of the whole four-foot robot is increased by the outer side barrier 420, the inner side barrier 410 and the connecting rods.
When the mechanical leg walks, the lateral rotating motor 210 is utilized to drive the vertical swinging motor 220, the leg swinging motor 230 and the four-limb structure to swing towards the inner side and the outer side of the robot body integrally, the vertical swinging motor is utilized to realize the front-back swinging of the plane where the leg swinging motor and the four-limb structure are located, so that the vertical swinging motor 220 and the leg swinging motor 230 control two degrees of freedom of the knee joint of the mechanical leg, the leg swinging motor 230 is utilized to realize the control and drive of the lower leg component to swing around the hinged part with the upper leg component through belt transmission, thus the mechanical leg formed by the upper end of the lower leg component 320 and the upper leg component 310 has three degrees of freedom, the whole machine has twelve degrees of freedom, and various gaits can be realized smoothly. The whole machine has simple structure, convenient manufacture and low cost, also finishes a series of actions and tasks according to living beings, and is very suitable for the requirements of the mass market.
In the embodiment, the motor drive is adopted on the drive system, is the most selected drive mode in the current robot design, utilizes the motor to generate the torque, and then improves the torque through the speed reducer, and has the advantages of high control precision, low cost, good performance, light weight and the like, so the motor drive system becomes the most widely selected drive mode in the robot drive. In this embodiment, the lateral rotation motor 210 and the leg swing motor 220 are implemented as a permanent magnet synchronous motor designed for a quadruped robot, and an electric motor with high torque mass density is coupled to a low transmission ratio transmission to achieve high torque mass density. The planetary gear reducer is integrated with a motor shell, is compact, has a reduction ratio of 6:1, improves the power performance of the joint, and directly realizes torque control on the joint; the motor end is internally provided with a 15-bit encoder and a driver. The integrated motor specially designed for the quadruped robot integrates the speed reducer, the encoder and the driver, so that the size and the weight of the robot are effectively reduced, the inertia of legs is reduced, and great help is brought to the improvement of the control performance of the quadruped robot.
Any embodiment disclosed herein above is meant to disclose, unless otherwise indicated, all numerical ranges disclosed as being preferred, and any person skilled in the art would understand that: the preferred ranges are merely those values which are obvious or representative of the technical effect which can be achieved. Since the numerical values are too numerous to be exhaustive, some of the numerical values are disclosed in the present invention to illustrate the technical solutions of the present invention, and the above-mentioned numerical values should not be construed as limiting the scope of the present invention.
If the terms "first," "second," etc. are used herein to define parts, those skilled in the art will recognize that: the terms "first" and "second" are used merely to distinguish one element from another in a descriptive sense and are not intended to have a special meaning unless otherwise stated.
Meanwhile, if the invention as described above discloses or relates to parts or structural members fixedly connected to each other, the fixedly connected parts can be understood as follows, unless otherwise stated: a detachable fixed connection (for example using bolts or screws) is also understood as: non-detachable fixed connections (e.g. riveting, welding), but of course, fixed connections to each other may also be replaced by one-piece structures (e.g. manufactured integrally using a casting process) (unless it is obviously impossible to use an integral forming process).
In addition, terms used in any technical solutions disclosed in the present invention to indicate positional relationships or shapes include approximate, similar or approximate states or shapes unless otherwise stated.
Any part provided by the invention can be assembled by a plurality of independent components or can be manufactured by an integral forming process.
Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present invention and not to limit the same; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (6)
1. A bionic quadruped robot with twelve degrees of freedom is characterized by comprising a robot body and four-limb structures arranged on the front portion and the rear portion of the robot body, wherein the robot body is provided with a driving device which is positioned at four corners and used for driving the four-limb structures to swing, the driving device comprises a lateral rotating motor fixed on the robot body, an output shaft of the lateral rotating motor is fixedly connected with a vertical swinging motor, an output shaft of the vertical swinging motor is perpendicular to an output shaft of the lateral rotating motor and is fixedly connected with a leg swinging motor, the four-limb structure comprises a thigh component and a shank component which are fixedly connected with the leg swinging motor, the upper end of the shank component is hinged with the lower end of the thigh component through a penetrating rotating shaft, the upper end of the shank component is fixedly provided with a driven belt pulley sleeved on the rotating shaft, and the output end of the leg swinging motor is fixedly provided with a driving, and a transmission belt is sleeved outside the driving belt pulley and the driven belt pulley so as to drive the shank component to swing around the hinged part of the shank component by utilizing the leg swinging motor.
2. The twelve-degree-of-freedom bionic quadruped robot as claimed in claim 1, wherein the robot body comprises an outer shell, connecting discs are fixed to the front end and the rear end of the outer shell, the lateral rotating motor is fixed to the outer sides of the connecting discs, and an inner side baffle is further fixed to the outer sides of the lateral rotating motor.
3. The twelve-degree-of-freedom bionic quadruped robot as claimed in claim 2, wherein the vertical swing motor is fixedly connected with the output end of the lateral rotation motor through a first connecting frame, a second connecting frame is fixedly connected with the outer side end of the vertical swing motor, and an outer side baffle is fixedly connected with the outer side of the second connecting frame.
4. The twelve-degree-of-freedom bionic quadruped robot as claimed in claim 3, wherein the connecting rods fixedly connected with the outer side baffle and the inner side baffle penetrate through the outer side baffle and the inner side baffle at two ends of the robot body.
5. The twelve-degree-of-freedom biomimetic quadruped robot according to any one of claims 1 to 4, characterized in that a spherical foot member is fixed to the lower part of the lower leg member.
6. A twelve-degree-of-freedom bionic quadruped robot working method is characterized in that the twelve-degree-of-freedom bionic quadruped robot is used according to any one of claims 1-4, and the method comprises the following specific operation steps: the lateral rotation motor is used for driving the vertical swing motor, the leg swing motor and the four-limb structure to swing integrally to the inner side and the outer side of the robot body, the vertical swing motor is used for realizing the front-back swing of the plane where the leg swing motor and the four-limb structure are located, and the leg swing motor is used for realizing the control and the driving of the swing of the shank component around the hinged part with the thigh component through the belt transmission.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910818087.6A CN110641571A (en) | 2019-08-30 | 2019-08-30 | Twelve-degree-of-freedom bionic quadruped robot and working method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910818087.6A CN110641571A (en) | 2019-08-30 | 2019-08-30 | Twelve-degree-of-freedom bionic quadruped robot and working method thereof |
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| CN110641571A true CN110641571A (en) | 2020-01-03 |
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| CN201910818087.6A Pending CN110641571A (en) | 2019-08-30 | 2019-08-30 | Twelve-degree-of-freedom bionic quadruped robot and working method thereof |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111301553A (en) * | 2020-02-26 | 2020-06-19 | 安徽延达智能科技有限公司 | Multi-foot robot |
| CN111891253A (en) * | 2020-09-02 | 2020-11-06 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Quadruped robot |
| CN112114585A (en) * | 2020-08-18 | 2020-12-22 | 黄河 | Four-foot gait interactive bionic deduction robot |
| CN112623063A (en) * | 2021-01-15 | 2021-04-09 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Lightweight microminiature quadruped robot |
| CN112623060A (en) * | 2020-12-25 | 2021-04-09 | 哈尔滨工业大学 | Mobile and wearable dual-mode robot |
| CN112874651A (en) * | 2021-02-04 | 2021-06-01 | 南方科技大学 | Quadruped robot |
-
2019
- 2019-08-30 CN CN201910818087.6A patent/CN110641571A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111301553A (en) * | 2020-02-26 | 2020-06-19 | 安徽延达智能科技有限公司 | Multi-foot robot |
| CN112114585A (en) * | 2020-08-18 | 2020-12-22 | 黄河 | Four-foot gait interactive bionic deduction robot |
| CN111891253A (en) * | 2020-09-02 | 2020-11-06 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Quadruped robot |
| CN111891253B (en) * | 2020-09-02 | 2023-12-15 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Four-foot robot |
| CN112623060A (en) * | 2020-12-25 | 2021-04-09 | 哈尔滨工业大学 | Mobile and wearable dual-mode robot |
| CN112623063A (en) * | 2021-01-15 | 2021-04-09 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Lightweight microminiature quadruped robot |
| CN112874651A (en) * | 2021-02-04 | 2021-06-01 | 南方科技大学 | Quadruped robot |
| CN112874651B (en) * | 2021-02-04 | 2024-02-02 | 深圳逐际动力科技有限公司 | Four-foot robot |
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