CN111469945A - Quadruped robot and slope motion posture adjusting method - Google Patents
Quadruped robot and slope motion posture adjusting method Download PDFInfo
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- CN111469945A CN111469945A CN202010300034.8A CN202010300034A CN111469945A CN 111469945 A CN111469945 A CN 111469945A CN 202010300034 A CN202010300034 A CN 202010300034A CN 111469945 A CN111469945 A CN 111469945A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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Abstract
The invention discloses a quadruped robot and a slope motion posture adjusting method, comprising a front machine body and a rear machine body, wherein the front machine body is connected with the rear machine body through a flexible spine; two ends of the hydraulic cylinder are respectively hinged at the lower parts of the inner sides of the front machine body and the rear machine body. When the robot is in the initial posture of the slope; the method comprises the steps of firstly controlling the hydraulic cylinder to extend to enable the flexible spine to be bent in a concave shape, enabling the relative angle of a front machine body and a rear machine body to be increased, further enlarging the distance between the front foot end and the rear foot end of the robot, then controlling the front leg and the rear leg to respectively rotate clockwise around hip joints connected with the front leg and the rear leg, enabling the front leg and the rear leg to swing backwards by a certain angle relative to the machine body, enabling the center of mass of the robot to move upwards relative to a slope surface, and enabling the intersection point of the center of gravity extension line of the robot and the slope surface to.
Description
Technical Field
The present invention relates to a quadruped robot and a method for adjusting a slope movement posture of the quadruped robot.
Background
The statements herein merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The inventor finds that in the existing robot slope surface movement posture adjustment method, the adjustment of the movement posture is realized only through the adjustment of the leg parts of the robot, but the stability is poor when the robot moves on the slope surface due to the adjustment method.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a quadruped robot and a slope motion posture adjusting method of the quadruped robot.
In order to achieve the purpose, the invention is realized by the following technical scheme:
in a first aspect, the invention provides a quadruped robot, which comprises a front body and a rear body, wherein the front body is provided with a front leg, the rear body is provided with a rear leg, the front leg and the rear leg respectively comprise a thigh and a shank, the thigh is connected with the front body or the rear body through a first hip joint, and the thigh is connected with the shank through a second hip joint; the front machine body or the rear machine body is connected through the front machine body and the rear machine body and is connected through a flexible spine, the flexible spine is two rubber rods, and two ends of the two rubber rods are respectively inserted into holes in the inner sides of the front machine body and the rear machine body to form interference fit and are fixedly connected with the machine body; a hydraulic cylinder is arranged below the two rubber rods; two ends of the hydraulic cylinder are respectively hinged below the inner sides of the front machine body and the rear machine body; the bending of the flexible spine can be realized by controlling the extension and retraction of the hydraulic cylinder, and then the relative rotation of the front machine body and the rear machine body is realized.
In a second aspect, the invention is based on the quadruped robot, and further provides a slope movement posture adjusting method;
when the robot is in the initial posture of the slope; firstly, controlling the hydraulic cylinder to extend to enable the flexible spine to be bent in a concave shape, and enabling the relative angle of a front machine body and a rear machine body to be increased, so that the distance between the front foot end and the rear foot end of the robot is enlarged, then controlling the front leg and the rear leg to respectively rotate clockwise around a first hip joint connected with the front leg and the rear leg, enabling the front leg and the rear leg to swing backwards by a certain angle relative to the machine body, and enabling the mass center of the robot to move upwards relative to a slope surface until the intersection point of the gravity center extension line of the robot and the slope surface is located at the;
the beneficial effects of the above-mentioned embodiment of the present invention are as follows:
according to the invention, the hydraulic cylinder is additionally arranged at the lower part of the flexible spine, the length of the leg part is unchanged in the posture adjustment process, the spine is bent, the distance between the front foot end and the rear foot end is increased, and the anti-backward turning stability of the robot slope surface is improved; after the angle of the thigh of the robot around the hip joint is adjusted, the center of mass extension line of the robot is positioned at the center point of the supporting polygon, the stress of each leg is more balanced, and the motion stability is further improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a schematic structural view of a quadruped robot with flexible spine according to the present invention;
fig. 2(a), fig. 2(b) and fig. 2(c) are schematic diagrams of the slope movement posture adjustment method of the present invention;
FIG. 3 is a schematic view of a pose adjustment stability analysis;
in the figure: the spacing or dimensions between each other are exaggerated to show the location of the various parts, and the illustration is for illustrative purposes only. 1-shank, 2-thigh, 3-back body, 4-flexible spine, 5-front body, 6-hydraulic cylinder, 7-front leg hip joint, 8-front leg knee joint, 9-back leg hip joint and 10-back leg knee joint.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, unless the invention expressly state otherwise, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
for convenience of description, the words "up", "down", "front" and "rear" when used in this specification shall be construed to mean that they correspond only to the directions of "up", "down", "front" and "rear" of the accompanying drawings, and not to limit the structure, but merely to facilitate the description of the invention and to simplify the description, and shall not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore shall not be considered as limiting the invention.
As described in the background art, in the existing robot slope motion posture adjustment method, it is difficult to further improve the slope motion stability of the robot only by adjusting the legs of the robot, so in order to realize more stable slope motion of the robot, the present application provides a robot slope motion posture adjustment method based on flexible spines. In order to solve the technical problems, the invention provides a quadruped robot and a slope movement posture adjusting method.
In a typical embodiment of the present invention, as shown in fig. 1, a trunk of a quadruped robot with a flexible spine is divided into two parts, namely, a front body 5 and a rear body 3, a rubber rod is arranged between the front body 5 and the rear body 3 to form the flexible spine 4, and two ends of the flexible spine 4 are respectively inserted into holes at the inner sides of the front body 5 and the rear body 3 to form an interference fit and are fixedly connected with the bodies. The lower part of the flexible vertebra 4 is provided with a hydraulic cylinder 6, two ends of the hydraulic cylinder 6 are respectively hinged on the lower parts of the inner sides of the front machine body 5 and the rear machine body 3, the cylinder body part of the hydraulic cylinder 6 is fixed on the rear machine body 3, and the piston rod part is fixed on the front machine body 5. The flexible spine 4 can be bent by controlling the extension and contraction of the hydraulic cylinder 6, and then the front body and the rear body can rotate relatively.
In this embodiment, the rubber stick includes two, and two rubber sticks are parallel to each other, and it is difficult to understand certainly, the rubber stick can also set up three, four etc. and many rubber sticks also require to be parallel to each other.
In this embodiment, the hydraulic cylinder is further provided with one hydraulic cylinder, but it is understood that the hydraulic cylinder may be provided with a plurality of hydraulic cylinders, and when the hydraulic cylinders are provided with a plurality of hydraulic cylinders, the hydraulic cylinders are parallel to each other. Of course, the hydraulic cylinder can be replaced by an air cylinder according to the requirement immediately.
In the embodiment, two front legs are arranged on the front body of the robot, and two rear legs are arranged on the rear body of the robot; each leg part consists of a thigh 2 and a shank 1, as shown in the figure, the thigh 2 of the rear leg is connected with the rear body through a hip joint 9 of the rear leg, and the thigh 2 and the shank 1 are connected through a knee joint 10 of the rear leg; the thigh 2 of the rear leg is connected with the front body through a front leg hip joint 7, and the thigh 2 is connected with the shank 1 through a front leg knee joint 8; the hip joint is a joint between the front body 5 or the rear body 3 and the thigh 2, and the knee joint is a joint between the thigh 2 and the calf 1.
Based on the robot, the method for adjusting the slope motion posture provided in the embodiment comprises the following steps: in the existing robot slope motion posture adjusting method, the slope motion stability of the robot is difficult to further improve only through the adjustment of the legs of the robot, so that in order to realize more stable slope motion of the robot, the application provides a robot slope motion posture adjusting method based on flexible spines.
The method for adjusting the slope movement posture adds the control on the flexible vertebra 4: as shown in fig. 2(a), 2(b), and 2(c), the initial posture of the robot on the slope surface is shown in fig. 2 (a); firstly, the hydraulic cylinder 6 is controlled to extend to enable the flexible spine 4 to be bent in a concave shape, so that the relative angle of a front machine body and a rear machine body is increased, and the distance between the front foot end and the rear foot end of the robot is enlarged, as shown in a figure 2 (b); and then controlling the two front legs to rotate clockwise around the hip joint 7 and the two rear legs to rotate clockwise around the hip joint 9, so that the front legs and the rear legs swing backwards by a certain angle relative to the machine body, and the mass center of the robot moves upwards relative to the slope until the intersection point of the extension line of the gravity center of the robot and the slope is positioned at the center of the four foot falling points.
As shown in fig. 3, d is the distance from the foot end of the hind leg to the vertical extension line of the center of mass of the robot, α is the slope, FNqFor the supporting force to which the robot's front foot end is subjected, FNhSupporting force for the rear foot end of the robot, LZThe distance between the front foot end and the rear foot end is shown as point O, the contact point between the rear foot end and the slope surface is shown as point C, the intersection point of the gravity extension line of the center of mass and the slope surface is shown as point A, and the weight of the robot is G.
From the force and moment balance in fig. 3 it can be seen that:
Gd＝FNqLZ
FNq+FNh＝Gcosα
FNq·CA＝FNh(LZ-CA)
the method is simplified and can be obtained:
it can also be seen from fig. 2 that when the robot performs the slope attitude adjustment, the center of mass of the robot is forward, in the formula
The ratio of (a) to (b) is reduced, and the front foot end of the robot is subjected to a supporting force FNqIncrease while maintaining the front and rear foot end distance LZThe larger the weight of the robot, the larger the value of d, and the more stable the robot is on the slope.
The method has the advantages that: in the posture adjustment process, the length of the leg part is unchanged, the distance between the front foot end and the rear foot end is increased by bending the spine, and the backward turning prevention stability of the robot slope is improved; after the angle of the thigh of the robot around the hip joint is adjusted, the center of mass extension line of the robot is positioned at the center point of the supporting polygon, the stress of each leg is more balanced, and the motion stability is further improved.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A quadruped robot comprises a front body and a rear body, wherein the front body is provided with a front leg, the rear body is provided with a rear leg, the front leg and the rear leg respectively comprise a thigh and a shank, the thigh is connected with the front body or the rear body through a hip joint, and the thigh is connected with the shank through a knee joint; the device is characterized in that the front machine body is connected with the rear machine body through a flexible spine, and a hydraulic cylinder is arranged below the flexible spine; two ends of the hydraulic cylinder are respectively hinged at the lower parts of the inner sides of the front machine body and the rear machine body.
2. The quadruped robot as claimed in claim 1, wherein the flexible backbone is a flexible rubber rod, and two ends of the flexible rubber rod are respectively inserted into the holes at the inner sides of the front body and the rear body to form an interference fit and fixedly connected with the bodies.
3. The quadruped robot as claimed in claim 2, wherein the plurality of flexible rubber bars are parallel to each other when the plurality of flexible rubber bars are included.
4. The quadruped robot as claimed in claim 2, wherein the flexible rubber bars comprise two, one flexible rubber bar is connected with the left sides of the front body and the rear body, and the other flexible rubber bar is connected with the right sides of the front body and the rear body.
5. The quadruped robot of claim 1, wherein the plurality of hydraulic cylinders are parallel to each other when the plurality of hydraulic cylinders are provided.
6. The quadruped robot as claimed in claim 1 or 5, wherein the hydraulic cylinder can be replaced by an air cylinder.
7. The quadruped robot as claimed in claim 1, wherein the two front legs are provided at the left and right sides of the front body.
8. The quadruped robot as claimed in claim 1, wherein the number of the rear legs is two, and the two rear legs are positioned at the left and right sides of the rear body.
9. The method for adjusting the slope motion pose of a quadruped robot according to any one of claims 1 to 5,
when the robot is in the initial posture of the slope; the method comprises the steps of firstly controlling the hydraulic cylinder to extend to enable the flexible spine to be bent in a concave shape, enabling the relative angle of a front machine body and a rear machine body to be increased, further enlarging the distance between the front foot end and the rear foot end of the robot, then controlling the front leg and the rear leg to respectively rotate clockwise around hip joints connected with the front leg and the rear leg, enabling the front leg and the rear leg to swing backwards by a certain angle relative to the machine body, enabling the center of mass of the robot to move upwards relative to a slope surface, and enabling the intersection point of the center of gravity extension line of the robot and the slope surface to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010300034.8A CN111469945B (en) | 2020-04-16 | 2020-04-16 | Quadruped robot and slope motion posture adjusting method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010300034.8A CN111469945B (en) | 2020-04-16 | 2020-04-16 | Quadruped robot and slope motion posture adjusting method |
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| Publication Number | Publication Date |
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| CN111469945A true CN111469945A (en) | 2020-07-31 |
| CN111469945B CN111469945B (en) | 2021-06-22 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112859902A (en) * | 2021-01-21 | 2021-05-28 | 广州视源电子科技股份有限公司 | Robot and control method thereof |
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| CN102343950B (en) * | 2011-07-13 | 2013-04-24 | 北京交通大学 | Pliant four-footed robot with flexible waist and elastic legs |
| CN105235769A (en) * | 2015-11-16 | 2016-01-13 | 山东大学 | Bionic climbing quadruped robot |
| CN108749951A (en) * | 2018-06-11 | 2018-11-06 | 山东大学 | A kind of quadruped robot |
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2020
- 2020-04-16 CN CN202010300034.8A patent/CN111469945B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102343950B (en) * | 2011-07-13 | 2013-04-24 | 北京交通大学 | Pliant four-footed robot with flexible waist and elastic legs |
| CN105235769A (en) * | 2015-11-16 | 2016-01-13 | 山东大学 | Bionic climbing quadruped robot |
| CN108749951A (en) * | 2018-06-11 | 2018-11-06 | 山东大学 | A kind of quadruped robot |
Non-Patent Citations (3)
| Title |
|---|
| SEHOON PARK,YUN-JUNG LEE: "Gait Analysis of a Quadruped Walking Robot with Vertical Waist-joint on slope", 《IFAC PROCEEDINGS VOLUMES》 * |
| 吕荣基: "具有柔性脊椎的四足机器人奔跑分析", 《山东大学硕士论文》 * |
| 马宗利 等: "具有柔性脊椎的四足机器人奔跑运动分析", 《东北大学学报( 自然科学版)》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112859902A (en) * | 2021-01-21 | 2021-05-28 | 广州视源电子科技股份有限公司 | Robot and control method thereof |
| CN112859902B (en) * | 2021-01-21 | 2024-02-23 | 广州视源电子科技股份有限公司 | Robot and control method thereof |
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| CN111469945B (en) | 2021-06-22 |
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Granted publication date: 20210622 |