CN113135241A - Bionic leg mechanism of four-foot robot - Google Patents
Bionic leg mechanism of four-foot robot Download PDFInfo
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- CN113135241A CN113135241A CN202110439762.1A CN202110439762A CN113135241A CN 113135241 A CN113135241 A CN 113135241A CN 202110439762 A CN202110439762 A CN 202110439762A CN 113135241 A CN113135241 A CN 113135241A
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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 bionic leg mechanism of a four-foot robot, which comprises a frame assembly, a buffer mechanism and a leg assembly; the buffer mechanism is positioned in the frame assembly and comprises a buffer frame and buffer units arranged at two ends of the buffer frame; the two buffer units are connected to the frame assembly and used for realizing the buffer between the frame assembly and the buffer frame; the leg assembly is mounted to the bumper frame. Above-mentioned shank mechanism has improved shank shock-absorbing capacity through buffer gear, has solved the poor problem of current shank buffering effect.
Description
Technical Field
The invention relates to the technical field of foot robots, in particular to a bionic leg mechanism of a four-foot robot.
Background
Along with the progress and development of science and technology and the continuous expansion of human exploration range, the demand of people on various auxiliary robots is continuously improved, and mobile robots are a very important class of the auxiliary robots. The traditional wheeled and tracked mobile robot is limited by the moving mode, has limited adaptability to the terrain, and cannot meet the continuously expanded exploration range of people. The foot type robot is used as a supplement of the wheel-track robot, and greatly expands the working environment of the robot and the exploration range of human beings due to the strong adaptability of the foot type robot to the terrain.
As the most important motion executing component of the legged robot, the leg structure directly affects the overall performance of the legged robot. However, the leg structure of the conventional legged robot has a drawback of poor cushioning effect.
Disclosure of Invention
In view of the above, the invention provides a bionic leg mechanism of a quadruped robot, which improves leg buffering performance through a buffering mechanism and solves the problem of poor leg buffering effect in the prior art.
The invention adopts the following specific technical scheme:
a bionic leg mechanism of a quadruped robot comprises a frame assembly, a buffer mechanism and a leg assembly;
the buffer mechanism is positioned in the frame assembly and comprises a buffer frame and buffer units arranged at two ends of the buffer frame;
the two buffer units are connected to the frame assembly and used for realizing the buffer between the frame assembly and the buffer frame;
the leg assembly is mounted to the bumper frame.
Furthermore, each buffer unit comprises a buffer base, a spring guide rod, a first buffer spring, a second buffer spring and a buffer sliding block;
the spring guide rod is fixedly connected with the buffer base and sequentially penetrates through the first buffer spring, the buffer sliding block and the second buffer spring, and the spring guide rod is in clearance fit with the first buffer spring, the buffer sliding block and the second buffer spring;
the buffer sliding block is fixedly arranged on the buffer frame and used for sliding relative to the buffer base along the extension direction of the spring guide rod;
the buffer base is fixedly arranged on the frame assembly.
Furthermore, the buffer frame comprises an upper frame, a rear frame, a lower frame and a front frame which are sequentially connected end to end along the circumferential direction;
the front frame is fixedly connected with the buffering slide block;
the rear frame is fixedly connected with the other buffering slide block.
Furthermore, the buffer frame also comprises a side-expanding motor fixing plate arranged along the vertical direction;
the top end of the side-extending motor fixing plate is fixedly connected to the upper frame, and the bottom end of the side-extending motor fixing plate is fixedly connected to the lower frame.
Furthermore, the leg assembly comprises a front swing motor, a side-unfolding motor, a thigh rod, a buffer connecting rod, a foot end, a metacarpal rod, a shank rod, a knee joint pull rod, a crank and a knee joint motor;
the side-unfolding motor is fixedly connected to the side-unfolding motor fixing plate and is positioned between the rear frame and the side-unfolding motor fixing plate; an output shaft of the side-spreading motor is fixedly connected with the front swing motor and used for driving the front swing motor to swing;
the front swing motor is rotatably arranged between the side-unfolding motor fixing plate and the front frame, is coaxially arranged with the knee joint motor and is connected with the knee joint motor through a revolute pair and used for driving the knee joint motor to swing;
the output axis of the front swing motor and the output axis of the side-spread motor are both in the same horizontal plane and are vertically arranged;
the top end of the thigh rod is fixedly connected with the shell of the knee joint motor, and the bottom end of the thigh rod is rotatably connected with the buffer connecting rod and one end of the shank rod;
the other ends of the shank rod and the buffer connecting rod are rotatably connected with the top end of the metacarpal rod;
the crank is fixedly connected with an output shaft of the knee joint motor;
the top end of the knee joint pull rod is rotatably connected to the crank, and the bottom end of the knee joint pull rod is rotatably connected to the shank rod;
the foot end is fixedly connected with the bottom end of the metacarpal rod.
Furthermore, the frame assembly comprises two oppositely arranged connecting plates and a supporting piece fixedly connected between the two connecting plates;
the buffer base is arranged on the inner side surface of the connecting plate.
Further, the supporting member is a supporting rod or a supporting plate.
Has the advantages that:
according to the bionic leg mechanism of the quadruped robot, the buffer mechanism is additionally arranged between the frame assembly and the leg assembly, the buffer frame of the buffer mechanism is arranged on the frame assembly through the buffer units at two ends, the leg assembly is arranged on the buffer frame, the impact on the leg assembly is buffered through the buffer units, the buffer effect of the leg assembly is improved, the impact when the foot end of the robot touches the ground can be effectively relieved, and the service life of the leg structure is prolonged.
Drawings
FIG. 1 is a schematic perspective view of a bionic leg mechanism of a quadruped robot according to the present invention;
FIG. 2 is a schematic perspective view of a frame assembly of a bionic leg mechanism of the quadruped robot in FIG. 1;
FIG. 3 is a schematic perspective view of a buffer mechanism of the bionic leg mechanism of the quadruped robot in FIG. 1;
FIG. 4 is a schematic perspective view of a cushion frame of the cushion mechanism of FIG. 3;
FIG. 5 is a schematic perspective view of a buffer unit of the buffer mechanism shown in FIG. 3;
fig. 6 is a schematic perspective structure diagram of a leg assembly of the bionic leg mechanism of the quadruped robot in fig. 1.
Wherein, the A-frame assembly, the B-buffer mechanism, the C-leg assembly, the A-1-supporting piece, the A-2-connecting plate, the B-1-buffer frame, the B-2-buffer unit, the B-1-1-upper frame, the B-1-2-rear frame, the B-1-3-lower frame, the B-1-4-front frame, the B-1-5-side extension motor fixing plate, the B-2-1-buffer base, the B-2-2-spring guide rod, the B-2-3-first buffer spring, the B-2-4-buffer slide block, the B-2-5-second buffer spring and the C-1-front swing motor, c-2-lateral extension motor, C-3-thigh rod, C-4-buffer connecting rod, C-5-foot end, C-6-metacarpal rod, C-7-shank rod, C-8-knee joint pull rod, C-9-crank and C-10-knee joint motor.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a bionic leg mechanism of a quadruped robot, which comprises a frame assembly A, a buffer mechanism B and a leg assembly C, wherein the frame assembly A is connected with the buffer mechanism B; the leg mechanism is arranged on the robot through a frame assembly A; the frame assembly A can comprise two oppositely arranged connecting plates A-2 and a supporting piece A-1 fixedly connected between the two connecting plates A-2; the frame assembly a may include two opposite connection plates a-2 and a support member a-1 fixedly connected between the two connection plates a-2, and the support member a-1 may be a support rod or a support plate, such as: adopting a round pipe, a round rod, a flat rod or a strip-shaped plate; as shown in the structure of FIG. 2, the frame assembly A is composed of two connecting plates A-2 which are oppositely and fixedly connected by four support rods which are symmetrically arranged up and down, and the number of the support pieces A-1 can be set according to the actual situation; the connecting plate A-2 can be provided with a hollow structure;
the buffer mechanism B is positioned in the frame assembly A and comprises a buffer frame B-1 and buffer units B-2 arranged at two ends of the buffer frame B-1; the buffer frame B-1 is used for mounting the leg assembly C; the two buffer units B-2 are connected to the frame assembly A and used for realizing the buffer between the frame assembly A and the buffer frame B-1; the leg assembly C is mounted to the cushion frame B-1. As shown in the structure of fig. 3, two end parts of the buffering frame B-1 are respectively and fixedly provided with a buffering unit B-2, the buffering units B-2 at the two end parts are arranged on two connecting plates A-2 which are oppositely arranged in the frame assembly A, and the impact generated by the action of the leg assembly C is buffered through the buffering units B-2, so that the buffering between the buffering frame B-1 and the leg assembly C is realized.
The bionic leg mechanism of the four-foot robot is characterized in that a buffer mechanism B is additionally arranged between a frame assembly A and a leg assembly C, a buffer frame B-1 of the buffer mechanism B is installed on the frame assembly A through buffer units B-2 at two ends, the leg assembly C is installed on the buffer frame B-1, impact on the leg assembly C is buffered through the buffer units B-2, the buffer effect of the leg assembly C is improved, impact when a foot end C-5 of the robot contacts the ground can be effectively relieved, and the service life of the leg structure is prolonged.
In a specific embodiment, as shown in the structure of fig. 5, the buffer unit B-2 comprises a buffer base B-2-1, a spring guide rod B-2-2, a first buffer spring B-2-3, a second buffer spring B-2-5 and a buffer slide block B-2-4; the spring guide rod B-2-2 is fixedly connected with the buffer base B-2-1 and sequentially passes through the first buffer spring B-2-3, the buffer sliding block B-2-4 and the second buffer spring B-2-5, and the spring guide rod B-2-2, the first buffer spring B-2-3, the buffer sliding block B-2-4 and the second buffer spring B-2-5 are in clearance fit; the buffer base B-2-1 is provided with a rectangular cavity, the spring guide rod B-2-2, the first buffer spring B-2-3, the second buffer spring B-2-5 and the buffer sliding block B-2-4 are all accommodated in the cavity of the buffer base B-2-1, the buffer sliding block B-2-4 is matched with the rectangular cavity in shape, and the buffer sliding block B-2-4 is guided through the rectangular cavity and the spring guide rod B-2-2; the first buffer spring B-2-3 or the second buffer spring B-2-5 is compressed through the sliding motion of the buffer sliding block B-2-4 along the spring guide rod B-2-2, and the impact energy is consumed to realize buffering through compressing the first buffer spring B-2-3 or the second buffer spring B-2-5; the buffer sliding block B-2-4 is fixedly arranged on the buffer frame B-1 and is used for sliding relative to the buffer base B-2-1 along the extension direction of the spring guide rod B-2-2; the buffer base B-2-1 is fixedly arranged on the frame assembly A; the buffer base B-2-1 is fixedly arranged on the inner side face of the connecting plate A-2 of the frame assembly A, the buffer frame B-1 is fixedly connected with the buffer sliding block B-2-4, and the buffer frame B-1 and the connecting plate A-2 of the frame assembly A can move relatively through the buffer sliding block B-2-4, so that the leg assembly C is buffered.
As the buffering unit B-2 adopts the structure, the buffering base B-2-1 is fixedly arranged on the frame assembly A, the buffering slide block B-2-4 is fixedly connected with the buffering frame B-1, the impact is buffered through the first buffering spring B-2-3 and the second buffering spring B-2-5 which are arranged on the spring guide rod B-2-2 in a penetrating way, and the spring guide rod B-2-2 can guide the buffering spring and the buffering slide block B-2-4, so that the leg assembly C has a better buffering effect.
Furthermore, as shown in the structure of FIG. 4, the buffer frame B-1 comprises an upper frame B-1-1, a rear frame B-1-2, a lower frame B-1-3 and a front frame B-1-4 which are sequentially connected end to end along the circumferential direction; the front frame B-1-4 is fixedly connected with a buffer sliding block B-2-4; the rear frame B-1-2 is fixedly connected with another buffering slide block B-2-4. The buffer frame B-1 also comprises a side-spread motor fixing plate B-1-5 arranged along the vertical direction; the side-spread motor fixing plate B-1-5 can be arranged in parallel with the rear frame B-1-2 and the front frame B-1-4; the top end of the side-spreading motor fixing plate B-1-5 is fixedly connected with the upper frame B-1-1, and the bottom end is fixedly connected with the lower frame B-1-3.
Specifically, as shown in the structures of fig. 1 and 6, the leg assembly C comprises a front swing motor C-1, a lateral extension motor C-2, a thigh rod C-3, a buffer connecting rod C-4, a foot end C-5, a metacarpal rod C-6, a shank rod C-7, a knee joint pull rod C-8, a crank C-9 and a knee joint motor C-10;
the side-unfolding motor C-2 is fixedly connected with a side-unfolding motor fixing plate B-1-5 and is positioned between the rear frame B-1-2 and the side-unfolding motor fixing plate B-1-5; an output shaft of the side-spreading motor C-2 is fixedly connected with the front swing motor C-1 and is used for driving the front swing motor C-1 to swing; the side-unfolding motor C-2 is used for driving the front swing motor C-1 to rotate, so that the leg assembly C deflects towards one side, and the robot realizes transverse displacement;
the front swing motor C-1 is rotatably arranged between the side-spread motor fixing plate B-1-5 and the front frame B-1-4, is coaxially arranged with the knee joint motor C-10 and is connected with the knee joint motor C-10 through a revolute pair and is used for driving the knee joint motor C-10 to swing; the front swing motor C-1 is used for driving the knee joint motor C-10 to swing towards the front side or the rear side of the traveling direction of the robot, so that the robot moves forwards or backwards;
the output axis of the front swing motor C-1 and the output axis of the side spread motor C-2 are both in the same horizontal plane and are vertically arranged; as shown in the structure of fig. 6, the output axis of the front swing motor C-1 and the output axis of the side spread motor C-2 are both in the same horizontal plane, the output axis of the front swing motor C-1 is arranged along the longitudinal direction, and the output axis of the side spread motor C-2 is arranged along the transverse direction;
the top end of the thigh rod C-3 is fixedly connected with the shell of the knee joint motor C-10, and the bottom end of the thigh rod C-3 is rotatably connected with one end of the buffer connecting rod C-4 and one end of the shank rod C-7; as shown in the structure of fig. 6, the top end of the thigh rod C-3 is fixedly connected with the shell of the knee joint motor C-10, so that the thigh rod C-3 can synchronously move along with the knee joint motor C-10, the bottom end of the thigh rod C-3 is rotatably connected with a buffer connecting rod C-4 and a shank rod C-7, and the connecting point of the thigh rod C-3 and the shank rod C-7 is positioned at the top of the connecting point of the thigh rod C-3 and the buffer connecting rod C-4;
the other ends of the shank rod C-7 and the buffer connecting rod C-4 are rotatably connected with the top end of the metacarpal rod C-6; as shown in the structure of FIG. 6, shank C-7 is connected between thigh rod C-3 and metacarpal rod C-6, and thigh rod C-3, shank rod C-7 and metacarpal rod C-6 form the support structure of leg assembly C; the buffer connecting rod C-4 is connected between the bottom end of the thigh rod C-3 and the top end of the metacarpal rod C-6 and is used for realizing buffer connection between the thigh rod C-3 and the metacarpal rod C-6;
the crank C-9 is fixedly connected with an output shaft of a knee joint motor C-10, the top end of a knee joint pull rod C-8 is rotatably connected to the crank C-9, and the bottom end of the knee joint pull rod C-8 is rotatably connected to a shank C-7; as shown in the structure of fig. 6, the output shaft of the knee joint motor C-10 is fixedly connected with the crank C-9, the crank C-9 is controlled to rotate by the knee joint motor C-10, and the thigh rod C-3 and the shank rod C-7 are controlled to move by the knee joint pull rod C-8; the buffer connecting rod C-4 and the knee joint pull rod C-8 form a control mechanism of the leg assembly C, and the control mechanism is used for controlling the actions of the thigh rod C-3, the shank rod C-7 and the metacarpal rod C-6;
the foot end C-5 is fixedly connected with the bottom end of the metacarpal rod C-6, and the foot end C-5 is used for contacting with the ground.
By adopting the bionic leg mechanism of the four-legged robot with the structure, a crotch buffering joint is formed through the buffering mechanism B, the lateral extension of a leg assembly C is realized through the lateral extension motor C-2, the front swing of the leg assembly C is realized through the front swing motor C-1, two knee joints are formed through a thigh rod C-3, a shank rod C-7 and a metacarpal rod C-6 which are sequentially connected in a rotating manner, and the leg assembly C is driven to move through the lateral extension motor C-2, the front swing motor C-1, a knee joint motor C-10, a buffering connecting rod C-4 and a knee joint pull rod C-8, so that the robot walks; compared with the existing foot type robot, the leg mechanism increases the number of joints and the buffering performance, further increases the working space of the leg structure foot end C-5, enhances the environmental adaptability, can effectively relieve the impact of the robot foot end C-5 when touching the ground, and prolongs the service life of the leg structure.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. 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 (7)
1. A bionic leg mechanism of a quadruped robot is characterized by comprising a frame assembly, a buffer mechanism and a leg assembly;
the buffer mechanism is positioned in the frame assembly and comprises a buffer frame and buffer units arranged at two ends of the buffer frame;
the two buffer units are connected to the frame assembly and used for realizing the buffer between the frame assembly and the buffer frame;
the leg assembly is mounted to the bumper frame.
2. The leg mechanism as claimed in claim 1, wherein: each buffer unit comprises a buffer base, a spring guide rod, a first buffer spring, a second buffer spring and a buffer sliding block;
the spring guide rod is fixedly connected with the buffer base and sequentially penetrates through the first buffer spring, the buffer sliding block and the second buffer spring, and the spring guide rod is in clearance fit with the first buffer spring, the buffer sliding block and the second buffer spring;
the buffer sliding block is fixedly arranged on the buffer frame and used for sliding relative to the buffer base along the extension direction of the spring guide rod;
the buffer base is fixedly arranged on the frame assembly.
3. The leg mechanism as claimed in claim 2, wherein: the buffer frame comprises an upper frame, a rear frame, a lower frame and a front frame which are sequentially connected end to end along the circumferential direction;
the front frame is fixedly connected with the buffering slide block;
the rear frame is fixedly connected with the other buffering slide block.
4. A leg mechanism as claimed in claim 3, wherein: the buffer frame also comprises a side-expanding motor fixing plate arranged along the vertical direction;
the top end of the side-extending motor fixing plate is fixedly connected to the upper frame, and the bottom end of the side-extending motor fixing plate is fixedly connected to the lower frame.
5. The leg mechanism as claimed in claim 4, wherein: the leg assembly comprises a front swing motor, a side-unfolding motor, a thigh rod, a buffer connecting rod, a foot end, a metacarpal rod, a shank rod, a knee joint pull rod, a crank and a knee joint motor;
the side-unfolding motor is fixedly connected to the side-unfolding motor fixing plate and is positioned between the rear frame and the side-unfolding motor fixing plate; an output shaft of the side-spreading motor is fixedly connected with the front swing motor and used for driving the front swing motor to swing;
the front swing motor is rotatably arranged between the side-unfolding motor fixing plate and the front frame, is coaxially arranged with the knee joint motor and is connected with the knee joint motor through a revolute pair and used for driving the knee joint motor to swing;
the output axis of the front swing motor and the output axis of the side-spread motor are both in the same horizontal plane and are vertically arranged;
the top end of the thigh rod is fixedly connected with the shell of the knee joint motor, and the bottom end of the thigh rod is rotatably connected with the buffer connecting rod and one end of the shank rod;
the other ends of the shank rod and the buffer connecting rod are rotatably connected with the top end of the metacarpal rod;
the crank is fixedly connected with an output shaft of the knee joint motor;
the top end of the knee joint pull rod is rotatably connected to the crank, and the bottom end of the knee joint pull rod is rotatably connected to the shank rod;
the foot end is fixedly connected with the bottom end of the metacarpal rod.
6. A leg mechanism as claimed in any one of claims 2 to 5, wherein: the frame assembly comprises two connecting plates which are oppositely arranged and a supporting piece which is fixedly connected between the two connecting plates;
the buffer base is arranged on the inner side surface of the connecting plate.
7. The leg mechanism as claimed in claim 6, wherein: the supporting piece is a supporting rod or a supporting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110439762.1A CN113135241B (en) | 2021-04-23 | 2021-04-23 | Bionic leg mechanism of four-foot robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110439762.1A CN113135241B (en) | 2021-04-23 | 2021-04-23 | Bionic leg mechanism of four-foot robot |
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| Publication Number | Publication Date |
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| CN113135241A true CN113135241A (en) | 2021-07-20 |
| CN113135241B CN113135241B (en) | 2022-03-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110439762.1A Active CN113135241B (en) | 2021-04-23 | 2021-04-23 | Bionic leg mechanism of four-foot robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113665701A (en) * | 2021-08-18 | 2021-11-19 | 青岛新一代人工智能技术研究院 | Leg structure and mechanical device |
| CN114435506A (en) * | 2022-02-21 | 2022-05-06 | 复旦大学 | Partially-coupled six-degree-of-freedom generalized parallel mechanical leg mechanism |
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| US20080297091A1 (en) * | 2007-05-31 | 2008-12-04 | Samsung Electronics Co., Ltd. | Foot of walking robot and walking robot having the same |
| CN103802908A (en) * | 2014-02-19 | 2014-05-21 | 北京航空航天大学 | Modularization sheep foot simulation mechanical foot device |
| CN207089485U (en) * | 2017-07-25 | 2018-03-13 | 杭州宇树科技有限公司 | A kind of quadruped robot airframe structure of leg good impact resistant effect |
| CN209366313U (en) * | 2018-11-30 | 2019-09-10 | 杭州宇树科技有限公司 | A kind of robot leg Buffer Unit and the quadruped robot using it |
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2021
- 2021-04-23 CN CN202110439762.1A patent/CN113135241B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080297091A1 (en) * | 2007-05-31 | 2008-12-04 | Samsung Electronics Co., Ltd. | Foot of walking robot and walking robot having the same |
| CN103802908A (en) * | 2014-02-19 | 2014-05-21 | 北京航空航天大学 | Modularization sheep foot simulation mechanical foot device |
| CN207089485U (en) * | 2017-07-25 | 2018-03-13 | 杭州宇树科技有限公司 | A kind of quadruped robot airframe structure of leg good impact resistant effect |
| CN209366313U (en) * | 2018-11-30 | 2019-09-10 | 杭州宇树科技有限公司 | A kind of robot leg Buffer Unit and the quadruped robot using it |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113665701A (en) * | 2021-08-18 | 2021-11-19 | 青岛新一代人工智能技术研究院 | Leg structure and mechanical device |
| CN114435506A (en) * | 2022-02-21 | 2022-05-06 | 复旦大学 | Partially-coupled six-degree-of-freedom generalized parallel mechanical leg mechanism |
| CN114435506B (en) * | 2022-02-21 | 2024-01-26 | 复旦大学 | Partially-coupled six-degree-of-freedom generalized parallel mechanical leg mechanism |
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| CN113135241B (en) | 2022-03-04 |
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