CN113635993A - Four-legged robot with rigid-flexible coupling structure - Google Patents
Four-legged robot with rigid-flexible coupling structure Download PDFInfo
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- CN113635993A CN113635993A CN202110835127.5A CN202110835127A CN113635993A CN 113635993 A CN113635993 A CN 113635993A CN 202110835127 A CN202110835127 A CN 202110835127A CN 113635993 A CN113635993 A CN 113635993A
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- limiting plate
- flexible
- rigid
- coupling structure
- leg
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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 discloses a quadruped robot with a rigid-flexible coupling structure, which comprises a supporting plate, wherein four corners of the supporting plate are respectively provided with a supporting leg for walking, each supporting leg comprises a lower supporting leg, an upper supporting leg and a steering engine, the lower supporting leg is connected with the upper supporting leg, and the upper supporting leg is connected with the supporting plate through the steering engine; the lower support leg comprises a connecting part, a limiting plate and a thrust ring, the connecting part penetrates through the limiting plate to be connected with the thrust ring, a flexible part is arranged between the connecting part and the limiting plate, and the limiting plate is connected with the upper support leg. When the limiting plate receives the pressure of landing leg, the limiting plate extrudees flexible portion downwards, and flexible portion takes place to warp to buffering impact force makes four-footed robot possess fine adaptability, and connecting portion and limiting plate mutually support the buffer capacity of imitative human muscle and fat, have the high nimble characteristics of control accurate reading.
Description
Technical Field
The invention relates to the technical field of quadruped robots, in particular to a quadruped robot with a rigid-flexible coupling structure.
Background
With the scientific and technological progress and the rapid development of social productivity, the robot industry is developed vigorously, wherein the four-footed robot is developed rapidly and widely applied. Conventional robots, such as wheeled, tracked, while having a fast speed of movement, are terrain constrained. The quadruped robot is a bionic robot, has great advantages in the aspect of crossing terrain obstacles, has low requirements on walking pavements, can cross obstacles and travels on various rugged and complicated pavements.
At present, most of four-foot robots are composed of rigid components, and spring components are arranged at foot ends to reduce impact with the ground, so that the advantages of bionics cannot be fully exerted. In the conventional design research of the quadruped robot, the whole is researched based on a rigid structure, and few mechanisms based on rigid-flexible combination are researched, while in the existing research literature of combining the quadruped robot by using a rigid-flexible material, the research is only carried out by applying a flexible material to the lower leg part. At present, the software structure develops rapidly, particularly under the conditions of human-computer interaction and other complex environments, the existing quadruped robot has weak environmental adaptability and flexibility, and a shock absorber is generally adopted in the aspect of shock absorption and buffering, but the effect is general.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention aims to provide a quadruped robot with a rigid-flexible coupling structure. The anti-buffering capacity of the quadruped robot is improved.
In order to achieve the purpose, the invention adopts the following technical scheme:
a quadruped robot with a rigid-flexible coupling structure comprises a supporting plate, wherein four corners of the supporting plate are respectively provided with supporting legs for walking, each supporting leg comprises a lower supporting leg, an upper supporting leg and a steering engine, the lower supporting leg is connected with the upper supporting leg, and the upper supporting leg is connected with the supporting plate through the steering engine; the lower support leg comprises a connecting part, a limiting plate and a thrust ring, the connecting part penetrates through the limiting plate to be connected with the thrust ring, a flexible part is arranged between the connecting part and the limiting plate, and the limiting plate is connected with the upper support leg.
Preferably, the connecting portion include that quantity is four connecting rods, the upper end of connecting rod is connected with the limiting plate all around respectively, form the buffers between connecting rod and the limiting plate, flexible portion places in the buffers.
Preferably, the through hole of the limiting plate is movably connected with the connecting rod, and the upper end of the limiting plate abuts against the thrust ring.
Preferably, the flexible portion is an air bag, the four connecting rods clamp the outer wall of the air bag, and the upper end of the air bag abuts against the limiting plate.
Preferably, the flexible portion includes a rubber block and a spring, the spring is embedded in the rubber block, and the rubber block is abutted to the limiting plate.
Preferably, the quadruped robot further comprises a bone joint, and the lower leg is connected with the upper leg through the bone joint.
Preferably, the limiting plate and the connecting rod are both made of carbon fiber materials.
Preferably, the quadruped robot further comprises flexible toes connected with the lower ends of the connecting rods.
Preferably, the flexible toe is hemispheroid, the plane of the flexible toe is connected with the lower end of the connecting rod, and the arc-shaped surface of the flexible toe faces downwards.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. according to the quadruped robot with the rigid-flexible coupling structure, the connecting part of the quadruped robot penetrates through the limiting plate to be connected with the thrust ring, the flexible part is arranged between the connecting part and the limiting plate, the limiting plate is connected with the upper supporting leg, when the limiting plate receives the pressure of the upper supporting leg, the limiting plate downwards extrudes the flexible part, and the flexible part deforms, so that the impact force is buffered, the quadruped robot has good adaptability, the connecting part and the limiting plate are matched with each other to simulate the buffering capacity of human muscles and fat, and the quadruped robot has the characteristic of high and flexible control precision.
2. According to the quadruped robot with the rigid-flexible coupling structure, the connecting parts of the quadruped robot comprise four connecting rods, the upper ends of the connecting rods are respectively connected with the periphery of the limiting plate, the buffer area is formed between the connecting rods and the limiting plate, the flexible parts are placed in the buffer area, the connecting rods and the flexible parts which are made of rigid materials are matched with each other, and the rigid-flexible coupling is used for buffering external force and adapting to different road surface environments.
3. The four-footed robot with the rigid-flexible coupling structure has the advantages that the flexible part of the four-footed robot is the air bag, the four connecting rods clamp the outer wall of the air bag, the upper end of the air bag is abutted against the limiting plate, and the air bag is clamped by the connecting rods and can be better fixed in a buffer area.
4. The quadruped robot with the rigid-flexible coupling structure further comprises flexible toes, the flexible toes are connected with the lower end of the connecting rod, and the flexible toes are further matched with the flexible air bags for use, so that the four-footed robot is obvious in damping effect.
Drawings
Fig. 1 is a schematic diagram of a quadruped robot having a rigid-flexible coupling structure according to the present invention.
Figure 2 is a schematic view of the lower leg of the present invention.
Figure 3 is an exploded view of the lower leg of the present invention.
Figure 4 is a schematic view of the upper leg of the present invention.
The device comprises a support leg 1, a lower support leg 11, a flexible toe 111, a limiting plate 112, a connecting part 113, a flexible part 114, a bone joint 115, a pushing ring 116, an upper support leg 12, a first frame 121, a second frame 122, a steering engine 13 and a support plate 2.
Detailed Description
The following describes the object of the present invention in further detail with reference to the drawings and specific examples, which are not repeated herein, but the embodiments of the present invention are not limited to the following examples.
As shown in fig. 1 to 4, the quadruped robot with a rigid-flexible coupling structure comprises a support plate 2, wherein four corners of the support plate 2 are respectively provided with a support leg 1 for walking, the support legs 1 are used for walking, the support legs 1 comprise a lower support leg 11, an upper support leg 12 and a steering engine 13, the lower support leg 11 is connected with the upper support leg 12, and the upper support leg 12 is connected with the support plate 2 through the steering engine 13; the steering engine 13 is used for providing power to enable the upper supporting leg 12 to walk, the upper end of the supporting plate 2 is used for placing equipment required by work, the lower supporting leg 11 comprises a connecting part 113, a limiting plate 112 and a thrust ring 116, the connecting part 113 penetrates through the limiting plate 112 to be connected with the thrust ring 116, the thrust ring 116 is used for limiting the moving distance of the limiting plate 112 and also plays a role of fixing the connecting part 113, a flexible part 114 is arranged between the connecting part 113 and the limiting plate 112, the limiting plate 112 is connected with the upper supporting leg 12, the upper supporting leg 12 can adopt the same structure as the lower supporting leg 11 and is used for damping and buffering, a first rack 121 and a second rack 122 are respectively arranged at the upper end and the lower end of the upper supporting leg 12, the first rack 121 is used for being connected with the steering engine 13, the second rack 122 is used for being connected with the lower supporting leg 11, when the limiting plate 112 receives the pressure of the upper supporting leg 12, the limiting plate 112 downwards extrudes the flexible part 114, and the flexible part 114 deforms, therefore, impact force is buffered, the quadruped robot has good adaptability, the connecting part 113 and the limiting plate 112 are matched with each other to simulate the buffering capacity of human muscles and fat, and the quadruped robot has the characteristic of flexibility in controlling high precision.
The connecting portion 113 includes four connecting rods, the upper ends of the connecting rods are respectively connected with the peripheries of the limiting plates 112, a buffer area is formed between the connecting rods and the limiting plates 112, and the flexible portion 114 is placed in the buffer area. Adopt rigid material's connecting rod and flexible portion 114 to mutually support, when last landing leg 12 atress, flexible portion 114 is for taking place axial deformation because of the atress, and then realizes the buffering to power, and the rigid-flexible coupling realizes buffering external force, adapts to different road surface environment.
The through hole of limiting plate 112 and connecting rod swing joint, the upper end of limiting plate 112 offsets with thrust ring 116, and thrust ring 116 limits the activity space of limiting plate 112, and limiting plate 112 possesses certain displacement space, receives pressure flexible portion 114 of pushing down when limiting plate 112, and when flexible portion 114 was reduced, made limiting plate 112 and thrust ring 116 offset, thrust ring 116 made connecting rod and limiting plate 112 structural integrity more stable.
The flexible portion 114 is an air bag, the four connecting rods clamp the outer wall of the air bag, and the upper end of the air bag abuts against the limiting plate 112. Four connecting rods are adopted to fix the air bag, and when the air bag is pressurized, the connecting rods fix the air bag, so that the air bag is stably matched with the limiting plate 112.
The flexible portion 114 includes a rubber block and a spring, the spring is embedded in the rubber block, and the rubber block abuts against the limiting plate 112. The rubber block has strong resetting capability, and the rubber block is matched with the spring to enable the lower supporting leg 11 to have a damping effect. The quadruped robot also comprises a bone joint 115, the lower leg support 11 is connected with the upper leg support 12 through the bone joint 115, the bone joint 115 can enable the lower leg support 11 to move at different angles, and the lower leg support 11 can simulate the movement of the bone joint of a human body when being stressed.
Limiting plate 112 and connecting rod all adopt carbon fiber material to make, and the density of carbon fiber is little, and intensity is high, makes the connecting rod receive pressure and can not damage, guarantees the stability of landing leg 11 structure down, and the weight of carbon fiber is very light, leads to the whole weight of four-footed robot lighter, portable.
The quadruped robot further comprises flexible toes 111, and the flexible toes 111 are connected with the lower ends of the connecting rods. The flexible toes 111 have certain flexibility, and when the four-footed robot walks on a bumpy road, the flexible toes 111 can play a certain role in shock absorption.
The flexible toes 111 are hemispheroid, the plane of the flexible toes 111 is connected with the lower end of the connecting rod, the arc-shaped surface of the flexible toes 111 faces downwards, and when the lower supporting leg 11 walks, the arc-shaped surface is more suitable for bumpy road surfaces, so that inertia generated by bumping is reduced.
The above-mentioned embodiments are preferred embodiments of the present invention, and the present invention is not limited thereto, and any other modifications or equivalent substitutions that do not depart from the technical spirit of the present invention are included in the scope of the present invention.
Claims (9)
1. The utility model provides a four-footed robot that possesses rigid-flexible coupling structure which characterized in that: the walking support comprises a support plate, wherein four corners of the support plate are respectively provided with a support leg for walking, each support leg comprises a lower support leg, an upper support leg and a steering engine, the lower support leg is connected with the upper support leg, and the upper support leg is connected with the support plate through the steering engine; the lower support leg comprises a connecting part, a limiting plate and a thrust ring, the connecting part penetrates through the limiting plate to be connected with the thrust ring, a flexible part is arranged between the connecting part and the limiting plate, and the limiting plate is connected with the upper support leg.
2. The quadruped robot with a rigid-flexible coupling structure according to claim 1, wherein: the connecting portion include that quantity is four connecting rods, the upper end of connecting rod is connected with the limiting plate all around respectively, form the buffers between connecting rod and the limiting plate, flexible portion places in the buffers.
3. The quadruped robot with a rigid-flexible coupling structure according to claim 2, wherein: the through hole of the limiting plate is movably connected with the connecting rod, and the upper end of the limiting plate is abutted to the thrust ring.
4. The quadruped robot with a rigid-flexible coupling structure according to claim 2, wherein: the flexible portion is an air bag, the outer wall of the air bag is clamped by the four connecting rods, and the upper end of the air bag is abutted to the limiting plate.
5. The quadruped robot with a rigid-flexible coupling structure according to claim 4, wherein: the flexible portion comprises a rubber block and a spring, the spring is embedded into the rubber block, and the rubber block abuts against the limiting plate.
6. The quadruped robot with a rigid-flexible coupling structure according to claim 1, wherein: the lower leg is connected with the upper leg through the bone joint.
7. The quadruped robot with a rigid-flexible coupling structure according to claim 2, wherein: the limiting plate and the connecting rod are both made of carbon fiber materials.
8. The quadruped robot with a rigid-flexible coupling structure according to claim 1, wherein: the toe-free and toe-free combined shoe further comprises flexible toes, and the flexible toes are connected with the lower end of the connecting rod.
9. The quadruped robot with a rigid-flexible coupling structure according to claim 8, wherein: the flexible toe is hemispheroid, the plane of the flexible toe is connected with the lower end of the connecting rod, and the arc-shaped surface of the flexible toe faces downwards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110835127.5A CN113635993A (en) | 2021-07-23 | 2021-07-23 | Four-legged robot with rigid-flexible coupling structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110835127.5A CN113635993A (en) | 2021-07-23 | 2021-07-23 | Four-legged robot with rigid-flexible coupling structure |
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| CN113635993A true CN113635993A (en) | 2021-11-12 |
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| CN202110835127.5A Pending CN113635993A (en) | 2021-07-23 | 2021-07-23 | Four-legged robot with rigid-flexible coupling structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113894822A (en) * | 2021-11-23 | 2022-01-07 | 东南大学 | Eight-foot robot with bionic rigid-flexible coupling legs and control method |
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| CN106428287A (en) * | 2016-10-28 | 2017-02-22 | 河海大学常州校区 | Foot structure of flexible-legged robot with double cavity air bag toes |
| CN107416066A (en) * | 2017-07-29 | 2017-12-01 | 华南理工大学 | A kind of quadruped robot |
| CN107972757A (en) * | 2017-11-27 | 2018-05-01 | 常州大学 | A kind of shock resistance becomes length damping machine device people's leg |
| CN207345974U (en) * | 2017-10-31 | 2018-05-11 | 中科新松有限公司 | A kind of quadruped robot |
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| CN108943023A (en) * | 2018-08-14 | 2018-12-07 | 浙江树人学院 | A kind of gasbag robot leg buffer mechanism of adjustable rigidity |
| CN109828567A (en) * | 2019-02-14 | 2019-05-31 | 安徽宇锋智能科技有限公司 | A kind of AGV storage transfer robot based on laser navigation |
| CN211731633U (en) * | 2019-12-23 | 2020-10-23 | 长春工业大学 | All-terrain hexapod bionic robot capable of planning path autonomously |
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2021
- 2021-07-23 CN CN202110835127.5A patent/CN113635993A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050011685A1 (en) * | 2001-12-25 | 2005-01-20 | Toru Takenaka | Device for absorbing floor-landing shock for legged mobile robot |
| CN105292296A (en) * | 2015-10-21 | 2016-02-03 | 山东大学 | Bionic running four-leg robot |
| CN106428287A (en) * | 2016-10-28 | 2017-02-22 | 河海大学常州校区 | Foot structure of flexible-legged robot with double cavity air bag toes |
| CN107416066A (en) * | 2017-07-29 | 2017-12-01 | 华南理工大学 | A kind of quadruped robot |
| CN207345974U (en) * | 2017-10-31 | 2018-05-11 | 中科新松有限公司 | A kind of quadruped robot |
| CN107972757A (en) * | 2017-11-27 | 2018-05-01 | 常州大学 | A kind of shock resistance becomes length damping machine device people's leg |
| CN207889864U (en) * | 2018-03-06 | 2018-09-21 | 河南科技大学 | A kind of series-parallel connection pedipulator |
| CN108943023A (en) * | 2018-08-14 | 2018-12-07 | 浙江树人学院 | A kind of gasbag robot leg buffer mechanism of adjustable rigidity |
| CN109828567A (en) * | 2019-02-14 | 2019-05-31 | 安徽宇锋智能科技有限公司 | A kind of AGV storage transfer robot based on laser navigation |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113894822A (en) * | 2021-11-23 | 2022-01-07 | 东南大学 | Eight-foot robot with bionic rigid-flexible coupling legs and control method |
| CN113894822B (en) * | 2021-11-23 | 2022-07-26 | 东南大学 | Eight-foot robot with bionic rigid-flexible coupling legs and control method |
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Application publication date: 20211112 |