CN114104140B - Quadruped robot driven by rotary rolling diaphragm and multi-modal driving method thereof - Google Patents
Quadruped robot driven by rotary rolling diaphragm and multi-modal driving method thereof Download PDFInfo
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- CN114104140B CN114104140B CN202111368499.8A CN202111368499A CN114104140B CN 114104140 B CN114104140 B CN 114104140B CN 202111368499 A CN202111368499 A CN 202111368499A CN 114104140 B CN114104140 B CN 114104140B
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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
- 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
- B62D57/022—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 consisting of members having both rotational and walking movements
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Abstract
The invention discloses a quadruped robot driven by a rotary rolling diaphragm and a multi-dynamic driving method thereof. The four-footed robot comprises two chassis and four driving foot components. The middle parts of the two chassis are rotationally connected and driven by a power element to rotate relatively. The four driving foot components are respectively arranged at two ends of the two chassis. The driving foot assembly comprises a first bionic leg, a second bionic leg and a rotary rolling diaphragm driver; the inner end of the first bionic leg is rotatably connected with the end part of the corresponding chassis; the inner end of the second bionic leg is rotatably connected with the outer end of the first bionic leg. The inner sides of the joints of the chassis and the first bionic leg and the joints of the first bionic leg and the second bionic leg are both provided with rotary rolling membrane drivers; the rotary rolling diaphragm driver is used for driving the first bionic leg and the second bionic leg to rotate. The rotary rolling diaphragm driver used in the invention has no obvious loss caused by visco-elastic deformation, coulomb friction, viscosity and external engagement.
Description
Technical Field
The invention belongs to the technical field of soft robots, and particularly relates to a quadruped robot driven by a rotary rolling diaphragm and a multi-modal driving method thereof.
Background
Fluid actuators are ubiquitous, and they can be mounted as small drives on large excavators, as well as on mobile robots. The compact and power-intensive fluid drive principles, lightweight moving parts, allow power distribution and transmission from the central accumulator to the distal end effector. The piston-cylinder and the telescopic fluid actuator output a constant force under isobaric conditions. But require an external mechanism to convert force and torque resulting in inefficient losses and non-linear force characteristics. The blade actuator can directly output torque, and the piston-cylinder and the blade actuator adopt press-fit sealing, so that viscous and coulombic friction is caused. The mechanical working efficiency of piston-cylinder actuators can be as high as 95%, especially in the high output range, but is usually 80% -90%. Rotary rolling diaphragm drive a fluid drive with a soft, flexible rolling diaphragm without significant coulomb friction and sticking. McKibben deforms through the outer woven mesh, has large inelastic deformation, reduces the efficiency of the actuator, introduces a nonlinear air pressure-tension relationship, and has only 25-49% of mechanical efficiency. The rotary rolling diaphragm driver has higher driving efficiency than McKibben because of no obvious loss caused by viscoelastic deformation, Coulomb friction, viscosity and external meshing, and the pressure and the torque of the rotary rolling diaphragm driver have simple linear relation; and the quadruped robot driven by the rotary rolling diaphragm has higher efficiency than the quadruped robot driven by the McKibben.
Disclosure of Invention
The invention aims to provide a quadruped robot driven by a rotary rolling diaphragm and a multi-step-state driving method thereof.
The invention relates to a quadruped robot driven by a rotary rolling diaphragm, which comprises two chassis and four driving foot components. The middle parts of the two chassis are rotationally connected and driven by a power element to rotate relatively. The four driving foot components are respectively arranged at two ends of the two chassis. The driving foot assembly comprises a first bionic leg, a second bionic leg and a rotary rolling diaphragm driver; the inner end of the first bionic leg is rotatably connected with the end part of the corresponding chassis; the inner end of the second bionic leg is rotatably connected with the outer end of the first bionic leg. The inner sides of the joints of the chassis and the first bionic leg and the joints of the first bionic leg and the second bionic leg are both provided with rotary rolling membrane drivers; the rotary rolling diaphragm driver is used for driving the first bionic leg and the second bionic leg to rotate.
The rotary rolling diaphragm driver includes a housing, a diaphragm, and a rotary piston. The rotary piston extends into the shell and is rotationally connected with the shell to form two rotating parts of the rotary rolling diaphragm driver. An annular first mounting groove is arranged in the inner cavity of the shell. And an annular second mounting groove is formed in the outer side of the rotary piston. The diaphragm is ring-shaped, and the outer edge of the diaphragm is embedded into and fixed to the first mounting groove in the shell. The inner edge of the diaphragm is embedded into the second mounting groove on the rotary piston and fixed. The inner side wall of the shell, the piston main body and the diaphragm surround to form a pressure cavity. The pressure chamber is pressurized and depressurized by a pressure source to drive the piston body.
Preferably, the rotary piston comprises a piston main body, an arc-shaped connecting part and a supporting plate which are sequentially and fixedly connected. The piston main body is positioned in the inner cavity of the shell; the arc connecting part extends out of the fan-shaped cavity. The two sides of the inner end of the supporting plate are respectively hinged with the two sides of the circle center position of the shell. The second mounting groove is arranged on one side, far away from the arc-shaped connecting part, of the piston main body.
Preferably, the inner side of the first bionic leg is connected with the corresponding chassis, and the inner sides of the first bionic leg and the second bionic leg are connected through one or more extension springs;
preferably, the arc-shaped connecting part on the rotary piston passes through a through hole formed in the shell; a sealing ring is arranged between the arc-shaped connecting part and the through hole; the piston main body divides a fan-shaped chamber in the shell into a first pressure cavity and a second pressure cavity; the piston main body is driven to rotate in two directions by controlling the charging and the pressure relief of the first pressure cavity and the second pressure cavity.
Preferably, a power element for driving the two chassis to rotate relatively adopts a motor; the middle part of one chassis is fixed with the shell of the motor; the main shaft of the motor is fixedly connected with the other chassis.
Preferably, balls are mounted at both ends of the bottom of the two chassis. The bottoms of the four balls are flush.
Preferably, the outer end of the second bionic leg is provided with a bionic foot. The bionic foot is made of elastic materials. The bottom of the bionic foot is provided with a sawtooth-shaped groove.
Preferably, the housing comprises a first shell and a second shell secured together. The first shell and the second shell are spliced together to form a fan-shaped chamber together. The first mounting groove is located between the first shell and the second shell.
Preferably, the diaphragm takes silicon rubber as a substrate, and takes fiber cloth as a reinforcing material wrapped outside the substrate, and the tensile strength of the fiber cloth in the radial direction (parallel to the motion direction of the piston body) is greater than that of the fiber cloth in the tangential direction (perpendicular to the motion direction of the piston body).
Preferably, the piston main body is provided with a limit bump; a limit baffle is arranged on the inner side of the shell; the limiting baffle is aligned with the limiting lug along the rotation direction of the piston main body.
The multi-step driving method of the four-footed robot driven by the rotary rolling diaphragm comprises a linear motion method, a right-angle steering method, a non-right-angle steering method and a heavy load driving method.
The linear motion method comprises the following specific steps:
the rotary rolling membrane drivers in the two driving foot assemblies which are arranged perpendicular to the traveling direction are simultaneously filled with fluid to pressurize and extend, so that the two driving foot assemblies are lifted; and each rotary rolling diaphragm driver in the two driving foot assemblies arranged in parallel to the advancing direction periodically charges and discharges fluid, so that the four-foot robot continuously advances.
Two driving foot components close to the traveling direction are both used as front feet; two driving foot components far away from the traveling direction are both used as rear feet; a rotary rolling diaphragm driver for driving the first bionic leg is used as an inner driver; the rotary rolling diaphragm driver driving the second bionic leg serves as an outer driver. The fluid charging and discharging process in a single period comprises the following steps:
an outer driver in the front foot and an inner driver in the rear foot are simultaneously or asynchronously filled with fluid to pressurize and extend, so that the first pedaling action of the front foot and the first pedaling action of the rear foot are realized;
the inner driver in the front foot and the outer driver in the rear foot are simultaneously or asynchronously filled with fluid to pressurize and extend, so that the front foot extends outwards to fall to the ground and the rear foot pedals the ground for the second time;
the outer driver in the front foot and the inner driver in the rear foot release pressure simultaneously or asynchronously, the corresponding joint resets under the pulling of the spring, and the first ground grabbing and rear foot lifting of the front foot are realized.
And the inner driver in the front foot and the outer inner driver in the rear foot release pressure simultaneously or asynchronously, and the corresponding joints reset under the pulling of springs, so that the second ground grabbing of the front foot and the landing reset of the rear foot are realized.
The right-angle steering method comprises the following specific steps:
the original advancing direction is vertical to the new advancing direction; the rotary rolling membrane drivers in the two driving foot components arranged in parallel to the original traveling direction are simultaneously filled with fluid to pressurize and extend, so that the two driving foot components are lifted; the rotary rolling diaphragm drivers in the two driving foot assemblies arranged in parallel to the new traveling direction release pressure at the same time, and the corresponding joints reset under the pulling of the springs, so that the two driving foot assemblies fall to the ground. And then the moving device can move along the new travel direction according to the linear motion method.
In the non-right-angle steering method, the original traveling direction and the new traveling direction form an acute angle, and the method comprises the following specific steps:
filling fluid into rotary rolling membrane drivers in two driving foot assemblies arranged in parallel to the original advancing direction, pressurizing and extending simultaneously, so that the two driving foot assemblies are lifted; the rotary rolling diaphragm drivers in the two driving foot assemblies which are arranged in a direction perpendicular to the original advancing direction release pressure, and the corresponding joints reset under the pulling of the springs, so that the two driving foot assemblies fall to the ground.
And secondly, the power element drives the chassis corresponding to the two lifted driving foot components to rotate, so that the two lifted driving foot components are arranged in parallel to the new traveling direction.
And the rotary rolling diaphragm drivers in the two driving foot assemblies arranged in parallel to the new advancing direction release pressure, and the corresponding joints reset under the pulling of springs, so that the two driving foot assemblies fall to the ground. The rotary rolling diaphragm drivers in the two driving foot assemblies which are arranged perpendicular to the original traveling direction are simultaneously filled with fluid to pressurize and extend, so that the two driving foot assemblies are lifted.
And driving the chassis corresponding to the two lifted driving foot components to rotate by the power element, so that the two lifted driving foot components are arranged in a direction perpendicular to the new traveling direction. And then the moving device can move along the new travel direction according to the linear motion method.
The large-load driving method comprises the following specific steps:
adjusting two opposite driving foot components to form a preset included angle with the advancing direction, and simultaneously filling fluid into rotary rolling membrane drivers in the two driving foot components with larger advancing direction for pressurizing and extending so as to lift the two driving foot components;
the power element drives the chassis corresponding to the two lifted driving foot assemblies to rotate, so that the two lifted driving foot assemblies are close to the other two driving foot assemblies; such that the direction of travel is between two adjacent drive foot assemblies.
Two driving foot components close to the advancing direction are both used as front feet; two driving foot components far away from the traveling direction are both used as rear feet; the driving force generated by the linear motion in the new traveling direction is increased because there are two front legs and two rear legs. The method can also reduce the width of the quadruped robot to pass through narrow passages.
The invention has the beneficial effects that:
1. the rotary rolling diaphragm driver used in the invention has no obvious loss caused by visco-elastic deformation, coulomb friction, viscosity and external engagement.
2. The invention avoids coulomb friction and viscous friction by rolling the diaphragm on the inner walls of the first shell and the second shell, thereby reducing friction loss and improving the driving efficiency of the rotary rolling diaphragm driver.
3. The diaphragm of the invention takes silicon rubber as a substrate, takes the fiber cloth as a reinforcing material wrapped outside the substrate, and the fiber cloth is easier to stretch along the direction vertical to the motion direction of the piston main body than the direction parallel to the motion direction of the piston main body, so that the diaphragm has a sealing function, can reduce the deformation along the stretching direction, is easier to fold, reduces the energy loss and improves the driving efficiency of the rotary rolling diaphragm driver.
4. The pressure and torque of the rotary rolling diaphragm driver of the invention have a simple linear relationship.
5. The dual stroke rotary rolling diaphragm actuator of the present invention has dual strokes and is capable of both extension and retraction.
Drawings
FIG. 1 is a schematic view of the overall structure of embodiment 1 of the present invention;
FIG. 2 is a top view of example 1 of the present invention;
FIG. 3 is a front view of embodiment 1 of the present invention;
fig. 4 is a sectional view of a rotary rolling diaphragm driver in embodiment 1 of the present invention;
fig. 5 is a schematic diagram of the push stroke and the return stroke of the rotary rolling diaphragm driver in embodiment 1 of the present invention;
fig. 6 is a timing chart of the linear motion process in embodiment 1 of the present invention.
Fig. 7 is a schematic diagram of the push stroke and the return stroke of the rotary rolling diaphragm driver in embodiment 2 of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Example 1
As shown in fig. 1, 2 and 3, a rotary rolling diaphragm driven quadruped robot comprises a first chassis 1, a second chassis 2, a motor 3, a ball 8 and a driving foot component. The first chassis 1 and the second chassis 2 are both in a strip shape. The middle part of the first chassis 1 is rotatably connected with the middle part of the second chassis 2. The second chassis 2 is located below the first chassis 1. The middle part of the first chassis 1 is fixed with the shell of the motor 3; the main shaft of the motor 3 is fixedly connected with the second chassis 2 through a flange coupling 4. The two ends of the bottom of the first chassis 1 and the second chassis 2 are provided with balls 8. The bottoms of the four balls 8 are flush.
Four driving foot assemblies are respectively arranged at two ends of the first chassis 1 and the second chassis 2. The driving foot assembly comprises a first bionic leg 5, a second bionic leg 6, a rotary rolling diaphragm driver 7, an extension spring 9, a controller, a fluid pressure source and an electromagnetic valve; the inner end of the first bionic leg 5 is rotatably connected with the end part of the first chassis 1 or the second chassis 2; the inner end of the second bionic leg 6 is rotatably connected with the outer end of the first bionic leg 5. The inner sides of the joints of the first chassis 1 or the second chassis 2 and the first bionic legs 5 and the inner sides of the joints of the first bionic legs 5 and the second bionic legs 6 are respectively provided with a rotary rolling diaphragm driver 7; the rotary rolling diaphragm driver 7 is used for driving the first bionic leg 5 and the second bionic leg 6 to rotate, is powered by a fluid pressure source and is controlled by an electromagnetic valve to drive and release pressure. The inner sides of the first bionic leg 5 and the first chassis 1 and the inner sides of the first bionic leg 5 and the second bionic leg 6 are connected through one or more extension springs 9; the controller is used for controlling the fluid pressure source and the solenoid valve to work, and then controlling the four-footed robot to move. The fluid pressure source can be an air pump or a hydraulic pump. When the fluid pressure source is a hydraulic pump, the torque can be output in a linear relationship, and the value of the output torque can be controlled more easily than a nonlinear driver.
The outer end of the second bionic leg 6 is provided with a bionic foot 10. The bionic foot 10 is made of silicon rubber. When the bionic foot 10 works, the silicon rubber is used as the material of the bionic foot 10, so that the friction force of the bionic foot 10 to the ground can be improved, and the movement speed of the quadruped robot driven by the rotary rolling diaphragm 7-3 can be increased. The lower end of the bionic foot 10 is provided with a sawtooth-shaped groove 11. When the bionic foot 10 with the sawtooth-shaped grooves 11 works, the ground gripping force can be improved, and the movement speed of the quadruped robot driven by the rotary rolling diaphragm 7-3 is increased.
As shown in fig. 4 and 5, the rotary rolling diaphragm driver 7 includes a housing, a diaphragm 7-3, and a rotary piston. The housing comprises a first casing 7-1 and a second casing 7-2 fixed together. The first shell 7-1 and the second shell 7-2 are spliced together to form a fan-shaped chamber together. An annular first mounting groove is formed between the first shell 7-1 and the second shell 7-2. The rotary piston comprises a piston main body 7-4, an arc-shaped connecting part 7-5 and a supporting plate 7-6 which are sequentially and fixedly connected. The piston main body 7-4 with the sector cross section is positioned in the sector cavity; the piston body 7-4 can slide along an arc line in the fan-shaped chamber; the arc-shaped connecting part 7-5 extends out of the fan-shaped cavity. The two sides of the inner end of the supporting plate 7-6 are respectively hinged with the two sides of the circle center position of the shell.
And one side of the piston main body 7-4, which is far away from the arc-shaped connecting part 7-5, is provided with a second annular mounting groove. The diaphragm 7-3 is annular, and the outer edge of the diaphragm is embedded into a first mounting groove between the first shell 7-1 and the second shell 7-2 and is bonded and fixed. The inner edge of the diaphragm 7-3 is embedded in a second mounting groove on the piston main body 7-4. The diaphragm 7-3 is stacked in double layers in the gap between the inner circumferential surface of the sector chamber of the housing and the outer circumferential surface of the piston main body 7-4. The inner side wall of the sector-shaped chamber, one side of the piston main body 7-4 far away from the arc-shaped connecting part 7-5 and the diaphragm 7-3 jointly surround to form a pressure cavity. By adjusting the pressure of the pressure chamber, the piston body 7-4 is driven to rotate outwards relative to the housing. The end face of the first shell 7-1 is provided with a first through flow hole 7-7 connected with the pressure cavity.
A first shell 7-1 and a support plate 7-6 in a rotary rolling diaphragm driver 7 between the chassis 1 and the first bionic leg 5 are respectively fixed with the chassis 1 and the first bionic leg 5. A first shell 7-1 and a support plate 7-6 in a rotary rolling diaphragm driver 7 between a first bionic leg 5 and a second bionic leg 6 are respectively fixed with the first bionic leg 5 and the second bionic leg 6.
When the rotary rolling diaphragm driver works, the piston main body 7-4 is hinged with the end parts of the first shell 7-1 and the second shell 7-2 and belongs to rotary connection, the friction loss of the rotary connection is small, the piston main body 7-4 is not in direct contact with the first shell 7-1, and the piston main body 7-4 is only connected through the diaphragm 7-3 to ensure sealing, so that the losses caused by viscoelastic deformation, coulomb friction, viscosity and external meshing are reduced, and the driving efficiency of the rotary rolling diaphragm driver 7 is improved; because the contact area of the piston main body 7-4 and the fluid in the pressure cavity is always constant in the rotation process of the rotary rolling diaphragm driver 7 in the driving process, and the piston main body 7-4 rotates in a fixed shaft mode, the output torque of the rotary rolling diaphragm driver 7 is in a linear relation with the pressure of the input fluid.
The diaphragm 7-3 takes silicon rubber as a substrate, takes fiber cloth as a reinforcing material wrapped on the outer side of the substrate, and the fiber cloth is easier to stretch along the direction perpendicular to the motion direction of the piston main body 7-4 than the direction parallel to the motion direction of the piston main body 7-4. When the rotary rolling diaphragm driver 7 works, silicon rubber is used as a substrate, fiber cloth is used as a reinforcing material wrapped on the outer side of the substrate, and the fiber cloth is easier to stretch along the direction perpendicular to the motion direction of the piston main body 7-4 than along the direction parallel to the motion direction of the piston main body 7-4, so that the diaphragm 7-3 has a sealing effect, can reduce deformation along the stretching direction and is easier to fold, energy loss is reduced, and the driving efficiency of the rotary rolling diaphragm driver 7 is improved.
As shown in fig. 5, a limiting bump 7-12 is arranged on the piston main body 7-4; a limiting baffle 7-13 is arranged in the second shell 7-2; the limit baffle 7-13 is aligned with the limit projection 7-12 in the rotation direction of the piston main body 7-4. When the diaphragm 7-3 anti-sliding device works, when the piston main body 7-4 is pushed outwards to the limit position, the limit baffle 7-13 has a limit effect on the piston main body 7-4 and prevents the piston main body 7-4 from continuously sliding out, so that the pulling of the piston main body 7-4 on the diaphragm 7-3 is reduced, and the service life of the diaphragm 7-3 is prolonged.
The first through holes 7-7 on the eight rotary rolling diaphragm drivers 7 are respectively connected with a fluid pressure source through eight independent two-position three-way reversing valves, so that the eight joints are independently controlled.
The multi-step driving method of the quadruped robot driven by the rotary rolling diaphragm comprises a linear motion method, a right-angle steering method, a non-right-angle steering method and a heavy load driving method.
The linear motion method comprises the following specific steps:
the rotary rolling diaphragm drivers 7 in the two driving foot assemblies which are arranged perpendicular to the traveling direction are simultaneously filled with fluid to be pressurized and stretched, so that the two driving foot assemblies are lifted; and each rotary rolling diaphragm driver 7 in the two driving foot assemblies arranged in parallel to the advancing direction is periodically charged and discharged with fluid, so that the continuous advancing of the quadruped robot is realized.
Two driving foot components close to the traveling direction are both used as front feet; two driving foot components far away from the traveling direction are both used as rear feet; a rotary rolling diaphragm driver 7 for driving the first bionic leg 5 is used as an inner driver; the rotary rolling diaphragm driver 7 driving the second biomimetic leg 6 acts as an external driver. As shown in fig. 6, the inflation and deflation process in a single cycle is as follows:
the outer driver in the front foot and the inner driver in the rear foot are simultaneously or asynchronously filled with fluid to pressurize and extend, so that the first action of lifting the front foot and pedaling the rear foot to the ground is realized;
the inner driver in the front foot and the outer driver in the rear foot are simultaneously or asynchronously filled with fluid to pressurize and extend, so that the front foot extends outwards and falls to the ground and the rear foot pedals the ground for the second time;
and simultaneously or asynchronously relieving pressure of the outer driver in the front foot and the inner driver in the rear foot, and resetting the corresponding joint under the pulling of the spring to realize the first ground grabbing (pulling the four-foot robot to move forwards) of the front foot and the lifting of the rear foot.
And the inner driver in the front foot and the outer inner driver in the rear foot release pressure simultaneously or asynchronously, and the corresponding joints reset under the pulling of springs, so that the second ground grabbing (the pulling of the quadruped robot to move forward) of the front foot and the ground resetting of the rear foot are realized.
The right-angle steering method comprises the following specific steps:
the original advancing direction is vertical to the new advancing direction; the rotary rolling diaphragm drivers 7 in the two driving foot assemblies arranged in parallel to the original traveling direction are simultaneously filled with fluid to pressurize and extend, so that the two driving foot assemblies are lifted; the rotary rolling diaphragm drivers 7 in the two driving foot assemblies arranged in parallel to the new traveling direction are simultaneously decompressed, and the corresponding joints are reset under the pulling of springs, so that the two driving foot assemblies fall to the ground. And then the robot can move along the new travel direction according to the linear motion method.
In the non-right-angle steering method, the original traveling direction and the new traveling direction form an acute angle, and the method comprises the following specific steps:
firstly, the rotary rolling membrane drivers 7 in the two driving foot components arranged in parallel to the original advancing direction are simultaneously filled with fluid to pressurize and extend, so that the two driving foot components are lifted; the rotary rolling diaphragm drivers 7 in the two driving foot assemblies which are arranged in a direction perpendicular to the original advancing direction are decompressed, and the corresponding joints are reset under the pulling of the springs, so that the two driving foot assemblies fall to the ground.
And secondly, the motor 3 drives the chassis corresponding to the two lifted driving foot components to rotate, so that the two lifted driving foot components are arranged in parallel to the new traveling direction.
And the rotary rolling diaphragm drivers 7 in the two driving foot assemblies arranged in parallel to the new advancing direction release pressure, and the corresponding joints reset under the pulling of springs, so that the two driving foot assemblies fall to the ground. The rotary rolling diaphragm drivers 7 in the two driving foot assemblies arranged perpendicular to the original traveling direction are simultaneously inflated with fluid to be pressurized and stretched, so that the two driving foot assemblies are lifted.
And fourthly, the motor 3 drives the chassis corresponding to the two lifted driving foot components to rotate, so that the two lifted driving foot components are arranged in a direction perpendicular to the new traveling direction. And then the moving device can move along the new travel direction according to the linear motion method.
The large-load driving method comprises the following specific steps:
adjusting two opposite driving foot components to form a preset included angle with the advancing direction, and simultaneously filling fluid into rotary rolling membrane drivers 7 in the two driving foot components with larger included angles with the advancing direction to pressurize and extend so as to lift the two driving foot components;
the motor 3 drives the chassis corresponding to the two lifted driving foot components to rotate, so that the two lifted driving foot components are close to the other two driving foot components; such that the direction of travel is between two adjacent drive foot assemblies.
Two driving foot components close to the advancing direction are both used as front feet; two driving foot components far away from the traveling direction are both used as rear feet; the driving force generated by the linear motion in the new traveling direction is increased because there are two front legs and two rear legs. The method can also reduce the width of the quadruped robot to pass through narrow passages.
Example 2
As shown in fig. 7, the present embodiment differs from embodiment 1 in a quadruped robot driven by a rotary rolling diaphragm: extension springs 9 are not arranged between the inner side of the first bionic leg 5 and the first chassis 1 and between the inner sides of the first bionic leg 5 and the second bionic leg 6. The rotary rolling diaphragm driver 7 performs contraction resetting through pressure control, and the details are as follows:
a sealing plate 7-8 is fixed on the outer end face of a second shell 7-2 of the rotary rolling diaphragm driver 7; the middle part of the sealing plate 7-8 is provided with a through hole 7-9; the arc-shaped connecting part 7-5 penetrates through the through hole 7-9; a sealing ring 7-10 is arranged between the through hole 7-9 and the arc-shaped connecting part 7-5;
the piston main body 7-4 divides a fan-shaped chamber in the shell into a first pressure cavity and a second pressure cavity; a first through-flow hole 7-7 formed in the first housing 7-1 is communicated with the first pressure chamber. The side surface of the second shell 7-2 is provided with a second through-flow hole 7-11. The second through-flow opening 7-11 communicates with the second pressure chamber. The first pressure cavity and the second pressure cavity are connected with a fluid pressure source through a three-position four-way electromagnetic directional valve.
When double-stroke pushing driving is needed, the first through hole 7-7 is filled with fluid, the second through hole 7-11 discharges the fluid, and the rotary rolling diaphragm driver 7 extends; on the contrary, the first through hole 7-7 discharges the fluid, the second through hole 7-11 fills the fluid, and the rotary rolling diaphragm driver 7 is folded, so that the double-stroke function of the driver is realized.
Claims (10)
1. A quadruped robot driven by a rotary rolling diaphragm comprises two chassis and four driving foot components; the method is characterized in that: the middle parts of the two chassis are rotationally connected and driven by a power element to rotate relatively; the four driving foot components are respectively arranged at two ends of the two chassis; the driving foot assembly comprises a first bionic leg (5), a second bionic leg (6) and a rotary rolling diaphragm driver (7); the inner end of the first bionic leg (5) is rotatably connected with the end part of the corresponding chassis; the inner end of the second bionic leg (6) is rotationally connected with the outer end of the first bionic leg (5); the inner sides of the joints of the chassis and the first bionic legs (5) and the inner sides of the joints of the first bionic legs (5) and the second bionic legs (6) are respectively provided with a rotary rolling membrane driver (7); the rotary rolling diaphragm driver (7) is used for driving the first bionic leg (5) and the second bionic leg (6) to rotate;
the rotary rolling diaphragm driver (7) comprises a shell, a diaphragm (7-3) and a rotary piston; the rotary piston extends into the shell and is rotationally connected with the shell to form two rotating parts of a rotary rolling diaphragm driver (7); an annular first mounting groove is formed in the inner cavity of the shell; the outer side of the rotary piston is provided with a second annular mounting groove; the diaphragm (7-3) is annular, and the outer edge of the diaphragm is embedded into a first mounting groove in the shell and is fixed; the inner side edge of the diaphragm (7-3) is embedded into a second mounting groove on the rotary piston and fixed; the inner side wall of the shell, the piston main body (7-4) and the diaphragm (7-3) surround to form a pressure cavity; the pressure chamber is pressurized and depressurized by a pressure source to drive the piston body (7-4).
2. The rotary rolling diaphragm driven quadruped robot as claimed in claim 1, wherein: the rotary piston comprises a piston main body (7-4), an arc-shaped connecting part (7-5) and a supporting plate (7-6) which are sequentially and fixedly connected; the piston main body (7-4) is positioned in the inner cavity of the shell; the arc-shaped connecting part (7-5) extends out of the sector cavity; two sides of the inner end of the supporting plate (7-6) are respectively hinged with two sides of the circle center position of the shell; the second mounting groove is arranged on one side of the piston main body (7-4) far away from the arc-shaped connecting part (7-5).
3. A rotary rolling diaphragm driven quadruped robot as claimed in claim 1 or 2, wherein: the inner sides of the first bionic legs (5) and the corresponding chassis and the inner sides of the first bionic legs (5) and the second bionic legs (6) are connected through one or more extension springs (9).
4. The rotary rolling diaphragm driven quadruped robot as claimed in claim 2, wherein: the arc-shaped connecting part (7-5) on the rotary piston penetrates through a through hole (7-9) formed in the shell; a sealing ring (7-10) is arranged between the arc-shaped connecting part (7-5) and the through hole (7-9); the piston main body (7-4) divides a fan-shaped chamber in the shell into a first pressure cavity and a second pressure cavity; the piston main body (7-4) is driven to rotate in two directions by controlling the charging and the discharging of the first pressure cavity and the second pressure cavity.
5. A rotary rolling diaphragm driven quadruped robot as claimed in claim 1 or 2, wherein: balls (8) are arranged at two ends of the bottoms of the two chassis; the bottoms of the four balls (8) are flush.
6. A rotary rolling diaphragm driven quadruped robot as claimed in claim 1 or 2, wherein: the outer end of the second bionic leg (6) is provided with a bionic foot (10); the bionic foot (10) is made of elastic material; the bottom of the bionic foot (10) is provided with a sawtooth-shaped groove (11).
7. A rotary rolling diaphragm driven quadruped robot as claimed in claim 1 or 2, wherein: the shell comprises a first shell (7-1) and a second shell (7-2) which are fixed together; the first shell (7-1) and the second shell (7-2) are spliced together to form a sector chamber together; the first mounting groove is positioned between the first shell (7-1) and the second shell (7-2).
8. A rotary rolling diaphragm driven quadruped robot as claimed in claim 1 or 2, wherein: the diaphragm (7-3) takes silicon rubber as a substrate, takes fiber cloth as a reinforcing material wrapped outside the substrate, and the radial tensile strength of the fiber cloth is greater than the tangential tensile strength.
9. A rotary rolling diaphragm driven quadruped robot as claimed in claim 1 or 2, wherein: the piston main body (7-4) is provided with a limit bump (7-12); the inner side of the shell is provided with a limit baffle (7-13); the limit baffle (7-13) is aligned with the limit bump (7-12) along the rotation direction of the piston main body (7-4).
10. The multi-modal driving method of a rotary rolling diaphragm driven quadruped robot as claimed in claim 1, wherein: the method comprises a linear motion method, a right-angle steering method, a non-right-angle steering method and a heavy-load driving method;
the linear motion method comprises the following specific steps:
the rotary rolling membrane drivers (7) in the two driving foot assemblies arranged perpendicular to the travelling direction are both extended, so that the two driving foot assemblies are lifted; each rotary rolling diaphragm driver (7) in the two driving foot components arranged in parallel to the advancing direction periodically moves to realize the continuous advancing of the quadruped robot;
a drive foot assembly near the direction of travel as a forefoot; a drive foot assembly distal to the direction of travel acting as a hindfoot; a rotary rolling diaphragm driver (7) for driving the first bionic leg (5) is used as an inner driver; a rotary rolling diaphragm driver (7) for driving the second bionic leg (6) is used as an outer driver; the fluid charging and discharging process in a single period comprises the following steps:
the outer driver in the front foot and the inner driver in the rear foot are both extended, so that the front foot is lifted up and the rear foot pedals the ground for the first time;
the inner driver in the front foot and the outer driver in the rear foot extend to realize the outward extension of the front foot, the rear landing and the second stepping action of the rear foot;
the outer driver in the front foot and the inner driver in the rear foot are reset, so that the front foot can grab the ground and lift the rear foot for the first time;
the inner driver in the front foot and the outer driver in the rear foot are reset, so that the front foot grips the ground for the second time and the rear foot falls on the ground for resetting;
the right-angle steering method comprises the following specific steps:
the original traveling direction is vertical to the new traveling direction; the rotary rolling membrane drivers (7) in the two driving foot components arranged in parallel to the original traveling direction are both extended, so that the two driving foot components are lifted; the rotary rolling membrane drivers (7) in the two driving foot assemblies which are arranged in parallel to the new traveling direction are reset, so that the two driving foot assemblies fall to the ground; then, the robot can move along the new traveling direction according to the linear movement method;
in the non-right-angle steering method, the original traveling direction and the new traveling direction form an acute angle, and the method comprises the following specific steps:
firstly, rotary rolling membrane drivers (7) in two driving foot components arranged in parallel to the original advancing direction are extended, so that the two driving foot components are lifted; the rotary rolling membrane drivers (7) in the two driving foot assemblies which are arranged in a direction vertical to the original advancing direction are reset, so that the two driving foot assemblies fall on the ground;
the power element drives the chassis corresponding to the two lifted driving foot components to rotate, so that the two lifted driving foot components are arranged in parallel to the new traveling direction;
resetting the rotary rolling membrane drivers (7) in the two driving foot assemblies which are arranged in parallel to the new traveling direction to enable the two driving foot assemblies to fall to the ground; the rotary rolling membrane drivers (7) in the two driving foot components which are arranged in a direction vertical to the original travelling direction are both extended, so that the two driving foot components are lifted;
the power element drives the chassis corresponding to the two lifted driving foot components to rotate, so that the two lifted driving foot components are arranged in a direction perpendicular to the new traveling direction; then, the robot can move along the new traveling direction according to the linear movement method;
the heavy load driving method comprises the following specific steps:
adjusting two opposite driving foot components to form a preset included angle with the advancing direction, and extending rotary rolling membrane drivers (7) in the two driving foot components with larger advancing direction to lift the two driving foot components;
the power element drives the chassis corresponding to the two lifted driving foot assemblies to rotate, so that the two lifted driving foot assemblies are close to the other two driving foot assemblies; such that the direction of travel is between two adjacent drive foot assemblies;
two driving foot components close to the advancing direction are both used as front feet; two driving foot components far away from the traveling direction are both used as rear feet; the two front feet and the two rear feet are both moved along the new advancing direction according to the linear movement method, so that the generated driving force is increased; the method can also reduce the width of the quadruped robot to pass through narrow passages.
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| CN202111368499.8A CN114104140B (en) | 2021-11-18 | 2021-11-18 | Quadruped robot driven by rotary rolling diaphragm and multi-modal driving method thereof |
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| CN111469946A (en) * | 2020-04-24 | 2020-07-31 | 上海宇航系统工程研究所 | Bionic mobile robot with crawling and rolling functions |
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|---|---|---|---|---|
| DE4432652A1 (en) * | 1994-09-14 | 1996-03-21 | Magdeburger Armaturenwerke | Diaphragm drive with two=dish housing |
| DE102011015645A1 (en) * | 2011-03-31 | 2012-10-04 | Festo Ag & Co. Kg | Fluid-actuated diaphragm drive for use as brake actuator or proportional actuator drive for driving in short-stroke cylinders, has housing parts provided with opening that is framed from annular side walls |
| CN103443477A (en) * | 2011-03-31 | 2013-12-11 | 费斯托股份有限两合公司 | Fluid-actuated diaphragm drive |
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| CN114104140A (en) | 2022-03-01 |
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