CN203780644U - Bionic quadruped robot with spine joints and elastic legs - Google Patents
Bionic quadruped robot with spine joints and elastic legs Download PDFInfo
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- CN203780644U CN203780644U CN201420176304.9U CN201420176304U CN203780644U CN 203780644 U CN203780644 U CN 203780644U CN 201420176304 U CN201420176304 U CN 201420176304U CN 203780644 U CN203780644 U CN 203780644U
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Abstract
The utility model provides a bionic quadruped robot with spine joints and elastic legs. The bionic quadruped robot comprises a front trunk, a rear trunk, the spine joints and the elastic legs, wherein the front trunk and the rear trunk are connected through the spine joints, the elastic legs are respectively installed at two ends of the lower portion of the trunk, and each spine joint consists of an end cover, a universal joint, a corrugated pipe, a hydraulic oil pipe, a gear pump and a magnetic valve. The upper and lower end covers are connected at the central positions through the universal joints, four corrugated pipes are evenly distributed between the upper and lower end covers, and two symmetrically-arranged corrugated pipes are connected through the hydraulic oil pipe, the gear pump and the magnetic valve. Wire winding wheels are respectively installed at two ends of the trunk and connected with an output shaft of a second steering engine, one end of a steel wire rope is fixed on the wire winding wheels, and the other end of the steel wire rope is fixed on the ankle joints. The bionic quadruped robot is coordinative and stable in motion, can well simulate motion features of felids, and meanwhile the impact force of the ground to the robot during dropping can be also reduced.
Description
Technical field
The utility model relates to a kind of bio-robot, specifically a kind of bionical quadruped robot.
Background technology
Robot is the complex art that integrates the multi-door subjects such as machinery, electronics, computing machine, sensor, control technology, reacted the research level of a national intellectuality and automation, is also the general performance of a national high-tech technology simultaneously.Legged type robot has the outstanding performance that is better than wheeled, crawler type and squirmy robot, have multiple gait, and there is certain obstacle crossing function, this has improved the field of application of robot greatly, and fields such as particularly exploring under MODEL OVER COMPLEX TOPOGRAPHY, reconnoitre, be military can be widely used.
In legged type robot, the existing stationarity that is better than biped robot of quadruped robot, avoid again the complexity of six foots, eight biped robot structures, in whole legged type robot, occupy very large proportion, quadruped robot technical study is one of the focus of current legged type robot field of research and forward position direction.
The current research about most of bionical multi-foot robots, all taking rigidity trunk as model, the not distortion of taking into account system member, can not well embody the motion feature of animal, in fact move biological muscle, tendon and ligament can store and release energy as spring, in its motion process, there is plastic deformation, dynam complex shape.Biologist is studied cats, find that it is in motion process, elastomeric leg structure can reduce the impulsive force with ground, can improve kinematic velocity, can improve again capacity usage ratio, in high-speed motion, except the significantly swing of shank, joint of vertebral column has also played very important effect, runs in process cats, its trunk shape is not that rigidity is constant, but can carry out flexible body bending and that stretch.For example, according to a kind of submissive quadruped robot (patent No. CN201110196221.7) with flexible waist and elastic leg, the buffering of its robot only adopts the spring of foot end top, joint adopts revolute pair to realize, for the better walking of simulation cats, need a kind of bio-robot, better utilize its elastic leg and flexible joint.
Summary of the invention
The purpose of this utility model, for the motion feature of real reaction animal, makes the motion of robot more stable, more coordinates and a kind of bionical quadruped robot with joint of vertebral column and elastic leg is provided.
The purpose of this utility model is achieved in that the bionical quadruped robot with joint of vertebral column and elastic leg, comprise front trunk, rear trunk, joint of vertebral column and elastic leg, front trunk is connected by joint of vertebral column with rear trunk, elastic leg is installed respectively at two ends below front trunk and rear trunk, joint of vertebral column comprises end cap, universal-joint, bellows, hydraulic oil pipe, two gear type pumps and two electromagnetic valves, upper and lower two end caps connect in center by universal-joint, between upper and lower two end caps, be uniformly distributed four bellowss, two bellowss that are arranged symmetrically with pass through hydraulic oil pipe, a gear type pump and an electromagnetic valve link together, reel is equipped with respectively at two ends at front trunk and rear trunk, and reel is connected with the output shaft of the reel steering wheel that is fixed on front trunk and rear trunk two ends, and one end of steel rope is fixed on reel, and the steel rope other end is fixed in elastic leg.
The utility model also comprises some architectural features like this:
1. elastic leg comprises pulley, steel rope, thigh, shank, foot, stage clip and extension spring, pulley is connected with the pulley steering wheel that is fixed on front trunk and two ends, rear trunk below, pulley is arranged on the hip joint of thigh, one end of shank is connected with thigh, the other end is connected with foot, steel rope strides across pulley, the described steel rope other end is fixed on and in elastic leg, refers to that one end of steel rope is fixed on the ankle-joint of elastic leg, one end of extension spring is connected with thigh, the other end is connected with foot, being enclosed within on guide rod of stage clip.
2. the terminal end shape of the foot of elastic leg is spherical.
3. two gear type pumps and two electromagnetic valves are arranged on upper and lower two end caps.
With the bionical quadruped robot of joint of vertebral column and elastic leg, this robot comprises trunk, backbone and is installed on four legs on trunk.Four reels of symmetrical installation on the trunk of front and back, reel is connected with the output shaft of reel steering wheel, and steering wheel is arranged on steering wheel frame, and steering wheel frame is arranged on trunk.Joint of vertebral column comprises end cap, two degrees of freedom cross shaft rigid universal joint and bellows are installed between two end cap, two degrees of freedom cross shaft rigid universal joint comprises the center cross in the middle of being positioned at, the joint yoke being connected with center cross, the versatile spindle pedestal being connected with end cap, first end covers installs the first gear type pump being interconnected, the first two-position four-way solenoid valve, the second gear type pump being interconnected is installed on the second end cap, the second two-position four-way solenoid valve, described bellows has four, the first two-position four-way solenoid valve is communicated with respectively first, the second bellows, the second two-position four-way solenoid valve is communicated with respectively the 3rd, four bellowss.
Article four, the structure of leg is all identical, is made up of thigh, pulley, shank, foot, shock absorber, extension spring.Wherein one end of thigh is connected by revolute pair with pulley, the other end of thigh is connected and is formed knee joint by revolute pair with one end of shank, the other end of shank and foot connect and compose ankle-joint at 1/3rd places of foot one end by revolute pair, and what foot end adopted is rubber ball-shaped foot.Wherein shock absorber is made up of linear bearing, linear axis bearing, guide rod, stage clip, linear axis bearing is connected by revolute pair at 1/3rd places of thigh one end with thigh, guide rod end is connected by revolute pair with foot, the revolute pair axis conllinear of the pivot center of revolute pair and shank and foot.Linear bearing is installed in linear axis bearing, and leader casing is in linear bearing, and guide rod can be free to slide in linear bearing, and compression spring sleeve is on guide rod.Extension spring is connected by revolute pair with thigh, the revolute pair coaxial line of revolute pair and linear axis bearing and thigh, and the other end of extension spring is connected by revolute pair with one end of foot.
The advantage that the bionical quadruped robot with joint of vertebral column and elastic leg that the utility model provides has is compared with the prior art: the utility model has been broken through the rigid construction of traditional bionical quadruped robot, the motion of robot is coordinated more, stablized; Increase a flexible backbone to robot, made the joint of vertebral column of robot have two rotational freedoms, can simulate better the motion feature of cats; Add a passive freedom degree being formed by extension spring at robot foot section, made robot in the time landing, there is a buffering course, while having reduced to land, faced the impulsive force of robot.
Brief description of the drawings
Fig. 1 is constructional drawing of the present utility model;
Fig. 2 is the constructional drawing of elastic leg;
Fig. 3 is joint of vertebral column constructional drawing;
Fig. 4 is the subelement constructional drawing of joint of vertebral column.
Detailed description of the invention
The utility model provides a kind of bionical quadruped robot with joint of vertebral column and elastic leg, below in conjunction with accompanying drawing, the utility model is described in more detail.
Case study on implementation one: in conjunction with Fig. 1, Fig. 3 and Fig. 4, the utility model is made up of following several parts: the structure of elastic leg 1, front trunk 3, joint of vertebral column 4,6, four legs of rear trunk is identical with motion principle.The trunk below of position as shown in Figure 1 before and after pulley steering wheel 2 is arranged on, its output shaft connects one end of thigh 11.The trunk top of position as shown in the figure before and after reel steering wheel 8 is arranged on, its output shaft connects reel 5.Front trunk 3 and rear trunk 6 connect together by joint of vertebral column 4.Joint of vertebral column 4 is made up of the first end cap 24, two degrees of freedom cross shaft rigid universal joint 25, the first bellows 26, the second bellows 32, the 3rd bellows 27, the 4th bellows 33, hydraulic oil pipe 28, two-position four-way solenoid valve 29, the second end cap 30, gear type pump 31.
The first end cap 24 is connected by two degrees of freedom cross shaft rigid universal joint 25 with in the middle of the second end cap 30, and the degree of freedom that the center cross in the middle of two degrees of freedom cross shaft rigid universal joint 25 can be realized both direction changes.The inner side of the first end cap 24 and the second end cap 30 in succession equably the first bellows 26, the second bellows 32, the 3rd bellows 27, the 4th bellows 33.On the second end cap 30, be fixed with on set of gears pump 31 and two-position four-way solenoid valve 29, the first end caps 24 and have too set of gears pump and two-position four-way solenoid valve.Gear type pump 31 is connected by hydraulic oil pipe 28 with two-position four-way solenoid valve 29, the 3rd bellows 27, the 4th bellows 33, realizes flowing of hydraulic oil.
The second end cap 30 interacts with gear type pump 31 and two-position four-way solenoid valve 29, when two-position four-way solenoid valve 29 is during at forward control position, can pass through the effect of gear type pump 31, make hydraulic oil flow to the 4th bellows 33 from the 3rd bellows 27, the hydraulic oil of the 3rd bellows 27 reduces, to shrink flexural deformation, the hydraulic oil of the 4th bellows 33 increases, to there is to extend flexural deformation, thereby the first end cap 24 and the second end cap 30 are rotated along the one degree of freedom direction of two degrees of freedom cross shaft rigid universal joint, when two-position four-way solenoid valve 29 is during at negative sense control position, this degree of freedom can be in the past contrary direction rotate, realize the variation of one degree of freedom.In like manner, in the time that the first end cap 24 is had an effect with another set of gear type pump and two-position four-way solenoid valve, the first end cap 24 and the second end cap 30 rotate along another degree of freedom direction of two degrees of freedom cross shaft rigid universal joint, realize the variation of second degree of freedom.
Case study on implementation two: in conjunction with Fig. 2, elastic leg 1 is made up of steel rope 9, pulley 10, thigh 11, shank 14, foot 16, spherical foot 17, guide rod 13, linear bearing 21, linear axis bearing 22, stage clip 15, extension spring 20, locating dowel pin 18.One end of thigh 11 is arranged on the output shaft of pulley steering wheel 2, pulley 10 is arranged on the hip joint 23 of thigh 11, thigh 11 is connected to form knee joint 12 with shank 14, and 1/3rd places of one end of shank 14 and foot 16 are connected to form ankle-joint 19, and one end of foot 16 is rubber ball-shaped foot 17.One end of linear axis bearing 22 is connected by revolute pair with 1/3rd places of thigh 11, linear bearing 21 is arranged in linear axis bearing 22 by interference fit, one end of guide rod 13 is enclosed within 21 li of linear bearings, the other end of guide rod 13 is connected at ankle-joint 19 places with foot 16, and stage clip 15 is enclosed within on guide rod 13.One end of extension spring 20 is connected to 1/3rd places of thigh 11 by revolute pair, the other end is connected by revolute pair with one end of foot 16.Locating dowel pin 18 is used for limiting the range of movement of foot 16.
The function of this leg structure is mainly to realize walking, realize the motion of shank by reel steering wheel 8, steel rope 9, steel rope 9 one end are fixed on ankle-joint 19, steel rope 9 strides across pulley 10, reel steering wheel 8 shrinks steel rope 9 compresses stage clip 15, just realize the motion of knee joint 12, in the time that needs are realized elastic leg 1 and are extended, reel steering wheel 8 discharges steel rope 9, while landing, spherical foot 17 contacts with ground, foot 16 drives extension spring 20 to make fore and aft motion, and this has just realized the motion of ankle-joint 19.
Claims (4)
1. with the bionical quadruped robot of joint of vertebral column and elastic leg, comprise front trunk, rear trunk, joint of vertebral column and elastic leg, front trunk is connected by joint of vertebral column with rear trunk, elastic leg is installed respectively at two ends below front trunk and rear trunk, it is characterized in that: joint of vertebral column comprises end cap, universal-joint, bellows, hydraulic oil pipe, two gear type pumps and two electromagnetic valves, upper and lower two end caps connect in center by universal-joint, between upper and lower two end caps, be uniformly distributed four bellowss, two bellowss that are arranged symmetrically with pass through hydraulic oil pipe, a gear type pump and an electromagnetic valve link together,
Reel is equipped with respectively at two ends at front trunk and rear trunk, and reel is connected with the output shaft of the reel steering wheel that is fixed on front trunk and rear trunk two ends, and one end of steel rope is fixed on reel, and the steel rope other end is fixed in elastic leg.
2. the bionical quadruped robot with joint of vertebral column and elastic leg according to claim 1, it is characterized in that: elastic leg comprises pulley, steel rope, thigh, shank, foot, stage clip and extension spring, pulley is connected with the pulley steering wheel that is fixed on front trunk and two ends, rear trunk below, pulley is arranged on the hip joint of thigh, one end of shank is connected with thigh, the other end is connected with foot, steel rope strides across pulley, the described steel rope other end is fixed on and in elastic leg, refers to that one end of steel rope is fixed on the ankle-joint of elastic leg, one end of extension spring is connected with thigh, the other end is connected with foot, compression spring sleeve is on guide rod.
3. the bionical quadruped robot with joint of vertebral column and elastic leg according to claim 2, is characterized in that: the terminal end shape of foot is spherical.
4. according to the bionical quadruped robot with joint of vertebral column and elastic leg described in claim 1,2 or 3, it is characterized in that: two gear type pumps and two electromagnetic valves are arranged on upper and lower two end caps.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420176304.9U CN203780644U (en) | 2014-04-11 | 2014-04-11 | Bionic quadruped robot with spine joints and elastic legs |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420176304.9U CN203780644U (en) | 2014-04-11 | 2014-04-11 | Bionic quadruped robot with spine joints and elastic legs |
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| CN203780644U true CN203780644U (en) | 2014-08-20 |
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| CN201420176304.9U Expired - Fee Related CN203780644U (en) | 2014-04-11 | 2014-04-11 | Bionic quadruped robot with spine joints and elastic legs |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103935417A (en) * | 2014-04-11 | 2014-07-23 | 哈尔滨工程大学 | Bionic four-foot robot provided with spinal joint and elastic legs |
| CN108657307A (en) * | 2018-06-19 | 2018-10-16 | 昆明理工大学 | A kind of four-footed walking robot with flexible waist |
| CN109018064A (en) * | 2018-08-24 | 2018-12-18 | 北京理工大学 | Leg foot type bionic machine mouse |
| CN110239644A (en) * | 2019-06-04 | 2019-09-17 | 广东省智能制造研究所 | A kind of bionical quadruped robot based on flexible spinal technology |
| CN111878661A (en) * | 2020-07-22 | 2020-11-03 | 上海大学 | Tubular crawling robot induced by three-pipe flexible actuating mechanism |
| CN112918586A (en) * | 2021-03-16 | 2021-06-08 | 上海电力大学 | Quadruped robot and flexible spine joint thereof |
| CN114701583A (en) * | 2022-04-18 | 2022-07-05 | 东北大学秦皇岛分校 | Rope-driven flexible double-joint bionic crab and control method |
-
2014
- 2014-04-11 CN CN201420176304.9U patent/CN203780644U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103935417A (en) * | 2014-04-11 | 2014-07-23 | 哈尔滨工程大学 | Bionic four-foot robot provided with spinal joint and elastic legs |
| CN108657307A (en) * | 2018-06-19 | 2018-10-16 | 昆明理工大学 | A kind of four-footed walking robot with flexible waist |
| CN108657307B (en) * | 2018-06-19 | 2023-09-15 | 昆明理工大学 | Four-foot walking robot with flexible waist |
| CN109018064A (en) * | 2018-08-24 | 2018-12-18 | 北京理工大学 | Leg foot type bionic machine mouse |
| CN110239644A (en) * | 2019-06-04 | 2019-09-17 | 广东省智能制造研究所 | A kind of bionical quadruped robot based on flexible spinal technology |
| CN111878661A (en) * | 2020-07-22 | 2020-11-03 | 上海大学 | Tubular crawling robot induced by three-pipe flexible actuating mechanism |
| CN112918586A (en) * | 2021-03-16 | 2021-06-08 | 上海电力大学 | Quadruped robot and flexible spine joint thereof |
| CN114701583A (en) * | 2022-04-18 | 2022-07-05 | 东北大学秦皇岛分校 | Rope-driven flexible double-joint bionic crab and control method |
| CN114701583B (en) * | 2022-04-18 | 2023-02-24 | 东北大学秦皇岛分校 | Rope-driven flexible double-joint bionic crab and control method |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140820 Termination date: 20200411 |
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| CF01 | Termination of patent right due to non-payment of annual fee |