CN204110200U - Bionical quadruped robot - Google Patents
Bionical quadruped robot Download PDFInfo
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- CN204110200U CN204110200U CN201420575478.2U CN201420575478U CN204110200U CN 204110200 U CN204110200 U CN 204110200U CN 201420575478 U CN201420575478 U CN 201420575478U CN 204110200 U CN204110200 U CN 204110200U
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Abstract
The utility model discloses a kind of bionical quadruped robot, comprise leg, crop beam, back porch beam, front vertebra and rear vertebra, front vertebra and rear vertebra composition vertebra, leg comprises two pairs, front and back leg, two pairs of legs are connected with back porch beam with crop beam respectively by the hip joint with pitching and side-sway two degree of freedom, front vertebra one end is that cantilever beam-like level is fixed in the middle part of crop beam, and the other end and rear vertebra are actively coupled, and rear vertebra is fixed on back porch beam; Every one leg is all thigh and shank integral structure, and thigh is rigid plate, and knee and shank are made up of spring steel plate; The rear end of front vertebra is in slightly wide oblong, and this oblong center is provided with a through hole, is provided with rubber ring in through hole, and the rear end of front vertebra is connected with rear vertebra through the long pin shaft of rubber ring and nut by one, and has gap between long pin shaft and rubber ring; Front vertebra rear end is fixed with the pin that four, upper and lower, left and right outwards freely pass rear vertebra framework respectively, and on each pin, all cover has spring.
Description
Technical field
The utility model relates to a kind of robot, especially a kind of bionical quadruped robot.
Background technology
At present, quadruped robot adopts rigidity housing construction mostly, there is body attitude not steadily and the problem such as ground shock power is large, jump cannot be met, the high-speed motion such as to run, can not at the ground stabilized walking of injustice, for overcoming above-mentioned deficiency, improve the dynamic property of quadruped robot, be starved of a kind of submissive quadruped robot with flexible waist and elastic leg of design.Quadruped robot somagenic need has the degree of freedom of pitching, roll degree of freedom, and deflection degree of freedom.Leg is flexible.
Chinese patent application: 201110196221.7 disclose a kind of submissive quadruped robot with flexible waist and elastic leg.Be divided into a few part of leg that front trunk, backbone, waist, rear trunk and four structures are identical; Bearing in front trunk or afterwards trunk and the flanged shaft on each bar leg form revolute pair, front trunk connects with backbone revolute pair, driven by motor and gear cluster, robot health is made to have the degree of freedom of pitching, backbone connects with the revolute pair of waist with torsion spring, robot health is made to have roll degree of freedom, waist and rear trunk also connect by the revolute pair with torsion spring, robot health is made to have deflection degree of freedom, robot leg is by thigh, shank is formed, and all driven by motor and gear cluster, shank is equipped with stage clip.This application structure of patent is comparatively complicated, and cost of manufacture is high, and driving is many, and energy consumption is high.
Utility model content
The purpose of this utility model is for overcoming above-mentioned the deficiencies in the prior art, provides a kind of bionical quadruped robot, and the stability of motion of this robot is good, reduces the impact of robot.
For achieving the above object, the utility model adopts following technical proposals:
A kind of bionical quadruped robot, comprise leg, crop beam, back porch beam, front vertebra and rear vertebra, front vertebra and rear vertebra composition vertebra, described leg comprises two pairs, front and back leg, two pairs of legs are connected with back porch beam with crop beam respectively by the hip joint with pitching and side-sway two degree of freedom, front vertebra one end is that cantilever beam-like level is fixed in the middle part of crop beam, the other end and rear vertebra are actively coupled, rear vertebra is fixed on back porch beam, relies on the distortion of cantilever beam to provide the degree of freedom of vertebra vertical direction;
Every one leg is all thigh and shank integral structure, and thigh is rigid plate, and knee and shank are made up of resilient steel plate; During robot ambulation, knee and shank can have flexural deformation with shock absorbing.During driving, only add motor at thigh place and drive.
The rear end of described front vertebra is in the oblong slightly wider than middle part, this oblong center is provided with a through hole, be provided with rubber ring in through hole, the rear end of front vertebra is connected with rear vertebra through the long pin shaft of rubber ring and nut by one, and has gap between long pin shaft and rubber ring;
Relative two diagonal angles place of the rectangular segment of described front vertebra rear end is fixed with one vertically downward respectively, one all passes the downside pin of rear vertebra and upper pin vertically upward, another two opposite diagonal places are fixed with a level left respectively, a level all passes the left pin of rear vertebra and right pin to the right, described upper pin, downside pin, left pin and be free-running fit between right pin and rear supraspinal export, before described, upper pin between rear vertebra, downside pin, on left pin and right pin, all cover has a spring, rely on compression or the elongation of spring, roll degree of freedom and the deflection degree of freedom of vertebra are provided.
Described rear vertebra connects by bolt, nut the cuboid framed structure formed by rear vertebra upper plate, rear vertebra lower plate and left baffle.
Described hip joint is horizontally disposed with two holes in right-angled crossing up and down, and hip joint passes upper and lower hole and leg upper end and forward and backward shoulder beam through bearing pin respectively and is movably hinged.
The birds-eye view of described front vertebra is substantially in I shape, namely thin in the middle of two head breadths.
Described front vertebra is made up of steel plate, the latter half of deformable of front vertebra.
The thickness of the spring steel plate of described knee and shank is less than the thickness of thigh steel plate.
The foreleg of described leg is relative with the bending direction of back leg.
The utility model is made up of four flexible legs, four hip joints, crop beam, back porch beam, front vertebra, rear vertebras.Article four, leg is connected with crop beam, back porch beam respectively by four hip joints.Each hip joint has two degree of freedom (pitching and side-sway).
Four flexible legs of the present utility model are all thigh and shank integration.Thigh is rigidity, and knee and shank are made up of resilient sheet steel.When robot ambulation, knee and shank can have certain flexural deformation, with shock absorbing.
Article two, foreleg is connected with crop beam by hip joint; The front end of front vertebra is connected on crop beam by bolt, nut, the cuboid framed structure that rear vertebra is made up of rear vertebra upper plate and rear vertebra lower plate, and is connected with back porch beam by screw bolt and nut; Article two, back leg connects with back porch beam respectively by hip joint.
Flexible spine of the present utility model has the pitch freedom of vertical direction, the deflection degree of freedom of horizontal direction, and the roll degree of freedom of vertebra.Front vertebra is that cantilever beam-like is fixed on crop beam, relies on the distortion of cantilever beam to provide the degree of freedom of vertebra vertical direction.Front vertebra is connected with rear vertebra with nut by long pin shaft, and long pin shaft is through the centre hole of front vertebra rear end, and this central hole is provided with a rubber ring.Gap is had between long pin shaft and rubber ring.Current vertebra is latter half of when having roll or have distortion before and after spinal axis, this rubber ring can radial deformation with shock absorbing.
The fixing upper pin in diagonal angle, rear end place of front vertebra, on upper pin, cover has upper spring, and downside pin is fixed at another diagonal angle place, and on downside pin, cover has lower spring, and when vertebra roll, upper spring and lower spring can compress simultaneously or extend, and provide the roll degree of freedom of vertebra.Right pin is fixed at the diagonal angle place at the horizontal surface place, rear end of front vertebra, on right pin, cover has right spring, the left spring of left pin and sleeve on left pin is fixed at another diagonal angle place, when current vertebral posterior needs to deflect relative to rear vertebra horizontal surface direction, right spring and left spring can compress simultaneously or extend, and provide the deflection degree of freedom of vertebra.
The utility model is the submissive quadruped robot with flexible waist and elastic leg.Quadruped robot health has the degree of freedom of pitching, and roll degree of freedom and deflection degree of freedom, leg is flexible.The utility model adopts compliant mechanism to substitute traditional rigid construction, increases the stability of motion of robot, reduces the impact of robot.During driving, only add motor at thigh place and drive.Drive and reduce, energy consumption reduces.
Accompanying drawing explanation
Fig. 1 be in Fig. 2 A-A to cutaway view;
Fig. 2 is the birds-eye view of an embodiment;
Fig. 3 is I magnified partial view in Fig. 1;
Fig. 4 is II magnified partial view in Fig. 2;
Fig. 5 be in Fig. 2 D-D to i.e. waist cutaway view;
Fig. 6 is that in Fig. 2, B-B is rear vertebra Mating graph to analysing and observe;
Fig. 7 be in Fig. 1 E-E to i.e. hip joint cutaway view;
Fig. 8 is layout of spring figure;
Fig. 9 is front vertebra birds-eye view;
Figure 10 is the main pseudosection of rear vertebra;
Wherein 1. first bolts, 2. the first nut, 3. upper spring, 4. sell on, 5. the second bolt, 6. the second nut, 7. downside pin, 8. hip joint, 9. lower spring, 10. left spring, 11. back porch beams, 12. back legs, 13. the 3rd bolts, 14. the 3rd nuts, 15. forelegs, 16. crop beams, 17. the 4th bolts, 18 the 4th nuts, vertebra before 19., vertebra lower plate after 20., 21. right baffle plates, 22. right pins, 23. right springs, 24. rubber rings, 25. long pin shaft, 26. the 5th nuts, vertebra upper plate after 27., 28. right baffle-plates, 29. left pins.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is further illustrated.
As Figure 1-10 shows, bionical quadruped robot is primarily of four flexible legs, four hip joints 8, crop beam 16, back porch beam 11, front vertebra 19, rear vertebra compositions.Described leg comprises two pairs, front and back leg, and four legs are connected with crop beam 16, back porch beam 22 respectively by four hip joints 8.Each hip joint 8 has two degree of freedom (pitching and side-sway).Hip joint about 8 is horizontally disposed with two holes in right-angled crossing, and hip joint 8 passes upper and lower hole and leg upper end and forward and backward shoulder beam 16,11 through bearing pin respectively and is movably hinged.Rear vertebra is fixed on back porch beam 11.
Article four, every one leg of flexible leg is all thigh and shank integral structure, and thigh is rigid plate, and knee and shank are made up of resilient steel plate; During robot ambulation, knee and shank can have flexural deformation with shock absorbing.During driving, only add motor at thigh place and drive.Foreleg 15 is relative with the bending direction of back leg 12.Article two, foreleg 15 is connected with crop beam 16 by hip joint 8; Article two, back leg 12 is connected with back porch beam 11 by hip joint 8.
Flexible spine has the pitch freedom of vertical direction, the deflection degree of freedom of horizontal direction, and the roll degree of freedom of vertebra.Front vertebra 19 is made up of steel plate, the latter half of deformable of front vertebra.The birds-eye view of front vertebra 19 is substantially in I shape, namely thin in the middle of two head breadths.Front vertebra 19(Fig. 9) front end be connected on crop beam 16 by the 4th bolt 17, the 4th nut 18.Rear vertebra connects by the 3rd bolt 13, the 3rd nut 14 the cuboid framed structure formed by rear vertebra upper plate 27, rear vertebra lower plate 20 and left and right baffle plate 28,21, and is connected with back porch beam 11 by the first bolt 1 and the first nut 2.
Front vertebra 19 is in cantilever beam state, and its front end is fixed in the middle part of crop beam 16, relies on the distortion of cantilever beam to provide the degree of freedom of vertebra vertical direction.Front vertebra 19 rear end is in the oblong slightly wider than middle part, and this oblong center is provided with a through hole, is connected through this through hole by long pin shaft 25 with rear vertebra, and is fixed by the 5th nut 26, is provided with a rubber ring 24 in this through hole.Gap is had between long pin shaft 25 and rubber ring 24.Current vertebra is latter half of when having roll or have distortion before and after spinal axis, this rubber ring 24 can radial deformation with shock absorbing.
A rectangular diagonal angle, the rear end place of front vertebra 19 upwards freely passes the upper pin 4 of rear vertebra by the second bolt 5 and the second nut 6 fixed vertical, the upper pin 4 between front vertebra 19 and rear vertebra overlaps and has upper spring 3; Another relative diagonal angle place freely passes the downside pin 7 of rear vertebra downwards by the second bolt 5 and the second nut 6 fixed vertical, the downside pin 7 between front vertebra 19 and rear vertebra overlaps and has lower spring 9.When vertebra roll, upper spring 3 and lower spring 9 can compress simultaneously or extend, and provide the roll degree of freedom of vertebra.
One of them diagonal angle place fixing horizontal at remaining two diagonal angles place at the horizontal surface place, rear end of front vertebra 19 freely passes the right pin 22 of rear vertebra to the right, the right pin 22 between front vertebra 19 and rear vertebra overlaps and has right spring 23; The left pin 29 that another diagonal angle place fixing horizontal freely passes rear vertebra left and the left spring 10 be enclosed within left pin 29.When current vertebral posterior needs to deflect relative to rear vertebra horizontal surface direction, right spring 23 and left spring 10 can compress simultaneously or extend, and provide the deflection degree of freedom of vertebra.Layout of spring is shown in Fig. 8.Free-running fit is between upper pin 4, downside pin 7, left pin 29 and right pin 22 and rear supraspinal export.
By reference to the accompanying drawings detailed description of the invention of the present utility model is described although above-mentioned; but the restriction not to the utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection domain of the present utility model.
Claims (7)
1. a bionical quadruped robot, it is characterized in that, comprise leg, crop beam, back porch beam, front vertebra and rear vertebra, front vertebra and rear vertebra composition vertebra, described leg comprises two pairs, front and back leg, two pairs of legs are connected with back porch beam with crop beam respectively by the hip joint with pitching and side-sway two degree of freedom, front vertebra one end is that cantilever beam-like level is fixed in the middle part of crop beam, the other end and rear vertebra are actively coupled, rear vertebra is fixed on back porch beam, relies on the distortion of cantilever beam to provide the degree of freedom of vertebra vertical direction;
Article four, every one leg of flexible leg is all thigh and shank integral structure, and thigh is rigid plate, and knee and shank are made up of resilient steel plate; During robot ambulation, knee and shank have flexural deformation with shock absorbing, during driving, only add motor at thigh place and drive;
The rear end of described front vertebra is in the oblong wider than middle part, this oblong center is provided with a through hole, be provided with rubber ring in through hole, the rear end of front vertebra is connected with rear vertebra through the long pin shaft of rubber ring and nut by one, and has gap between long pin shaft and rubber ring;
Relative two diagonal angles place of the rectangular segment of described front vertebra rear end is fixed with one vertically downward respectively, one all passes the downside pin of rear vertebra and upper pin vertically upward, another two opposite diagonal places are fixed with a level left respectively, a level all passes the left pin of rear vertebra and right pin to the right, described upper pin, downside pin, left pin and be free-running fit between right pin and rear supraspinal export, before described, upper pin between rear vertebra, downside pin, on left pin and right pin, all cover has a spring, rely on compression or the elongation of spring, roll degree of freedom and the deflection degree of freedom of vertebra are provided.
2. bionical quadruped robot as claimed in claim 1, is characterized in that, described rear vertebra connects by bolt, nut the cuboid framed structure formed by rear vertebra upper plate, rear vertebra lower plate and left and right baffle plate.
3. bionical quadruped robot as claimed in claim 1, is characterized in that, described hip joint is horizontally disposed with two holes in right-angled crossing up and down, and hip joint passes upper and lower hole and leg upper end and forward and backward shoulder beam through bearing pin respectively and is movably hinged.
4. bionical quadruped robot as claimed in claim 1, is characterized in that, the birds-eye view of described front vertebra is substantially in I shape, namely thin in the middle of two head breadths.
5. bionical quadruped robot as claimed in claim 1, is characterized in that, described front vertebra is made up of steel plate, and front vertebra is latter half of can distortion.
6. bionical quadruped robot as claimed in claim 1, is characterized in that, the thickness of the spring steel plate of described knee and shank is less than the thickness of thigh steel plate.
7. bionical quadruped robot as claimed in claim 1, is characterized in that, the foreleg of described leg is relative with the bending direction of back leg.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420575478.2U CN204110200U (en) | 2014-09-30 | 2014-09-30 | Bionical quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420575478.2U CN204110200U (en) | 2014-09-30 | 2014-09-30 | Bionical quadruped robot |
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| Publication Number | Publication Date |
|---|---|
| CN204110200U true CN204110200U (en) | 2015-01-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420575478.2U Expired - Fee Related CN204110200U (en) | 2014-09-30 | 2014-09-30 | Bionical quadruped robot |
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| Country | Link |
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| CN (1) | CN204110200U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104309716A (en) * | 2014-09-30 | 2015-01-28 | 山东大学 | Bionic quadruped robot |
| CN105109575A (en) * | 2015-09-17 | 2015-12-02 | 山东大学 | Dog-like quadruped robot |
| CN107235089A (en) * | 2017-06-30 | 2017-10-10 | 天津大学 | A kind of ten five degree of freedom bionic 6-leg climbing robots |
-
2014
- 2014-09-30 CN CN201420575478.2U patent/CN204110200U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104309716A (en) * | 2014-09-30 | 2015-01-28 | 山东大学 | Bionic quadruped robot |
| CN104309716B (en) * | 2014-09-30 | 2016-09-07 | 山东大学 | Bionical quadruped robot |
| CN105109575A (en) * | 2015-09-17 | 2015-12-02 | 山东大学 | Dog-like quadruped robot |
| CN107235089A (en) * | 2017-06-30 | 2017-10-10 | 天津大学 | A kind of ten five degree of freedom bionic 6-leg climbing robots |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20150121 Termination date: 20150930 |
|
| EXPY | Termination of patent right or utility model |