CN204264314U - A kind of bionic machine dog - Google Patents
A kind of bionic machine dog Download PDFInfo
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- CN204264314U CN204264314U CN201420812631.9U CN201420812631U CN204264314U CN 204264314 U CN204264314 U CN 204264314U CN 201420812631 U CN201420812631 U CN 201420812631U CN 204264314 U CN204264314 U CN 204264314U
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Abstract
A kind of bionic machine dog, it relates to a kind of robot dog, complicated to solve existing structure quadruped robot, manufacturing cost is high, unstable properties is unreliable, poor for applicability and be unfavorable for walk problem, it comprises upper flat plate, lower flat board, two side plates, front connecting arm, rear connecting arm, two the first steering wheels and two the second steering wheels; Be furnished with two side plates be connected with the two between upper flat plate and lower flat board, the front underside of upper flat plate is provided with two the first steering wheels side by side, and the rear end lower surface of upper flat plate is provided with two the second steering wheels side by side; Each foreleg comprises the first channel, front support arm, two the second channels and two the 3rd steering wheels; Each back leg comprises the first channel, rear support arm, two the second channels and two the 3rd steering wheels, and the bottom of one of them the second channel in two the second channels is arranged on the output shaft of the first corresponding steering wheel.The utility model belongs to robotics.
Description
Technical field
The utility model relates to a kind of robot dog, belongs to robotics.
Background technology
Robotics is the new and high technology developed rapidly in recent decades, it combines machinery and precision optical machinery, microelectronics and computing machine, automatically controls and driving, sensor and the multi-disciplinary newest research results such as information processing and artificial intelligence, being typical electromechanical integration technology carrier, is one of current most active field of research.
The move mode of current robot mainly comprises wheeled, crawler type, walking, creep and wriggling etc.Wheel has been just the most effective tool at rigid flat overground locomotion since it comes out always.But the effect of wheel is by serious loss on soft terrain or rugged landform.In order to improve the adaptive capacity of wheel to soft surface and rough terrain, tracklaying vehicle arises at the historic moment, and is widely used in engineering and military affairs.Wheeled higher with the requirement of crawler-type mobile mode to surrounding environment, thus its field of application is subject to certain restrictions.Creep and work that squirmy robot is mainly used in pipeline and other narrow space, there is good stability, but moving velocity is slower.Walking is the move mode that people and most of higher mammal adopt jointly, to environment, there is very strong comformability, both the space of relative narrowness can have been entered, also can leaping over obstacles, up/down steps, upper downslope is even at unfairness movement over ground, make it compared with above-mentioned various mode of motion, there is more broad prospect of application.The sufficient number of existing walking robot is respectively monopodia, biped, tripodia, four-footed, six foots, eight foots are even more, and wherein even number accounts for the overwhelming majority, because with regard to straight-line motion, even number can produce actv. gait enough.Four feet walking robot is stronger than two-foot walking robot load-carrying capacity, good stability, simultaneously simple than the structure of six foots, eight feet walking robot havings again, is easy to control.In addition, quadrupled walking vehicle can realize the walking on uneven ground and complex-terrain in static walking mode, walking at a high speed can be realized in dynamic walking mode (gait processes any time is all less than the manner of walking that three legs are in holding state) simultaneously again, thus more be subject to the attention of various countries researchist.
Although quadruped robot technology has a great development, in succession researched and developed a lot of principle prototype or experimental model both at home and abroad, restriction quadruped robot technology further develops and does not obtain basic solution.As complex structure, manufacturing cost is high, and unstable properties is unreliable, poor for applicability, and therefore, quadruped robot research is still needed and to be further developed and perfect.
Utility model content
The utility model is complicated for solving existing structure quadruped robot, and manufacturing cost is high, and unstable properties is unreliable, poor for applicability and be unfavorable for the problem of walking, and then provides a kind of bionic machine dog.
The utility model is the technical scheme taked that solves the problem: a kind of bionic machine dog of this practicality comprises upper flat plate, lower flat board, two side plates, two the first steering wheels, two the second steering wheels, two forelegs and two back legs; Two side plates are vertically arranged, two side plates be connected with the two are furnished with between upper flat plate and lower flat board, the front underside of upper flat plate is provided with two the first steering wheels side by side, the rear end lower surface of upper flat plate is provided with two the second steering wheels side by side, the output shaft of the output shaft of two the first steering wheels and two the second steering wheels is arranged in the outside of upper flat plate, the axis of the output shaft of two the first steering wheels is horizontally disposed with and vertical with the length direction of horizontal plate, and the axis of the output shaft of two the first steering wheels is parallel with the axis of the output shaft of two the second steering wheels;
Each foreleg comprises the first channel, front support arm, two the second channels and two the 3rd steering wheels, the bottom of one of them the second channel in two the second channels is arranged on the output shaft of the first corresponding steering wheel, the output shaft rotation of one of them the 3rd steering wheel in two the 3rd steering wheels is arranged between the two-arm of one of them the second channel described, the housing of one of them the 3rd steering wheel described is packed between the two-arm of the first channel, the bottom of residue second channel in the bottom of the first channel and two the second channels is affixed, the output shaft rotation of residue the 3rd steering wheel in two the 3rd steering wheels is arranged between the two-arm of described residue second channel, front support arm comprises front link slot and L shape supporting bracket, and the two-arm of front link slot is with the long-armed parallel of L shape supporting bracket and connect as one, and the housing of described residue the 3rd steering wheel is packed between front link slot two-arm, the axis of the output shaft of the first steering wheel and the axial vertical of one of them the 3rd steering wheel described, the axis of axis and described residue the 3rd steering wheel of the output shaft of the first steering wheel is parallel,
Each foreleg comprises the first channel, rear support arm, two the second channels and two the 3rd steering wheels, the bottom of one of them the second channel in two the second channels is arranged on the output shaft of the second corresponding steering wheel, the output shaft rotation of one of them the 3rd steering wheel in two the 3rd steering wheels is arranged between the two-arm of one of them the second channel described, the housing of one of them the 3rd steering wheel described is packed between the two-arm of the first channel, the bottom of residue second channel in the bottom of the first channel and two the second channels is affixed, the output shaft rotation of residue the 3rd steering wheel in two the 3rd steering wheels is arranged between the two-arm of described residue second channel, rear support arm comprises rear link slot and L shape supporting bracket, and the two-arm of rear link slot and the long-armed arranged crosswise of L shape supporting bracket also connect as one, and the housing of described residue the 3rd steering wheel is packed between rear link slot two-arm, the axis of the output shaft of the second steering wheel and the axial vertical of one of them the 3rd steering wheel described, the axis of axis and described residue the 3rd steering wheel of the output shaft of the second steering wheel is parallel.
The beneficial effects of the utility model are: one, the utility model installation is convenient, connect reliable, thigh or rear thigh before first channel, two the second channels and the 3rd steering wheel become, remain the 3rd steering wheel and front support arm or rear support arm and form front shank or gaskin.Be respectively the second channel and the first steering wheel or the second steering wheel and be rotationally connected the rotation that can realize front thigh or rear thigh, the upset of thigh or rear thigh before being rotationally connected of one of them the 3rd steering wheel and one of them the second channel realizes, what remain the 3rd steering wheel and residue second channel is rotationally connected the rotation that can realize front shank or gaskin, foreleg and back leg have three degree of freedom, be equivalent to three joints of every bar leg, the motion gait that can simulate and the quadruped gait of reality have same movement mode, identical dutycycle, stability margin, orbit period etc., this is that every bar leg only has the quadruped robot of two degree of freedom to accomplish.Therefore, more naturally more stable in robot dog gait of the present utility model, closer to the quadruped mode of motion of real body, performance of the present utility model is better stable.
Two, the range of movement in each joint of the present utility model is strict determines according to the correlation parameter of dog class joint of animal in reality, by designing various gaits such as running, be careful, the motion of dog class animal can be simulated accurately, be conducive to walking, can be simulation dog class animal and make use; The utility model is designed by simplified structure, physical construction is unlikely to too complex, simultaneously, ensure that it completes walking function, be specially adapted for studying quadruped gait, or develop the gait of more efficient new model, existing bionical quadruped robot separate unit cost more than at least ten ten thousand yuan, and the minimum cost of this money robot dog can control within 1,000 yuan to several thousand yuan.Utilize the utility model to carry out basic investigation that quadruped robot commonly uses gait and leg mechanism, also can promote the development of quadruped robot gordian technique and the application of expansion quadruped robot, as teaching aid and toy etc.
Accompanying drawing explanation
Fig. 1 is perspective view of the present utility model, and Fig. 2 is the B direction view of Fig. 1, and Fig. 3 is the birds-eye view of Fig. 1, and Fig. 4 is the C direction view of Fig. 1, and Fig. 5 is the A place partial enlarged drawing of Fig. 1, and Fig. 6 is the gait figure of diagonal gait of the present utility model.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1-Fig. 4 illustrates, a kind of bionic machine dog of present embodiment comprises upper flat plate 1, lower dull and stereotyped 2, two side plates 3, two the first steering wheels, 4, two the second steering wheels, 5, two forelegs 6 and two back legs 7; Two side plates 3 are vertically arranged, two side plates 3 be connected with the two are furnished with between upper flat plate 1 and lower dull and stereotyped 2, the front underside of upper flat plate 1 is provided with two the first steering wheels 4 side by side, the rear end lower surface of upper flat plate 1 is provided with two the second steering wheels 5 side by side, the output shaft of two the first steering wheels 4 and the output shaft of two the second steering wheels 5 are arranged in the outside of upper flat plate 1, the axis of the output shaft of two the first steering wheels 4 is horizontally disposed with and vertical with the length direction of horizontal plate 1, and the axis of the output shaft of two the first steering wheels 4 is parallel with the axis of the output shaft of two the second steering wheels 5;
Each foreleg 6 comprises the first channel 6-1, front support arm 6-2, two the second channel 6-3 and two the 3rd steering wheel 6-4, the bottom of one of them the second channel 6-3 in two the second channel 6-3 is arranged on the output shaft of the first corresponding steering wheel 4, the output shaft rotation of one of them the 3rd steering wheel 6-4 in two the 3rd steering wheel 6-4 is arranged between the two-arm of one of them the second channel 6-3 described, the housing of one of them the 3rd steering wheel 6-4 described is packed between the two-arm of the first channel 6-1, the bottom of the residue second channel 6-3 in the bottom of the first channel 6-1 and two the second channel 6-3 is affixed, the output shaft rotation of residue the 3rd steering wheel 6-4 in two the 3rd steering wheel 6-4 is arranged between the two-arm of a described residue second channel 6-3, the two-arm that front support arm 6-2 comprises front link slot 6-5 and L shape supporting bracket 6-6, front link slot 6-5 is with the long-armed parallel of L shape supporting bracket 6-6 and connect as one, and the housing of described residue a 3rd steering wheel 6-4 is packed between front link slot 6-5 two-arm, the axis of the output shaft of the first steering wheel 4 and the axial vertical of one of them the 3rd steering wheel 6-4 described, the axis of axis and described residue a 3rd steering wheel 6-4 of the output shaft of the first steering wheel 4 is parallel,
Each foreleg 7 comprises the first channel 6-1, rear support arm 6-7, two the second channel 6-3 and two the 3rd steering wheel 6-4, the bottom of one of them the second channel 6-3 in two the second channel 6-3 is arranged on the output shaft of the second corresponding steering wheel 5, the output shaft rotation of one of them the 3rd steering wheel 6-4 in two the 3rd steering wheel 6-4 is arranged between the two-arm of one of them the second channel 6-3 described, the housing of one of them the 3rd steering wheel 6-4 described is packed between the two-arm of the first channel 6-1, the bottom of the residue second channel 6-3 in the bottom of the first channel 6-1 and two the second channel 6-3 is affixed, the output shaft rotation of residue the 3rd steering wheel 6-4 in two the 3rd steering wheel 6-4 is arranged between the two-arm of a described residue second channel 6-3, rear support arm 6-7 comprises the two-arm of rear link slot 6-8 and L shape supporting bracket 6-6, rear link slot 6-8 and the long-armed arranged crosswise of L shape supporting bracket 6-6 and connects as one, and the housing of described residue a 3rd steering wheel 6-4 is packed between rear link slot 6-8 two-arm, the axis of the output shaft of the second steering wheel 5 and the axial vertical of one of them the 3rd steering wheel 6-4 described, the axis of axis and described residue a 3rd steering wheel 6-4 of the output shaft of the second steering wheel 5 is parallel.
The steering wheel of present embodiment is prior art, it is formed primarily of shell, coreless motor, reducing gear and position detector, its radical function is equivalent to servomotor, available servomotor substitutes, for the thigh of robot dog and shank provide the power of motion gaits such as (rotate or) upsets.The control system of present embodiment can adopt the control system of prior art.
Detailed description of the invention two: composition graphs 1 illustrates, the first channel 6-1 and the second channel 6-3 of present embodiment are U-shaped part.Setting like this, it is convenient to manufacture, and connects reliable.Other is identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 1 illustrates, the upper flat plate 1 of present embodiment is epoxy resin board, and lower dull and stereotyped 2 is epoxy resin board, and two side plates 3 are epoxy resin board.Setting like this, light weight, intensity is large, cheap and easy to get.Other is identical with detailed description of the invention one or two.
Detailed description of the invention four: composition graphs 1 illustrates, the first channel 6-1 of present embodiment is metal channel, and the second channel 6-3 is metal channel.The metal piece of present embodiment can adopt the metal such as aluminium or carbon steel to make.Other is identical with detailed description of the invention three.
Detailed description of the invention five: composition graphs 1-Fig. 2 and Fig. 5 explanation, robot dog described in present embodiment also comprises six [shape plates 8, the upper end of each side plate 3 is processed with the protruding 3-1 of two T-shaped, the lower end of each side plate 3 is processed with the protruding 3-1 of a T-shaped, the protruding 3-1 of two T-shaped of the upper end of each side plate 3 passes upper flat plate 1, the protruding 3-1 of T-shaped of the lower end of each side plate 3 passes lower dull and stereotyped 2, each side plate 3 by be inlaid on the protruding 3-1 of T-shaped [shape plate 8 is connected with upper flat plate 1, each side plate 3 by be inlaid on T-shaped projection 3-1 [shape plate 8 is connected with lower dull and stereotyped 2.Present embodiment [shape plate and T-shaped projection form castellated structure, reliably easy to connect, dismounting is convenient, and cost is low.Other with detailed description of the invention one, two or four identical.
Principle of work
Composition graphs 1-Fig. 6 explanation, the restriction of different quadruped due to physical qualification and the difference of neural control ability, its gait presents different forms, even same animal gait difference under different state of kinematic motions is also sizable, being careful and running of such as horse just belongs to two kinds of diverse gaits.The mode of motion of animal is by phase difference and Occupation efficiency two parameter characterizations.
Four-footed mammal has four kinds of typical gait:
1) Crawl gait, each foot rises and falls successively, and Occupation efficiency is greater than 0.75, is less than 1, and phase difference is 1/4;
2) diagonal gait, diagonal angle leg rises and falls in pairs, Occupation efficiency 0.5, two between phase difference be 1/2;
3) hoof slips gait, and the leg of homonymy rises and falls in pairs, Occupation efficiency be 0.5, two between phase difference be 1/2;
4) gallop at all speed gait, front and back leg rises and falls in pairs, and there are four legs and soar the moment simultaneously, Occupation efficiency is less than 0.5, and the phase difference between the relative foreleg of back leg is for being less than 1/2.
The utility model has mainly imitated diagonal gait wherein.Diagonal gait, is also called trot gait, and because its Occupation efficiency is less, comparatively speaking, gait of march wants fast.Different from belonging to statically stable Crawl gait, diagonal gait belongs to dynamic stability gait.The characteristics of motion of the leg mechanism of a trot gait gait cycle is (as shown in Figure 6, wherein black filled circle represents supporting leg, empty circles represents leads leg, solid black ellipse circle represents robot dog center of gravity): 4 legs are divided into 2 groups, 2 legs be positioned on diagonal line are one group, and these 2 legs lift simultaneously, swing, land, support.Leg is skyborne to be lifted, swing, land 3 processes, and be called swing phase, leg is called support phase on the ground.
When the Occupation efficiency of dutycycle is 0.5, the mobile order of each leg of robot diagonal gait and body center of gravity is as shown below (hollow arrow represents the gravity motion order of leg and robot dog): during initial condition, four-footed lands, and center of gravity is at the point of crossing of diagonal angle leg foot end line; When advancing initial, leg 1 and leg 3 lift forward rocking motion, drive each joint to make body shifted forward to leg 1 and leg 3 foot end line mid point while leg 2 and leg 4 support; When body center of gravity arrives assigned position, leg 1 and leg 3 land simultaneously, and leg 2 lifts with leg 4 simultaneously and alternately lifts with identical mode of motion and falls.For avoiding interference in traveling process, only have when the diagonal angle leg swung lift simultaneously foot end leave ground completely time, each joint of supporting leg just setting in motion makes fuselage shifted forward.
Claims (5)
1. a bionic machine dog, is characterized in that: it comprises upper flat plate (1), lower flat board (2), two side plates (3), two the first steering wheels (4), two the second steering wheels (5), two forelegs (6) and two back legs (7), two side plates (3) are vertically arranged, two side plates (3) be connected with the two are furnished with between upper flat plate (1) and lower flat board (2), the front underside of upper flat plate (1) is provided with two the first steering wheels (4) side by side, the rear end lower surface of upper flat plate (1) is provided with two the second steering wheels (5) side by side, the output shaft of two the first steering wheels (4) and the output shaft of two the second steering wheels (5) are arranged in the outside of upper flat plate (1), the axis of the output shaft of two the first steering wheels (4) is horizontally disposed with and vertical with the length direction of horizontal plate (1), the axis of the output shaft of two the first steering wheels (4) is parallel with the axis of the output shaft of two the second steering wheels (5),
Each foreleg (6) comprises the first channel (6-1), front support arm (6-2), two the second channels (6-3) and two the 3rd steering wheels (6-4), the bottom of one of them the second channel (6-3) in two the second channels (6-3) is arranged on the output shaft of corresponding the first steering wheel (4), the output shaft rotation of one of them the 3rd steering wheel (6-4) in two the 3rd steering wheels (6-4) is arranged between the two-arm of one of them the second channel (6-3) described, the housing of one of them the 3rd steering wheel (6-4) described is packed between the two-arm of the first channel (6-1), the bottom of residue second channel (6-3) in the bottom of the first channel (6-1) and two the second channels (6-3) is affixed, the output shaft rotation of residue the 3rd steering wheel (6-4) in two the 3rd steering wheels (6-4) is arranged between the two-arm of described residue second channel (6-3), front support arm (6-2) comprises front link slot (6-5) and L shape supporting bracket (6-6), the two-arm of front link slot (6-5) is with the long-armed parallel of L shape supporting bracket (6-6) and connect as one, and the housing of another the 3rd steering wheel (6-4) described is packed between front link slot (6-5) two-arm, the axis of the output shaft of the first steering wheel (4) and the axial vertical of one of them the 3rd steering wheel (6-4) described, the axis of axis and described residue the 3rd steering wheel (6-4) of the output shaft of the first steering wheel (4) is parallel,
Each foreleg (7) comprises the first channel (6-1), rear support arm (6-7), two the second channels (6-3) and two the 3rd steering wheels (6-4), the bottom of one of them the second channel (6-3) in two the second channels (6-3) is arranged on the output shaft of corresponding the second steering wheel (5), the output shaft rotation of one of them the 3rd steering wheel (6-4) in two the 3rd steering wheels (6-4) is arranged between the two-arm of one of them the second channel (6-3) described, the housing of one of them the 3rd steering wheel (6-4) described is packed between the two-arm of the first channel (6-1), the bottom of residue second channel (6-3) in the bottom of the first channel (6-1) and two the second channels (6-3) is affixed, the output shaft rotation of residue the 3rd steering wheel (6-4) in two the 3rd steering wheels (6-4) is arranged between the two-arm of described residue second channel (6-3), rear support arm (6-7) comprises rear link slot (6-8) and L shape supporting bracket (6-6), the two-arm of rear link slot (6-8) and the long-armed arranged crosswise of L shape supporting bracket (6-6) also connect as one, and the housing of described residue the 3rd steering wheel (6-4) is packed between rear link slot (6-8) two-arm, the axis of the output shaft of the second steering wheel (5) and the axial vertical of one of them the 3rd steering wheel (6-4) described, the axis of axis and described residue the 3rd steering wheel (6-4) of the output shaft of the second steering wheel (5) is parallel.
2. a kind of bionic machine dog according to claim 1, is characterized in that: the first channel (6-1) and the second channel (6-3) are U-shaped part.
3. a kind of bionic machine dog according to claim 1 and 2, it is characterized in that: upper flat plate (1) is epoxy resin board, lower flat board (2) is epoxy resin board, two side plates (3) are epoxy resin board.
4. a kind of bionic machine dog according to claim 3, is characterized in that: the first channel (6-1) is metal channel, and the second channel (6-3) is metal channel.
5. according to claim 1, a kind of bionic machine dog described in 2 or 4, it is characterized in that: described robot dog also comprises six [shape plates (8), the upper end of each side plate (3) is processed with two T-shaped projections (3-1), the lower end of each side plate (3) is processed with a T-shaped projection (3-1), two T-shaped projections (3-1) of the upper end of each side plate (3) pass upper flat plate (1), the T-shaped projection (3-1) of the lower end of each side plate (3) passes lower flat board (2), each side plate (3) by be inlaid in T-shaped projection (3-1) [shape plate (8) is connected with upper flat plate (1), each side plate (3) by be inlaid in T-shaped projection (3-1) [shape plate (8) is connected with lower flat board (2).
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| CN201420812631.9U CN204264314U (en) | 2014-12-18 | 2014-12-18 | A kind of bionic machine dog |
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| CN201420812631.9U CN204264314U (en) | 2014-12-18 | 2014-12-18 | A kind of bionic machine dog |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105013182A (en) * | 2015-07-29 | 2015-11-04 | 燕山大学 | Toy robot with transformable wheel feet |
| CN105945961A (en) * | 2016-05-17 | 2016-09-21 | 洪炳镕 | Intelligent panda robot |
| CN107472396A (en) * | 2017-09-26 | 2017-12-15 | 北京航空航天大学 | A kind of quadruped robot of achievable aerial statue adjustment |
| CN108128366A (en) * | 2017-12-29 | 2018-06-08 | 江苏集萃智能制造技术研究所有限公司 | A kind of humanoid wheeled robot with suspended structure |
| CN108858176A (en) * | 2018-08-21 | 2018-11-23 | 西北工业大学 | A kind of Intelligent machine dog |
| CN109015669A (en) * | 2018-07-13 | 2018-12-18 | 承强 | A kind of robot dog with loading function |
| CN110126937A (en) * | 2019-05-21 | 2019-08-16 | 南华大学 | Bionical quadruped robot and gait control method |
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2014
- 2014-12-18 CN CN201420812631.9U patent/CN204264314U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105013182A (en) * | 2015-07-29 | 2015-11-04 | 燕山大学 | Toy robot with transformable wheel feet |
| CN105013182B (en) * | 2015-07-29 | 2017-12-29 | 燕山大学 | Wheel can become born of the same parents' toy robot completely |
| CN105945961A (en) * | 2016-05-17 | 2016-09-21 | 洪炳镕 | Intelligent panda robot |
| CN105945961B (en) * | 2016-05-17 | 2018-02-13 | 洪炳镕 | A kind of intelligent panda robot |
| CN107472396A (en) * | 2017-09-26 | 2017-12-15 | 北京航空航天大学 | A kind of quadruped robot of achievable aerial statue adjustment |
| CN108128366A (en) * | 2017-12-29 | 2018-06-08 | 江苏集萃智能制造技术研究所有限公司 | A kind of humanoid wheeled robot with suspended structure |
| CN109015669A (en) * | 2018-07-13 | 2018-12-18 | 承强 | A kind of robot dog with loading function |
| CN108858176A (en) * | 2018-08-21 | 2018-11-23 | 西北工业大学 | A kind of Intelligent machine dog |
| CN110126937A (en) * | 2019-05-21 | 2019-08-16 | 南华大学 | Bionical quadruped robot and gait control method |
| CN110126937B (en) * | 2019-05-21 | 2023-12-12 | 南华大学 | Bionic quadruped robot and gait control method |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150415 Termination date: 20161218 |