CN204399319U - The bionical quadruped robot that a kind of pneumatic muscles drives - Google Patents
The bionical quadruped robot that a kind of pneumatic muscles drives Download PDFInfo
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- CN204399319U CN204399319U CN201520038822.9U CN201520038822U CN204399319U CN 204399319 U CN204399319 U CN 204399319U CN 201520038822 U CN201520038822 U CN 201520038822U CN 204399319 U CN204399319 U CN 204399319U
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Abstract
The utility model is the bionical quadruped robot that a kind of pneumatic muscles drives.Comprise trunk support and be arranged on four legs on trunk support; Every bar leg forms by thigh unit and mid-calf cell; Comprise coxa joint attaching parts, inner side joint connector, lateral articular attaching parts, toe attaching parts, toe, thigh support frame, little leg support, the second pneumatic muscles, the first pneumatic muscles, the 3rd pneumatic muscles, the 4th pneumatic muscles, pivot pin, bearing, pneumatic muscles joint, pillar, shangguan nodal axisn, ShiShimonoseki nodal axisn.The quadruped robot leg design that pneumatic muscles drives is symmetrical to be coordinated, and has good bionical feature, is convenient to the realization of control algorithm; It is submissive that this structure quadruped robot has walking step state, and comformability is better, has the beneficial characteristics of stronger load-carrying capacity.
Description
Technical field
The utility model belongs to bio-robot field, and what be specifically related to is the bionical quadruped robot that a kind of pneumatic muscles drives.
Background technology
Robot is a new industry of develop rapidly in recent years, and robot can be divided into wheeled, crawler type and legged mobile robot according to mode of motion.For the requirement of the various landform of satisfied adaptation, legged mobile robot is rapidly developed, and achieves certain achievement.The BigDog robot developed by Boston Dynamics company is the outstanding person in quadruped robot field, and Alpha, Wildcat robot in succession improved subsequently is increased dramatically in stability and running velocity.
Great efforts has also been done in four-leg bionic quadruped robot by the colleges and universities such as domestic Tsing-Hua University, Shandong University and Harbin Institute of Technology, and achieves certain achievement.
The actuator of tradition legged mobile robot adopts hydraulic actuating cylinder, servomotor mostly, causes robot integral structure very complicated and cost is high.In recent years, pneumatic muscles enters robot field as a kind of novel actuator, except the feature that inheriting tradition actuator response speed is fast, power is sufficient, there is the advantage such as good compliance and bio-imitability, higher power-weight ratio, higher capacity usage ratio and lower cost simultaneously.
Through finding existing literature search, in Chinese patent literature CN201220344525, disclose a kind of small-sized four-leg bionic robot.The every bar leg of robot all has two degree of freedom and adopts steering wheel to realize, possess gait flexibly, action stablizes feature, but its cost is higher, and structure design is comparatively complicated, and gait is not submissive, and load-carrying capacity is not high.
Summary of the invention
The utility model overcomes the deficiencies in the prior art, designs the bionical quadruped robot that a kind of pneumatic muscles drives.
The utility model have employed following technical scheme, comprising: trunk support and four legs be arranged on trunk support; Trunk support is square, and four legs are arranged on the both sides of trunk support between two, and every bar leg is by thigh unit and mid-calf cell two parts composition; Thigh unit is made up of hip joint attaching parts, the first pneumatic muscles, the second pneumatic muscles, thigh support frame, knee joint medial connection, shangguan nodal axisn, bearing, pivot pin, pneumatic muscles attaching parts; Mid-calf cell is made up of knee joint outer connectors, the 3rd pneumatic muscles, the 4th pneumatic muscles, little leg support, toe attaching parts, ShiShimonoseki nodal axisn, bearing, pivot pin, pneumatic muscles attaching parts; Thigh support frame one end by shangguan nodal axisn and hip joint attaching parts hinged, be provided with bearing between joint shaft and hip joint attaching parts, the thigh support frame other end and knee joint medial connection affixed; Little leg support one end by ShiShimonoseki nodal axisn and knee joint outer connectors hinged, be provided with bearing between ShiShimonoseki nodal axisn and knee joint outer connectors, the other end and the toe attaching parts of little leg support are affixed; Hip joint attaching parts is fixed on trunk support by screw, and knee joint outer connectors is fixed on knee joint medial connection by screw, toe by screw and toe attaching parts affixed; Thigh support frame both sides are respectively arranged with the first pneumatic muscles and the second pneumatic muscles, the two ends of the first pneumatic muscles and the second pneumatic muscles respectively by pneumatic muscles attaching parts and hip joint attaching parts and knee joint medial connection hinged, little leg support both sides are respectively arranged with the 3rd pneumatic muscles and the 4th pneumatic muscles, the two ends of the 3rd pneumatic muscles and the 4th pneumatic muscles respectively by pneumatic muscles attaching parts and knee joint outer connectors and toe attaching parts hinged; Hip joint attaching parts and knee joint medial connection are equipped with the first long arc-shaped holes, and hip joint attaching parts is fixed on trunk support through long arc-shaped holes by screw; Knee joint medial connection is provided with the second long arc-shaped holes, and knee joint outer connectors is fixed on knee joint medial connection through the second long arc-shaped holes by screw.It is adjustable relative to the setting angle of thigh unit relative to trunk support, mid-calf cell that first long arc-shaped holes and the second long arc-shaped holes can realize thigh unit respectively.During use, by controlling the suction quantity of pneumatic muscles, the contraction of simulation biological muscles and extension, pull leg unit to rotate around joint shaft, realize the swing of leg.When the second pneumatic muscles inflation, the first pneumatic muscles venting, robot thigh unit portion axially swings in the second pneumatic muscles side direction around upper joint; When the first pneumatic muscles inflation, the second pneumatic muscles venting, robot thigh unit portion axially swings in the first pneumatic muscles side direction around upper joint.3rd pneumatic muscles venting of mid-calf cell, during the 4th pneumatic muscles inflation, mid-calf cell axially swings in the 4th pneumatic muscles side direction around hypozygal; 4th pneumatic muscles venting, during the 3rd pneumatic muscles inflation, mid-calf cell axially swings in the 3rd pneumatic muscles side direction around hypozygal.
This bionical quadruped robot employs the high pneumatic muscles of power-weight ratio as actuator, has the advantages that cost is low, power sufficient, spatter property is good; This structure design symmetry is coordinated, and has good bionical feature, and is convenient to the realization of control algorithm; Meanwhile, it is submissive that robot structure has walking step state, and comformability better and the beneficial characteristics of stronger load-carrying capacity.
Accompanying drawing explanation
Fig. 1 is the bionical structure quadruped robot schematic diagram that pneumatic muscles drives;
Fig. 2 is single leg unitized design assembly drowing.
In accompanying drawing: 1-trunk support, 2-thigh unit, 3-mid-calf cell, 4-hip joint attaching parts, 5-knee joint medial connection, 6-knee joint outer connectors, 7-toe attaching parts, 8-toe, 9-thigh support frame, the little leg support of 10-, 11-second pneumatic muscles, 12-first pneumatic muscles, 13-the 3rd pneumatic muscles, 14-the 4th pneumatic muscles, 15-pivot pin, 16-bearing, 17-pneumatic muscles joint, 18-shangguan nodal axisn, 19-ShiShimonoseki nodal axisn, 20-first long arc-shaped holes, 21-second long arc-shaped holes.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described further.
As shown in Figure 1, be the bionical structure quadruped robot schematic diagram that pneumatic muscles drives.Comprise: trunk support 1 and four legs be arranged on trunk support, knee formula after elbow before leg installation in front and back adopts.
As shown in Figure 2, every bar leg of robot is by thigh unit 2, mid-calf cell 3 two parts composition.Thigh unit 2 is made up of hip joint attaching parts 4, knee joint medial connection 5, thigh support frame 9, first pneumatic muscles 12, second pneumatic muscles 11, pivot pin 15, bearing 16, pneumatic muscles attaching parts 17, shangguan nodal axisn 18; Mid-calf cell 3 is made up of knee joint outer connectors 6, toe attaching parts 7, little leg support 10, the 3rd pneumatic muscles 13, the 4th pneumatic muscles 14, pivot pin 15, bearing 16, pneumatic muscles attaching parts 17, ShiShimonoseki nodal axisn 19; Thigh support frame 9 one end is hinged by shangguan nodal axisn 18 and hip joint attaching parts 4, is provided with bearing 16 between shangguan nodal axisn 18 and hip joint attaching parts 4, thigh support frame 9 other end and knee joint medial connection 5 affixed; Little leg support 10 one end is hinged by ShiShimonoseki nodal axisn 19 and knee joint outer connectors 6, and be provided with bearing 16 between ShiShimonoseki nodal axisn 19 and knee joint outer connectors 6, the other end and the toe attaching parts 7 of little leg support 10 are affixed; Hip joint attaching parts 4 is fixed on trunk support 1 by screw, and knee joint outer connectors 6 is fixed on knee joint medial connection 5 by screw, toe 8 by screw and toe attaching parts 7 affixed; Thigh support frame 9 both sides are respectively arranged with the first pneumatic muscles 12 and the second pneumatic muscles 11, the two ends of the first pneumatic muscles 12 and the second pneumatic muscles 11 respectively by pneumatic muscles attaching parts 17 and hip joint attaching parts 4 and knee joint medial connection 5 hinged, the two ends that little leg support 10 both sides are respectively arranged with the 3rd pneumatic muscles 13 and the 4th pneumatic muscles the 14, three pneumatic muscles 13 and the 4th pneumatic muscles 14 respectively by pneumatic muscles attaching parts 17 and knee joint outer connectors 4 and toe attaching parts 7 hinged.During use, by pneumatic muscles inflation and venting, simulate contraction and the extension of biological muscles, pull leg unit to rotate around joint shaft, realize the swing of leg unit.When the second pneumatic muscles 11 inflate, the first pneumatic muscles 12 exit time, robot thigh unit 2 swings to the second pneumatic muscles 11 side direction around shangguan nodal axisn 19; When the first pneumatic muscles 12 inflate, the second pneumatic muscles 11 exit time, robot thigh unit 2 swings to the first pneumatic muscles 12 side direction around shangguan nodal axisn 18; 3rd pneumatic muscles 13 of mid-calf cell 3 is exitted, and the 4th pneumatic muscles 14 is inflated, and mid-calf cell 3 swings to the 4th pneumatic muscles 14 side direction around ShiShimonoseki nodal axisn 19; 4th pneumatic muscles 14 is exitted, and when the 3rd pneumatic muscles 13 is inflated, mid-calf cell 3 swings to the 3rd pneumatic muscles 13 side direction around ShiShimonoseki nodal axisn 19.Hip joint attaching parts 4 and knee joint medial connection 6 are equipped with the first long arc-shaped holes 20, and hip joint attaching parts 4 is fixed on trunk support 1 through the first long arc-shaped holes 20 by screw.Knee joint medial connection 5 is provided with the second long arc-shaped holes 21, and knee joint outer connectors 6 is fixed on knee joint medial connection 5 through the second long arc-shaped holes 21 by screw.It is adjustable relative to the setting angle of thigh unit 2 relative to trunk support 1, mid-calf cell 3 that first long arc-shaped holes 20 and the second long arc-shaped holes 21 can realize thigh unit 2 respectively.
Claims (3)
1. a bionical quadruped robot for pneumatic muscles driving, is characterized in that: comprise trunk support (1) and be installed on four legs on trunk support, described trunk support (1) is square, and described four legs are arranged on the both sides of trunk support (1) respectively between two, and every bar leg is by thigh unit (2) and mid-calf cell (3) two parts composition, described thigh unit (2) is made up of hip joint attaching parts (4), knee joint medial connection (5), thigh support frame (9), the first pneumatic muscles (12), the second pneumatic muscles (11), pivot pin (15), bearing (16), pneumatic muscles attaching parts (17), shangguan nodal axisn (18), described mid-calf cell (3) is made up of knee joint outer connectors (6), toe attaching parts (7), little leg support (10), the 3rd pneumatic muscles (13), the 4th pneumatic muscles (14), pivot pin (15), bearing (16), pneumatic muscles attaching parts (17) ShiShimonoseki nodal axisn (19), described thigh support frame (9) one end is hinged by shangguan nodal axisn (18) and hip joint attaching parts (4), be provided with bearing (16) between shangguan nodal axisn (18) and hip joint attaching parts (4), thigh support frame (9) other end and knee joint medial connection (5) affixed, described little leg support (10) one end is hinged by ShiShimonoseki nodal axisn (19) and knee joint outer connectors (6), be provided with bearing (16) between ShiShimonoseki nodal axisn (19) and knee joint outer connectors (6), the other end and the toe attaching parts (7) of little leg support (10) are affixed, described hip joint attaching parts (7) is fixed on trunk support (1) by screw, knee joint outer connectors (6) is fixed on knee joint medial connection (5) by screw, toe (8) by screw and toe attaching parts (7) affixed, described thigh support frame (9) both sides are respectively arranged with the first pneumatic muscles (12) and the second pneumatic muscles (11), the two ends of the first pneumatic muscles (12) and the second pneumatic muscles (11) respectively by pneumatic muscles attaching parts (17) and hip joint attaching parts (4) and knee joint medial connection (5) hinged, described little leg support (10) both sides are respectively arranged with the 3rd pneumatic muscles (13) and the 4th pneumatic muscles (14), the two ends of the 3rd pneumatic muscles (13) and the 4th pneumatic muscles (14) respectively by pneumatic muscles attaching parts (17) and knee joint outer connectors (4) and toe attaching parts (7) hinged.
2. the bionical quadruped robot of a kind of pneumatic muscles driving according to claim 1, it is characterized in that: described hip joint attaching parts (4) and knee joint medial connection (6) are equipped with the first long arc-shaped holes (20), hip joint attaching parts (4) is fixed on trunk support (1) through the first long arc-shaped holes (20) by screw.
3. the bionical quadruped robot of a kind of pneumatic muscles driving according to claim 1 and 2, it is characterized in that: described knee joint medial connection (5) is provided with the second long arc-shaped holes (21), knee joint outer connectors (6) is fixed on knee joint medial connection (5) through the second long arc-shaped holes (21) by screw.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520038822.9U CN204399319U (en) | 2015-01-14 | 2015-01-14 | The bionical quadruped robot that a kind of pneumatic muscles drives |
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| CN201520038822.9U CN204399319U (en) | 2015-01-14 | 2015-01-14 | The bionical quadruped robot that a kind of pneumatic muscles drives |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105172931A (en) * | 2015-08-14 | 2015-12-23 | 哈尔滨工业大学 | Biped robot based on pneumatic artificial muscles |
| CN105346617A (en) * | 2015-10-18 | 2016-02-24 | 中国计量学院 | Foot type walking robot and energy conversion method thereof |
| CN106976494A (en) * | 2017-05-15 | 2017-07-25 | 山东大学 | A kind of quadruped robot mechanism of primary topology |
| CN108406741A (en) * | 2018-02-08 | 2018-08-17 | 嘉兴学院 | A kind of quadrupeds bionic system based on pneumatic muscles |
| CN108545119A (en) * | 2018-03-29 | 2018-09-18 | 上海大学 | The biped hopping robot that pneumatic muscles drive the arm of force variable |
| CN109050711A (en) * | 2018-10-29 | 2018-12-21 | 山东大学 | One kind is run quadruped robot |
| CN109823437A (en) * | 2019-01-21 | 2019-05-31 | 山东大学 | Series-parallel robot leg mechanism and walking robot based on UPR-R structure |
| CN109895077A (en) * | 2019-04-01 | 2019-06-18 | 嘉兴学院 | A kind of multi-state pneumatic robot |
| CN110386204A (en) * | 2019-07-17 | 2019-10-29 | 河北工业大学 | Flexible joint quadruped robot list leg system based on IPMC and silica gel material |
-
2015
- 2015-01-14 CN CN201520038822.9U patent/CN204399319U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105172931A (en) * | 2015-08-14 | 2015-12-23 | 哈尔滨工业大学 | Biped robot based on pneumatic artificial muscles |
| CN105346617A (en) * | 2015-10-18 | 2016-02-24 | 中国计量学院 | Foot type walking robot and energy conversion method thereof |
| CN105346617B (en) * | 2015-10-18 | 2018-06-22 | 中国计量学院 | Sufficient formula walking robot |
| CN106976494A (en) * | 2017-05-15 | 2017-07-25 | 山东大学 | A kind of quadruped robot mechanism of primary topology |
| CN106976494B (en) * | 2017-05-15 | 2023-03-03 | 山东大学 | Four-footed robot mechanism with variable topological structure |
| CN108406741A (en) * | 2018-02-08 | 2018-08-17 | 嘉兴学院 | A kind of quadrupeds bionic system based on pneumatic muscles |
| CN108545119A (en) * | 2018-03-29 | 2018-09-18 | 上海大学 | The biped hopping robot that pneumatic muscles drive the arm of force variable |
| CN109050711A (en) * | 2018-10-29 | 2018-12-21 | 山东大学 | One kind is run quadruped robot |
| CN109823437A (en) * | 2019-01-21 | 2019-05-31 | 山东大学 | Series-parallel robot leg mechanism and walking robot based on UPR-R structure |
| CN109895077A (en) * | 2019-04-01 | 2019-06-18 | 嘉兴学院 | A kind of multi-state pneumatic robot |
| CN110386204A (en) * | 2019-07-17 | 2019-10-29 | 河北工业大学 | Flexible joint quadruped robot list leg system based on IPMC and silica gel material |
| CN110386204B (en) * | 2019-07-17 | 2024-01-02 | 河北工业大学 | Flexible joint four-foot robot single-leg system based on IPMC and silica gel materials |
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| 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: 20150617 Termination date: 20160114 |