CN204871277U - Four -footed robot - Google Patents
Four -footed robot Download PDFInfo
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- CN204871277U CN204871277U CN201520498866.XU CN201520498866U CN204871277U CN 204871277 U CN204871277 U CN 204871277U CN 201520498866 U CN201520498866 U CN 201520498866U CN 204871277 U CN204871277 U CN 204871277U
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Abstract
The utility model discloses a four -footed robot, this robot of its characterized in that mainly includes frame, dust cover and structure four identical pedipulators, install 12 servo motor in the frame, including 4 promotion motors, 4 push motor and 4 swing motor for drive four pedipulators, the pendulum motion of rising and falling, ging forward, retreating and incline of pedipulator is realized to pedipulator of every three electric machine control, the frame includes connecting plate, mouthful font mounting panel and pole, and the connecting plate is located mouthful both sides of font mounting panel for fixed mouthful of font mounting panel adopts screw fixed connection between each subassembly, use screw fixed connection between dust cover and the frame, the shank structure mainly includes swing motor, promotes the motor, push motor, backup pad, lift bar, terminal pole, long catch bar, lack catch bar, no. 1 minor axis, no. 2 minor axises and back shaft, each mechanism of shank divide into lift system, promotion system and swing system according to the function in the motion process.
Description
Technical field
The utility model belongs to robotics, is specially a kind of quadruped robot.
Background technology
Legged type robot is of a great variety, can be used for multiple fields such as military affairs, service for life, rescue and relief work and amusement.According to the walking manner of robot, robot can be divided into wheeled robot, caterpillar type robot and legged type robot.Wheeled robot and the requirement of caterpillar type robot move mode to surrounding environment higher, therefore its field of application is subject to certain restrictions.Legged type robot relies on it to show very strong comformability with the discontinuous contact characteristic on ground in the process of walking, especially on the passage having obstacle or on very inapproachable work-yard, has more vast potential for future development.The sufficient number of most legged type robot is even number, according to sufficient number, legged type robot can be divided into biped, four-footed, six foots and eight foots, even more.Quadruped robot can realize the walking on uneven ground and complex-terrain in static walking mode, can realize walking at a high speed again, therefore more come into one's own in dynamic walking mode.But there is many technical matterss such as load-carrying capacity is poor, total quality is comparatively large, complex structure, control difficulty, poor stability and alerting ability are not enough in current sufficient formula machine gait processes to need to solve, especially do not possess the anti-rollover under External Force Acting, overturn-preventing function.
201420480836.1) and the staggered form quadruped robot (number of patent application: 201410833599.7) that designs of Zhejiang Polytechnical University's leaf filial piety fine jade the quadruped robot of existing bibliographical information mainly contains: the quadruped robot model of the people such as Zhejiang Polytechnical University Wu Hua woods design (number of patent application:.Research shows, the former have employed piston crank mechanism and bar structure, therefore there is the deficiency that sufficient end motion track is complicated and control accuracy is low; The latter have employed steering wheel as driver train, therefore there is the deficiency of single speed and output dynamics instability.When receiving external impacts, this two quadruped robot does not possess overturn-preventing function.
Utility model content
For the deficiencies in the prior art, the technical matters that the utility model quasi-solution is determined is, provides a kind of quadruped robot.This robot architecture is simple, good stability, and flexibly, lighter weight, controls easily, particularly have overturn-preventing function during external impacts in motion.
The technical scheme that the utility model solves existing technical matters is: design a kind of quadruped robot, mainly comprises identical four pedipulators of frame, dust boot and structure, i.e. left front leg, RAT, left back leg and right rear leg; Be provided with 12 servomotors in described frame, comprise 4 lifting motors, 4 pushing motors and 4 oscillating motors, for driving four pedipulators, every three electric machine control pedipulator, realizes the rising and falling of pedipulator, advances, retreats and side-sway motion; Described frame comprises connecting panel, square shape adapter plate and bar, and connecting panel is positioned at the both sides of square shape adapter plate, in order to fixing port font adapter plate, adopts screw to be fixedly connected with between each assembly; Also screw is adopted to be fixedly connected with between described dust boot and frame; Described leg structure comprises oscillating motor, lifting motor, pushing motor, stay bearing plate, lifting arm, end bar, long catch bar, short catch bar, No. 1 minor axis, No. 2 minor axises and pivot shaft; The each mechanism of leg is divided into elevator system, moving system and oscillation system according to the function in motion process;
Described elevator system mainly comprises lifting motor, stay bearing plate, lifting arm and end bar; Described lifting motor is fixedly connected with stay bearing plate by screw; Described lifting arm is connected with lifting motor by flange, and lifting motor rotates and drives lifting arm motion; Described end bar is connected with lifting arm on-fixed with bearing, roller bearing end cap by bearing, and both can relatively rotate;
Described moving system mainly comprises pushing motor, short catch bar, long catch bar, No. 1 minor axis and No. 2 minor axises; Described pushing motor is fixedly connected with stay bearing plate by screw; Described short catch bar is connected with pushing motor by flange, and pushing motor drives short catch bar to rotate; Described No. 2 minor axises and short catch bar weld together; Described long catch bar is connected with No. 2 minor axis on-fixeds by bearing, roller bearing end cap, and both can relatively rotate; Described end bar and No. 1 minor axis weld together, long catch bar is connected with No. 1 minor axis on-fixed by bearing, roller bearing end cap, and end bar and long catch bar can be relatively rotated.
Described oscillation system mainly comprises oscillating motor, square shape adapter plate and pivot shaft; Described oscillating motor is fixedly connected with square shape adapter plate by flange, screw; Described stay bearing plate is connected with oscillating motor by threaded flange, and oscillating motor drives stay bearing plate to rotate; Described pivot shaft is fixedly connected with stay bearing plate by screw, and is connected with square shape adapter plate on-fixed by bearing, roller bearing end cap, and both can relatively rotate.
Advantage and the good effect of the utility model quadruped robot are:
1, the linkage simple and ingenious structure designed by the utility model, effectively can alleviate the quality of leg, reduces robot energy consumption, simultaneously can increase load-carrying capacity by a relatively large margin.
2, the utility model is a kind of novel quadruped robot, possess the public advantage of all quadruped robots, by the cooperation control to leg, multiple gait can be realized, comprise 1324 gaits, pseudo-1324 gaits and diagonal gait, thus actv. meets multiple landform demand.
3, the utility model adopts three driven by servomotor pedipulator, and pass through the cooperation control bar structure of wherein two motors, make the path of motion of leg end more fast, accurately, simultaneously by the adjustment of oscillating motor, make robot can have stronger organism balance ability, under violent side effect, balance can be kept, thus reach robot under various landform fast, pulsation-free motion.
Accompanying drawing explanation
Fig. 1 is the integral structure schematic diagram of a kind of embodiment of the utility model quadruped robot;
Fig. 2 is schematic diagram after the integral structure excision dust boot of a kind of embodiment of the utility model quadruped robot;
Fig. 3 is the rack construction schematic diagram of a kind of embodiment of the utility model quadruped robot;
Fig. 4 is the structural scheme of mechanism of the left back leg of a kind of embodiment of the utility model quadruped robot;
Fig. 5 is the structural representation of the left back leg of a kind of embodiment of the utility model quadruped robot;
Fig. 6 is No. 1 minor axis of the left back leg of a kind of embodiment of the utility model quadruped robot and the structural representation of end bar weldment.
Detailed description of the invention
The utility model is described further below in conjunction with embodiment and accompanying drawing thereof.But the claims of the application is not limited to the description scope of described embodiment.
A kind of quadruped robot of the utility model design (is called for short robot, see Fig. 1-6), it is characterized in that this robot forms primarily of frame 3, dust boot 4, left front leg 5, RAT 6, left back leg 2 and right rear leg 1, wherein the structure of left front leg 5, RAT 6, left back leg 2, right rear leg 1 is just the same, be uniformly distributed and be arranged on both sides, frame 3 long limit, between dust boot 4 and frame 3, adopt screw to be fixedly connected with.The utility model robot four pedipulator structures are identical, by 4 linkage compositions, according to the function of linkage in robot kinematics, be divided into elevator system, moving system and oscillation system, the main innovate point of robot is the oscillation system of leg, oscillation system plays a very important role for the stability tool of whole robot, foreign impacts is subject to when robot is walked on extreme terrain or suddenly, robot can readjust the center of gravity of whole robot by the side-sway of leg, prevent toppling of robot.
Described frame 3 inside is provided with 12 servomotors, and for driving four pedipulators, every three electric machine control pedipulator, realizes the rising and falling of pedipulator, advances, retreats and side-sway motion (see Fig. 2).
Described frame 3 (see Fig. 3) is by No. 1 connecting panel 301, No. 2 connecting panels 311, No. 3 connecting panels 305, No. 4 connecting panels 307, No. 1 square shape adapter plate 312, No. 2 square shape adapter plates 302, No. 3 square shape adapter plates 306, No. 4 square shape adapter plates 308, No. 1 bar 310, No. 2 bars 303, No. 3 bars 304 and No. 4 bars 309 form, No. 1 bar 310, No. 2 bars 303, No. 3 bars 304, No. 4 bars 309 and No. 2 connecting panels 311, screw is adopted to be fixedly connected with between No. 3 connecting panels 305, No. 1 connecting panel 301, No. 2 connecting panels 311, No. 3 connecting panels 305, No. 4 connecting panels 307 and No. 1 square shape adapter plate 312, No. 2 square shape adapter plates 302, No. 3 square shape adapter plates 306, also screw is adopted to be fixedly connected with between No. 4 square shape adapter plates 308.
The utility model robot four pedipulator structures are identical, by 4 linkage compositions.Now for left back leg integral structure (see Fig. 4), the leg structure of the utility model robot mainly comprises oscillating motor 201, lifting motor 202, pushing motor 203, stay bearing plate 204, No. 2 square shape adapter plates 302, lifting arm 205, end bar 206, long catch bar 208, short catch bar 211, No. 1 minor axis 207, No. 2 minor axises 209, pivot shafts 210.Leg structure can be divided into three systems, elevator system, moving system and oscillation system.
Described elevator system (see Fig. 4,5) mainly comprises lifting motor 202, stay bearing plate 204, lifting arm 205, end bar 206.Described lifting motor 202 is fixedly connected with stay bearing plate 204 by screw; Described lifting arm 205 is connected with lifting motor 202 by flange, and lifting motor 202 rotates and drives lifting arm 205 to move; Described end bar 206 is connected with lifting arm 205 on-fixed with bearing, roller bearing end cap by bearing, and both can relatively rotate.
Described moving system mainly comprises pushing motor 203, short catch bar 211, long catch bar 208, No. 1 minor axis 207, No. 2 minor axises 209.Described pushing motor 203 is fixedly connected with stay bearing plate 204 by screw; Described short catch bar 211 is connected with pushing motor 203 by flange, and pushing motor 203 drives short catch bar 211 to rotate; Described No. 2 minor axises 209 and short catch bar 211 weld together; Described long catch bar 208 is connected with No. 2 minor axis 209 on-fixeds by bearing, roller bearing end cap, and both can relatively rotate; Described end bar 206 and No. 1 minor axis 207 weld together, long catch bar 208 is connected with No. 1 minor axis 207 on-fixed by bearing, roller bearing end cap, and end bar 206 and long catch bar 208 can be relatively rotated.
Described oscillation system mainly comprises oscillating motor 201, No. 2 square shape adapter plates 302, pivot shafts 210.Described oscillating motor 201 is fixedly connected with No. 2 square shape adapter plates 302 by flange, screw; Described stay bearing plate 204 is connected with oscillating motor 201 by threaded flange, and oscillating motor 201 drives stay bearing plate 204 to rotate; Described pivot shaft 210 is fixedly connected with stay bearing plate 204 by screw, and is connected with No. 2 square shape adapter plate 302 on-fixeds by bearing, roller bearing end cap, and both can relatively rotate.When being subject to external impacts, the center-of-gravity position of robot can change, and when robot center of gravity is not in the stable triangular region of robot, robot will topple side.The utility model robot is when being subject to external impacts, the oscillating motor 201 of the left back leg of robot 2 will drive No. 2 square shape adapter plates 302 to rotate suitable angle, regulate the left back leg 2 of robot to robot interior or external rotating certain angle, article four, leg oscillation system moves simultaneously, thus the center of gravity reaching robot is from the object of newly getting back in stable triangular region, the lateral forces that effectively prevent robot impacts and topples.
As everyone knows, when robot receives external impacts, center-of-gravity position changes, and when robot center of gravity is not in the stable triangular region of robot, robot will topple.When the utility model robot is subject to external impacts, the oscillating motor axle of robot leg will drive square shape adapter plate to rotate suitable angle, regulate robot leg to robot interior or external rotating certain angle, article four, leg moves simultaneously, thus the center of gravity reaching robot is from the object of newly getting back in stable triangular region, effectively prevent toppling of robot.This is the main innovate point of the utility model robot.
The principle of work of the utility model robot with process is: four leg structures of robot are identical, realize the rising and falling of leg by driven by servomotor, advance and side-sway motion, by the cooperation control to four legs, multiple gait can be realized, comprise 1324 gaits, pseudo-1324 gaits and diagonal gait, thus actv. meets multi-motion rate request and landform demand.When leg structure works, lifting motor 202 and pushing motor 203 co-ordination complete advance or the setback of leg.Lifting motor 202 rotates, and drive lifting arm 205 to rotate, lifting arm 205 drives end bar 206 to move: pushing motor 203 rotates simultaneously, and drive short catch bar 211, short catch bar 211 drives long catch bar 208, and long catch bar 208 drives end bar 206 to move.Two motor coordination work in this process, combined action, thus complete advance or setback.When oscillating motor 201 rotates, stay bearing plate 204 is driven to rotate, thus drive whole bar structural system to complete inside and outside swing, oscillation system plays a very important role for the stability tool of whole robot, when robot is walked on extreme terrain or when being subject to suddenly foreign impacts, robot can readjust the center of gravity of whole robot by the side-sway of leg, prevent toppling of robot.
The utility model robot does not address body and the head-tail of robot, and it is applicable to prior art, and the robot of embodiment also comprises dog head, dog body and dog tail, forms a complete towser robot.The all parts of not addressing of the utility model are applicable to prior art.
Claims (1)
1. a quadruped robot, is characterized in that this robot mainly comprises identical four pedipulators of frame, dust boot and structure, i.e. left front leg, RAT, left back leg and right rear leg; Be provided with 12 servomotors in described frame, comprise 4 lifting motors, 4 pushing motors and 4 oscillating motors, for driving four pedipulators, every three electric machine control pedipulator, realizes the rising and falling of pedipulator, advances, retreats and side-sway motion; Described frame comprises connecting panel, square shape adapter plate and bar, and connecting panel is positioned at the both sides of square shape adapter plate, in order to fixing port font adapter plate, adopts screw to be fixedly connected with between each assembly; Also screw is adopted to be fixedly connected with between described dust boot and frame; Described leg structure comprises oscillating motor, lifting motor, pushing motor, stay bearing plate, lifting arm, end bar, long catch bar, short catch bar, No. 1 minor axis, No. 2 minor axises and pivot shaft; The each mechanism of leg is divided into elevator system, moving system and oscillation system according to the function in motion process;
Described elevator system mainly comprises lifting motor, stay bearing plate, lifting arm and end bar; Described lifting motor is fixedly connected with stay bearing plate by screw; Described lifting arm is connected with lifting motor by flange, and lifting motor rotates and drives lifting arm motion; Described end bar is connected with lifting arm on-fixed with bearing, roller bearing end cap by bearing, and both can relatively rotate;
Described moving system mainly comprises pushing motor, short catch bar, long catch bar, No. 1 minor axis and No. 2 minor axises; Described pushing motor is fixedly connected with stay bearing plate by screw; Described short catch bar is connected with pushing motor by flange, and pushing motor drives short catch bar to rotate; Described No. 2 minor axises and short catch bar weld together; Described long catch bar is connected with No. 2 minor axis on-fixeds by bearing, roller bearing end cap, and both can relatively rotate; Described end bar and No. 1 minor axis weld together, long catch bar is connected with No. 1 minor axis on-fixed by bearing, roller bearing end cap, and end bar and long catch bar can be relatively rotated;
Described oscillation system mainly comprises oscillating motor, square shape adapter plate and pivot shaft; Described oscillating motor is fixedly connected with square shape adapter plate by flange, screw; Described stay bearing plate is connected with oscillating motor by threaded flange, and oscillating motor drives stay bearing plate to rotate; Described pivot shaft is fixedly connected with stay bearing plate by screw, and is connected with square shape adapter plate on-fixed by bearing, roller bearing end cap, and both can relatively rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520498866.XU CN204871277U (en) | 2015-07-10 | 2015-07-10 | Four -footed robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520498866.XU CN204871277U (en) | 2015-07-10 | 2015-07-10 | Four -footed robot |
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| CN204871277U true CN204871277U (en) | 2015-12-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520498866.XU Withdrawn - After Issue CN204871277U (en) | 2015-07-10 | 2015-07-10 | Four -footed robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104890759A (en) * | 2015-07-10 | 2015-09-09 | 陕西九立机器人制造有限公司 | Four-footed robot |
| CN109878595A (en) * | 2019-03-01 | 2019-06-14 | 北京建筑大学 | A kind of walking mobile device |
| CN109941370A (en) * | 2019-01-04 | 2019-06-28 | 上海海事大学 | A kind of four feet walking robot based on three-shaft linkage control structure |
| CN110294040A (en) * | 2019-05-17 | 2019-10-01 | 北京建筑大学 | A kind of mobile walking devices |
| CN112092940A (en) * | 2020-09-11 | 2020-12-18 | 六安科亚信息科技有限公司 | Crawling software robot |
-
2015
- 2015-07-10 CN CN201520498866.XU patent/CN204871277U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104890759A (en) * | 2015-07-10 | 2015-09-09 | 陕西九立机器人制造有限公司 | Four-footed robot |
| CN104890759B (en) * | 2015-07-10 | 2017-06-16 | 陕西九立机器人制造有限公司 | A kind of quadruped robot |
| CN109941370A (en) * | 2019-01-04 | 2019-06-28 | 上海海事大学 | A kind of four feet walking robot based on three-shaft linkage control structure |
| CN109878595A (en) * | 2019-03-01 | 2019-06-14 | 北京建筑大学 | A kind of walking mobile device |
| CN109878595B (en) * | 2019-03-01 | 2021-01-29 | 北京建筑大学 | Walking moving device |
| CN110294040A (en) * | 2019-05-17 | 2019-10-01 | 北京建筑大学 | A kind of mobile walking devices |
| CN112092940A (en) * | 2020-09-11 | 2020-12-18 | 六安科亚信息科技有限公司 | Crawling software robot |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20151216 Effective date of abandoning: 20170616 |