CN206107391U - Four -footed robot of three degrees of freedom of electric drive single leg - Google Patents
Four -footed robot of three degrees of freedom of electric drive single leg Download PDFInfo
- Publication number
- CN206107391U CN206107391U CN201621157975.6U CN201621157975U CN206107391U CN 206107391 U CN206107391 U CN 206107391U CN 201621157975 U CN201621157975 U CN 201621157975U CN 206107391 U CN206107391 U CN 206107391U
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- Prior art keywords
- joint
- lower limb
- electric drive
- yaw
- degree
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Abstract
The utility model discloses a four -footed robot of three degrees of freedom of electric drive single leg, including fuselage, four single leg units and power pack, the single leg unit includes yaw joint, thigh joint, shank joint and spacing unit, the articular upper end of yaw constitutes with the mounting to be connected around the rotation of the primary shaft, and the articular upper end of thigh constitutes with the articular lower extreme of yaw to be connected around the rotation of secondary shaft, and the articular upper end of shank constitutes with the articular lower extreme of thigh to be connected around triaxial rotation, secondary shaft and third axle are parallel to each other and the equal perpendicular to primary shaft, thereby the motion of power driven unit single leg unit makes the single leg unit have the three degree of freedom, every spacing unit includes a pair of photoelectric switch and a barn door, a pair of photoelectric switch and barn door are installed respectively on the part that rotation connects to stop the positive and negative limiting displacement of realization through producing the light path. The utility model discloses the beneficial effect who has: the overall structure compactness possess better motion stability.
Description
Technical field
This utility model belongs to quadruped robot technical field, and in particular to a kind of four-footed of electric drive list lower limb Three Degree Of Freedom
Robot.
Background technology
At present robot is quickly applying to every field as a new industry for developing rapidly.Robot leg
Portion mechanism as quadruped robot critical component, its degree of freedom, distribution form, deadweight, work space etc. all to stability and
Gait produces large effect.Additionally, motion of the different type of drive on robot can also produce directly impact, in the world
Representative quadruped robot leg type of drive can be divided into hydraulic driving mode and motor drive mode.Hydraulic-driven
Leg mechanism adopt multiple degrees of freedom series-mode frame, its design is relatively simple, and this kind of robot has preferable walking with load
Ability, but there are problems that efficiency of energy utilization is low, noise is big, endurance is not enough, movement velocity；Motor drive has
Have the advantages that control is simple, control accuracy is high, work noise is little, but the installation site of motor can directly affect stablizing for robot
Property.
Utility model content
The purpose of this utility model is to overcome deficiency of the prior art, there is provided a kind of electric drive list lower limb Three Degree Of Freedom four
Biped robot, compact overall structure simultaneously possesses preferable kinetic stability.
To solve prior art problem, the utility model discloses a kind of electric drive list lower limb Three Degree Of Freedom quadruped robot,
Including fuselage, four single lower limb units and power unit；Fuselage is provided with the fixture of each single lower limb unit installation of correspondence；Single lower limb unit
Can realize including yaw joint, big leg joint, calf joint and respectively that yaw joint, big leg joint and calf joint are positive and negative
The position-limiting unit of spacing and Return Home effect；The upper end in yaw joint is connected with fixture composition around the rotation of first axle, greatly
The lower end in the upper end of leg joint and yaw joint constitutes the rotation around the second axle and is connected, the upper end of calf joint and big leg joint
Lower end constitutes the rotation connection around the 3rd axle；Second axle and the 3rd axle are parallel to each other and are each perpendicular to first axle；Power unit drives
Dynamic list lower limb unit motion is so that single lower limb unit has three degree of freedom；Each position-limiting unit includes a pair of photoswitches and one
Light barrier；A pair of photoswitches and light barrier in each position-limiting unit are separately mounted to mutually rotate on the part for connecting, and
By in relative rotational motion, light barrier in photoswitch light path produce stop realize positive and negative position-limiting action.
Further, power unit includes yaw power assembly, thigh power assembly and shank power assembly；Yaw power
Assembly is fixed on fixture, and its output shaft is connected with the upper end in yaw joint；Thigh power assembly is fixed on big leg joint,
Its output shaft is connected with the upper end of big leg joint；Shank power assembly is fixed on big leg joint, and its output shaft passes through a connecting rod
Mechanism is connected with the upper end of calf joint.
Further, linkage includes driving lever, intermediate bar and by lever；The two ends of intermediate bar are respectively articulated with driving lever
One end and the one end by lever, the other end of driving lever is connected with the output shaft of shank power assembly, by the other end of lever
It is connected with the upper end of calf joint；Driving lever and identical length is had by lever.
Further, yaw power assembly, thigh power assembly and shank power assembly adopt the brushless electricity of DC servo
Machine.
Further, big leg joint includes a pair of parallel side plate, connecting pin and sleeve；Side plate opens up some pin-and-holes, set
Cylinder is arranged between the pin-and-hole of a pair of side plates same position, and connecting pin penetrates pin-and-hole and sleeve fixes side plate.
Further, calf joint includes being used as the cross bar of rotating shaft and the montant for supporting, the two ends of cross bar respectively with
Biside plate rotates connection, and the upper end of montant is perpendicularly fixed at the middle part formation " T " shape structure of cross bar.
Further, side plate is aluminium alloy plate, and cross bar is aluminium alloy barss, and montant is aluminium-alloy pipe.
Further, location hole is equipped with yaw joint, big leg joint and calf joint, by inserting in location hole
Screw or pin can realize that attitude is fixed.
Further, single lower limb unit also includes foot component, and foot component includes elastic flippers, pressure transducer and ring flange；
Ring flange is connected to the lower end of calf joint, and elastic flippers is connected on ring flange by pressure transducer.
Further, pressure transducer is three-dimensional force sensor.
This utility model has the advantage that：
1. overall structure is the biomimetic features design based on quadruped mammal, and each single lower limb unit utilizes 3 high-performance
The MAXON servomotors of ratio ensure joints in certain angle as the diarthrodial driving of three masters and by three position-limiting units
In the range of swing, make compact overall structure；
2., in order to mitigate shank quality, shank motor is arranged at thigh, it is dynamic using quadric chain transmission
Power, makes overall structure have preferable stability；
3. vola is provided with three-dimensional force sensor, is capable of the contact force of monitor in real time vola and the earth, by feedback system,
Make robot adjust gait in time, complete the walking of complex road surface.
Description of the drawings
Fig. 1 is the structural representation of a preferred embodiment of the present utility model；
Fig. 2 is the partial enlarged drawing in Fig. 1 at A, and it shows the structure of the position-limiting unit of yaw joint；
Fig. 3 is the partial enlarged drawing in Fig. 1 at B, and it shows the structure of the position-limiting unit of thigh joint；
Fig. 4 is the partial enlarged drawing in Fig. 1 at C, and it shows the structure of the position-limiting unit at calf joint；
Fig. 5 is the partial enlarged drawing in Fig. 1 at D, and it shows the structure of foot component.
Reference：
10 fuselages；101 fixtures；20 single lower limb units；20a location holes；201 yaw joints；202 big leg joints；2021 sides
Plate；2022 pins；2023 sleeves；203 calf joints；2031 cross bars；2032 montants；2033 end caps；204 position-limiting units；2041
Photoswitch；2042 light barriers；205 foot components；2051 ring flanges；2052 pressure transducers；2053 elastic flippers；30 power lists
Unit；301 yaw power assemblies；302 thigh power assemblies；303 shank power assemblies；304 linkages；3041 driving levers；
3042 intermediate bars；3043 by lever.
Specific embodiment
This utility model is further described below in conjunction with the accompanying drawings.Following examples are only used for clearly illustrating this
The technical scheme of utility model, and protection domain of the present utility model can not be limited with this.
As shown in Fig. 1 to 5, a kind of electric drive list lower limb Three Degree Of Freedom quadruped robot, including fuselage 10, driver, battery,
Industrial computer, four single lower limb units 20 and power unit 30.Fuselage 10 is provided with the fixture of each single installation of lower limb unit 20 of correspondence
101, driver, battery and industrial computer are installed on fuselage 10.Battery electrically connects with industrial computer, driver and power unit 30
Its power supply is connected in, driver is electrically connected with to realize action control and pose adjustment with industrial computer and power unit 30 respectively.
Single lower limb unit 20 includes yaw joint 201, big leg joint 202, calf joint 203 and can respectively realize yaw
Positive and negative spacing and Return Home effect the position-limiting unit 204 of joint 201, big leg joint 202 and calf joint 203.Yaw joint
201 upper end and fixture 101 constitute the rotation around first axle and are connected, under the upper end of big leg joint 202 and yaw joint 201
End constitutes the rotation connection around the second axle, and the upper end of calf joint 203 constitutes turning around the 3rd axle with the lower end of big leg joint 202
Dynamic connection, above-mentioned rotation connection is realized by deep groove ball bearing.Second axle and the 3rd axle are parallel to each other and are each perpendicular to first
Axle, first axle is the x-axis in Fig. 1, and the second axle is the y in Fig. 11Axle, the 3rd axle is the y in Fig. 12Axle.Power unit 30 drives list
Lower limb unit 20 is moved so that single lower limb unit 20 has three degree of freedom, is completed to advance, is retreated, the motion such as sidesway.
Each position-limiting unit 204 includes a pair of photoswitches 2041 and a light barrier 2042.In each position-limiting unit 204
A pair of photoswitches 2041 and the part that is separately mounted to mutually to rotate connection of light barrier 2042 on, and by relatively rotating
During, light barrier 2042 in photoswitch 2041 light path produce stop realize positive and negative position-limiting action.The tool of position-limiting unit
Body installation position is equipped with three, is at first：A pair of photoswitches are installed in the upper end in yaw joint, are installed on fixture and is in the light
Plate, makes light barrier realize to the light path generation stop in a pair of photoswitches respectively spacing during the rotating of yaw joint.At second
For：A pair of photoswitches are installed in the lower end in yaw joint, light barrier is installed in the upper end of big leg joint, both make in relative rotation
Realize spacing.It is at 3rd：A pair of photoswitches are installed in the lower end of big leg joint, are installed in the upper end of calf joint and is in the light
Plate, both relative rotations are realized spacing.The setting angle of each pair photoswitch is adjusted according to design requirement, therefore does not make concrete
Repeat.
Preferably, power unit 30 includes yaw power assembly 301, thigh power assembly 302 and shank power
Assembly 303.Yaw power assembly 301 is fixed on fixture 101, and its output shaft is connected with the upper end in yaw joint 201.Thigh
Power assembly 302 is fixed on big leg joint 202, and its output shaft is connected with the upper end of big leg joint 202.Shank power assembly
303 are fixed on big leg joint 202, and its output shaft is connected by a linkage 304 with the upper end of calf joint 203.As
More specifically scheme, linkage 304 includes driving lever 3041, intermediate bar 3042 and by lever 3043.The two of intermediate bar 3042
End is respectively articulated with one end and the one end by lever 3043 of driving lever 3041, the other end and the shank power assembly of driving lever 3041
303 output shaft connection, is connected by the other end of lever 3043 with the upper end of calf joint 203.Driving lever 3041 and by lever
3043 have identical length.This have the advantage that, each single lower limb unit 20 has three active joints, by shank power
Assembly 303 is arranged on big leg joint 202, and transfers power to calf joint 203 by linkage 304 such that it is able to
Mitigate inertia when calf joint 203 is moved, improve kinetic stability.As more specifically scheme, yaw power assembly 301,
Thigh power assembly 302 and shank power assembly 303 are using the DC servo brushless electric machine of maxon companies production.Do so
It is advantageous in that, the performance of the motor is higher, small volume, using the teaching of the invention it is possible to provide stronger power is so that overall dimensions are compact and easy
In control.
Preferably, big leg joint 202 includes a pair of parallel side plate 2021, connecting pin and sleeve 2023.Side plate
2021 open up some pin-and-holes, and sleeve 2023 is arranged between the pin-and-hole of the same position of a pair of side plates 2021, and connecting pin penetrates pin-and-hole
And sleeve 2023 fixes side plate 2021.This have the advantage that, simplify the structure of big leg joint 202, so as to mitigate list
The overall weight of lower limb unit 20, and the installation for power unit 30 provides preferably position.
Preferably, calf joint 203 includes being used as the cross bar 2031 of rotating shaft and the montant 2032 for supporting, horizontal
The two ends of bar 2031 rotate with biside plate 2021 be connected respectively, and the upper end of montant 2032 is perpendicularly fixed at the middle part shape of cross bar 2031
"T"-shaped structure.Used as more specifically scheme, the two ends of cross bar 2031 are equipped with end cap 2033, and end cap 2033 is respectively positioned on thigh
The outside in joint 202.This have the advantage that, on the one hand block bearing outer ring, prevent the axial slip of bearing；The opposing party
Just, location hole 20a is equipped with end cap 2033, when robot is not moved, is connected it with calf joint 203 by screw,
Locking calf joint 203, keeps the attitude of robot.
Preferably, side plate 2021 is aluminium alloy plate, and cross bar 2031 is aluminium alloy barss, and montant 2032 is aluminium alloy
Pipe.Used as more specifically scheme, aluminium alloy is 6061 aluminium alloys.This have the advantage that, subtract on the premise of proof strength
Light overall weight.
Preferably, location hole 20a is equipped with yaw joint 201, big leg joint 202 and calf joint 203, is led to
Crossing insertion screw or pin 2022 in location hole 20a can realize that attitude is fixed.
Preferably, single lower limb unit 20 also includes foot component 205, and foot component 205 includes elastic flippers 2053, pressure
Sensor 2052 and ring flange 2051.Ring flange 2051 is connected to the lower end of calf joint 203, and elastic flippers 2053 passes through pressure
Sensor 2052 is connected on ring flange 2051.Pressure transducer 2052 is electrically connected with industrial computer and realizes the real-time of pressure signal
Transmission.Used as more specifically scheme, pressure transducer 2052 is three-dimensional force sensor.This have the advantage that, can be real-time
Collection robot ambulation when vola power on tri- directions of X, Y, Z change, fed back by the analysis to power, enable robot
Enough in complex road surface, the such as walking in rubble, paddy field.Contacted with ground using elastic flippers 2053, on the one hand avoid sensor
The loss for causing power is directly contacted with ground, is on the other hand reduced when robot support in opposite directions phase transformation from soaring and collision on the ground
The moment momentum of generation, is effectively protected shank power assembly 303.
The course of work of the present utility model and principle are as follows：Single lower limb three degree of freedom is driven respectively by 3 motor controls, and
3 motors have different physical address, and control system first sends back to zero instruction, using limit switch the motion model of motor is limited
Enclose, then send an initial order, make motor operation to regulation initial position, finally under interpolation pattern, control system with
The mode of CAN sends the gait track planned to motor；In walking process, the three-dimensional force installed using vola is passed
The information and attitude transducer of sensor collection contact force gather the row drift angle of fuselage.
The above is only preferred implementation of the present utility model, it is noted that for the common skill of the art
For art personnel, on the premise of without departing from this utility model know-why, some improvement and deformation can also be made, these change
Enter and deform also to should be regarded as protection domain of the present utility model.
Claims (10)
1. a kind of quadruped robot of electric drive list lower limb Three Degree Of Freedom, including fuselage, four single lower limb units and power unit；It is special
Levy and be：The fuselage is provided with the fixture of each single lower limb unit installation of correspondence；Single lower limb unit include yaw joint,
Big leg joint, calf joint and can respectively realize that yaw joint, big leg joint and calf joint are positive and negative spacing and start shooting back
The position-limiting unit of zero effect；The upper end in the yaw joint is connected with fixture composition around the rotation of first axle, described big
The lower end in the upper end of leg joint and the yaw joint constitutes the rotation around the second axle and is connected, the upper end of the calf joint and institute
The lower end composition for stating big leg joint connects around the rotation of the 3rd axle；Second axle and the 3rd axle are parallel to each other and are each perpendicular to described
One axle；The power unit drives single lower limb unit motion so that single lower limb unit has three degree of freedom；Each limit
Bit location includes a pair of photoswitches and a light barrier；A pair of photoswitches and light barrier in each position-limiting unit are pacified respectively
Be mounted on the part for mutually rotating connection, and by relative rotational motion, the light barrier is in the photoswitch
Light path produces stop and realizes positive and negative position-limiting action.
2. the quadruped robot of a kind of electric drive list lower limb Three Degree Of Freedom according to claim 1, it is characterised in that：It is described dynamic
Power unit includes yaw power assembly, thigh power assembly and shank power assembly；The yaw power assembly is fixed on described
On fixture, its output shaft is connected with the upper end in yaw joint；Thigh power assembly is fixed on the big leg joint, its output
Axle is connected with the upper end of big leg joint；Shank power assembly is fixed on the big leg joint, and its output shaft passes through a connecting rod machine
Structure is connected with the upper end of the calf joint.
3. the quadruped robot of a kind of electric drive list lower limb Three Degree Of Freedom according to claim 2, it is characterised in that：The company
Linkage includes driving lever, intermediate bar and by lever；The two ends of the intermediate bar are respectively articulated with one end of the driving lever and quilt
One end of lever, the other end of the driving lever is connected with the output shaft of the shank power assembly, described by the another of lever
End is connected with the upper end of the calf joint；The driving lever and described identical length is had by lever.
4. the quadruped robot of a kind of electric drive list lower limb Three Degree Of Freedom according to claim 2, it is characterised in that：The horizontal stroke
Oscillatory forces assembly, thigh power assembly and shank power assembly adopt DC servo brushless electric machine.
5. the quadruped robot of a kind of electric drive list lower limb Three Degree Of Freedom according to claim 1, it is characterised in that：It is described big
Leg joint includes a pair of parallel side plate, connecting pin and sleeve；The side plate opens up some pin-and-holes, and the sleeve is arranged on a pair
Between the pin-and-hole of side plate same position, the connecting pin penetrates the pin-and-hole and sleeve and fixes the side plate.
6. the quadruped robot of a kind of electric drive list lower limb Three Degree Of Freedom according to claim 5, it is characterised in that：It is described little
Leg joint includes being used as the cross bar of rotating shaft and the montant for supporting, and the two ends of the cross bar rotate with biside plate be connected respectively,
The upper end of the montant is perpendicularly fixed at the middle part of the cross bar and forms " T " shape structure.
7. the quadruped robot of a kind of electric drive list lower limb Three Degree Of Freedom according to claim 6, it is characterised in that：The side
Plate is aluminium alloy plate, and the cross bar is aluminium alloy barss, and the montant is aluminium-alloy pipe.
8. the quadruped robot of a kind of electric drive list lower limb Three Degree Of Freedom according to claim 1, it is characterised in that：The horizontal stroke
Location hole is equipped with pendulum joint, big leg joint and calf joint, can by insertion screw or pin in the location hole
Realize that attitude is fixed.
9. the quadruped robot of a kind of electric drive list lower limb Three Degree Of Freedom according to claim 1, it is characterised in that：The list
Lower limb unit also includes foot component, and the foot component includes elastic flippers, pressure transducer and ring flange；The ring flange is connected to
The lower end of the calf joint, the elastic flippers is connected on the ring flange by the pressure transducer.
10. the quadruped robot of a kind of electric drive list lower limb Three Degree Of Freedom according to claim 9, it is characterised in that：It is described
Pressure transducer is three-dimensional force sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621157975.6U CN206107391U (en) | 2016-10-25 | 2016-10-25 | Four -footed robot of three degrees of freedom of electric drive single leg |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621157975.6U CN206107391U (en) | 2016-10-25 | 2016-10-25 | Four -footed robot of three degrees of freedom of electric drive single leg |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206107391U true CN206107391U (en) | 2017-04-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621157975.6U Expired - Fee Related CN206107391U (en) | 2016-10-25 | 2016-10-25 | Four -footed robot of three degrees of freedom of electric drive single leg |
Country Status (1)
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|---|---|
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109398522A (en) * | 2018-09-05 | 2019-03-01 | 北京交通大学 | A kind of variable topological leg mechanism four-footed platform |
| CN109398526A (en) * | 2018-10-18 | 2019-03-01 | 北京交通大学 | A kind of adjustable walking carrying platform in foot end track |
| 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 |
| CN109987167A (en) * | 2017-12-29 | 2019-07-09 | 中国核动力研究设计院 | It is a kind of towards the high degree of adaptability robot popular motion platform for relating to core complex environment |
| CN109987168A (en) * | 2017-12-29 | 2019-07-09 | 中国核动力研究设计院 | A kind of Three Degree Of Freedom robot leg system based on toothed belt transmission |
| CN112498517A (en) * | 2020-12-17 | 2021-03-16 | 江苏集萃复合材料装备研究所有限公司 | Three-degree-of-freedom robot leg structure |
| CN112896362A (en) * | 2021-03-27 | 2021-06-04 | 吉林大学 | Highly-bionic full-flexible-drive spider-imitating robot |
| EP4029659A1 (en) * | 2021-01-15 | 2022-07-20 | Beijing Xiaomi Mobile Software Co., Ltd. | Legged robot and leg assembly thereof |
| EP4059817A1 (en) * | 2021-03-17 | 2022-09-21 | Beijing Xiaomi Mobile Software Co., Ltd. | Leg assembly for legged robot and legged robot |
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- 2016-10-25 CN CN201621157975.6U patent/CN206107391U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109987167A (en) * | 2017-12-29 | 2019-07-09 | 中国核动力研究设计院 | It is a kind of towards the high degree of adaptability robot popular motion platform for relating to core complex environment |
| CN109987168A (en) * | 2017-12-29 | 2019-07-09 | 中国核动力研究设计院 | A kind of Three Degree Of Freedom robot leg system based on toothed belt transmission |
| CN109987167B (en) * | 2017-12-29 | 2021-06-22 | 中国核动力研究设计院 | High-adaptability robot general motion platform for nuclear-involved complex environment |
| CN109398522A (en) * | 2018-09-05 | 2019-03-01 | 北京交通大学 | A kind of variable topological leg mechanism four-footed platform |
| CN109398526A (en) * | 2018-10-18 | 2019-03-01 | 北京交通大学 | A kind of adjustable walking carrying platform in foot end track |
| 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 |
| CN112498517A (en) * | 2020-12-17 | 2021-03-16 | 江苏集萃复合材料装备研究所有限公司 | Three-degree-of-freedom robot leg structure |
| EP4029659A1 (en) * | 2021-01-15 | 2022-07-20 | Beijing Xiaomi Mobile Software Co., Ltd. | Legged robot and leg assembly thereof |
| EP4059817A1 (en) * | 2021-03-17 | 2022-09-21 | Beijing Xiaomi Mobile Software Co., Ltd. | Leg assembly for legged robot and legged robot |
| CN112896362A (en) * | 2021-03-27 | 2021-06-04 | 吉林大学 | Highly-bionic full-flexible-drive spider-imitating robot |
| CN112896362B (en) * | 2021-03-27 | 2022-03-11 | 吉林大学 | Highly-bionic full-flexible-drive spider-imitating robot |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20170419 Termination date: 20171025 |