CN207617842U - A kind of quadruped robot leg based on multistage coupling parallel institution - Google Patents
A kind of quadruped robot leg based on multistage coupling parallel institution Download PDFInfo
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- CN207617842U CN207617842U CN201721852144.5U CN201721852144U CN207617842U CN 207617842 U CN207617842 U CN 207617842U CN 201721852144 U CN201721852144 U CN 201721852144U CN 207617842 U CN207617842 U CN 207617842U
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Abstract
A kind of quadruped robot leg based on multistage coupling parallel institution,It is multistage coupling parallel institution,It includes fixed platform,Moving platform,Driving lever,Follower lever,Omni-directional wheel and the identical branch of three structures for connecting fixed platform and moving platform,Wherein omni-directional wheel is located at fixed platform bottom,Three branches include several coupled links,Ball bowl and coupling platform,One end of three driving levers is connect by revolute pair with fixed platform,Coupled links are connect with one end ball pair connected ball pair of the driving lever other end and another coupled links,Its middle part is connect by revolute pair with coupling platform,The component and connection type of other coupling parallel institutions are identical as the component of the coupling parallel institution and connection type,The other end of coupled links of afterbody coupling parallel institution is connect with the ball pair of follower lever one end,The other end of the follower lever is connect by revolute pair with moving platform.The utility model driving unit quantity is few, can improve obstacle detouring and fast move ability.
Description
Technical field
The utility model belongs to robot field, more particularly to a kind of quadruped robot leg.
Background technology
Quadruped robot is a kind of current commonplace robot, from stability and control complexity and manufacturing cost
Etc. consider, quadruped robot is best legged type robot form, the research tool social effect deeply of quadruped robot
And practical value.However, obstacle climbing ability often requires that robot has bigger and flexible leg structure, and fast move ability
Not requiring nothing more than mechanism has lower center of gravity, and mechanism is also required to have stronger flexibility, therefore, obstacle climbing ability and fast move
Ability is difficult often to meet simultaneously, how under the premise of not increasing robot overall structure improve robot obstacle climbing ability very
There is researching value；In addition, existing quadruped robot copies leg or animal leg and the series connection link-type that designs of people mostly
Structure is limited to constrain between connecting rod, and obstacle climbing ability is limited, and different from the musculature of human or animal, and link rod structure is past
Toward only limited a driving unit, no image of Buddha muscle group is perfect like that cooperate to reach best energy efficiency, in movement
In energy consumption also bigger, it is difficult to realize to fast move, therefore, the reason of the design of quadruped robot leg completely in accordance with Bionic Design
Thought is not necessarily optimal selection.
In addition, quadruped robot leg structure is usually serial mechanism, joint quality is big, rotary inertia when fast moving
Greatly, its development is constrained to a certain extent, and the advantages that parallel institution is although big with rigidity, and precision is high, and dynamic property is good, but
Since by kinematic pair, branch interference, space is unusual to wait influence, directly influences its working space, restricts its application indirectly, very
More scholars attempt to carry out simple concatenated method, the i.e. method of series-parallel connection, meaning by common platform using between multiple parallel institutions
Not only retain parallel institution advantage simultaneously but also can overcome the disadvantages that working space deficiency.This mode is in theory really to parallel institution
The effect that working space has clear improvement, but since this connection type needs to install driving unit in every level-one parallel connection platform,
So that needing to undertake other than following dead weight at different levels per level-one mechanism, the weight for undertaking these mechanism driving units is also needed, is highlighted
It is similar to each arthritic volume of serial mechanism and the drawbacks of weight increases step by step, practicability needs further to be confirmed.Therefore in this way
Mechanism it is uncommon in engineer application.In addition, the space of parallel institution is also by the working space of kinematic pair itself
Limitation, the working space such as ball pair is extremely limited so that the working space Distance Theory working space of mechanism in practical application
Prodigious gap again.
Through the literature search of existing technologies, China Patent No.：CN20170155118.5, title：One kind is based on
The modularized bionic snake-shaped robot of RSR configuration parallel institutions going here and there multiple RSR parallel institutions which disclose a kind of
The hybrid mechanism of connection.End effector has the superposition of two one moving movements of rotation relative to fixed platform, and motion mode is various, long
Spend adjustable, the features such as body thickness can be changed.However, as most hybrid mechanisms, all there is oneself of rear stage driving unit
Become previous stage driving load again and thus greatly reduce mechanism dynamic characteristic, while again due to increasing previous stage driving body
Product, after plural serial stage, structure becomes very too fat to move, loses practical meaning.Moreover, with joint in parallel in hybrid mechanism
Several increases, the positive and negative solution difficulty of kinematics is increasing, and driving also becomes very difficult.
Invention content
That the purpose of this utility model is to provide a kind of driving unit quantity is few, can improve obstacle detouring and fast move ability
The quadruped robot leg based on multistage coupling parallel institution.
The quadruped robot leg of the utility model is multistage coupling parallel institution comprising fixed platform, moving platform, active
Bar, follower lever, omni-directional wheel and the identical branch of three structures for connecting fixed platform and moving platform, wherein omni-directional wheel and fixed platform
Bottom centre is connected, and the identical branch of three structures includes several coupled links, ball bowl and coupling platform, fixed platform, moving platform
Be all provided with there are three uniformly distributed open slot on coupling platform, one end of three driving levers by the revolute pair that is located on open slot with
Fixed platform connects, and the both ends of coupled links are equipped with ball bowl connect by revolute pair, the other end of driving lever by ball pair and
One end of coupled links connects, and the center of rotation of the pivot center of revolute pair Jing Guo ball pair, the middle part of the coupled links is by setting
Revolute pair on coupling platform openings slot is connect with coupling platform, the other end and another coupled links of the coupled links
One end by ball pair with connect, it is other coupling parallel institutions components and connection type with the component for coupling parallel institution
It is identical with connection type, the other end of the coupled links of afterbody coupling parallel institution and the ball bowl ball for being located at follower lever one end
Pair connection, which is connect by revolute pair with follower lever, and the center of rotation of the pivot center of revolute pair Jing Guo ball pair, this is driven
The other end of bar is connect by being located at the revolute pair that moving platform open slot goes out with moving platform.
How many grades of coupling parallel institutions can be set according to the length of required robot leg.
The utility model has the following advantages that compared with prior art：
1, omni-directional wheel is installed as robot leg, and in leg end by using multistage coupling parallel institution, makes
The Omni-mobile ability for obtaining the characteristics of lowering the center of gravity after robot can be shunk by leg and omni-directional wheel realizes robot
It fast moves, and the movenent performance of big working space reaches outstanding obstacle performance after being extended by leg.
2, by increasing coupled motions relationship in adjacent two-stage parallel connection mechanism same-phase branch so that previous stage mechanism exports
Angle quantitatively passes to rear stage mechanism as input angle, according to the method in the identical coupled motions of the inter-agency increase of plural parallel stage
Relationship so that movement is driven step by step, and working space amplifies step by step, passes through the coupling of certain series parallel institution, you can realize class
Like the effect of series connection mechanical arm.
3, by increasing isolated degree of freedom to branch hammer pair, the magnification of single or multistage coupling parallel institution is increased；
Since there are coupled relations between mechanism, the quantity of driving unit is greatly reduced, and eliminate the fiber crops in terms of many wirings
It is tired；When parallel institution sizes at different levels are identical, the positive and negative solution of kinematics becomes extremely simple, is advantageous to the control of engineering in practice
Work processed.
Description of the drawings
Fig. 1 is the utility model use state simplified schematic diagram.
Fig. 2 is the three-dimensional simplified schematic diagram of the utility model.
Fig. 3 is the utility model deflection state schematic diagram.
Fig. 4 is the utility model contraction state schematic diagram.
In figure：1. robot leg, 2. omni-directional wheels, 3. fixed platforms, 4. coupling platforms, 5. moving platforms, 6. driving levers, 7. balls
Bowl, 8. coupled links, 9. follower levers.
Specific implementation mode
In Fig. 1 and the quadruped robot leg schematic diagram shown in Fig. 2 based on multistage coupling parallel institution, omni-directional wheel with it is dynamic
5 top center of platform is connected, and the identical branch of three structures includes that several coupled links, ball bowl and coupling platform, fixed platform move
Uniformly distributed open slot there are three being all provided on platform 5 and coupling platform 4, one end of three driving levers 6 is by being located on open slot
Revolute pair is connect with fixed platform, and the both ends of coupled links 8 are equipped with the ball bowl 7 connected by revolute pair, the other end of driving lever
It is connected by one end of ball pair and coupled links, the center of rotation of the pivot center of revolute pair Jing Guo ball pair, the coupled links
Middle part by be located at coupling platform openings slot on revolute pair with couple platform connect, the other end of the coupled links and another
One end of coupled links by ball pair with connect, it is other coupling parallel institutions components and connection type couple parallel connection with described
The component of mechanism is identical with connection type, and afterbody couples the other end of the coupled links of parallel institution and is located at follower lever 9
The ball bowl ball pair of one end connects, which is connect by revolute pair with follower lever, and the pivot center of revolute pair turns by ball is secondary
Dynamic center, the other end of the follower lever are connect by being located at the revolute pair that moving platform open slot goes out with moving platform.
As shown in Figure 3 and Figure 4, the quadruped robot leg based on multistage coupling parallel institution of the utility model can be curved
Song elongates or shortens.
Claims (1)
1. a kind of quadruped robot leg based on multistage coupling parallel institution, for multistage coupling parallel institution, including fixed platform,
Moving platform, driving lever, follower lever, omni-directional wheel and the identical branch of three structures for connecting fixed platform and moving platform, omni-directional wheel
It is connected with fixed platform bottom centre, it is characterised in that：The identical branch of three structures include several coupled links, ball bowl and
Platform is coupled, is all provided with there are three uniformly distributed open slot on fixed platform, moving platform and coupling platform, one end of three driving levers passes through
The revolute pair being located on open slot is connect with fixed platform, and the both ends of coupled links are equipped with the ball bowl connected by revolute pair, main
The other end of lever is connected by one end of ball pair and coupled links, the center of rotation of the pivot center of revolute pair Jing Guo ball pair,
The middle part of the coupled links by be located at coupling platform openings slot on revolute pair with couple platform connect, the coupled links it is another
One end and one end of another coupled links by ball pair with connect, the components and connection type of other coupling parallel institutions with
It is described coupling parallel institution component it is identical with connection type, afterbody couple parallel institution coupled links the other end with
It is located at the ball bowl ball pair connection of follower lever one end, which is connect by revolute pair with follower lever, the pivot center warp of revolute pair
The center of rotation of ball pair is crossed, the other end of the follower lever is connect by being located at the revolute pair that moving platform open slot goes out with moving platform.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721852144.5U CN207617842U (en) | 2017-12-26 | 2017-12-26 | A kind of quadruped robot leg based on multistage coupling parallel institution |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721852144.5U CN207617842U (en) | 2017-12-26 | 2017-12-26 | A kind of quadruped robot leg based on multistage coupling parallel institution |
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| CN207617842U true CN207617842U (en) | 2018-07-17 |
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| CN201721852144.5U Expired - Fee Related CN207617842U (en) | 2017-12-26 | 2017-12-26 | A kind of quadruped robot leg based on multistage coupling parallel institution |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107856758A (en) * | 2017-12-26 | 2018-03-30 | 燕山大学 | A kind of quadruped robot leg based on multistage coupling parallel institution |
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2017
- 2017-12-26 CN CN201721852144.5U patent/CN207617842U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107856758A (en) * | 2017-12-26 | 2018-03-30 | 燕山大学 | A kind of quadruped robot leg based on multistage coupling parallel institution |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180717 Termination date: 20181226 |
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| CF01 | Termination of patent right due to non-payment of annual fee |