CN208325456U - A kind of four-leg bionic robot platform based on biological property - Google Patents

Abstract

The utility model discloses a kind of four-leg bionic robot platform based on biological property, including trunk and four lower limb, four lower limb symmetrically are distributed in the quadrangle below trunk, and the structure of four lower limb is identical；Trunk includes four driving units, the trunk bottom plate for being used to support driving unit, deep vision device and laser radar；Lower limb include ankle-joint, sole and leg；The upper end of leg is fixedly connected with driving unit, and leg lower end is rotatably connected the upper end of ankle-joint；Ankle-joint lower end is rotatably connected the upper end of sole.The utility model can improve biomimetic type leg legged type robot to the adaptability and anti-interference ability of different terrain, the stability and reliability of enhancing and ground face contact, fusion robot deep vision technology makes Rational Path planning to robot ambulation track, fusion laser radar technique further enhances robot and environmental interaction ability, and the mechanical complexity of trunk and lower limb is simplified, it reduces control difficulty, mention high control precision.

Description

A kind of four-leg bionic robot platform based on biological property

Technical field

The utility model belongs to robot field, and in particular to a kind of four-leg bionic robot based on biological property is flat Platform.

Background technique

Currently, robot is divided into biomimetic type leg legged type robot, wheeled robot, crawler frame according to move mode People, the main purpose of research are to enhance the carrying ability of the movenent performance and robot platform of robot moving system.Wherein, The efficiency of energy utilization of caterpillar type robot and wheeled robot is higher, and mechanical complexity is low, and control is easy, but in face of complexity When terrain environment, the static stability of traditional wheeled robot and performance of contacting to earth are substantially reduced, although and caterpillar type robot The requirement to landform and environment can be suitably reduced, but the disadvantages such as that there is also kinematic accuracies is low, flexibility is poor, stability is weak.However, Biomimetic type leg legged type robot then can preferably overcome above-mentioned problem and robot overall performance is made to be greatly improved.Leg foot formula Contact of the robot by robot leg with ground is changed into discrete point type by continuous state, makes its distribution of force in sole and ground On the discrete point of contact, and different movements can be performed in its every leg, and can cooperate maintenance machine by the cooperation between each leg Device people overall stability and corresponding operation, therefore, leg legged type robot can adapt to more complicated landform, possess good machine The interaction capabilities and stronger anti-interference ability of device and environment.Therefore, if can design that function is more polynary, mechanism is cleverer It lives, control more accurate leg legged type robot as the key factor for pushing its development.

Utility model content

For the defects in the prior art and insufficient, it is imitative that the utility model provides a kind of four-footed based on biological property Raw robot platform overcomes existing robot poor to the adaptability of different terrain and the Stability and dependability of ground face contact The defect of difference.

In order to achieve the above objectives, the utility model takes the following technical solution:

A kind of four-leg bionic robot platform based on biological property, including trunk and four lower limb, four lower limb are equal The even quadrangle being symmetrically dispersed in below trunk, and the structure of four lower limb is identical；The trunk includes for driving respectively Move four driving units of each lower extremity movement, the trunk bottom plate for being used to support driving unit, the depth for acquiring environmental data Spend visual organ and the laser radar for perceiving outer barrie；

The lower limb include ankle-joint, sole and leg；The upper end of leg is fixedly connected with driving unit, and leg lower end can turn The upper end of the dynamic connection ankle-joint；The lower end of ankle-joint is rotatably connected the upper end of the sole；

The ankle-joint include the support plate being connect with sole, the support frame being rotatably connected with support plate rear and front end, Support frame, screw rod transmission unit and the ankle-joint control list for controlling ankle-joint being rotatably connected with support frame left and right ends Member；Screw rod transmission unit upper end is fixed on support frame top, and two connecting pins of screw rod transmission unit lower end pass through two The left and right ends of first connecting rod hinged support plate, by the left and right ends of two second connecting rod hinged support framves, to realize control The pitching movement of support plate processed and flip-flop movement；

The sole includes the heel connecting with ankle-joint, the arch of foot of inclination laying, the sole control set on arch of foot upper surface Unit processed and toe positioned at arch of foot end；The both ends of the arch of foot are connect with the top of heel and toe respectively by torsional spring, Torsional spring is able to achieve the relative rotation between arch of foot and heel, toe, and heel bottom surface and toe is enable to connect as supporting point and ground Touching.

The utility model also has following technical characteristic:

Optionally, the ankle-joint control unit includes control box and sensor；Control box installation on the support frame, control Box issues corresponding control instruction so that ankle-joint executes corresponding operating for receiving, handling the sensor information on ankle-joint；

The screw rod transmission unit includes sequentially connected connecting pin, screw rod, self-locking mainshaft nut mechanism, electricity from bottom to up Machine, the screw rod motion guide rail coaxial with screw rod and connecting support；

Described screw rod one end is achieved a fixed connection by screw thread and connecting pin, the screw rod other end and configuration motor output Self-locking mainshaft nut mechanism on axis is connected, and realizes by motor output power, drives self-locking mainshaft nut mechanism to rotate, and then band Dynamic screw rod moves up and down, and passes through the incremental encoder and digital Hall sensor detection motor turn in ankle-joint control unit Dynamic angle, the positive and negative rotation for controlling motor, realize up and down motion and the flip-flop movement of ankle-joint；

The screw rod is inducted into screw rod motion guide rail after engaging with self-locking mainshaft nut mechanism, screw rod motion guide rail upper end Hinged with connecting support, connecting support is fixed on support frame top；The self-locking mainshaft nut mechanism connects the motor, described Motor is the linear brushless DC motor with retarder, is equipped with the connector for connecting counterweight vibration damper bar on motor top, matches Certain lateral force is provided so that it stablizes fortune when weight vibration damper bar is used for screw rod transmission unit motion for first connecting rod and second connecting rod It moves and alleviates influence of the system vibration to quadruped robot ontology.

Optionally, the connecting pin of the screw rod transmission unit, screw rod, self-locking mainshaft nut mechanism, motor and screw rod movement Guide rail is two of parallel side-by-side setting, and two screw rod motion guide rail upper ends are hinged with the same connecting support, connection branch Seat is fixed on support frame top.

Optionally, the support plate rear and front end is equipped with rotatable first support shaft, sets in the left and right ends of support plate There is rotatable second support shaft, the limit hole of perforation is offered in the second support shaft, support plate lower end is connected equipped with sole Part；

Support frame as described above is that Y-shaped structure, the upper end of support frame are leg connection ring, the friendship of the Y-shaped structure of support frame Second connecting rod articulation piece there are two being set at left and right sides of point position.

Optionally, the support frame is square structure, and support plate is mounted on the front and back two of support frame by the first support shaft On side, the first support shaft is fixedly connected by being interference fitted with the connecting hole on the side of front and back two of support frame；The support Two ends below frame are connected on the side of left and right two of support frame by stand connection, and stand connection is adopted with support frame It is fixedly connected with bolt, support frame can be rotated relative to support frame and stand connection.

Optionally, the first connecting rod upper and lower ends are equipped with mounting hole, and the lower end mounting hole of first connecting rod is covered second Support shaft is outer and realizes interconnection by connecting rod shaft, and connecting rod shaft passes through limit hole and by interference fit and first Connecting rod achieves a fixed connection；

The second connecting rod is H-shaped structure, and the upper end of second connecting rod passes through the second connecting rod of connecting rod shaft and support frame Articulation piece is hinged；

The connecting pin of the upper end of the first connecting rod, the lower end of second connecting rod and screw rod transmission unit lower end is connected by connecting rod Spindle is hinged.

Optionally, the sole control unit is fixedly connected by screw with arch of foot, sole control unit and arch of foot it is upper Rubber material is nested between surface to protect sole control unit not by the interference of external environment；

It is equipped with arch of foot absolute encoder in the installation site of torsional spring, is turned for detecting arch of foot and heel, the opposite of toe Dynamic angle, and the signal that will test is transmitted to sole control unit；And then for control and the optimisation strategy of whole system provide according to According to judging that sole current state provides state parameter for sole control unit；

Displacement sensor and diaphragm type pressure sensor are equipped with below the heel, to measure heel at a distance from ground And the non-coplanar force distribution of foot of robot；

The toe portion is provided with diaphragm type pressure sensor and acceleration transducer, to obtain foot of robot Non-coplanar force distribution and robot forward speed.

Optionally, elastic hawser is equipped between heel and the end of arch of foot, elastic hawser can guarantee that sole part is met Still keep the good the moving stability contacted to guarantee quadruped robot ontology and static state steady with ground when to complicated landform It is qualitative.

Optionally, it is equipped with the ankle-joint connector that sole and ankle-joint can be rotatably connected in the upper end of heel, makes two Person has the deflection freedom degree of certain angle, to alleviate influence when robot encounters collision or interference to robot stabilization.

Optionally, the ankle-joint connector is rotatably connected with sole connector.

Optionally, the left and right ends of the first connecting rod and support plate can be connected using ball-and-socket hinge device to realize first Connecting rod and support plate do flip-flop movement around the first support shaft.

Optionally, four driving units symmetrically are distributed in the quadrangle of trunk bottom plate；The driving unit packet Motor is included, is connected to motor and for driving the motor translation building block of leg exercise, the power supply and battery powered for motor；

Motor is mounted on trunk bottom plate by motor fixture, and motor connects the motor translation building block, motor conversion Member lower is fixedly connected with the upper end of the leg；The battery is mounted on the lower part of trunk bottom plate by battery fixing piece；Institute It states power supply and motor upper end is mounted on by mains connection.

Optionally, promising laser radar is installed in power supply upper end and deep vision device provides the trunk top plate of support；

Deep vision device is connected to the front end of trunk top plate by deep vision supporting element, before deep vision device can acquire it Into the related data and environment-identification feature of direction environment, it can walk for quadruped robot and accurate path planning is provided；

Laser radar is mounted on the upper surface of trunk top plate by radar fixing piece, and radar fixing piece is being arranged in laser thunder The front and rear sides face reached, radar fixing piece are connect by bolt with trunk top plate, and laser radar can perceive robot present position Outer barrie principle condition, provide certain reference for robot obstacle-avoiding and be able to maintain Robotic Dynamic and static stability.

Optionally, the trunk bottom plate is king's character form structure and both ends are bar structure, and centre is transverse plate structure；Four electricity Machine is mounted on the quadrangle of intermediate transverse slat, and four motor translation building blocks are located at four vacancy between two cross bars and intermediate transverse slat；

One end of motor translation building block connects the motor, and the other end of motor translation building block is connected with fixed plate, fixed Plate is fixedly connected perpendicular to trunk bottom plate and with the both ends bar structure of trunk bottom plate.

Compared with prior art, beneficial has the technical effect that the utility model

Four-leg bionic robot platform provided by the utility model based on biological property, can effectively improve biomimetic type leg Legged type robot to the adaptability and anti-interference ability of different terrain, melt by the stability and reliability of enhancing and ground face contact It closes robot deep vision technology and reasonable path planning is made to robot ambulation track, fusion laser radar technique is further Enhance the interaction capabilities of machine human and environment, and simplify the mechanical complexity of robot trunk and lower limb as far as possible, reduces control Difficulty processed mentions high control precision.

The trunk front end of the utility model is provided with deep vision device, for robot ambulation in the process to its ambient enviroment Perception and provide reasonable walking path；Robot trunk top plate is provided with laser radar, for perceiving robot surrounding barrier Hinder principle condition, and cooperates deep vision device to provide safe and reliable walking path for robot ambulation, and robot can be made rapid Avoiding obstacles；Motor, motor translation building block, battery and power supply are uniformly integrated on trunk, make its mechanism it is compact, control spirit It lives, be swift in response, substantially increase quadruped robot control precision, significantly improve its sports coordination and continuity.

The ankle-joint and sole of the utility model, can effectively improve legged mobile robot to the adaptability of complicated landform and Anti-interference ability, the reliability of enhancing and ground face contact, improves robot walking stability under irregular terrain profiles environment, expands Interaction capabilities of robot sole and environment, and correspondingly reduce the mechanical complexity of sole improve ankle-joint and sole Control precision.

Ankle-joint and sole provided by the utility model, ankle portion connect support plate and first connecting rod by connecting rod Spindle is attached, and first connecting rod is able to drive inner supporting body and makes rotating motion, and greatly reduces mechanical complications, improves Robot motion's stationarity makes robot anklebone have certain flexibility；Ankle is realized using symmetrical two double leval jibs The pitching movement in joint and flip-flop movement, kinetic stability are high and easily controllable；Use self-locking screw rod mainshaft nut mechanism for two A four-bar mechanism provides power, and in ankle when stable state, the self-locking function of screw rod transmission unit can guarantee machine The action stability of device people, and the response time of system can be improved when robot switchs to move state by stable state, and silk Bar gear unit is connect with support frame using articulated manner, therefore it can be rotated relative to support frame, be added significantly to machine System flexibility and kinetic stability of the people when encountering extraneous shock or complicated landform.

It is connected between the heel and arch of foot of sole part, arch of foot and left and right toe using torsional spring, and sets up separately in foot palm part and set It is a large amount of for obtaining the sensor of robot and terrain environment, be not only able to reduce the complexity of sole some mechanical mechanism Degree improves robot and integrally controls precision, moreover it is possible to mitigate sole part total quality, reduce control system difficulty；In addition, in foot With being provided with elastic hawser between arch of foot, elastic rope exterior is coated by the good material of elastoplasticity, and heel is set Influence of vibration when elastic good rubber material contacts to earth for reducing sole to robot body, and elastic hawser are set Also ensure sole still can have with ground when encountering raised barrier it is good contact, to ensure the dynamic of robot entirety Stability and static stability.

Detailed description of the invention

Fig. 1 is the overall structure diagram of the utility model.

Fig. 2 is the trunk of the utility model and the overall structure diagram of leg.

Fig. 3 is the structural schematic diagram of the motor of the utility model.

Fig. 4 is the structural schematic diagram of the trunk bottom plate of the utility model.

Fig. 5 is the structural schematic diagram of the deep vision supporting element of the utility model.

Fig. 6 is the ankle-joint of the utility model and the overall structure diagram of sole.

Fig. 7 is the ankle-joint of the utility model and the integrally-built side view of sole.

Fig. 8 is the overall structure diagram of the ankle-joint of the utility model.

Fig. 9 is the structural schematic diagram of the support plate of the utility model.

Figure 10 is the structural schematic diagram of the support frame of the utility model.

Figure 11 is the structural schematic diagram of the first connecting rod of the utility model.

Figure 12 is the structural schematic diagram of the second connecting rod of the utility model.

Each label indicates in figure are as follows: 1- lower limb, 2- trunk；

10- ankle-joint, 20- sole, the leg 30-, 40- driving unit, 50- trunk bottom plate, 60- deep vision device, 70- swash Optical radar, 80- trunk top plate, 90- fixed plate；

11- support plate, 12- support frame, 13- support frame, 14- screw rod transmission unit, 15- ankle-joint control unit, 16- One connecting rod, 17- second connecting rod；

The first support shaft of 111-, the second support shaft of 112-, 113- limit hole, 114- sole connector；

The leg 131- connection ring, 132- second connecting rod articulation piece, 133- stand connection；

The connecting pin 141-, 142- screw rod, the self-locking mainshaft nut mechanism of 143-, 144- motor, 145- screw rod motion guide rail, 146- connecting support, 147- counterweight vibration damper bar；

151- controls box；

161- mounting hole；

21- heel, 22- arch of foot, 23- sole control unit, 24- toe, 25- elasticity hawser；

211- ankle-joint connector；

41- motor, 42- motor translation building block, 43- power supply, 44- battery；

61- deep vision supporting element；

71- radar fixing piece.

Specific embodiment

Specific embodiment of the present utility model is described in detail below in conjunction with Figure of description.It should be understood that It is that specific embodiment described herein is merely to illustrate and explains the utility model is not intended to limit the utility model.

As shown in Figures 1 to 12, a kind of four-leg bionic robot platform based on biological property, including trunk 2 and four A lower limb 1, four lower limb 1 symmetrically are distributed in the quadrangle of 2 lower section of trunk, and the structure of four lower limb 1 is identical；Body Dry 2 include for respectively driving four driving units 40 of each movement of lower limb 1, being used to support the trunk bottom plate of driving unit 40 50, the laser radar 70 for acquiring the deep vision device 60 of environmental data and for perceiving outer barrie；Lower limb include that ankle closes Section 10, sole 20 and leg 30；The upper end of leg 30 is fixedly connected with driving unit 40, and 30 lower end of leg is rotatably connected the ankle The upper end in joint 10；The lower end of ankle-joint 10 is rotatably connected the upper end of the sole 20.

Ankle-joint 10 includes the support plate 11 connecting with sole 20 and the support that 11 rear and front end of support plate is rotatably connected Frame 12, the support frame 13 being rotatably connected with 12 left and right ends of support frame, screw rod transmission unit 14 and for controlling ankle-joint 10 Ankle-joint control unit 15；14 upper end of screw rod transmission unit is fixed on 13 top of support frame, under screw rod transmission unit 14 Two connecting pins 141 at end pass through the left and right ends of two 16 hinged support plates 11 of first connecting rod, pass through two second connecting rods 17 The left and right ends of hinged support frame 13, to realize pitching movement and the flip-flop movement of support plate 11；Ankle portion will support Plate and first connecting rod are attached by connecting rod shaft, and first connecting rod is able to drive inner supporting body and makes rotating motion, significantly Mechanical complications are reduced, robot motion's stationarity is improved, make robot anklebone that there is certain flexibility；Using left and right Symmetrical two double leval jibs realize pitching movement and the flip-flop movement of ankle-joint, and kinetic stability is high and easily controllable；Using certainly It locks screw rod mainshaft nut mechanism and provides power for two four-bar mechanisms, in ankle when stable state, screw rod transmission list The self-locking function of member can guarantee the action stability of robot, and being capable of the raising when robot is switched to move state by stable state The response time of system, and screw rod transmission unit is connect with support frame using articulated manner, therefore it can be relative to support Frame rotation is added significantly to system flexibility and kinetic stability of the robot when encountering extraneous shock or complicated landform.

Sole 20 includes the heel 21 connecting with ankle-joint 10, the arch of foot 22 of inclination laying, set on 22 upper surface of arch of foot Sole control unit 23 and toe 24 positioned at 22 end of arch of foot；The both ends of the arch of foot 22 by torsional spring respectively with heel 21 Top and toe 24 connect, and torsional spring is able to achieve the relative rotation between arch of foot 22 and heel 21, toe 24, make 21 bottom surface of heel and Toe 24 can be as supporting point and ground face contact.Torsional spring is used between the heel and arch of foot of sole part, arch of foot and left and right toe Connection, and it is provided with a large amount of sensor for being used to obtain robot and terrain environment in foot palm part point, it is not only able to reduce foot The complexity of some mechanical mechanism is slapped, robot is improved and integrally controls precision, moreover it is possible to mitigate sole part total quality, reduce control System difficulty processed；In addition, being provided with elastic hawser between heel and arch of foot, elastic rope exterior is by the good material of elastoplasticity Cladding, and heel is provided with vibration when the good rubber material of elasticity contacts to earth for reducing sole to robot body Influence, and elastic hawser also ensure sole still can have with ground when encountering raised barrier it is good contact, with Ensure the dynamic stability and static stability of robot entirety.

Four-leg bionic robot platform provided by the utility model based on biological property, can effectively improve biomimetic type leg Legged type robot to the adaptability and anti-interference ability of different terrain, melt by the stability and reliability of enhancing and ground face contact It closes robot deep vision technology and reasonable path planning is made to robot ambulation track, fusion laser radar technique is further Enhance the interaction capabilities of machine human and environment, and most simplify the mechanical complexity of robot body and foot as far as possible, reduces Control difficulty mentions high control precision.

In present embodiment, ankle-joint control unit 15 includes control box 151 and sensor；Control box 151 is mounted on branch On support 13, control box 151 is used to receive, handles sensor information on ankle-joint 10, and issue corresponding control instruction so that Ankle-joint 10 executes corresponding operating.

Screw rod transmission unit 14 includes sequentially connected connecting pin 141, screw rod 142, self-locking mainshaft nut machine from bottom to up Structure 143, motor 144, the screw rod motion guide rail 145 coaxial with screw rod 142 and connecting support 146；Connection in present embodiment End 141 is inverted U-shaped, and 142 one end of screw rod at the top of screw thread and connecting pin 141 by achieving a fixed connection, 142 other end of screw rod The self-locking mainshaft nut mechanism 143 on the output shaft of motor 144 is connected with configuration, realizes by motor output power, drives certainly It locks mainshaft nut mechanism 143 to rotate, and then screw rod 142 is driven to move up and down, and pass through the increment in ankle-joint control unit 15 Encoder and digital Hall sensor detection 144 rotational angle of motor, the positive and negative rotation for controlling motor 144, realize ankle-joint 10 Up and down motion and flip-flop movement；Screw rod 142 is inducted into screw rod motion guide rail 145 after engaging with self-locking mainshaft nut mechanism 143 Interior, 145 upper end of screw rod motion guide rail and connecting support 146 are hinged, and connecting support 146 is fixed on 13 top of support frame；It is described from Lock mainshaft nut mechanism 143 connects the motor 144, and the motor 144 is the linear brushless DC motor with retarder, in electricity 144 top of machine is equipped with the connector for connecting counterweight vibration damper bar 147, and counterweight vibration damper bar 147 is transported for screw rod transmission unit 14 For first connecting rod 16 and second connecting rod 17 certain lateral force is provided when dynamic so as to its stable motion and alleviate system vibration to four-footed The influence of robot body.

In the present embodiment, the connecting pin 141 of screw rod transmission unit 14, screw rod 142, self-locking mainshaft nut mechanism 143, Motor 144 and screw rod motion guide rail 145 are two of parallel side-by-side setting, and two 145 upper ends of screw rod motion guide rail are and together One connecting support 146 is hinged, and connecting support 146 is fixed on 13 top of support frame.When two motors 144 receive ankle-joint control After the rotating Vortex signal that unit 15 issues, self-locking mainshaft nut mechanism 143 will push screw rod 142 and then drive first connecting rod 16, second connecting rod 17, support frame 12, support plate 11 do the pitching movement of certain angle around support frame 13；When two motors 144 receive After the counter rotating signal issued to ankle-joint control unit 15, self-locking mainshaft nut mechanism 143 will push screw rod 142 and then drive Dynamic first connecting rod 16, second connecting rod 17, support frame 12, support plate 11 do the flip-flop movement of certain angle around the first support shaft 111, And then keep the kinetic stability of robot entirety.

In present embodiment, 11 rear and front end of support plate is equipped with rotatable first support shaft 111, on a left side for support plate 11 Right both ends are equipped with rotatable second support shaft 112, and the limit hole 113 of perforation, support plate are offered in the second support shaft 112 11 lower ends are equipped with sole connector 114；Preferably, through hole is equipped in support plate 11, to mitigate the weight of ankle-joint；Branch Support 13 is that Y-shaped structure, the upper end of support frame 13 are leg connection ring 131, the intersection position of the Y-shaped structure of support frame 13 The left and right sides is set there are two second connecting rod articulation piece 132.

Specifically, support frame 12 is square structure, before support plate 11 is mounted on support frame 12 by the first support shaft 111 Afterwards on two sides, the first support shaft 111 is fixedly connected by being interference fitted with the connecting hole on the side of front and back two of support frame 12； Two ends of 13 lower section of support frame as described above are connected on the side of left and right two of support frame 12 by stand connection 133, bracket Connector 133 is bolted and fixed with support frame 13, and support frame 12 can relative to support frame 13 and stand connection 133 Rotation.

Specifically, 16 upper and lower ends of first connecting rod are equipped with mounting hole 161,161 sets of the lower end mounting hole of first connecting rod 16 It is realized outside the second support shaft 112 and by connecting rod shaft and is connected with each other, connecting rod shaft passes through limit hole 113 and passed through It is full of cooperation and 161 inner wall of lower end mounting hole of first connecting rod 16 achieves a fixed connection；Second connecting rod 17 is H-shaped structure, and second connects The upper end hinge splint of bar 17 is hinged by the second connecting rod articulation piece 132 of connecting rod shaft and support frame 13；First connecting rod 16 The mounting hole 161 of upper end, second connecting rod 17 lower end handover clamping plate and 14 lower end of screw rod transmission unit connecting pin U-shaped Hinge splint by connecting rod shaft it is hinged, wherein the mounting hole 161 of the upper end of first connecting rod 16 is located at screw rod transmission unit Between the hinge splint of the U-shaped of the connecting pin of 14 lower ends, the hinge splint position of the U-shaped of the connecting pin of 14 lower end of screw rod transmission unit Between the handover clamping plate of the lower end of second connecting rod 17, to realize the hinged of three components.

In the present embodiment, sole control unit 23 is fixedly connected by screw with arch of foot 22, sole control unit 23 Rubber material is nested between the upper surface of arch of foot 22 to protect sole control unit 23 not by the interference of external environment；It is turning round The installation site of spring is equipped with arch of foot absolute encoder, for detecting the relative rotation angle of arch of foot 22 and heel 21, toe 24, And the signal that will test is transmitted to sole control unit 23；And then foundation is provided for the control and optimisation strategy of whole system, it is Sole control unit 23 judges that 20 current state of sole provides state parameter；Displacement sensor and diaphragm type are equipped with below heel 21 Pressure sensor, to measure heel 21 at a distance from ground and the non-coplanar force of foot of robot distribution；24 position of toe is set It is equipped with diaphragm type pressure sensor and acceleration transducer, before non-coplanar force distribution and the robot to obtain foot of robot Into speed.Specifically, in the present embodiment, there are two toe 24 is set, respectively left foot toe and right crus of diaphragm toe improve sole 20 Stability and flexibility.

Preferably, elastic hawser 25 is equipped between heel 21 and the end of arch of foot 22, elastic hawser 25 can guarantee foot It slaps and still keeps the good mobile stabilization contacted to guarantee quadruped robot ontology when 20 parts encounter complicated landform with ground Property and static stability.

Specifically, being equipped with the ankle-joint connector that can be rotatably connected sole 20 and ankle-joint 10 in the upper end of heel 21 211, so that the two is had the deflection freedom degree of certain angle, to alleviate when robot encounters collision or interference to robot stabilization It influences.

More specifically, ankle-joint connector 211 is rotatably connected with sole connector 114.

In other embodiments, first connecting rod 16 can connect use using ball-and-socket hinge device with the left and right ends of support plate 11 To realize that first connecting rod 16 and support plate 11 do flip-flop movement around the first support shaft 111.

In the present embodiment, four driving units 40 symmetrically are distributed in the quadrangle of trunk bottom plate 50；The drive Moving cell 40 includes motor 41, the motor translation building block 42 for connecting with motor 41 and being used to that leg 30 to be driven to move, is motor 41 The power supply 43 and battery 44 of power supply；Motor 41 is mounted on trunk bottom plate 50 by motor fixture, and motor 41 connects the electricity Machine translation building block 42, motor 41 and motor translation building block 42 are conventional parts, and connection type between the two is conventional Connection type；42 lower end of motor translation building block is fixedly connected with the upper end of the leg 30；The battery 44 passes through battery fixing piece It is mounted on the lower part of trunk bottom plate 50；The power supply 43 is mounted on 41 upper end of motor by mains connection.Motor 41 and motor Translation building block 42 is connected, and 42 longitudinal direction of motor translation building block is connected with leg, and such connection type can realize motor 41 Power transferred power on lower limb 1 by motor translation building block 42, to realize the roll motion of leg.

Specifically, installing the trunk top plate of promising laser radar 70 and the offer support of deep vision device 60 in 43 upper end of power supply 80；Deep vision device 60 is connected to the front end of trunk top plate 80 by deep vision supporting element 61, and deep vision device 60 can acquire The related data and environment-identification feature of its direction of advance environment can walk for quadruped robot and provide accurate path planning； Laser radar 70 is mounted on the upper surface of trunk top plate 80 by radar fixing piece 71, and radar fixing piece 71 is being arranged in laser thunder Up to 70 front and rear sides face, radar fixing piece 71 is connect by bolt with trunk top plate 80, and laser radar 70 can perceive robot The outer barrie principle condition of present position, provides certain reference for robot obstacle-avoiding and to be able to maintain Robotic Dynamic steady with static state It is qualitative.

More specifically, trunk bottom plate 50 is king's character form structure and both ends are bar structure, and centre is transverse plate structure；Four electricity Machine 41 is mounted on the quadrangle of intermediate transverse slat, and four motor translation building blocks 42 are located at four skies between two cross bars and intermediate transverse slat Position；One end of motor translation building block 42 connects the motor 41, and the other end of motor translation building block 42 is connected with fixed plate 90, Gu Fixed board 90 is fixedly connected perpendicular to trunk bottom plate 50 and with the both ends bar structure of trunk bottom plate 50.

Preferred embodiments of the present invention, still, the utility model and unlimited are described in detail in conjunction with attached drawing above Detail in above embodiment can be to the skill of the utility model in the range of the technology design of the utility model Art scheme carries out a variety of simple variants, these simple variants belong to the protection scope of the utility model.

It is further to note that specific technical features described in the above specific embodiments, in not lance In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the utility model is to each No further explanation will be given for the possible combination of kind.

In addition, any combination can also be carried out between a variety of different embodiments of the utility model, as long as it is not disobeyed The thought for carrying on the back the utility model, equally should be considered as content disclosed in the utility model.

Claims (10)

1. a kind of four-leg bionic robot platform based on biological property, including trunk (2) and four lower limb (1), under four Limb (1) symmetrically is distributed in the quadrangle below trunk (2), and the structure of four lower limb (1) is identical；Its feature exists In the trunk (2) includes for respectively driving four driving units (40) of each lower limb (1) movement, being used to support driving The trunk bottom plate (50) of unit (40), the deep vision device (60) for acquiring environmental data and for perceive outer barrie swash Optical radar (70)；

The lower limb (1) include ankle-joint (10), sole (20) and leg (30)；It is single that the upper end of leg (30) is fixedly connected with driving First (40), leg (30) lower end are rotatably connected the upper ends of the ankle-joint (10)；The lower end of ankle-joint (10) is rotatably connected The upper end of the sole (20)；

The ankle-joint (10) includes the support plate (11) connecting with sole (20), rotatably connects with support plate (11) rear and front end The support frame (12) that connects, the support frame (13) being rotatably connected with support frame (12) left and right ends, screw rod transmission unit (14) and For controlling the ankle-joint control unit (15) of ankle-joint (10)；Screw rod transmission unit (14) upper end is fixed on support frame (13) two connecting pins (141) on top, screw rod transmission unit (14) lower end pass through two first connecting rod (16) hinged support plates (11) left and right ends, the left and right ends by two second connecting rod (17) hinged support framves (13), to realize control support The pitching movement of plate (11) and flip-flop movement；

The sole (20) includes the heel (21) connecting with ankle-joint (10), the arch of foot (22) of inclination laying, is set to arch of foot (22) the sole control unit (23) of upper surface and the toe (24) positioned at arch of foot (22) end；The both ends of the arch of foot (22) are logical It crosses torsional spring to connect with the top of heel (21) and toe (24) respectively, torsional spring is able to achieve arch of foot (22) and heel (21), toe (24) relative rotation between makes heel (21) bottom surface and toe (24) can be as supporting point and ground face contact.

2. the four-leg bionic robot platform based on biological property as described in claim 1, which is characterized in that the ankle closes Saving control unit (15) includes control box (151) and sensor；Control box (151) is mounted on support frame (13), controls box (151) for receiving, handling the sensor information on ankle-joint (10), and corresponding control instruction is issued so that ankle-joint (10) is held Row corresponding operating；

The screw rod transmission unit (14) includes sequentially connected connecting pin (141), screw rod (142), self-locking main shaft from bottom to up Nut body (143), motor (144), the screw rod motion guide rail (145) coaxial with screw rod (142) and connecting support (146)；

Described screw rod (142) one end is achieved a fixed connection by screw thread with connecting pin (141), screw rod (142) other end and configuration Self-locking mainshaft nut mechanism (143) on the output shaft of motor (144) is connected, and realizes by motor output power, drives self-locking Mainshaft nut mechanism (143) rotation, and then drive screw rod (142) to move up and down, and by ankle-joint control unit (15) The positive and negative rotation of incremental encoder and digital Hall sensor detection motor (144) rotational angle, control motor (144), is realized The up and down motion of ankle-joint (10) and flip-flop movement；

The screw rod (142) is inducted into screw rod motion guide rail (145) after engaging with self-locking mainshaft nut mechanism (143), screw rod Hingedly, connecting support (146) is fixed on support frame (13) top for motion guide rail (145) upper end and connecting support (146)；It is described from It locks mainshaft nut mechanism (143) and connects the motor (144), the motor (144) is the linear brushless DC electricity with retarder Machine is equipped with the connector for connecting counterweight vibration damper bar (147) on motor (144) top, and counterweight vibration damper bar (147) is used for screw rod Gear unit (14) move when for first connecting rod (16) and second connecting rod (17) offer certain lateral force so that its stable motion simultaneously Alleviate influence of the system vibration to quadruped robot ontology.

3. the four-leg bionic robot platform based on biological property as described in claim 1, which is characterized in that the support Plate (11) rear and front end is equipped with rotatable first support shaft (111), is equipped in the left and right ends of support plate (11) rotatable Second support shaft (112), offers the limit hole (113) of perforation on the second support shaft (112), and support plate (11) lower end is equipped with Sole connector (114)；

Support frame as described above (13) is that Y-shaped structure, the upper end of support frame (13) are leg connection ring (131), support frame (13) There are two being set at left and right sides of the intersection position of Y-shaped structure second connecting rod articulation piece (132).

4. the four-leg bionic robot platform based on biological property as claimed in claim 3, which is characterized in that the support Frame (12) is square structure, and support plate (11) is mounted on the side of front and back two of support frame (12) by the first support shaft (111), First support shaft (111) is fixedly connected by being interference fitted with the connecting hole on the side of front and back two of support frame (12)；The branch Two ends below support (13) are connected on the side of left and right two of support frame (12) by stand connection (133), bracket Connector (133) is bolted and fixed with support frame (13), and support frame (12) is connected relative to support frame (13) with bracket Part (133) can rotate.

5. the four-leg bionic robot platform based on biological property as claimed in claim 3, which is characterized in that described first Connecting rod (16) upper and lower ends are equipped with mounting hole (161), and the lower end mounting hole (161) of first connecting rod (16) is covered in the second support shaft (112) outside and by connecting rod shaft realize be connected with each other, connecting rod shaft pass through limit hole (113) and by interference fit with First connecting rod (16) achieves a fixed connection；

The second connecting rod (17) is H-shaped structure, and the upper end of second connecting rod (17) passes through connecting rod shaft and support frame (13) Second connecting rod articulation piece (132) is hinged；

The connecting pin of the upper end of the first connecting rod (16), the lower end of second connecting rod (17) and screw rod transmission unit (14) lower end is logical It is hinged to cross connecting rod shaft.

6. the four-leg bionic robot platform based on biological property as described in claim 1, which is characterized in that the sole Control unit (23) is fixedly connected by screw with arch of foot (22), between sole control unit (23) and the upper surface of arch of foot (22) Rubber material is nested with to protect sole control unit (23) not by the interference of external environment；

It is equipped with arch of foot absolute encoder in the installation site of torsional spring, for detecting arch of foot (22) and heel (21), toe (24) Relative rotation angle, and the signal that will test is transmitted to sole control unit (23)；And then for whole system control with it is excellent Change strategy and foundation is provided, judges that sole (20) current state provides state parameter for sole control unit (23)；

Displacement sensor and diaphragm type pressure sensor are equipped with below the heel (21), to measure heel (21) and ground The distribution of the non-coplanar force of distance and foot of robot；

Toe (24) position is provided with diaphragm type pressure sensor and acceleration transducer, to obtain foot of robot Non-coplanar force distribution and robot forward speed.

7. the four-leg bionic robot platform based on biological property as described in claim 1, which is characterized in that in heel (21) elastic hawser (25) is equipped between the end of arch of foot (22), elastic hawser (25) can guarantee that sole (20) partially encounters Still the good the moving stability and steady stability contacted to guarantee quadruped robot ontology is kept when complicated landform with ground Property.

8. the four-leg bionic robot platform based on biological property as described in claim 1, which is characterized in that described four Driving unit (40) symmetrically is distributed in the quadrangle of trunk bottom plate (50)；The driving unit (40) include motor (41), It is connect with motor (41) and for driving the motor translation building block (42) of leg (30) movement, the power supply powered for motor (41) (43) and battery (44)；

Motor (41) is mounted on trunk bottom plate (50) by motor fixture, and motor (41) connects the motor translation building block (42), motor translation building block (42) lower end is fixedly connected with the upper end of the leg (30)；The battery (44) is fixed by battery Part is mounted on the lower part of trunk bottom plate (50)；The power supply (43) is mounted on motor (41) upper end by mains connection.

9. the four-leg bionic robot platform based on biological property as claimed in claim 8, which is characterized in that in power supply (43) promising laser radar (70) is installed in upper end and deep vision device (60) provides the trunk top plate (80) of support；

Deep vision device (60) is connected to the front end of trunk top plate (80), deep vision device by deep vision supporting element (61) (60) related data and environment-identification feature of its direction of advance environment can be acquired, can walking for quadruped robot, it is accurate to provide Path planning；

Laser radar (70) is mounted on the upper surface of trunk top plate (80) by radar fixing piece (71), and radar fixing piece (71) exists It is arranged in the front and rear sides face of laser radar (70), radar fixing piece (71) is connect by bolt with trunk top plate (80), laser Radar (70) can perceive the outer barrie principle condition of robot present position, provide certain reference for robot obstacle-avoiding and can protect Hold Robotic Dynamic and static stability.

10. the four-leg bionic robot platform based on biological property as claimed in claim 9, which is characterized in that the body Dry bottom plate (50) is king's character form structure and both ends are bar structure, and centre is transverse plate structure；Four motors (41) are mounted on centre The quadrangle of transverse slat, four motor translation building blocks (42) are located at four vacancy between two cross bars and intermediate transverse slat；

One end of motor translation building block (42) connects the motor (41), and the other end of motor translation building block (42) is connected with fixation Plate (90), fixed plate (90) are fixedly connected perpendicular to trunk bottom plate (50) and with the both ends bar structure of trunk bottom plate (50).