CN208515722U - A kind of quadruped robot with parallel flexible waist structure - Google Patents
A kind of quadruped robot with parallel flexible waist structure Download PDFInfo
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- CN208515722U CN208515722U CN201820939929.4U CN201820939929U CN208515722U CN 208515722 U CN208515722 U CN 208515722U CN 201820939929 U CN201820939929 U CN 201820939929U CN 208515722 U CN208515722 U CN 208515722U
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- connecting rod
- flexible waist
- rack
- forebay
- parallel flexible
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- 230000007246 mechanism Effects 0.000 claims abstract description 41
- 229910000831 Steel Inorganic materials 0.000 claims description 13
- 239000010959 steel Substances 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 239000000203 mixture Substances 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 2
- 229920001971 elastomer Polymers 0.000 description 2
- 239000000806 elastomer Substances 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
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Abstract
The utility model discloses a kind of quadruped robots with parallel flexible waist structure, including rack, parallel flexible waist structure and the identical leg mechanism of four structures, the rack to be made of forebay, rear frame；Wherein, forebay is connected with rear frame by parallel flexible waist structure, and four leg mechanisms are separately mounted on two back porch beams of two crop beams of forebay, rear frame；Four leg mechanisms are driven by driving motor to be advanced or retreats, and the crop beam and back porch beam of rack provide one degree of freedom jointly for entire leg mechanism, and parallel flexible waist structure is moved by motor driven.The utility model rack is divided into forebay and rear frame two parts, there are four the parallel flexible waist structures of freedom degree to connect by tool for front and back rack, there are four freedom degrees, the animal of energy natural imitation circle to realize the movement of many complexity for entire robot tool under the action of leg mechanism, crop beam, back porch beam and flexible waist.
Description
Technical field
A kind of quadruped robot with parallel flexible waist structure of the utility model belongs to walking robot technology neck
Domain.
Background technique
Legged type robot can neatly select foothold to complete set task according to the complex environment on ground, thus
Most of quadruped robot very widely used in complex environment but current cannot be reached fast using rigid waist structure
Speed movement and flexible avoidance etc. require.Animal bionics fiber shows, due to the variation of waist and stores power when animal movement, can make
Animal leg and body have stronger explosive force, and the reasonable of waist utilizes the consumption that also can be reduced energy and preferably keep body
The stability of body.In addition, dexterous waist structure can also help animal to complete many highly difficult movements, therefore, to four-footed machine
The research of device people's flexible waist is essential.
Used flexible waist is substituted mostly with elastomer both at home and abroad at present, although the use of elastomer waist can subtract
Few mechanical shocks and the stability for improving system, but can not active control mechanism steering and complete some highly difficult dynamic
Make；The use of elastic material also limits freedom degree and increase energy consumption of robot etc..
Summary of the invention
The utility model provides a kind of quadruped robot with parallel flexible waist structure, by being added in the structure
Parallel flexible waist, to increase the freedom degree of quadruped robot, the rigidity for increasing mechanism etc..
The technical solution of the utility model is: a kind of quadruped robot with parallel flexible waist structure, including rack,
Parallel flexible waist structure 3 and the identical leg mechanism 5 of four structures, the rack are made of forebay 1, rear frame 4；Its
In, forebay 1 and rear frame 4 are connected by parallel flexible waist structure 3, and four leg mechanisms 5 are separately mounted to forebay 1
Two crop beams 2, rear frame 4 two back porch beams 6 on；Four leg mechanisms 5 by the driving of driving motor 12 advance or after
It moves back, the crop beam 2 and back porch beam 6 of rack provide one degree of freedom, parallel flexible waist structure 3 jointly for entire leg mechanism 5
It is driven and is moved by motor 11.
The parallel flexible waist structure 3 includes flexible waist moving platform 15, flexible waist silent flatform 18, structure having the same
It is formed with three branches of size；Wherein, flexible waist moving platform 15 is connect with rear frame 4, flexible waist silent flatform 18 and forebay 1
Connection, three branch chain links between flexible waist silent flatform 18 and flexible waist moving platform 15 by being evenly arranged.
The flexibility waist moving platform 15 is welded with rear frame 4, and flexible waist silent flatform 18 is bolted with forebay 1.
The branch includes a shaft coupling 10 of output rod 8, two of rectangle frame 9, one and a ball head universal 7；Its
Middle 9 one end of rectangle frame is fastened on the output shaft of the motor 11 on flexible waist silent flatform 18, rectangle by two shaft couplings 10
9 other end of frame is connected with 8 one end of output rod by revolute pair, and 8 other end of output rod and 7 one end of ball head universal are welded, bulb
7 other end of universal joint is bolted with flexible waist moving platform 15.
The motor 11 is by the signal control motor 11 of electric machine controller pressure sensor 17 based on the received with difference
Revolving speed rotation；Wherein, pressure sensor 17 is mounted on the side steel plate of forebay 1, the side steel plate and flexible waist silent flatform 18
It is bolted.
The crop beam 2 and back porch beam 6 of the rack provide one degree of freedom jointly for entire leg mechanism 5, specific to rotate
Mode, which is the steering motor 13 that is fixed on crop beam 2 and back porch beam 6, drives crop beam 2, back porch beam 6 and entire by rotation
The rotation of 5 left/right of leg mechanism, the output shaft of steering motor 13 connect with transmission shaft 14, and 14 both ends of transmission shaft are respectively with one
A bearing 16 is interference fitted.
The leg mechanism 5 is made of crank, connecting rod I, connecting rod II, connecting rod III, connecting rod IV, connecting rod V, connecting rod VI；Wherein
One end of crank and the driving motor 12 that is fixed on the rack export axis connection, connecting rod II, connecting rod III one end pass through revolute pair
Connect with rack, one end of the other end of crank and connecting rod I, the other end of middle part and the connecting rod II of connecting rod I, connecting rod I it is another
End and one end of connecting rod IV and one end of connecting rod V, one end of the other end of connecting rod III and connecting rod VI, connecting rod IV the other end with
The middle part of connecting rod III, the other end of connecting rod V are connect with the middle part of connecting rod VI by revolute pair.
The beneficial effects of the utility model are:
1, the rack of parallel robot is divided into forebay and rear frame two parts, and there are four freedom degrees by tool for front and back rack
The connection of parallel flexible waist structure, entire robot tool under the action of leg mechanism, crop beam, back porch beam and flexible waist
There are four freedom degree, the animal of energy natural imitation circle realizes the movement of many complexity.
2, the waist structure of robot is that the parallel institution of a four-degree-of-freedom (wherein rotates certainly there are three universal joint parts
By spending, in addition rectangle frame, output shaft, universal joint collective effect under also have a translation freedoms), improve mechanism
Rigidity also adds the freedom degree of mechanism, acts and complete more complicated movement convenient for control mechanism.
3, the robot relative to rigid waist structure, the ability that the utility model passes through the obstacles environment such as hollow road and kissing gate
It greatly promotes.
4, the utility model is the quadruped robot that a fuselage can be rotated significantly, posture is variable, and mechanism rigidity is big,
Stability is strong, and terrain adaptability is good.
Detailed description of the invention
Fig. 1 is the isometric view of the utility model；
Fig. 2 is the side view of the utility model；
Fig. 3 is the top view of the utility model；
Fig. 4 is the schematic diagram of the utility model parallel flexible waist structure；
Fig. 5 is the top view of the utility model parallel flexible waist structure；
Fig. 6 is the structure chart of the utility model leg mechanism；
Fig. 7 is the structure chart of the utility model rack；
Fig. 8 is the cross-sectional view of the utility model rack；
Each label in figure are as follows: 1- forebay, 2- crop beam, 3- parallel flexible waist structure, 4- rear frame, the leg 5- machine
Structure, 6- back porch beam, 7- ball head universal, 8- output rod, 9- rectangle frame, 10- shaft coupling, 11- motor, 12- driving motor, 13-
Steering motor, 14- transmission shaft, 15- flexibility waist moving platform, 16- bearing, 17- pressure sensor, 18- flexibility waist silent flatform.
Specific embodiment
With reference to the accompanying drawings and examples, the utility model is described in further detail, but the content of the utility model is not
It is limited to the range.
Embodiment 1: as shown in figures 1-8, a kind of quadruped robot with parallel flexible waist structure, including rack, simultaneously
Connection flexible waist structure 3 and the identical leg mechanism 5 of four structures, the rack constitute (the two by forebay 1, rear frame 4
Structure is identical, as forebay by top steel plate, bottom steel plate, side steel plate and be mounted on top steel plate and bottom steel plate between two
A crop beam is constituted)；Wherein, forebay 1 and rear frame 4 are connected by parallel flexible waist structure 3, and four leg mechanisms 5 divide
It is not mounted on two crop beams 2 of forebay 1, on two back porch beams 6 of rear frame 4；Four leg mechanisms 5 pass through driving motor
12 drivings are advanced or are retreated, and the crop beam 2 and back porch beam 6 of rack provide one degree of freedom jointly for entire leg mechanism 5, and
Join flexible waist structure 3 and passes through the driving movement of motor 11.
It include flexible waist moving platform 15, flexible waist silent flatform it is possible to further which the parallel flexible waist structure 3 is arranged
18, three branches composition of structure snd size having the same；Wherein, flexible waist moving platform 15 is connect with rear frame 4, flexible waist
Silent flatform 18 is connect with forebay 1, three branch between flexible waist silent flatform 18 and flexible waist moving platform 15 by being evenly arranged
Chain link.
It is welded it is possible to further which the flexible waist moving platform 15 is arranged with rear frame 4, flexible waist silent flatform 18 and preceding machine
Frame 1 is bolted.
It include a shaft coupling 10 and one of output rod 8, two of rectangle frame 9, one it is possible to further which the branch is arranged
A ball head universal 7；Wherein 9 one end of rectangle frame is fastened on the motor on flexible waist silent flatform 18 by two shaft couplings 10
11 output shaft, 9 other end of rectangle frame and 8 one end of output rod are connected by revolute pair, 8 other end of output rod and ball head universal
The welding of 7 one end, 7 other end of ball head universal are bolted with flexible waist moving platform 15.
Pass through the signal of electric machine controller pressure sensor 17 based on the received it is possible to further which the motor 11 is arranged
Motor 11 is controlled to rotate with different revolving speeds；Wherein, pressure sensor 17 is mounted on the side steel plate of forebay 1, the side steel plate
It is bolted with flexible waist silent flatform 18.
One is provided for entire leg mechanism 5 jointly it is possible to further which crop beam 2 and the back porch beam 6 of the rack is arranged
A freedom degree, specific rotating manner are that the steering motor 13 being fixed on crop beam 2 and back porch beam 6 drives crop beam by rotation
2, back porch beam 6 and entire 5 left/right of leg mechanism rotation, the output shaft of steering motor 13 connect with transmission shaft 14, are driven
(when the motor rotates, transmission shaft 14 can also follow the defeated of steering motor 13 with an interference fit of bearing 16 respectively at axis 14 both ends
Shaft rotation).
It is possible to further which the leg mechanism 5 is arranged by crank, connecting rod I, connecting rod II, connecting rod III, connecting rod IV, connecting rod
V, connecting rod VI forms；Wherein one end of crank exports axis connection, connecting rod II, connecting rod with the driving motor 12 being fixed on the rack
III one end is connect by revolute pair with rack, the other end and one end of connecting rod I, the middle part of connecting rod I and the connecting rod II of crank
The other end and the one of connecting rod VI of the other end, the other end of connecting rod I and one end of connecting rod IV and one end of connecting rod V, connecting rod III
It holds, the other end of connecting rod IV is connect (such as with the middle part of connecting rod VI by revolute pair with the other end of the middle part of connecting rod III, connecting rod V
Shown in Fig. 6, several bar compositions of ab, bf, cd, eh, gf, fi and hj, wherein mechanism composed by ab, bf and cd is to generate robot
The mechanism of leg exercise track, mechanism composed by eh, gf, fi and hj is enlarger；Wherein ab be crank, bf be connecting rod I,
Cd is connecting rod II, eh is connecting rod III, gf is connecting rod IV, fi is connecting rod V, hj is connecting rod VI, is welded at a with 12 output shaft of motor,
D, e is connect by revolute pair with rack, is connected at b, c, f, g, h, i by revolute pair).
The working principle of the utility model is:
When quadruped robot needs to move forward or back, the driving motor 12 of four legs is driving the crank ab of leg mechanism just
To or reversely rotate, to realize the movement of forward or backward.
When quadruped robot turning, 13 drive shaft of steering motor on crop beam 2 and back porch beam 6 is revolved forward or backwards
Turn, because (bearing is fixed on the top steel plate and bottom steel plate of rack to transmission shaft 14, passes with crop beam 2 and the welding of back porch beam 6 respectively
Moving axis 14 and bearing 16 are interference fitted, and transmission shaft 14 is welded with front/rear shoulder beam again), therefore the rotation of transmission shaft drives 2 He of crop beam
Back porch beam 6 rotates to the left or to the right, and because leg mechanism 5 is connect by revolute pair with crop beam 2 and back porch beam 6, therefore crop beam 2
Make the also rotation to the left or to the right of leg mechanism 5 with the left rotation and right rotation of back porch beam 6, to realize turning action.
The flexible main function of waist is damping.During robot ambulation, if Uneven road or because of other factors
When causing the speed of robot forebay and rear frame inconsistent, the speed difference of front and back rack can be to pressure sensor 17 1 pressures
Power, electric machine controller can be such that motor 11 rotates with different revolving speeds after receiving pressure according to different pressure values, motor output
Axis passes through shaft coupling 10 for power transmission to rectangle frame 9, and the rotation of rectangle frame 9 will drive the rotation of ball head universal 7, entirely simultaneously
Connection flexible waist structure 3 has just played a buffer function, increases the stability and service life of mechanism.
The specific embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the utility model is not
Be limited to above embodiment, within the knowledge of a person skilled in the art, can also do not depart from it is practical
Various changes can be made under the premise of novel objective.
Claims (7)
1. a kind of quadruped robot with parallel flexible waist structure, it is characterised in that: including rack, parallel flexible waist knot
Structure (3) and the identical leg mechanism (5) of four structures, the rack are made of forebay (1), rear frame (4)；Wherein, preceding
Rack (1) and rear frame (4) are connected by parallel flexible waist structure (3), and four leg mechanisms (5) are separately mounted to forebay
(1) on two back porch beams (6) of two crop beams (2), rear frame (4)；Four leg mechanisms (5) pass through driving motor (12)
Driving is advanced or is retreated, and the crop beam (2) and back porch beam (6) of rack provide a freedom jointly for entire leg mechanism (5)
Degree, parallel flexible waist structure (3) pass through motor (11) driving movement.
2. the quadruped robot according to claim 1 with parallel flexible waist structure, it is characterised in that: the parallel connection
Flexible waist structure (3) include flexible waist moving platform (15), flexible waist silent flatform (18), structure snd size having the same three
Branch composition；Wherein, flexible waist moving platform (15) connect with rear frame (4), and flexible waist silent flatform (18) and forebay (1) are even
It connects, three branch chain links between flexible waist silent flatform (18) and flexible waist moving platform (15) by being evenly arranged.
3. the quadruped robot according to claim 2 with parallel flexible waist structure, it is characterised in that: the flexibility
Waist moving platform (15) and rear frame (4) are welded, and flexible waist silent flatform (18) is bolted with forebay (1).
4. the quadruped robot according to claim 2 with parallel flexible waist structure, it is characterised in that: the branch
Including a rectangle frame (9), an output rod (8), two shaft couplings (10) and a ball head universal (7)；Wherein rectangle frame
(9) one end is fastened on the output shaft of the motor (11) on flexible waist silent flatform (18), rectangle by two shaft couplings (10)
Frame (9) other end is connected with output rod (8) one end by revolute pair, and output rod (8) other end and ball head universal (7) one end are welded
It connects, ball head universal (7) other end is bolted with flexible waist moving platform (15).
5. the quadruped robot according to claim 1 with parallel flexible waist structure, it is characterised in that: the motor
(11) it is rotated by the signal control motor (11) of electric machine controller pressure sensor (17) based on the received with different revolving speed；
Wherein, pressure sensor (17) is mounted on the side steel plate of forebay (1), and the side steel plate and flexible waist silent flatform (18) pass through spiral shell
It tethers and connects.
6. the quadruped robot according to claim 1 with parallel flexible waist structure, it is characterised in that: the rack
Crop beam (2) and back porch beam (6) jointly for entire leg mechanism (5) provide one degree of freedom, specific rotating manner be fix
Steering motor (13) on crop beam (2) and back porch beam (6) drives crop beam (2), back porch beam (6) and entire by rotation
The rotation of leg mechanism (5) left/right, the output shaft of steering motor (13) are connect with transmission shaft (14), transmission shaft (14) both ends
It is interference fitted respectively with a bearing (16).
7. the quadruped robot according to claim 1 with parallel flexible waist structure, it is characterised in that: the leg
Mechanism (5) is made of crank, connecting rod I, connecting rod II, connecting rod III, connecting rod IV, connecting rod V, connecting rod VI；Wherein one end of crank and solid
Fixed driving motor (12) on the rack exports axis connection, connecting rod II, connecting rod III one end connect by revolute pair with rack, song
The other end of handle and the one of one end of connecting rod I, the other end at the middle part of connecting rod I and connecting rod II, the other end of connecting rod I and connecting rod IV
The other end and one end of connecting rod VI, the middle part of the other end of connecting rod IV and connecting rod III, company of end and one end of connecting rod V, connecting rod III
The other end of bar V is connect with the middle part of connecting rod VI by revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820939929.4U CN208515722U (en) | 2018-06-19 | 2018-06-19 | A kind of quadruped robot with parallel flexible waist structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820939929.4U CN208515722U (en) | 2018-06-19 | 2018-06-19 | A kind of quadruped robot with parallel flexible waist structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208515722U true CN208515722U (en) | 2019-02-19 |
Family
ID=65325016
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820939929.4U Expired - Fee Related CN208515722U (en) | 2018-06-19 | 2018-06-19 | A kind of quadruped robot with parallel flexible waist structure |
Country Status (1)
| Country | Link |
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| CN (1) | CN208515722U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108657306A (en) * | 2018-06-19 | 2018-10-16 | 昆明理工大学 | A kind of quadruped robot with parallel flexible waist structure |
| CN109871018A (en) * | 2019-02-25 | 2019-06-11 | 北京航空航天大学 | A kind of control method with waist degree of freedom four-footed robot |
| CN110584961A (en) * | 2019-09-05 | 2019-12-20 | 河海大学常州校区 | Walking-aid robot |
-
2018
- 2018-06-19 CN CN201820939929.4U patent/CN208515722U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108657306A (en) * | 2018-06-19 | 2018-10-16 | 昆明理工大学 | A kind of quadruped robot with parallel flexible waist structure |
| CN108657306B (en) * | 2018-06-19 | 2023-11-21 | 昆明理工大学 | Four-foot robot with parallel flexible waist structure |
| CN109871018A (en) * | 2019-02-25 | 2019-06-11 | 北京航空航天大学 | A kind of control method with waist degree of freedom four-footed robot |
| CN109871018B (en) * | 2019-02-25 | 2020-03-10 | 北京航空航天大学 | Control method of quadruped robot with waist degree of freedom |
| CN110584961A (en) * | 2019-09-05 | 2019-12-20 | 河海大学常州校区 | Walking-aid robot |
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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: 20190219 Termination date: 20190619 |
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| CF01 | Termination of patent right due to non-payment of annual fee |