CN209410196U - A kind of quadruped robot walking mechanism - Google Patents
A kind of quadruped robot walking mechanism Download PDFInfo
- Publication number
- CN209410196U CN209410196U CN201920052975.7U CN201920052975U CN209410196U CN 209410196 U CN209410196 U CN 209410196U CN 201920052975 U CN201920052975 U CN 201920052975U CN 209410196 U CN209410196 U CN 209410196U
- Authority
- CN
- China
- Prior art keywords
- foreleg
- back leg
- thigh
- sway
- shank
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 64
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 136
- 210000002414 leg Anatomy 0.000 claims abstract description 89
- 210000000689 upper leg Anatomy 0.000 claims abstract description 84
- 210000004394 hip joint Anatomy 0.000 claims abstract description 39
- 210000000629 knee joint Anatomy 0.000 claims abstract description 27
- 210000001503 joint Anatomy 0.000 claims abstract description 4
- 229920001971 elastomer Polymers 0.000 claims description 15
- 239000005060 rubber Substances 0.000 claims description 15
- 239000012530 fluid Substances 0.000 claims description 10
- 244000309466 calf Species 0.000 claims description 8
- 238000005452 bending Methods 0.000 claims description 6
- 238000013016 damping Methods 0.000 claims description 6
- 239000007788 liquid Substances 0.000 claims description 6
- 230000002411 adverse Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 14
- 230000008569 process Effects 0.000 description 11
- 230000008859 change Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 238000012876 topography Methods 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 4
- 230000003044 adaptive effect Effects 0.000 description 3
- 238000001816 cooling Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 210000001624 hip Anatomy 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 230000037230 mobility Effects 0.000 description 2
- 241000282327 Felis silvestris Species 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000003447 ipsilateral effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Abstract
The utility model discloses a kind of quadruped robot walking mechanisms, including robot trunk, front end is provided with the end plate of hollow type structure, two sides are symmetrical arranged two groups of leg mechanisms, each group of leg mechanism includes flexible mechanical foreleg and telescopic mechanical back leg, mechanical foreleg includes side-sway structural body, foreleg thigh and foreleg shank, the side of side-sway structural body connect to form side-sway joint with robot trunk, the other end connect to form hip joint with foreleg thigh, foreleg thigh connect to form knee joint with foreleg shank, side-sway joint, hip joint and knee joint are the driving of linear hydraulic cylinder；Mechanical back leg includes back leg thigh and back leg shank, and back leg thigh connects to form linear motion joint by sliding rail with back leg shank, and linear motion joint is driven by linear hydraulic cylinder.Above-mentioned quadruped robot walking mechanism has powerful enabling capabilities, can adjust fuselage posture, and structure novel, mobility is high, and load capacity is strong, can work in complicated landform and adverse circumstances.
Description
Technical field
The utility model relates to robotic technology fields, and in particular to a kind of quadruped robot walking mechanism.
Background technique
Mobile robot is a kind of robot being most widely used at present, it can replace mankind's completion danger, multiple
Miscellaneous or high-intensitive work.
Legged type robot only need it is some it is discrete fall foot point, can walk in as sufficient formula animal with barrier
Rugged ground.Compared to wheeled robot, legged type robot has its unique high maneuverability and the adaptability to complicated ground,
It is with a wide range of applications.
Currently, the main driving method of Multifeet walking robot has electric drive and hydraulic-driven.Compared with electric drive, hydraulic drive
Flowing mode has big power density, High power output, high bandwidth, response fastly and the characteristics such as Ability of Resisting Disturbance is strong, is particularly suited for structure
Build the Multifeet walking robot with stronger environmental suitability.
At present more famous hydraulic quadruped robot have " the Big Dog " of boston, U.S.A utility companies, " LS3 ",
" WildCat " etc., Italian Technology is graduate " HyQ ", " JINPOONG " of Korean Industrial Institute for Research and Technology and Shandong University
" SCalf " etc..
The patent specification of Publication No. CN106741281A discloses a kind of quadruped robot row containing linear joint
Mechanism, including robot trunk part are walked, two pairs of legs mechanism, every a pair of leg machine is arranged in robot trunk part two sides
Structure is arranged along robot trunk partial symmetry, and leg mechanism is connect by hip joint with robot trunk part, leg mechanism bottom
Portion is connect with foot mechanism；The leg mechanism includes leg ontology, is equipped with linear joint in the leg ontology, described
Linear joint includes initiative part and follower, and the follower is connect by connector with transverse rotation power device, the master
Dynamic portion's running drives follower to move along a straight line up and down and then leg ontology is made to move up and down lift leg, the operating of transverse rotation power device
Drive ontology front and back in leg to swing, the transverse rotation power device alternate-running of every a pair of leg mechanism and two ipsilateral legs
The transverse rotation power device alternate-running of portion mechanism drives leg ontology to realize the walking of four-footed gait.
The patent specification of Publication No. CN108163080A discloses a kind of electric drive quadruped robot, using retarder
The output end of dynamical system is connected with load, reduces complexity.
Notification number is that the patent specification of CN207345974U discloses a kind of hydraulic quadruped robot, including fuselage and machine
Tool leg, the both ends of fuselage are provided with the end plate of hollow type structure, and pedipulator includes side-sway connecting plate, thigh connecting plate, shank
Connecting plate and shank, side-sway one end of the connection board are pivotally connected by side-sway joint and end plate, thigh one end of the connection board by hip joint with
The pivot joint of the side-sway connecting plate other end, shank one end of the connection board are pivotally connected by knee joint and the thigh connecting plate other end, shank connection
The plate other end is fixedly connected with shank, and side-sway joint, hip joint and knee joint are oscillating motor.
Utility model content
For shortcoming existing for this field, the utility model provides a kind of quadruped robot walking mechanism, has
Powerful enabling capabilities can adjust fuselage posture, and structure novel, mobility is high, and load capacity is strong, can be in a varied topography, environment
It works under conditions of severe.
A kind of quadruped robot walking mechanism, including robot trunk, front end are provided with the end plate of hollow type structure, two sides
Two groups of leg mechanisms are symmetrical arranged, each group of leg mechanism includes flexible mechanical foreleg and telescopic mechanical back leg, institute
The mechanical foreleg stated includes side-sway structural body, foreleg thigh and foreleg shank, the side of the side-sway structural body and robot
Trunk connects to form side-sway joint, and the other end connect to form hip joint with foreleg thigh, and foreleg thigh connect shape with foreleg shank
At knee joint；Side-sway joint, hip joint and the knee joint is the driving of linear hydraulic cylinder, and side-sway joint axis is parallel to four
The direction of advance of foot robot walking mechanism, direction of advance of the hip joint axis perpendicular to quadruped robot walking mechanism, side-sway
Hip joint axis horizontal when the side-sway angle in joint is zero, knee joint axis are parallel with hip joint axis；The mechanical back leg
Including back leg thigh and back leg shank, back leg thigh connects to form linear motion joint by sliding rail with back leg shank, described
Linear motion joint is driven by linear hydraulic cylinder.
When above-mentioned quadruped robot walking mechanism is walked, two mechanical forelegs are alternately strided forward as active leg, control machine
People's direction of advance, mechanical back leg as driven leg in robot traveling process always with ground face contact, play with amiable main
The effect of support.
When a mechanical foreleg of quadruped robot walking mechanism strides forward, hip joint and kneed linear hydraulic
Cylinder is flexible, drives hip joint and kneed angle change, mechanical foreleg complete lift leg-stride forward-contact to earth-to rear support
Process.
When quadruped robot walking mechanism needs to turn, the linear hydraulic cylinder of side-sway joint is flexible, drives side-sway joint
Angle change, to change direction of advance.
In quadruped robot walking mechanism traveling process, robot is adjusted by the linear hydraulic cylinder in the joint that moves along a straight line
The height and attitude angle of trunk make the stable and mechanical back leg of robot motion bear more power.
In quadruped robot walking mechanism walking process, mechanical foreleg is found in rugged topography suitably falls foot point,
Barrier is got around, provides enough forward force for robot, required hydraulic flow is big but pressure is lower.By the way that four-footed machine is rationally arranged
The centroid position of device people's walking mechanism, the linear motion joint of mechanical back leg can effectively reduce the maximum pressure of hydraulic system,
It realizes on the basis of meeting landform adaptive faculty, maximum pressure needed for hydraulic system is effectively reduced.
Preferably, the end plate includes front end-plate and end plate, and hydraulic cylinder company is connected between front end-plate and end plate
Extension bar is provided with four fuselage connecting rods in the robot trunk, and fuselage connecting rod runs through end plate, with front end-plate phase
Even.
Preferably, the foreleg thigh is provided with transversely arranged hip joint hydraulic cylinder and Knee Joint Fluid cylinder pressure, and hip closes
Section hydraulic cylinder is mounted below Knee Joint Fluid cylinder pressure, can reduce thigh quality with effectively save space.
Preferably, the side-sway structural body includes side-sway connecting shaft, two blocks of side-sway plates, side swing hydraulic cylinder connecting rod and side
Link block is put, one end of side-sway connecting shaft and the fixed pivot joint of side-sway link block, the other end are articulated in end plate, and side-sway plate is equipped with side
Swinging sensor, side-sway plate have counterbore, and for installing first bearing, the side-sway structural body and hip joint hydraulic cylinder are logical
Cross the connection of side swing hydraulic cylinder connecting rod.Angular transducer is set to side-sway construction inner, compact-sized, effectively reduces extraneous dry
It disturbs, improves sensor signal precision.
Preferably, the foreleg thigh includes two blocks of foreleg thigh plates, foreleg thigh connecting shaft, two foreleg thigh liquid
Cylinder pressure connecting rod and two foreleg rubber columns, foreleg thigh plate are fixedly connected with foreleg thigh connecting shaft, with Knee Joint Fluid cylinder pressure,
Hip joint hydraulic cylinder passes through the connection of foreleg thigh hydraulic cylinder connecting rod respectively, and two foreleg rubber columns are reaching hip joint and knee pass
Bump against respectively with side-sway structural body and foreleg shank when saving angle limit value, prevents collision in hydraulic cylinder.
Preferably, the foreleg shank includes two pieces of foreleg calf plates, foreleg shank link block and foreleg shank bar, preceding
Leg calf plate is equipped with knee joint angle sensor, and foreleg calf plate has counterbore, and for installing second bearing, foreleg shank connects
It connects block side to be fixedly connected with foreleg calf plate, bottom is connect with foreleg shank bar.
Preferably, the mechanical foreleg further includes foreleg foot end, and the foreleg foot end includes bending link block, damping
Spring, sufficient end cap cylinder and hemisphere vola, the one end for bending link block are connect with foreleg shank, the other end and the fixed company of sufficient end cap cylinder
It connects, one end of damping spring is connected to the bottom of sufficient end cap cylinder, and the other end is connected to the top in hemisphere vola, the sufficient end cap
Plantar pressure sensor and linear bearing are installed in cylinder, it is ensured that the depth of parallelism in hemisphere vola and sufficient end cap cylinder relative motion is prevented
Only plantar pressure sensor caused by moment of flexure because destroying.
Preferably, the back leg thigh include back leg thigh link block, back leg hydraulic cylinder, two blocks of back leg thigh plates and after
Leg rubber column, the back leg thigh link block top are fixed in robot trunk, and bottom end is connected with back leg hydraulic cylinder, side
It is fixedly connected with back leg thigh plate, back leg rubber column bumps against when mechanical back leg height is reached the limit values with back leg shank, prevents
Collision in hydraulic cylinder.
Preferably, the back leg shank includes back leg shank link block, back leg shank bar, sliding block link block and two bands
There is the linear guide of sliding block, described back leg shank link block one end is fixedly connected with back leg shank bar, the other end and back leg liquid
Cylinder pressure is connected, and sliding block link block is fixedly connected with back leg thigh plate, and for fixing sliding block, linear guide is fixed with back leg shank bar
Connection.The design of sliding block and linear guide can prevent because back leg thigh and back leg shank movement it is not parallel caused by hydraulic cylinder
Piston rod is deformed by moment of flexure.
Preferably, the mechanical back leg further includes back leg foot end, and the back leg foot end uses universal wheel mechanism, and rear
Leg shank is fixedly connected, it can be achieved that any direction is walked.
Compared with prior art, major advantage includes: the utility model
A. there are powerful enabling capabilities, can adjust fuselage posture, structure novel, mobility is high, and load capacity is strong, can be
It works under conditions of with a varied topography, bad environments.
B. mechanical foreleg is alternately strided forward as active leg, controls robot direction of advance, and mechanical back leg exists as driven leg
Play the role of always with ground face contact with amiable main support in robot traveling process.
C. linear hydraulic cylinder driving hip joint and kneed angle change, make mechanical foreleg complete lift leg-stride forward-
Contact to earth-to the process of rear support, so that quadruped robot walking mechanism is advanced.
D. the angle change of linear hydraulic cylinder driving side-sway joint, to change the advance side of quadruped robot walking mechanism
To.
E. linear hydraulic cylinder driving linear motion joint, adjusts the height and attitude angle of robot trunk, makes four-footed machine
People's walking mechanism motion stabilization and the more power of mechanical back leg receiving.
F. in quadruped robot walking mechanism walking process, mechanical foreleg is found in rugged topography suitably falls foot
Point gets around barrier, provides enough forward force for robot, required hydraulic flow is big but pressure is lower.By being rationally arranged four
The centroid position of foot robot walking mechanism, the linear motion joint of mechanical back leg can effectively reduce the maximum pressure of hydraulic system
Power realizes that on the basis of meeting landform adaptive faculty, maximum pressure needed for hydraulic system is effectively reduced.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the quadruped robot walking mechanism of embodiment；
Fig. 2 is the structural schematic diagram of the robot trunk of the quadruped robot walking mechanism of embodiment；
Fig. 3 is the structural schematic diagram of the side-sway structural body of the quadruped robot walking mechanism of embodiment；
Fig. 4 is the structural schematic diagram of the foreleg thigh of the quadruped robot walking mechanism of embodiment；
Fig. 5 is the structural schematic diagram of the foreleg shank of the quadruped robot walking mechanism of embodiment；
Fig. 6 is the structural schematic diagram of the mechanical back leg of the quadruped robot walking mechanism of embodiment；
In figure: 1- robot trunk；2- machinery foreleg；3- machinery back leg；201- side-sway structural body；202- foreleg thigh；
203- foreleg shank；11- fuselage connecting rod；12- end plate；13- end plate connection bar；14- front end-plate；15- hydraulic cylinder connecting rod；
16- through-hole；21- side-sway connecting shaft；22- side-sway link block；23- side-sway right panel；24- side swing hydraulic cylinder link block；25- side-sway liquid
Cylinder pressure connecting rod；26- side-sway left plate；27- foreleg rubber column；28- foreleg thigh right panel；29- foreleg thigh hydraulic cylinder connecting rod；
210- hip joint hydraulic cylinder；211- Knee Joint Fluid cylinder pressure；212- foreleg thigh left plate；213- side-sway angular transducer；214-
One bearing；215- foreleg thigh connecting shaft；216- foreleg shank right panel；217- foreleg shank left plate；The connection of 218- foreleg shank
Bolt；219- foreleg shank link block；220- foreleg shank bar；221- bends link block；222- foot end cap cylinder；223- damping bullet
Spring；224- hemisphere vola；31- back leg thigh link block；32- back leg hydraulic cylinder link block；33- back leg hydraulic cylinder connecting shaft；34-
Back leg hydraulic cylinder；35- back leg thigh right panel；36- back leg thigh left plate；37- back leg rubber column；38- back leg gasket；39- back leg
Shank link block；310- back leg shank bar；311- sliding block link block；312- linear guide；313- sliding block；314 back leg foot ends.
Specific embodiment
With reference to the accompanying drawing and specific embodiment, the utility model is further described.It should be understood that the implementation of the utility model
Example is merely to illustrate the utility model rather than limitation the scope of the utility model.Actual conditions are not specified in the following example
Method, usually according to normal condition, or according to the normal condition proposed by manufacturer.
The quadruped robot walking mechanism of the present embodiment is as shown in Figure 1, include robot trunk 1, two sides are symmetrical arranged two
Group leg mechanism, each group of leg mechanism include a flexible mechanical foreleg 2 and a telescopic mechanical back leg 3.Machine
Tool foreleg 2 include side-sway structural body 201, foreleg thigh 202, foreleg shank 203 and foreleg foot end, the one of side-sway structural body 201
Side connect to form side-sway joint with robot trunk 1, and the other end connect to form hip joint with foreleg thigh 202, foreleg thigh 202
It connect to form knee joint with foreleg shank 203.Side-sway joint is the driving of linear hydraulic cylinder, and side-sway joint axis is parallel to four-footed machine
The direction of advance of device people's walking mechanism.Mechanical back leg 3 includes back leg thigh 301 and back leg shank 302, and back leg thigh 301 is with after
Leg shank 302 connects to form linear motion joint by sliding rail, and linear motion joint is driven by linear hydraulic cylinder.
Robot trunk 1 is equipped with power source, hydraulic system, cooling system, electric-control system and navigation system.Hydraulic system
Including hydraulic pump, relevant control valve, filter, accumulator, hydraulic oil container, flow pressure related sensor etc., mentioned for robot
For direct power drive and control.Power source is motor and battery, drives hydraulic pump rotation.Electric-control system includes related electric
Hardware and software are the control systems for controlling hydraulic system.Cooling system includes hydraulic radiating and electrical cooling system, is
Hydraulic system and electric-control system, which work normally, provides temperature environment guarantee.Navigation system provides environment sensing and target for robot
Guiding.Weight bearing can be placed in robot trunk 1 when needed, realize robotic conveyance function.
As shown in Figure 2,3,1 front end of robot trunk is provided with the front end-plate 14 and end plate 12 of hollow type structure, front end
Four butt plate connecting rods 13 and two hydraulic cylinder connecting rods 15, front end-plate 14 and end plate are connected between plate 14 and end plate 12
12 are provided with through-hole 16, and side-sway connecting shaft 21 is by bearing hinge joint in through-hole 16.Four machines are provided in robot trunk 1
Body connecting rod 11, fuselage connecting rod 11 run through end plate 12, are connected with front end-plate 14.The other parts of robot trunk 1 are adopted
It is securely connected with aluminium, enhances the stability and remoldability of robot trunk 1, realization robot ambulation that can be more reliable.
As shown in Figure 3,4, side-sway structural body 201 is by side-sway connecting shaft 21, side-sway left plate 26, side-sway right panel 23, side-sway liquid
Cylinder pressure link block 24, side swing hydraulic cylinder connecting rod 25 and the splicing composition of side-sway link block 22, side-sway connecting shaft 21 are connect with side-sway
The fixed pivot joint of block 22, side-sway left plate 26 are equipped with side-sway angular transducer 213, and it is heavy that side-sway left plate 26 and side-sway right panel 23 all have
Hole is connected for installing first bearing 214, side-sway structural body 201 and hip joint hydraulic cylinder 210 by side swing hydraulic cylinder connecting rod 25
It connects.
As shown in figure 4, foreleg thigh 202 is provided with transversely arranged hip joint hydraulic cylinder 210 and Knee Joint Fluid cylinder pressure
211, hip joint hydraulic cylinder 210 is mounted on 211 lower section of Knee Joint Fluid cylinder pressure, and hip joint and knee joint are that linear hydraulic cylinder drives
Dynamic, hip joint axis is perpendicular to the direction of advance of quadruped robot walking mechanism, and hip closes when the side-sway angle of side-sway joint is zero
Axis horizontal is saved, knee joint axis is parallel with hip joint axis.
As shown in Figure 4,5, foreleg thigh 202 includes foreleg thigh left plate 212, foreleg thigh right panel 28, foreleg thigh company
215, two foreleg thigh hydraulic cylinder connecting rods 29 of spindle and two foreleg rubber columns 27, foreleg thigh left plate 212, foreleg thigh
Right panel 28 is fixedly connected with foreleg thigh connecting shaft 215, and foreleg thigh left plate 212 is big by foreleg with Knee Joint Fluid cylinder pressure 211
Leg hydraulic cylinder connecting rod 29 connects, and foreleg thigh right panel 28 and hip joint hydraulic cylinder 210 are connected by another foreleg thigh hydraulic cylinder
Extension bar connection, two foreleg rubber columns 27 when reaching hip joint and knee joint angle limiting value respectively with side-sway right panel 23, side
It puts left plate 26 and foreleg shank right panel 216, foreleg shank left plate 217 bumps against, prevent collision in hydraulic cylinder.
As shown in figure 5, foreleg shank 203 connects spiral shell by foreleg shank left plate 217, foreleg shank right panel 216, foreleg shank
Bolt 218, foreleg shank link block 219 and the splicing composition of foreleg shank bar 220.Foreleg shank left plate 217 is equipped with knee angle
Sensor is spent, foreleg shank left plate 217 and foreleg shank right panel 216 all have counterbore, for installing second bearing, foreleg shank
The side of link block 219 is fixedly connected with foreleg shank left plate 217, foreleg shank right panel 216, and foreleg shank connects bolt 218
Longitudinally through foreleg shank link block 219, it is connect with foreleg shank bar 220.
As shown in figure 5, foreleg foot end includes bending link block 221, damping spring 223, sufficient end cap cylinder 222 and hemisphere vola
224.One end of bending link block 221 is fixedly connected with foreleg shank bar 220, and the other end is fixedly connected with sufficient end cap cylinder 222, is subtracted
One end of shake spring 223 is connected to the bottom of sufficient end cap cylinder 222, and the other end is connected to the top in hemisphere vola 224, sufficient end cap cylinder
It is equipped with chamber in 222, plantar pressure sensor and linear bearing are installed.
As shown in fig. 6, back leg thigh 301 is hydraulic including back leg thigh link block 31, back leg hydraulic cylinder link block 32, back leg
Cylinder connecting shaft 33, back leg hydraulic cylinder 34, back leg thigh left plate 36, back leg thigh right panel 35 and two back leg rubber columns 37.Back leg
31 top of thigh link block is fixed in robot trunk 1, and bottom end is connected by back leg hydraulic cylinder link block 32 and back leg hydraulic cylinder
Spindle 33 is connected with back leg hydraulic cylinder 34, and side is fixedly connected with back leg thigh left plate 36, back leg thigh right panel 35, back leg rubber
Column 37 bumps against when mechanical 3 height of back leg is reached the limit values with back leg shank link block 39, prevents collision in hydraulic cylinder.
As shown in fig. 6, back leg shank 302 includes back leg gasket 38, back leg shank link block 39, back leg shank bar 310, slides
Block link block 311 and two linear guides 312 with sliding block 313.39 bottom end of back leg shank link block and back leg shank bar 310
It being fixedly connected, top is connected with back leg hydraulic cylinder 34, and back leg thigh left plate 36 and back leg thigh right panel 35 are equipped with symmetrical through-hole,
Height adjusts when fixed for mechanical back leg 3, fixed with back leg gasket 38 and back leg shank link block 39.Sliding block link block 311
It is fixedly connected with back leg thigh left plate 36, back leg thigh right panel 35, for fixing sliding block 313, linear guide 312 and back leg shank
Bar 310 is fixedly connected.
As shown in fig. 6, back leg foot end 314 uses universal wheel mechanism, it is fixedly connected with back leg shank bar 310, it can be achieved that appointing
The walking of meaning direction.
When the quadruped robot walking mechanism walking of the present embodiment, two mechanical forelegs are alternately strided forward as active leg, are controlled
Robot direction of advance processed, mechanical back leg as driven leg in robot traveling process always with ground face contact, play and follow
With the effect of main support.When a mechanical foreleg strides forward, hip joint and kneed linear hydraulic cylinder are flexible, drive
Hip joint and kneed angle change, mechanical foreleg complete lift leg-stride forward-contact to earth-to the process of rear support.Work as needs
When turning, the linear hydraulic cylinder of side-sway joint is flexible, the angle change of side-sway joint is driven, to change direction of advance.
In quadruped robot walking mechanism traveling process, robot is adjusted by the linear hydraulic cylinder in the joint that moves along a straight line
The height and attitude angle of trunk make the stable and mechanical back leg of robot motion bear more power.
In quadruped robot walking mechanism walking process, mechanical foreleg is found in rugged topography suitably falls foot point,
Barrier is got around, provides enough forward force for robot, required hydraulic flow is big but pressure is lower.By the way that four-footed machine is rationally arranged
The centroid position of device people's walking mechanism, the linear motion joint of mechanical back leg can effectively reduce the maximum pressure of hydraulic system,
It realizes on the basis of meeting landform adaptive faculty, maximum pressure needed for hydraulic system is effectively reduced.
In addition, it should also be understood that, those skilled in the art can be right after having read the foregoing description content of the utility model
The utility model makes various changes or modifications, and such equivalent forms equally fall within model defined by the application the appended claims
It encloses.
Claims (10)
1. a kind of quadruped robot walking mechanism, including robot trunk (1), front end is provided with the end plate of hollow type structure, two
Side is symmetrical arranged two groups of leg mechanisms, after each group of leg mechanism includes flexible mechanical foreleg (2) and telescopic machinery
Leg (3), which is characterized in that the mechanical foreleg (2) includes side-sway structural body (201), foreleg thigh (202) and foreleg shank
(203), the side of the side-sway structural body (201) connect to form side-sway joint with robot trunk (1), the other end and foreleg
Thigh (202) connection forms hip joint, and foreleg thigh (202) connect to form knee joint with foreleg shank (203)；The side-sway
Joint, hip joint and knee joint are the driving of linear hydraulic cylinder, and side-sway joint axis is parallel to quadruped robot walking mechanism
Direction of advance, for hip joint axis perpendicular to the direction of advance of quadruped robot walking mechanism, the side-sway angle of side-sway joint is zero
When hip joint axis horizontal, knee joint axis is parallel with hip joint axis；
The mechanical back leg (3) includes back leg thigh (301) and back leg shank (302), back leg thigh (301) and back leg shank
(302) it connects to form linear motion joint by sliding rail, the linear motion joint is driven by linear hydraulic cylinder.
2. quadruped robot walking mechanism according to claim 1, which is characterized in that the end plate includes front end-plate
(14) and end plate (12) hydraulic cylinder connecting rod (15), the machine, are connected between front end-plate (14) and end plate (12)
Four fuselage connecting rods (11) are provided on people's trunk (1), fuselage connecting rod (11) runs through end plate (12), with front end-plate (14)
It is connected.
3. quadruped robot walking mechanism according to claim 1 or 2, which is characterized in that the foreleg thigh (202)
It is provided with transversely arranged hip joint hydraulic cylinder (210) and Knee Joint Fluid cylinder pressure (211), hip joint hydraulic cylinder (210) is mounted on
Below Knee Joint Fluid cylinder pressure (211).
4. quadruped robot walking mechanism according to claim 3, which is characterized in that the side-sway structural body (201)
Including side-sway connecting shaft (21), two blocks of side-sway plates, side swing hydraulic cylinder connecting rod (25) and side-sway link block (22), side-sway connecting shaft
(21) one end and side-sway link block (22) is fixed to be pivotally connected, and the other end is articulated in end plate, and side-sway plate is equipped with side-sway angle sensor
Device (213), side-sway plate has counterbore, for installing first bearing (214), the side-sway structural body (201) and hip joint liquid
Cylinder pressure (210) is connected by side swing hydraulic cylinder connecting rod (25).
5. quadruped robot walking mechanism according to claim 4, which is characterized in that foreleg thigh (202) packet
Include two blocks of foreleg thigh plates, foreleg thigh connecting shaft (215), two foreleg thigh hydraulic cylinder connecting rods (29) and two foreleg rubbers
Rubber column gel column (27), foreleg thigh plate are fixedly connected with foreleg thigh connecting shaft (215), with Knee Joint Fluid cylinder pressure (211), hip joint liquid
Cylinder pressure (210) is connected by foreleg thigh hydraulic cylinder connecting rod (29) respectively, and two foreleg rubber columns (27) are reaching hip joint
With bump against respectively with side-sway structural body (201) and foreleg shank (203) when knee joint angle limiting value.
6. quadruped robot walking mechanism according to claim 1, which is characterized in that foreleg shank (203) packet
Two pieces of foreleg calf plates, foreleg shank link block (219) and foreleg shank bar (220) are included, foreleg calf plate is equipped with knee joint
Angular transducer, foreleg calf plate has counterbore, for installing second bearing, foreleg shank link block (219) side and foreleg
Calf plate is fixedly connected, and bottom is connect with foreleg shank bar (220).
7. quadruped robot walking mechanism according to claim 1 or 6, which is characterized in that the mechanical foreleg (2) is also
Including foreleg foot end, the foreleg foot end include bending link block (221), damping spring (223), sufficient end cap cylinder (222) and
The one end in hemisphere vola (224), bending link block (221) is connect with foreleg shank (203), the other end and sufficient end cap cylinder (222)
It is fixedly connected, one end of damping spring (223) is connected to the bottom of sufficient end cap cylinder (222), and the other end is connected to hemisphere vola
(224) top, the sufficient end cap cylinder (222) is interior to be equipped with plantar pressure sensor and linear bearing.
8. quadruped robot walking mechanism according to claim 1, which is characterized in that back leg thigh (301) packet
Include back leg thigh link block (31), back leg hydraulic cylinder (34), two blocks of back leg thigh plates and back leg rubber column (37), the back leg
Thigh link block (31) top is fixed on robot trunk (1), and bottom end is connected with back leg hydraulic cylinder (34), and side is big with back leg
Leg plate is fixedly connected, and back leg rubber column (37) bumps against when mechanical back leg (3) is highly reached the limit values with back leg shank (302).
9. quadruped robot walking mechanism according to claim 8, which is characterized in that back leg shank (302) packet
Include back leg shank link block (39), back leg shank bar (310), sliding block link block (311) and two straight lines with sliding block (313)
Guide rail (312), described back leg shank link block (39) one end are fixedly connected with back leg shank bar (310), the other end and back leg
Hydraulic cylinder (34) is connected, and sliding block link block (311) is fixedly connected with back leg thigh plate, for fixing sliding block (313), linear guide
(312) it is fixedly connected with back leg shank bar (310).
10. quadruped robot walking mechanism according to claim 1, which is characterized in that the mechanical back leg (3) also wraps
Back leg foot end (314) is included, the back leg foot end (314) uses universal wheel mechanism, is fixedly connected with back leg shank (302).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920052975.7U CN209410196U (en) | 2019-01-14 | 2019-01-14 | A kind of quadruped robot walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920052975.7U CN209410196U (en) | 2019-01-14 | 2019-01-14 | A kind of quadruped robot walking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209410196U true CN209410196U (en) | 2019-09-20 |
Family
ID=67943542
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920052975.7U Withdrawn - After Issue CN209410196U (en) | 2019-01-14 | 2019-01-14 | A kind of quadruped robot walking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209410196U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109501881A (en) * | 2019-01-14 | 2019-03-22 | 浙江大学 | A kind of quadruped robot walking mechanism |
| CN110842933A (en) * | 2019-10-23 | 2020-02-28 | 常州固高智能装备技术研究院有限公司 | Cargo transport robot convenient to automatically regulated angle |
| WO2021079578A1 (en) * | 2019-10-25 | 2021-04-29 | ソニー株式会社 | Robot device |
| CN113954984A (en) * | 2021-11-29 | 2022-01-21 | 江苏集萃智能制造技术研究所有限公司 | Bionic mechanism of hydraulic quadruped robot |
| CN112874651B (en) * | 2021-02-04 | 2024-02-02 | 深圳逐际动力科技有限公司 | Four-foot robot |
-
2019
- 2019-01-14 CN CN201920052975.7U patent/CN209410196U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109501881A (en) * | 2019-01-14 | 2019-03-22 | 浙江大学 | A kind of quadruped robot walking mechanism |
| CN109501881B (en) * | 2019-01-14 | 2024-01-12 | 浙江大学 | Four-foot robot walking mechanism |
| CN110842933A (en) * | 2019-10-23 | 2020-02-28 | 常州固高智能装备技术研究院有限公司 | Cargo transport robot convenient to automatically regulated angle |
| WO2021079578A1 (en) * | 2019-10-25 | 2021-04-29 | ソニー株式会社 | Robot device |
| CN112874651B (en) * | 2021-02-04 | 2024-02-02 | 深圳逐际动力科技有限公司 | Four-foot robot |
| CN113954984A (en) * | 2021-11-29 | 2022-01-21 | 江苏集萃智能制造技术研究所有限公司 | Bionic mechanism of hydraulic quadruped robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109501881A (en) | A kind of quadruped robot walking mechanism | |
| CN209410196U (en) | A kind of quadruped robot walking mechanism | |
| CN109501880B (en) | Single-wheel biped walking robot | |
| CN107614365B (en) | Mobile platform | |
| CN108163080B (en) | Electrically driven quadruped robot capable of adapting to high load capacity of complex rugged terrain | |
| US5808433A (en) | Method of generating gait of legged walking robot and system for controlling its locomotion | |
| CN110562346A (en) | Novel structure four-footed hydraulic robot | |
| CN111204382A (en) | Wheel-leg combined quadruped robot | |
| CN109178138B (en) | Quadruped robot and leg joint structure | |
| CN104890759A (en) | Four-footed robot | |
| CN110682976B (en) | Multi-degree-of-freedom mechanical wheel leg structure of wheel leg combined type mobile robot | |
| CN105857432A (en) | Hexapod robot, foot control method and gait control method | |
| CN110936346A (en) | Foldable four-wheel leg type obstacle crossing robot | |
| CN110962957A (en) | Double-leg double-wheel compound motion robot | |
| CN102107688A (en) | Dual-leg travelling mechanism with adjustable joint length | |
| Jin et al. | Joint torque estimation toward dynamic and compliant control for gear-driven torque sensorless quadruped robot | |
| CN109760762A (en) | A kind of foot end self-adaptive hydraulic quadruped robot | |
| Guo et al. | A parallel actuated pantograph leg for high-speed locomotion | |
| CN103171645B (en) | Hexapod robot capable of travelling in rolling manner | |
| CN113753152A (en) | Three-degree-of-freedom full-decoupling parallel mechanical leg structure and four-foot robot | |
| CN204871277U (en) | Four -footed robot | |
| CN108639181B (en) | Multi-degree-of-freedom four-foot bionic robot | |
| CN203172754U (en) | Rollable six-foot robot | |
| CN211491511U (en) | Foldable four-wheel leg type obstacle crossing robot | |
| CN211519698U (en) | But climbing big angle slope height hinders bionic robot more |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190920 Effective date of abandoning: 20240112 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20190920 Effective date of abandoning: 20240112 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |