CN209757313U - can scramble four-footed robot shank device on 60 slopes - Google Patents
can scramble four-footed robot shank device on 60 slopes Download PDFInfo
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- CN209757313U CN209757313U CN201822145929.XU CN201822145929U CN209757313U CN 209757313 U CN209757313 U CN 209757313U CN 201822145929 U CN201822145929 U CN 201822145929U CN 209757313 U CN209757313 U CN 209757313U
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Abstract
The utility model discloses a can scramble four sufficient robot shank devices on 60 slopes belongs to the mechanical structure field, including the hip connecting piece, hip connecting piece one end articulates there is the thigh connecting piece, and thigh connecting piece one end articulates there is the shank module, and articulated on the hip connecting piece have pneumatic cylinder A, and pneumatic cylinder A is articulated with the thigh connecting piece, and articulated on the thigh connecting piece have pneumatic cylinder B, and pneumatic cylinder B is articulated with the shank module. The utility model discloses imitate animal climbing gesture, the compression shank, guarantee stability, reduce consumption, make the device can scramble 60 slopes, damping spring reduces the impact force that produces when the robot moves, be equipped with three-dimensional force transducer, realize the operating condition's of robot control, this device is more nimble with being connected of robot health, the foot structure that stabilizes more adopts nanometer pottery-polymer to make the material, but existing enough intensity is self-adaptation topography appearance again, the main part adopts titanium alloy material, to the device lightweight when guaranteeing enough intensity.
Description
Technical Field
The utility model relates to a design of robot shank especially relates to a can scramble four-footed robot shank device on 60 slopes, belongs to mechanical structure technical field.
Background
The research and application of the modern robot are expanded from fixed-point operation in a structural environment to autonomous operation fields in non-structural environments such as interstellar exploration, military reconnaissance attack, address exploration, disaster relief, anti-terrorism and anti-riot. The quadruped robot not only can walk and jump, but also can cross over barriers with a certain height, and can transport articles for soldiers in areas with inconvenient traffic. A weapon is arranged on the four-legged robot to replace a fighter in fighting. In addition to military use, such robots can also play an important role in disaster emergency rescue. The field topography after natural disasters such as earthquake, fire, volcanic eruption, debris flow and the like is very complex and dangerous, and is accompanied by secondary disasters. As the original infrastructure such as public transportation, communication and the like is damaged, rescue workers and large machinery are difficult to timely rush to rescue survivors. The quadruped robot can overcome the difficulties, can timely catch up to the disaster site to acquire and transmit site information, and even can perform rescue work in advance, so that the quadruped robot has important practical application value and social significance.
In the face of rugged mountain land, cliffs and other difficult environments, the existing robot is often difficult to walk in an inch and cannot stand for rescue, reconnaissance and other work, and the existing robot is known to climb to the maximum height of 30 degrees, which is too far away from the practical environment.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a can scramble four-footed robot leg device on 60 slopes, the utility model aims to provide a simple structure, convenient to use can scramble four-footed robot leg device on 60 slopes, and it can drive the robot activity in rugged mountain region, difficult environment such as cliff, and gesture when this device imitates the animal climbing simultaneously reduces the focus, guarantees to stabilize and reduces the consumption.
The purpose of the utility model can be achieved by adopting the following technical scheme:
A leg device of a quadruped robot capable of climbing a slope of 60 degrees comprises a hip connecting piece, wherein one end of the hip connecting piece is hinged with a thigh connecting piece, one end of the thigh connecting piece is hinged with a shank module, a hydraulic cylinder A used for controlling the thigh connecting piece to swing is hinged to the hip connecting piece, the hydraulic cylinder A is hinged to the thigh connecting piece, a hydraulic cylinder B used for controlling the shank module to swing is hinged to the thigh connecting piece, and the hydraulic cylinder B is hinged to the shank module.
Preferably, the shank module comprises a second connecting block hinged to the thigh connecting piece, a connecting rod fixedly connected to one end of the second connecting block, and a foot structure, and the connecting rod is sleeved with a damping spring.
Preferably, a three-dimensional force sensor is arranged between the connecting rod and the foot structure.
preferably, the hip connecting piece is provided with a first connecting block and a through hole which are used for being connected with the body of the robot, and one end of the hip connecting piece is also provided with a connecting groove which is used for being connected with the robot.
Preferably, a horizontal line is formed by taking a hinge point of the thigh connecting piece and the hip connecting piece as a center, an included angle between the thigh connecting piece and the horizontal line is-15-20 degrees, a hinge point of the thigh connecting piece and the shank module is taken as a center point, and a horizontal included angle between the shank module and an extension line of the thigh is 60-100 degrees.
Preferably, the foot structure on the lower leg module is a nano ceramic-polymer foot structure, and the foot structure is a 3D printed foot structure.
Preferably, the hip connecting piece is a titanium alloy hip connecting piece, the thigh connecting piece is a titanium alloy thigh connecting piece, the second connecting block is a titanium alloy connecting block, and the connecting rod is a titanium alloy connecting rod.
The utility model has the advantages of:
1. The utility model provides a pair of can scramble four-footed robot shank device on 60 slopes, hip connecting piece is articulated with the thigh connecting piece, realizes the every single move of thigh through pneumatic cylinder A's push-and-pull, and the thigh connecting piece is articulated with the shank module, realizes the every single move of shank through pneumatic cylinder B's push-and-pull, gesture when the imitation animal climbs, the compression shank reduces the focus, guarantees stability, reduces consumption, makes this device can scramble 60 slopes, makes the adaptable more complicated environment of this device.
2. The utility model provides a pair of can scramble four-footed robot shank device on 60 slopes is equipped with damping spring, can reduce the impact force that the robot produced when jumping and climbing run, plays the effect of protection to the device.
3. The utility model provides a pair of can scramble four-footed robot shank device on 60 slopes is equipped with three-dimensional force sensor, and the operating condition's of robot control is realized to three-dimensional force sensor detectable shank atress condition.
4. The utility model provides a pair of can scramble four-footed robot shank device on 60 slopes is equipped with first connecting block and the through-hole that is used for being connected with the robot health on the hip connecting piece, and hip connecting piece one end still is equipped with the spread groove that is used for being connected with the robot, makes being connected of this device and robot health more nimble, more firm.
5. The utility model provides a pair of can scramble four-footed robot shank device on 60 slopes, foot structure adopt nanometer pottery-polymer to make the material, and the impact force when existing enough intensity supports robot weight and runs the jump, but certain flexible deformation is produced to self-adaptation topography appearance again to ground power and frictional force are grabbed in the reinforcing.
6. The utility model provides a pair of can scramble four-footed robot shank device on 60 slopes, this device main part adopts titanium alloy material, to the device lightweight when guaranteeing sufficient intensity, makes the device energy consumption littleer, and power is more sufficient.
Drawings
Fig. 1 is a schematic overall structure diagram of a preferred embodiment of a quadruped robot leg device capable of climbing a slope of 60 degrees according to the present invention;
Fig. 2 is a schematic overall structure diagram of a preferred embodiment of a quadruped robot leg device capable of climbing a slope of 60 degrees according to the present invention;
fig. 3 is a schematic structural diagram of a calf module of a preferred embodiment of a quadruped robot leg device capable of climbing a slope of 60 degrees according to the present invention.
In the figure: the device comprises a hip connecting piece 1, a thigh connecting piece 2, a shank module 3, a hydraulic cylinder A, a hydraulic cylinder B5, a connecting groove 11, a first connecting block 12, a through hole 13, a second connecting block 31, a damping spring 32, a three-dimensional force sensor 33, a foot structure 34 and a connecting rod 35.
Detailed Description
In order to make the technical solutions of the present invention clearer and clearer for those skilled in the art, the present invention will be described in further detail with reference to the following embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.
As shown in fig. 1, the leg device of the quadruped robot capable of climbing a 60 ° slope provided by this embodiment includes a hip connector 1, a thigh connector 2 is hinged to one end of the hip connector 1, a shank module 3 is hinged to one end of the thigh connector 2, a hydraulic cylinder a4 for controlling the thigh connector 2 to swing is hinged to the hip connector 1, a hydraulic cylinder a4 is hinged to the thigh connector 2, a hydraulic cylinder B5 for controlling the shank module 3 to swing is hinged to the thigh connector 2, a hydraulic cylinder B5 is hinged to the shank module 3, the hip connector 1 is hinged to the thigh connector 2, the thigh is tilted by pushing and pulling the hydraulic cylinder a4, the thigh connector 2 is hinged to the shank module 3, and the shank is tilted by pushing and pulling the hydraulic cylinder B5.
In this embodiment, as shown in fig. 1, the calf module 3 includes a second connecting block 31 hinged to the thigh connecting member 2, a connecting rod 35 fixedly connected to one end of the second connecting block 31, and a foot structure 34, and a damping spring 32 is sleeved on the connecting rod 35, so that the damping spring 32 can reduce the impact force generated when the robot runs, jumps and climbs a slope, and protect the device.
In this embodiment, as shown in fig. 1, a three-dimensional force sensor 33 is disposed between the connecting rod 35 and the foot structure 34, and the three-dimensional force sensor 33 can detect a stress condition of the leg, thereby monitoring a working state of the robot.
In this embodiment, as shown in fig. 1, the hip connector 1 is provided with a first connecting block 12 and a through hole 13 for connecting with the body of the robot, and one end of the hip connector 1 is further provided with a connecting groove 11 for connecting with the robot, so that the device is more flexible and more stable in connection with the body of the robot.
In this embodiment, as shown in fig. 1, a horizontal line is formed by using a hinge point of a thigh connecting piece 2 and a hip connecting piece 1 as a center, an included angle between the thigh connecting piece 2 and the horizontal line is-15 to 20 degrees and is recorded as negative, a hinge point between the thigh connecting piece 2 and a shank module 3 is used as a center point, a horizontal included angle between the shank module 3 and a thigh extension line is 60 to 100 degrees, a posture of an animal during climbing is simulated, legs are compressed, the center of gravity is reduced, stability is ensured, consumption is reduced, the device can climb a 60-degree slope, and the device can adapt to a more complex environment.
In this embodiment, as shown in fig. 1, the foot structure 34 on the lower leg module 3 is a nano ceramic-polymer foot structure, and the foot structure 34 is a 3D printed foot structure, so that the foot structure 34 has sufficient strength to support the weight of the robot and the impact force during running and jumping, and can adapt to the terrain and shape to generate a certain flexible deformation to enhance the grip and friction.
In this embodiment, as shown in fig. 1, the hip connecting member 1 is a titanium alloy hip connecting member, the thigh connecting member 2 is a titanium alloy thigh connecting member, the second connecting block 31 is a titanium alloy connecting block, and the connecting rod 35 is a titanium alloy connecting rod, so that the device is light while ensuring sufficient strength, and the device consumes less energy and provides more power.
The working process of the embodiment in conjunction with fig. 1-3 is as follows:
When the robot climbs a slope, the hydraulic cylinder A4 is pulled back to drive the thigh connecting piece 2 to contract upwards, the hydraulic cylinder B5 pushes out and takes up the shank module 3, the hydraulic cylinder A4 pushes out the thigh connecting piece 2 to put down when the robot lands on the ground, the hydraulic cylinder B5 pulls back the shank module 3 to land on the ground to finish one-leg one-step forward, and the sole three-dimensional force sensor 33 detects the stress condition in real time and feeds the stress condition back to the control system when the legs land on the ground.
In summary, in the embodiments, the hip connector 1 is hinged to the thigh connector 2, the thigh is pitched by pushing and pulling the hydraulic cylinder a4, the thigh connector 2 is hinged to the shank module 3, the shank is pitched by pushing and pulling the hydraulic cylinder B5, the posture of the animal climbing is simulated, the legs are compressed, the center of gravity is reduced, the stability is ensured, the consumption is reduced, the device can climb a 60-degree slope, and the device can adapt to a more complex environment; the damping spring 32 can reduce the impact force generated when the robot runs, jumps and climbs a slope, and plays a role in protecting the device; the three-dimensional force sensor 33 is arranged, and the three-dimensional force sensor 33 can detect the stress condition of the leg, so that the working state of the robot can be monitored; the hip connecting piece 1 is provided with a first connecting block 12 and a through hole 13 which are used for connecting with the body of the robot, and one end of the hip connecting piece 1 is also provided with a connecting groove 11 which is used for connecting with the robot, so that the device is more flexible and more stable in connection with the body of the robot; the foot structure 34 has enough strength to support the weight of the robot and the impact force during running and jumping, and can generate certain flexible deformation in a self-adaptive terrain shape so as to enhance the grip and friction force; the main body of the device is made of titanium alloy materials, so that the device is light in weight while enough strength is guaranteed, the energy consumption of the device is smaller, and the power is more sufficient.
The above description is only a further embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, and any person skilled in the art can replace or change the technical solution and the concept of the present invention within the scope of the present invention.
Claims (7)
1. The utility model provides a can climb four-footed robot leg device on 60 slopes which characterized in that: the hip joint comprises a hip joint part (1), wherein one end of the hip joint part (1) is hinged with a thigh joint part (2), one end of the thigh joint part (2) is hinged with a shank module (3), the hip joint part (1) is hinged with a hydraulic cylinder A (4) used for controlling the thigh joint part (2) to swing, the hydraulic cylinder A (4) is hinged with the thigh joint part (2), the thigh joint part (2) is hinged with a hydraulic cylinder B (5) used for controlling the shank module (3) to swing, and the hydraulic cylinder B (5) is hinged with the shank module (3).
2. A quadruped robotic leg apparatus capable of climbing 60 ° ramps as claimed in claim 1, wherein: the shank module (3) comprises a second connecting block (31) hinged to the thigh connecting piece (2), a connecting rod (35) fixedly connected to one end of the second connecting block (31) and a foot structure (34), and a damping spring (32) is sleeved on the connecting rod (35).
3. a quadruped robotic leg apparatus capable of climbing 60 ° ramps as claimed in claim 2, wherein: a three-dimensional force sensor (33) is arranged between the connecting rod (35) and the foot structure (34).
4. A quadruped robotic leg apparatus capable of climbing 60 ° ramps as claimed in claim 1, wherein: the hip connecting piece (1) is provided with a first connecting block (12) and a through hole (13) which are used for being connected with the body of the robot, and one end of the hip connecting piece (1) is also provided with a connecting groove (11) which is used for being connected with the robot.
5. A quadruped robotic leg apparatus capable of climbing 60 ° ramps as claimed in claim 1, wherein: the horizontal line is formed by taking the hinge point of the thigh connecting piece (2) and the hip connecting piece (1) as the center, the included angle between the thigh connecting piece (2) and the horizontal line is-15-20 degrees, the upward direction is negative, the hinge point of the thigh connecting piece (2) and the shank module (3) is taken as the center point, and the horizontal included angle between the shank module (3) and the thigh extension line is 60-100 degrees.
6. A quadruped robotic leg apparatus capable of climbing 60 ° ramps as claimed in claim 2, wherein: the foot structure (34) on the calf module (3) is a nano ceramic-polymer foot structure, and the foot structure (34) is a 3D printing foot structure.
7. A quadruped robotic leg apparatus capable of climbing 60 ° ramps as claimed in claim 2, wherein: the hip connecting piece (1) is a titanium alloy hip connecting piece, the thigh connecting piece (2) is a titanium alloy thigh connecting piece, the second connecting block (31) is a titanium alloy connecting block, and the connecting rod (35) is a titanium alloy connecting rod.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822145929.XU CN209757313U (en) | 2018-12-20 | 2018-12-20 | can scramble four-footed robot shank device on 60 slopes |
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| CN201822145929.XU CN209757313U (en) | 2018-12-20 | 2018-12-20 | can scramble four-footed robot shank device on 60 slopes |
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| CN209757313U true CN209757313U (en) | 2019-12-10 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115783082A (en) * | 2022-12-01 | 2023-03-14 | 山东大学 | Control method of land robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115783082A (en) * | 2022-12-01 | 2023-03-14 | 山东大学 | Control method of land robot |
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