CN210083394U - Four-footed crawling robot with multi-degree-of-freedom spine - Google Patents
Four-footed crawling robot with multi-degree-of-freedom spine Download PDFInfo
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- CN210083394U CN210083394U CN201920884138.0U CN201920884138U CN210083394U CN 210083394 U CN210083394 U CN 210083394U CN 201920884138 U CN201920884138 U CN 201920884138U CN 210083394 U CN210083394 U CN 210083394U
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Abstract
The utility model discloses a four-foot crawling robot with a multi-degree-of-freedom spine, which comprises a spine mechanism and four leg mechanisms; the spine mechanism comprises a head part, an anterior spine leg part, a plurality of spine parts, a posterior spine leg part, a spine tail connecting part and a tail part which are connected in sequence; the front spine leg part comprises a front spine leg connecting piece and a front spine leg steering engine; the head part is fixed at the front end of the front spine leg connecting piece; the spine part comprises a spine connecting piece and a spine steering engine; a plurality of spinal column parts are connected in series in sequence; the back spine leg part comprises a back spine leg connecting piece and a back spine leg steering engine; the spine tail connecting part comprises a spine tail connecting piece and a spine tail steering engine; the tail part is fixedly positioned at the rear side of the spine tail steering engine; in the four leg mechanisms, the upper ends of the two leg mechanisms are fixedly positioned at the left side and the right side of the front spine leg steering engine, and the upper ends of the other two leg mechanisms are fixedly positioned at the left side and the right side of the rear spine leg steering engine. The utility model discloses have simple reasonable mechanical structure, and have higher motion efficiency and motion ability.
Description
Technical Field
The utility model belongs to the technical field of remove bionic robot, a robot of crawling is related to, especially relate to a four-footed robot of crawling with multi freedom backbone.
Background
With the rapid development of the robot technology, the application of the robot technology is more and more extensive. Compared with the traditional wheeled and tracked robots, the legged robot has better environmental adaptability and higher maneuverability in complex environments. The quadruped robot takes quadruped animals as research objects, the designed quadruped robot avoids the structural complexity of the multi-legged robot, and has better stability than a biped robot. The currently designed quadruped robot is mainly used in the fields of disaster relief and rescue, military investigation, biological research and the like.
The four-footed robot has two main driving systems: a hydraulic drive system and a motor drive system. Compared with a hydraulic driving system, the motor driving system has a relatively simple driving design and is more beneficial to designing a small quadruped robot. At present, the spine of a quadruped robot usually adopts a rigid structure, such as the Boston-powered BigDog, Spotmini and other robots. This design does not conform to the skeletal structural features of a living being.
SUMMERY OF THE UTILITY MODEL
The utility model provides a four-footed crawling robot with multi-degree of freedom spine, which overcomes the defects of the prior art.
In order to realize the aim, the utility model provides a four-foot crawling robot with a multi-degree-of-freedom spine, which comprises a spine mechanism and four leg mechanisms; the spine mechanism comprises a head part, an anterior spine leg part, a plurality of spine parts, a posterior spine leg part, a spine tail connecting part and a tail part which are connected in sequence; the front spine leg part comprises a front spine leg connecting piece and a front spine leg steering engine, the front spine leg steering engine is provided with a front spine leg output shaft which is vertically arranged, and the front spine leg connecting piece is arranged at the front end of the front spine leg steering engine, is fixedly connected with the front spine leg output shaft and rotates along with the rotation of the front spine leg output shaft; the head part is fixed at the front end of the front spine leg connecting piece; the spine part comprises a spine connecting piece and a spine steering engine, the spine steering engine is provided with a vertically arranged spine output shaft, and in the same spine part, the spine connecting piece is arranged at the front end of the spine steering engine, is fixedly connected with the spine output shaft and rotates along with the rotation of the spine output shaft; the spinal column parts are sequentially connected in series, and the spinal column steering engine of the front spinal column part is fixedly positioned at the front side of the spinal column connecting piece of the back spinal column part in the two adjacent spinal column parts; the spine connecting piece of the most forward spine part is fixedly positioned at the rear side of the front spine leg steering engine; the rear spine leg part comprises a rear spine leg connecting piece and a rear spine leg steering engine, the rear spine leg steering engine is provided with a rear spine leg output shaft which is vertically arranged, the rear spine leg connecting piece is arranged at the front end of the rear spine leg steering engine and is fixedly connected with the rear spine leg output shaft, and then the spine leg output shaft rotates; the rear spine leg connecting piece is fixedly arranged at the rear side of the spine steering engine at the rearmost spine part; the spine tail connecting part comprises a spine tail connecting piece and a spine tail steering engine, the spine tail steering engine is provided with a spine tail output shaft which is vertically arranged, and the spine tail connecting piece is arranged at the front end of the spine tail steering engine, is fixedly connected with the spine tail output shaft and rotates along with the rotation of the spine tail output shaft; the spine tail connecting piece is fixedly positioned at the rear side of the rear spine leg steering engine; the tail part is fixedly positioned at the rear side of the spine tail steering engine; in the four leg mechanisms, the upper ends of the two leg mechanisms are fixedly positioned at the left side and the right side of the front spine leg steering engine, and the upper ends of the other two leg mechanisms are fixedly positioned at the left side and the right side of the rear spine leg steering engine.
Further, the utility model provides a four-footed robot of crawling with multi freedom backbone can also have such characteristic: the front spine leg part also comprises a front spine leg connecting plate which is fixed at the rear end of the front spine leg steering engine, and the front end of the spine connecting piece of the most front spine part is fixed on the rear surface of the front spine leg connecting plate; the spine part also comprises a spine connecting plate, and in the same spine part, the spine connecting plate is fixed at the rear end of the spine steering engine; the front end of the spine connecting piece of the back spine part in the two adjacent spine parts is fixed on the back surface of the spine connecting plate of the front spine part; the front end of the rear spine leg connecting piece is fixed on the rear surface of the spine connecting plate of the most rear spine part; the back spine leg part also comprises a back spine leg connecting plate which is fixed at the back end of the back spine leg steering engine, and the front end of the spine tail connecting piece is fixed on the back surface of the back spine leg connecting plate; the spine tail connecting part further comprises a spine tail connecting plate which is fixed at the rear end of the spine tail steering engine, and the front end of the tail part is fixed on the rear surface of the spine tail connecting plate.
Further, the utility model provides a four-footed robot of crawling with multi freedom backbone can also have such characteristic: the front spine leg part also comprises two front spine leg side connecting plates which are respectively fixed on the left side and the right side of the front spine leg steering engine, and the upper ends of the two front leg mechanisms are respectively fixed on the outer side surfaces of the two front spine leg side connecting plates; the back spine leg part also comprises two back spine leg side connecting plates which are respectively fixed at the left side and the right side of the back spine leg steering engine, and the upper ends of the two leg mechanisms at the rear part are respectively fixed on the outer side surfaces of the two back spine leg side connecting plates.
Further, the utility model provides a four-footed robot of crawling with multi freedom backbone can also have such characteristic: wherein, the tail part comprises a tail connecting piece and a tail part body; the front end of the tail connecting piece is fixed on the rear surface of the ridge tail connecting plate; the front end of the tail body is fixed at the rear end of the tail connecting piece.
Further, the utility model provides a four-footed robot of crawling with multi freedom backbone can also have such characteristic: the front spine leg connecting piece, the spine connecting piece, the rear spine leg connecting piece, the spine tail connecting piece and the tail connecting piece are of the same structure and are respectively provided with a connecting plate part and two shaft fixing parts, the front ends of the two shaft fixing parts are respectively arranged at the upper end and the lower end of the connecting plate part, and the shaft fixing parts are perpendicular to the connecting plate part; the head part is fixed on the front surface of the connecting plate part of the front spine leg connecting piece, and the output shaft of the front spine leg is fixedly connected with the rear end of the shaft fixing part of the front spine leg connecting piece; the front spine leg connecting plate is fixed on the front surface of the connecting plate part of the spine connecting piece of the most front spine part; in the same spine part, a spine output shaft is fixedly connected with the rear end of a shaft fixing part of the spine connecting piece; the spine connecting plate of the front spine part in the two adjacent spine parts is fixed on the front surface of the connecting plate part of the spine connecting piece of the rear spine part; the spine connecting plate of the most posterior spine part is fixed on the front surface of the connecting plate part of the rear spine leg connecting piece, and the rear spine leg output shaft is fixedly connected with the rear end of the shaft fixing part of the rear spine leg connecting piece; the rear spine leg connecting plate is fixed on the front surface of the connecting plate part of the tail connecting piece, and the front end of the tail body is fixed between the rear ends of the two shaft fixing parts of the tail connecting piece.
Further, the utility model provides a four-footed robot of crawling with multi freedom backbone can also have such characteristic: the length of the spine connecting piece, the length of the back spine leg connecting piece and the length of the spine tail connecting piece are equal; the length of the anterior leg connecting piece and the length of the caudal connecting piece are both larger than the length of the spinal connecting piece.
Further, the utility model provides a four-footed robot of crawling with multi freedom backbone can also have such characteristic: wherein the spine portion further comprises an exoskeleton; the exoskeleton is provided with a middle connecting part and two side wing parts, the inner ends of the two side wing parts are respectively fixedly arranged at the left side and the right side of the middle connecting part, and the side wing parts are upwards inclined along the direction from inside to outside; in the same spinal column part, the middle connecting part is fixed on the upper surface of the spinal column steering engine.
Further, the utility model provides a four-footed robot of crawling with multi freedom backbone can also have such characteristic: the leg mechanism comprises a first connecting plate, a first steering engine, a second connecting plate, a second steering engine, a third connecting piece, a third steering engine, a fourth connecting plate and a fourth steering engine; the first connecting plate is fixedly positioned on the side surface of the front spine leg steering engine or the rear spine leg steering engine; a first output shaft of the first steering engine is vertically arranged, and the bottom surface of the first steering engine is fixed on the first connecting plate; the second connecting plate is horizontally arranged, is fixedly connected to the bottom end of the first output shaft and rotates along with the rotation of the first output shaft; a second output shaft of the second steering engine is horizontal and arranged along the front-back direction, and the front surface of the second steering engine is fixed on the second connecting plate; the inner end of the third connecting piece is fixedly connected with the second output shaft and rotates up and down along with the rotation of the second output shaft; a third output shaft of the third steering engine is horizontal and arranged along the left-right direction, and the side surface of the third steering engine is fixed on the outer side of the third connecting piece; the fourth connecting plate is vertically arranged, is perpendicular to the third output shaft and is fixedly connected to the outer end of the third output shaft; a fourth output shaft of the fourth steering engine is horizontal and arranged along the front-back direction, and the front surface of the fourth steering engine is fixed on the outer surface of the fourth connecting plate.
Further, the utility model provides a four-footed robot of crawling with multi freedom backbone can also have such characteristic: wherein, the leg mechanism also comprises a foot end connecting piece and a foot end part; the upper end of the foot end connecting piece is fixedly connected with the fourth output shaft; the upper end of the foot end part is fixed at the lower side of the foot end connecting piece; the bottom end of the foot end part is spherical.
Further, the utility model provides a four-footed robot of crawling with multi freedom backbone can also have such characteristic: the third connecting piece and the foot end connecting piece are the same in structure and are respectively provided with a leg connecting plate part and two leg shaft fixing parts, one ends of the two leg shaft fixing parts are respectively arranged at two ends of the leg connecting plate part, and the leg shaft fixing parts are perpendicular to the leg connecting plate part; a leg shaft fixing part of the third connecting piece is fixedly connected with the second output shaft, and a leg connecting plate part of the third connecting piece is fixedly connected with the side surface of the third steering engine; the leg shaft fixing part of the foot end connecting piece is fixedly connected with the fourth output shaft, and the leg connecting plate part of the foot end connecting piece is fixedly connected with the upper end of the foot end part.
The beneficial effects of the utility model reside in that: the utility model provides a four-footed robot of crawling with multi freedom backbone compares in traditional rigid body trunk four-footed robot, has more nimble motion ability, can realize the motion of small radius turning through the coordinated control of backbone mechanism and leg mechanism, improves linear motion's motion efficiency. The multi-degree-of-freedom spine mechanism can realize small-radius turning motion and improve the motion efficiency of the robot. In addition, the number of joints of the four-legged crawling robot is increased, and the four-degree-of-freedom leg mechanism is adopted, so that the single-step motion distance of the robot can be effectively increased, and the motion efficiency is further improved. The utility model discloses have simple reasonable mechanical structure, and have higher motion efficiency and motion ability.
Drawings
FIG. 1 is a schematic structural diagram of a four-footed crawling robot with a spine having multiple degrees of freedom;
FIG. 2 is a schematic structural view of a spinal mechanism;
FIG. 3 is a schematic structural view of an anterior thigh segment;
FIG. 4 is a schematic structural view of the exoskeleton of the spinal segment removed;
FIG. 5 is a schematic structural view of a posterior spine portion;
FIG. 6 is a schematic structural view of the left front leg mechanism;
FIG. 7 is a communication topology diagram of a four-footed crawling robot with a multiple degree of freedom spine;
fig. 8 is a hardware configuration diagram of a four-footed crawling robot having a spine with multiple degrees of freedom.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1, the utility model provides a four-footed crawling robot with multi-freedom spine, which comprises a spine mechanism 1 and four leg mechanisms 2.
As shown in fig. 2, the spine mechanism 1 includes a head portion 11, an anterior leg portion 12, five spine portions 13, a posterior leg portion 14, a spine end connection portion 15, and a tail portion 16, which are connected in this order.
In the spinal mechanism 1, the head 11 is forward as indicated by an arrow a in the drawing, and the tail 16 is rearward as indicated by an arrow b in the drawing.
As shown in fig. 3, the front spine leg portion 12 includes a front spine leg connector 121 and a front spine leg actuator 122. The front spine leg steering engine 122 has a vertically disposed front spine leg output shaft 1221. The front spine leg connecting piece 121 is arranged at the front end of the front spine leg steering engine 122, is fixedly connected with the front spine leg output shaft 1221, and rotates left and right along with the rotation of the front spine leg output shaft 1221.
The front spine leg part 12 further comprises a front spine leg connecting plate 123 fixed at the rear end of the front spine leg steering engine 122.
The front spine leg 12 further comprises two front spine leg side connecting plates 124 respectively fixed on the left and right sides of the front spine leg steering engine 122.
The head 11 is fixed to the front end of the front leg link 121.
As shown in fig. 4, the spinal portion 13 includes a spinal connector 131 and a spinal steering engine 132. The spine steering engine 132 has a vertically disposed spine output shaft 1321. In the same spine portion 13, the spine connecting member 131 is disposed at the front end of the spine steering engine 132, is fixedly connected to the spine output shaft 1321, and rotates left and right along with the rotation of the spine output shaft 1321.
The spinal portion 13 also includes a spinal connector plate 133. In the same spine portion 13, a spine connecting plate 133 is fixed to the rear end of the spine steering engine 132.
The spine portion 13 also includes an exoskeleton 134. Exoskeleton 134 has a middle connecting portion 1341 and two side wing portions 1342. The inner ends of the two wing portions 1342 are respectively fixed to the left and right sides of the intermediate connecting portion 1341. The side wing portions 1342 are inclined upward in the inside-out direction. Here, the inner direction refers to the middle of the spinal mechanism 1 as indicated by the arrow x in the figure, and the outer direction refers to the left and right sides of the spinal mechanism 1 as indicated by the arrow y in the figure. In the same spine portion 13, the intermediate connecting portion 1341 is fixed to the upper surface of the spine steering engine 132.
The five spinal portions 13 are serially connected in series. In two adjacent spinal portions 13, the spinal steering engine 132 of the front spinal portion 13 is fixedly positioned at the front side of the spinal connecting element 131 of the back spinal portion 13. Specifically, the forward end of the spinal connector 131 of the posterior spinal portion 13 is secured to the rearward surface of the spinal connector plate 133 of the anterior spinal portion 13.
The spine connector 131 of the forward most spine portion 13 is fixedly positioned to the rear side of the anterior leg steering engine 122. Specifically, the forward end of the spinal connector 131 of the forward-most spinal portion 13 is secured to the rear surface of the anterior leg connector plate 123.
As shown in fig. 5, the rear spine portion 14 includes a rear spine connector 141 and a rear spine steering gear 142. The rear spine leg steering engine 142 has a vertically disposed rear spine leg output shaft 1421. The back spine leg connecting piece 141 is arranged at the front end of the back spine leg steering engine 142 and is fixedly connected with the back spine leg output shaft 1421, and then the spine leg output shaft 1421 rotates left and right.
The rear spine leg part 14 further comprises a rear spine leg connecting plate 143 fixed at the rear end of the rear spine leg steering gear 142.
The rear spine leg portion 14 further comprises two rear spine leg side connecting plates 144 fixed to the left and right sides of the rear spine leg steering gear 142.
The posterior leg connector 141 secures the posterior side of the spinal steering engine 132 in the posterior-most spine portion 13. Specifically, the anterior end of the posterior leg connector 141 is secured to the posterior surface of the spinal attachment plate 133 of the posterior-most spine portion 13.
As shown in fig. 2, the spine tail connection part 15 includes a spine tail connection 151 and a spine tail steering engine 152. The spine tail steering engine 152 has a vertically disposed spine tail output shaft. The spine tail connecting piece 151 is arranged at the front end of the spine tail steering engine 152, is fixedly connected with the spine tail output shaft and rotates left and right along with the rotation of the spine tail output shaft.
The spine tail connecting part 15 further comprises a spine tail connecting plate 153 fixed at the rear end of the spine tail steering engine 152.
The spine tail connector 151 is fixedly positioned at the rear side of the rear spine leg steering engine 142. Specifically, the front end of the spine tail connector 151 is fixed to the rear surface of the rear spine leg connecting plate 143.
The tail 16 is fixedly positioned at the rear side of the spine tail steering engine 152. Specifically, the front end of the tail 16 is fixed to the rear surface of the spine tail attachment plate.
The tail 16 includes a tail connector 161 and a tail body 162. The front end of the trailing connector 161 is fixed to the rear surface of the ridge-trailing connecting plate. The front end of the tail body 162 is fixed to the rear end of the tail link 161.
Further, the front leg connecting member 121, the spine connecting member 131, the rear leg connecting member 141, the spine and tail connecting member 151, and the tail connecting member 161 are identical in structure, and each have a connecting plate portion and two shaft fixing portions. The connecting plate part is vertically arranged and is perpendicular to the front-back direction. The two shaft fixing parts are horizontally arranged, the front ends of the two shaft fixing parts are respectively arranged at the upper end and the lower end of the connecting plate part, and the shaft fixing parts are perpendicular to the connecting plate part. The connecting plate portion and the two shaft fixing portions constitute a U-shape as viewed from the side.
Specifically, the head portion 11 is fixed to the front surface of the connecting plate portion 1211 of the front leg link 121, and the front leg output shaft 1221 is fixedly connected to the rear end of the shaft fixing portion 1212 of the front leg link 121. The anterior leg connector plate 123 is secured to the anterior surface of the connector plate portion 1311 of the spinal connector 131 of the forward-most spine portion 13. The spine output shaft 1321 is fixedly coupled to the rear end of the shaft securing portion 1312 of the spine connector 131 within the same spine portion 13. The spinal connecting plate 133 of the anterior spinal portion 13 of the adjacent two spinal portions 13 is fixed to the anterior surface of the connecting plate portion of the spinal connector 131 of the posterior spinal portion 13. The spine link plate 133 of the rearmost spine portion 13 is fixed to the front surface of the link plate portion 1411 of the rear leg link 141, and the rear leg output shaft 1421 is fixedly connected to the rear end of the shaft fixing portion 1412 of the rear leg link 141. The rear spine leg attachment plate 143 is fixed to the front surface of the attachment plate portion 1611 of the rear link 161, and the front end of the rear body 162 is fixed between the rear ends of the two shaft fixing portions 1612 of the rear link 161.
Wherein the length of the spinal connector 131, the length of the posterior leg connector 141, and the length of the caudal connector 151 are all equal. The length of the anterior leg connector 121 and the length of the caudal connector 161 are each greater than the length of the spinal connector 131.
In this embodiment, there may be other numbers of spine portions 13, preferably five.
As shown in fig. 1 and 2, in the four leg mechanisms 2, the upper ends of two leg mechanisms 2 are fixedly located at the left and right sides of the front spine leg steering engine 122, and the upper ends of the other two leg mechanisms 2 are fixedly located at the left and right sides of the rear spine leg steering engine 142. Specifically, the upper ends of the two leg mechanisms 2 at the front are fixed to the outer side surfaces of the two front spine leg side connecting plates 124, respectively, and the upper ends of the two leg mechanisms 2 at the rear are fixed to the outer side surfaces of the two rear spine leg side connecting plates 144, respectively.
As shown in fig. 6, the leg mechanism 2 includes a first connecting plate 211, a first steering gear 212, a second connecting plate 221, a second steering gear 222, a third connecting member 231, a third steering gear 232, a fourth connecting plate 241, and a fourth steering gear 242.
The first steering engine 212, the second steering engine 222, the third steering engine 232, and the fourth steering engine 242 respectively have a first output shaft 2121, a second output shaft 2221, a third output shaft, and a fourth output shaft 2421, where in the designations, one end of each of the steering engines where the output shaft is located is a top end, a surface opposite to the output shaft is a bottom surface, a surface parallel to the output shaft is a front surface, and a surface perpendicular to the output shaft is a side surface.
The first connecting plate 211 is fixedly arranged on the side surface of the front spine leg steering engine 122 or the rear spine leg steering engine 142. Specifically, the inner surface of the first connecting plate 211 is fixed to the outer surface of the front spine leg side connecting plate 124 or the rear spine leg side connecting plate 144.
The first output shaft 2121 of the first steering engine 212 is arranged vertically outwards. "outer" refers to the left and right lateral directions of the robot, as indicated by arrow y in the figure. The bottom surface of the first steering gear 212 is fixed to the outer surface of the first connection plate 211.
The second connecting plate 221 is horizontally disposed, fixedly connected to a bottom end of the first output shaft 2121, and rotates along with the rotation of the first output shaft 2121.
The second output shaft 2221 of the second steering gear 222 is horizontal outward and arranged in the front-rear direction. "fore-and-aft" refers to the head and tail directions of the robot, as indicated by arrows a, b in the figure. The front surface of the second steering gear 222 is fixed to the lower surface of the second connection plate 221.
The inner end of the third link 231 is fixedly connected to the second output shaft 2221, and rotates up and down with the rotation of the second output shaft 2221.
The third output shaft of the third steering engine 232 is horizontally arranged outwards and arranged along the left-right direction, and the side surface of the third steering engine 232 is fixed on the outer side of the third connecting piece 231.
The fourth connecting plate 241 is vertically arranged, perpendicular to the third output shaft, and fixedly connected to the outer end of the third output shaft.
A fourth output shaft 2421 of the fourth steering engine 242 faces outward horizontally and is arranged in the front-rear direction, and the front surface of the fourth steering engine 242 is fixed on the outer surface of the fourth connecting plate 241.
The leg mechanism 2 further includes a foot end connection 251 and a foot end 252. The upper end of the foot end connecting piece 251 is fixedly connected with the fourth output shaft 2421. The upper end of the foot end 252 is secured to the underside of the foot end connector 251. The bottom end of foot end 252 is spherical.
Further, the third connecting member 231 and the foot end connecting member 251 have the same structure, and each of them has a leg connecting plate portion and two leg shaft fixing portions, one ends of the two leg shaft fixing portions are respectively disposed at both ends of the leg connecting plate portion, and the leg shaft fixing portions are perpendicular to the leg connecting plate portion. The leg connecting plate portion and the two leg shaft fixing portions constitute a U-shape.
The leg shaft fixing portion 2312 of the third link 231 is fixedly connected with the second output shaft 2221. The leg connecting plate portion 2311 of the third connecting member 231 is fixedly connected with the side surface of the third steering gear 232.
The leg shaft fixing portion 2512 of the foot end connecting element 251 is fixedly connected to the fourth output shaft 2421. The leg connector plate portion 2511 of the foot end connector 251 is fixedly connected to the upper end of the foot end portion 252.
As shown in fig. 7, the robot has 24 bus steering engines, wherein each leg mechanism 2 has four bus steering engines, and the spine mechanism 1 has eight bus steering engines. A TTL communication interface is adopted among the bus steering engines, and eight bus steering engines in the spine mechanism 1 sequentially set communication IDs from the head to the tail to be No. 1 to No. 8. The communication IDs of the four bus steering engines of the left front leg mechanism 2 are sequentially set to be 9 to 12. The communication IDs of the four bus steering engines of the leg mechanism 2 at the front right are sequentially set to 13 to 16. The communication IDs of the four bus steering engines of the leg mechanism 2 at the left rear part are sequentially set to be No. 17 to No. 20. The communication IDs of the four bus steering engines of the leg mechanism 2 at the right rear are sequentially set to 21 to 24. Five communication networks are connected to the TTL communication interface of the main control unit.
As shown in fig. 8, the robot is powered by a lithium battery 302, and a main control unit 301 adopts a single chip microcomputer based on STM 32. And the bus steering engine 1 is coordinately controlled to the bus steering engine 24 through the TTL interface. The ultrasonic sensor 304, the attitude sensor 305, and the smart vision sensor 306 are installed in the head mechanism 101 of the robot. The four foot end force sensors 303 are thin film type force sensors, are arranged between the foot end part 252 and the foot end connecting piece 251 of the robot and can acquire contact force information of the robot with the ground in the moving process.
Claims (10)
1. A four-footed crawling robot with a multi-degree-of-freedom spine is characterized in that:
comprises a spine mechanism and four leg mechanisms;
the spine mechanism comprises a head part, an anterior spine leg part, a plurality of spine parts, a posterior spine leg part, a spine tail connecting part and a tail part which are connected in sequence;
the front spine leg part comprises a front spine leg connecting piece and a front spine leg steering engine, the front spine leg steering engine is provided with a front spine leg output shaft which is vertically arranged, and the front spine leg connecting piece is arranged at the front end of the front spine leg steering engine, is fixedly connected with the front spine leg output shaft and rotates along with the rotation of the front spine leg output shaft;
the head is fixed at the front end of the front spine leg connecting piece;
the spine part comprises a spine connecting piece and a spine steering engine, the spine steering engine is provided with a vertically arranged spine output shaft, and in the same spine part, the spine connecting piece is arranged at the front end of the spine steering engine, is fixedly connected with the spine output shaft and rotates along with the rotation of the spine output shaft;
the spinal column parts are sequentially connected in series, and the spinal column steering engine of the front spinal column part is fixedly positioned at the front side of the spinal column connecting piece of the back spinal column part in the two adjacent spinal column parts;
the spine connecting piece of the most front spine part is fixedly arranged at the rear side of the front spine leg steering engine;
the rear spine leg part comprises a rear spine leg connecting piece and a rear spine leg steering engine, the rear spine leg steering engine is provided with a rear spine leg output shaft which is vertically arranged, the rear spine leg connecting piece is arranged at the front end of the rear spine leg steering engine and is fixedly connected with the rear spine leg output shaft, and then the spine leg output shaft rotates;
the rear spine leg connecting piece is fixedly arranged on the rear side of the spine steering engine at the rearmost spine part;
the spine tail connecting part comprises a spine tail connecting piece and a spine tail steering engine, the spine tail steering engine is provided with a spine tail output shaft which is vertically arranged, and the spine tail connecting piece is arranged at the front end of the spine tail steering engine, is fixedly connected with the spine tail output shaft and rotates along with the rotation of the spine tail output shaft;
the spine tail connecting piece is fixedly positioned at the rear side of the rear spine leg steering engine;
the tail part is fixedly positioned at the rear side of the spine tail steering engine;
and in the four leg mechanisms, the upper ends of two leg mechanisms are fixedly positioned at the left side and the right side of the front spine leg steering engine, and the upper ends of the other two leg mechanisms are fixedly positioned at the left side and the right side of the rear spine leg steering engine.
2. The quadruped crawling robot with a spine having multiple degrees of freedom of claim 1, wherein:
the front spine leg part also comprises a front spine leg connecting plate which is fixed at the rear end of the front spine leg steering engine, and the front end of the spine connecting piece of the most front spine part is fixed on the rear surface of the front spine leg connecting plate;
the spine part also comprises a spine connecting plate, and in the same spine part, the spine connecting plate is fixed at the rear end of the spine steering engine;
the front end of the spine connecting piece of the back spine part in the two adjacent spine parts is fixed on the back surface of the spine connecting plate of the front spine part;
the front end of the rear spine leg connector is fixed on the rear surface of the spine connecting plate of the most rear spine part;
the spine tail connecting piece is fixed on the rear surface of the spine leg connecting plate;
the spine tail connecting part further comprises a spine tail connecting plate fixed at the rear end of the spine tail steering engine, and the front end of the tail part is fixed on the rear surface of the spine tail connecting plate.
3. The quadruped crawling robot with a spine having multiple degrees of freedom of claim 1, wherein:
the front spine leg part also comprises two front spine leg side connecting plates which are respectively fixed on the left side and the right side of the front spine leg steering engine, and the upper ends of the two front leg mechanisms are respectively fixed on the outer side surfaces of the two front spine leg side connecting plates;
the back spine leg part further comprises two back spine leg side connecting plates which are respectively fixed on the left side and the right side of the back spine leg steering engine, and the upper ends of the two leg mechanisms at the rear part are respectively fixed on the outer side surfaces of the two back spine leg side connecting plates.
4. The quadruped crawling robot with a spine having multiple degrees of freedom of claim 2, wherein:
wherein the tail comprises a tail connector and a tail body;
the front end of the tail connecting piece is fixed on the rear surface of the ridge tail connecting plate;
the front end of the tail body is fixed at the rear end of the tail connecting piece.
5. The quadruped crawling robot with a spine having multiple degrees of freedom of claim 4, wherein:
the front spine leg connecting piece, the spine connecting piece, the rear spine leg connecting piece, the spine tail connecting piece and the tail connecting piece are of the same structure and are respectively provided with a connecting plate part and two shaft fixing parts, the front ends of the two shaft fixing parts are respectively arranged at the upper end and the lower end of the connecting plate part, and the shaft fixing parts are perpendicular to the connecting plate part;
the head part is fixed on the front surface of the connecting plate part of the front spine leg connecting piece, and the output shaft of the front spine leg is fixedly connected with the rear end of the shaft fixing part of the front spine leg connecting piece;
the front spine leg connecting plate is fixed on the front surface of the connecting plate part of the spine connecting piece of the most front spine part;
in the same spine part, a spine output shaft is fixedly connected with the rear end of a shaft fixing part of the spine connecting piece;
the spine connecting plate of the front spine part in two adjacent spine parts is fixed on the front surface of the connecting plate part of the spine connecting piece of the rear spine part;
the spine connecting plate of the rearmost spine part is fixed on the front surface of the connecting plate part of the rear spine leg connecting piece, and the rear spine leg output shaft is fixedly connected with the rear end of the shaft fixing part of the rear spine leg connecting piece;
the rear spine leg connecting plate is fixed on the front surface of the connecting plate part of the tail connecting piece, and the front end of the tail body is fixed between the rear ends of the two shaft fixing parts of the tail connecting piece.
6. The quadruped crawling robot with a spine having multiple degrees of freedom of claim 4, wherein:
wherein the length of the spinal connection member, the length of the posterior spine leg connection member and the length of the spine tail connection member are all equal;
the length of the front spine leg connecting piece and the length of the tail connecting piece are both larger than the length of the spine connecting piece.
7. The quadruped crawling robot with a spine having multiple degrees of freedom of claim 1, wherein:
wherein the spine portion further comprises an exoskeleton;
the exoskeleton is provided with a middle connecting part and two side wing parts, the inner ends of the two side wing parts are respectively fixedly arranged at the left side and the right side of the middle connecting part, and the side wing parts are upwards inclined along the direction from inside to outside;
in the same spine part, the middle connecting part is fixed on the upper surface of the spine steering engine.
8. The quadruped crawling robot with a spine having multiple degrees of freedom of claim 1, wherein:
the leg mechanism comprises a first connecting plate, a first steering engine, a second connecting plate, a second steering engine, a third connecting piece, a third steering engine, a fourth connecting plate and a fourth steering engine;
the first connecting plate is fixedly positioned on the side surface of the front spine leg steering engine or the rear spine leg steering engine;
a first output shaft of the first steering engine is vertically arranged, and the bottom surface of the first steering engine is fixed on the first connecting plate;
the second connecting plate is horizontally arranged, is fixedly connected to the bottom end of the first output shaft and rotates along with the rotation of the first output shaft;
a second output shaft of the second steering engine is horizontal and arranged along the front-back direction, and the front surface of the second steering engine is fixed on the second connecting plate;
the inner end of the third connecting piece is fixedly connected with the second output shaft and rotates up and down along with the rotation of the second output shaft;
a third output shaft of the third steering engine is horizontal and arranged along the left-right direction, and the side surface of the third steering engine is fixed on the outer side of the third connecting piece;
the fourth connecting plate is vertically arranged, is perpendicular to the third output shaft and is fixedly connected to the outer end of the third output shaft;
and a fourth output shaft of the fourth steering engine is horizontal and is arranged along the front-back direction, and the front surface of the fourth steering engine is fixed on the outer surface of the fourth connecting plate.
9. The quadruped crawling robot with a spine having multiple degrees of freedom of claim 8, wherein:
wherein the leg mechanism further comprises a foot end connector and a foot end;
the upper end of the foot end connecting piece is fixedly connected with the fourth output shaft;
the upper end of the foot end part is fixed at the lower side of the foot end connecting piece;
the bottom end of the foot end part is spherical.
10. The quadruped crawling robot with a spine having multiple degrees of freedom of claim 9, wherein:
the third connecting piece and the foot end connecting piece are the same in structure and are respectively provided with a leg connecting plate part and two leg shaft fixing parts, one ends of the two leg shaft fixing parts are respectively arranged at two ends of the leg connecting plate part, and the leg shaft fixing parts are perpendicular to the leg connecting plate part;
a leg shaft fixing part of the third connecting piece is fixedly connected with the second output shaft, and a leg connecting plate part of the third connecting piece is fixedly connected with the side surface of the third steering engine;
the leg shaft fixing part of the foot end connecting piece is fixedly connected with the fourth output shaft, and the leg connecting plate part of the foot end connecting piece is fixedly connected with the upper end of the foot end part.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920884138.0U CN210083394U (en) | 2019-06-13 | 2019-06-13 | Four-footed crawling robot with multi-degree-of-freedom spine |
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| CN201920884138.0U CN210083394U (en) | 2019-06-13 | 2019-06-13 | Four-footed crawling robot with multi-degree-of-freedom spine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022247269A1 (en) * | 2021-05-25 | 2022-12-01 | 重庆邮电大学 | Anole-imitating wind-vibration-resistant climbing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022247269A1 (en) * | 2021-05-25 | 2022-12-01 | 重庆邮电大学 | Anole-imitating wind-vibration-resistant climbing robot |
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Effective date of registration: 20210105 Address after: 210012 2nd floor, building 5, 23 Huashen Avenue, Yuhuatai District, Nanjing City, Jiangsu Province Patentee after: Nanjing Leji Electronic Technology Co.,Ltd. Address before: No. 1 Park Avenue Jiangning Hongjing District of Nanjing city of Jiangsu province in 211167 Patentee before: NANJING INSTITUTE OF TECHNOLOGY |
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