WO2020258733A1 - 一种重心可调的常速电驱动四足机器人及其使用方法 - Google Patents

一种重心可调的常速电驱动四足机器人及其使用方法 Download PDF

Info

Publication number
WO2020258733A1
WO2020258733A1 PCT/CN2019/123617 CN2019123617W WO2020258733A1 WO 2020258733 A1 WO2020258733 A1 WO 2020258733A1 CN 2019123617 W CN2019123617 W CN 2019123617W WO 2020258733 A1 WO2020258733 A1 WO 2020258733A1
Authority
WO
WIPO (PCT)
Prior art keywords
frame
calf
rod
gravity
drive motor
Prior art date
Application number
PCT/CN2019/123617
Other languages
English (en)
French (fr)
Inventor
于潇雁
赵晨鸿
张振国
吴强
郑伟煌
Original Assignee
福州大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 福州大学 filed Critical 福州大学
Publication of WO2020258733A1 publication Critical patent/WO2020258733A1/zh

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the invention relates to a constant-speed electric-driven quadruped robot with adjustable center of gravity and a use method thereof.
  • the existing quadruped robot cannot walk smoothly on a road with a certain slope, and usually needs to adjust the gait of the robot, which increases the control difficulty.
  • the purpose of the present invention is to provide a constant-speed electric drive quadruped robot with adjustable center of gravity and a method of use thereof.
  • the quadruped robot can adjust the center of gravity so as to walk relatively smoothly on a road with a certain slope.
  • the technical scheme of the present invention is: a constant-speed electric-driven quadruped robot with adjustable center of gravity, comprising a frame, and both sides of the front of the frame are provided with first crank rocker mechanisms respectively installed on the frame
  • the front calf bar that drives and staggers to swing back and forth, the rear side of the frame is respectively provided with rear calf bars that are driven and staggered to swing by a second crank and rocker mechanism installed on the frame, the front calf bar
  • the lower end of the rear calf rod and the lower end are respectively provided with non-slip foot ends, and the lower part of the frame is provided with a center of gravity adjustment device.
  • the center of gravity adjustment device includes a screw rod whose front and rear ends are respectively connected to the lower part of the frame through a bearing seat, a ball nut is screwed on the screw rod, and an upper end and a lower side of the frame are fixed on the ball nut.
  • the horizontal guide rail on the upper part is slidingly fitted with a counterweight, and the rear part of the frame is provided with a horizontal motor whose output end is connected with the rear end of the screw rod.
  • the first crank rocker machine includes a first drive motor horizontally arranged on both sides of the front of the frame, and the output end of the first drive motor is provided with a first crank wheel, and the first crank wheel It is rotatably connected with the upper end of the front calf rod on the corresponding side, the second drive motor is horizontally arranged on both sides of the middle of the frame, and the output end of the second drive motor is provided with a second crank wheel, and the second crank
  • the wheel is hinged with a first link, the other end of the first link is hinged with a front thigh bar, and the other end of the front thigh bar is hinged with the middle of the front calf bar on the corresponding side.
  • the middle part of the rod is hinged with a first rocker, and the other end of the first rocker is respectively rotatably connected with a first fixing seat corresponding to the upper side of the frame.
  • the upper end hinge point of the front calf bar located on one side of the rack is offset by 180° from the upper end hinge point of the front calf bar located on the other side of the rack; the upper end of the front thigh bar located on one side of the rack is hinged Point and the upper junction point of the front thigh bar on the other side of the frame are staggered by 180°; the upper hinge point of the front thigh bar on the same side and the upper hinge point of the front calf bar are staggered by 90°; the first The fixing seat is arranged on the side of the frame and is close to the first driving motor.
  • the second crank and rocker mechanism includes third drive motors horizontally arranged on both sides of the rear of the frame, and the output ends of the third drive motors are respectively provided with third crank wheels, the third The crank wheel is rotatably connected with the upper end of the rear calf rod on the corresponding side.
  • a fourth drive motor is arranged horizontally on both sides of the middle of the frame. The output end of the fourth drive motor is provided with a fourth crank wheel.
  • a second connecting rod is hinged on the four-crank wheel, the other end of the second connecting rod is hinged with a rear thigh rod, and the other end of the rear thigh rod is hinged with the middle of the rear calf rod on the corresponding side.
  • the middle part of the two connecting rods is hinged with a second rocker, and the other end of the second rocker is rotatably connected with a second fixing seat correspondingly arranged on the upper side of the frame.
  • the upper end hinge point of the rear calf bar located on one side of the frame and the upper end hinge point of the rear calf bar located on the other side of the frame are staggered by 180°;
  • the upper end of the rear thigh bar located on one side of the frame is hinged Point and the upper end junction point of the rear thigh bar on the other side of the frame are staggered by 180°;
  • the upper hinge point of the rear thigh bar on the same side and the upper end hinge point of the rear calf bar are staggered by 90°;
  • the second The fixing seat is arranged on the side of the frame and is close to the third driving motor.
  • the two sides of the anti-slip foot end are respectively fixedly connected with the front calf bar or the rear calf bar via the diagonal ribs 41, and the anti-slip foot end is made of rubber.
  • a method for using a quadruped robot with a constant-speed electric drive with an adjustable center of gravity includes the following steps:
  • the present invention has the following advantages: 1.
  • the leg mechanism driven by dual constant-speed motors avoids the impact and energy loss caused by the frequent speed change and commutation of the servo motor of the traditional parallel five-bar mechanism. Problem, and the cost of the normal-speed motor is relatively low, which improves economy.
  • the center of gravity adjustment device Through the center of gravity adjustment device, the robot can walk more steadily on the road with a certain slope, instead of adjusting the gait of the robot, the control difficulty is reduced.
  • Figure 1 is a schematic diagram of the structure of the present invention
  • Figure 2 is a side view of the present invention
  • Figure 3 is a top view of the present invention.
  • Fig. 4 is a cross-sectional view taken along line A-A of Fig. 1 of the present invention.
  • a constant-speed electric-driven quadruped robot with an adjustable center of gravity includes a frame 10, and two front sides of the frame are respectively driven by a first crank and rocker mechanism installed on the frame and staggered to swing back and forth.
  • the front calf bar 20, the rear side of the frame is respectively provided with a rear calf rod 30 driven by a second crank and rocker mechanism installed on the frame and staggered swinging, the front calf bar and the rear calf
  • the lower ends of the rods are respectively provided with non-slip foot ends 40 transversely, and the lower part of the frame is provided with a center of gravity adjustment device.
  • both sides of the anti-slip foot end are respectively fixedly connected to the front calf bar or the rear calf bar via diagonal ribs 41, and the anti-slip foot end is made of rubber.
  • the center of gravity adjustment device includes a screw rod 51 whose front and rear ends are respectively connected to the lower part of the frame through a bearing seat 55, a ball nut 52 is screwed on the screw rod, and an upper end and a set are fixed on the ball nut.
  • the counterweight 53 is slidably fitted on the horizontal guide rail 11 on the lower side of the frame.
  • the rear part of the frame is provided with a horizontal motor 54 whose output end is connected to the rear end of the screw rod, so that it can be used on a sloped road surface.
  • the first crank rocker machine includes first drive motors 21 horizontally arranged on both sides of the front of the frame, and the output ends of the first drive motors are respectively connected with first cranks via couplings.
  • Wheel 22 the first crank wheel is rotatably connected with the upper end of the front calf rod on the corresponding side
  • a second drive motor 23 is horizontally arranged on both sides of the middle of the frame
  • the output end of the second drive motor is coupled with a shaft
  • the device is connected to a second crank wheel 24, the second crank wheel is hinged with a first connecting rod 25, the other end of the first connecting rod is hinged with a front thigh rod 26, and the other end of the front thigh rod It is hinged to the middle of the front calf bar on the corresponding side.
  • the middle of the first link is hinged to the first rocker 27.
  • the other end of the first rocker is respectively corresponding to the first fixing seat provided on the upper side of the frame. 28 Rotate the connection.
  • the front calf rod is driven to swing back and forth through the first crank and rocker mechanism.
  • the upper hinge point of the front calf bar located on one side of the rack and the upper end hinge point of the front calf bar on the other side of the rack are offset by 180° (front-to-back displacement), and are located on the front side of the rack.
  • the upper hinge point of the upper thigh bar and the upper hinge point of the front thigh bar located on the other side of the frame are staggered by 180° (displaced up and down);
  • the upper junction point of the front thigh bar on one side is staggered by 180° (front-to-back misalignment);
  • the upper hinge point of the front thigh bar on the same side and the upper hinge point of the front calf bar are staggered by 90° (take the second crank wheel as Reference clockwise calculation);
  • the first fixing seat is arranged on the side of the frame and close to the first drive motor.
  • the second crank-rocker mechanism includes third drive motors 31 horizontally arranged on both sides of the rear of the frame, and the output ends of the third drive motors are respectively coupled with third cranks.
  • Wheel 32 the third crank wheel is rotatably connected with the upper end of the rear calf rod on the corresponding side
  • a fourth drive motor 33 is horizontally arranged on both sides of the middle of the frame
  • the output end of the fourth drive motor is coupled with a shaft
  • the device is connected with a fourth crank wheel 34, a second connecting rod 35 is hinged on the fourth crank wheel, the other end of the second connecting rod is hinged with a rear thigh rod 36, and the other end of the rear thigh rod It is hinged with the middle of the rear calf bar on the corresponding side, the middle of the second link is hinged with a second rocker 37, and the other end of the second rocker is corresponding to the second fixing seat 38 provided on the upper side of the frame. Turn the connection.
  • the second crank and rocker mechanism is used to
  • the upper hinge point of the rear shank bar located on one side of the rack and the upper end hinge point of the rear shank bar on the other side of the rack are staggered by 180° (front-to-back displacement);
  • the upper hinge point of the upper thigh bar and the upper hinge point of the front thigh bar on the other side of the frame are staggered by 180° (up and down);
  • the upper joint point of the rear thigh bar on one side is staggered by 180°;
  • the upper hinge point of the rear thigh bar on the same side and the upper hinge point of the rear calf bar are staggered by 90° (counted clockwise based on the third crank wheel) );
  • the second fixing seat is arranged on the side of the frame and close to the third drive motor.
  • peripheral portions of the first to fourth crank wheels are respectively provided with four hinge holes at intervals along the circumferential direction, and the angle between two adjacent connecting holes is 90°, so as to be opposite to the corresponding rod. Articulated.
  • the quadruped robot is equipped with a control system to control the coordinated operation of the front calf rod and the rear calf rod (for example, by controlling the first driving motor and the second driving motor to control the front calf rod to walk; Control the third drive motor and the fourth drive motor to control the walking of the rear calf bar, coordinate the front calf bar and the rear calf bar, and control the position of the configuration block to control the center of gravity of the robot.
  • a control system to control the coordinated operation of the front calf rod and the rear calf rod (for example, by controlling the first driving motor and the second driving motor to control the front calf rod to walk; Control the third drive motor and the fourth drive motor to control the walking of the rear calf bar, coordinate the front calf bar and the rear calf bar, and control the position of the configuration block to control the center of gravity of the robot.
  • the center of gravity adjustment device is activated to make the center of gravity of the robot move forward, so as to realize the more stable movement of the robot on the slope.
  • a method for using a quadruped robot with a constant-speed electric drive with an adjustable center of gravity includes the following steps:

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Manipulator (AREA)

Abstract

一种重心可调的常速电驱动四足机器人及其使用方法，所述四足机器人包括机架（10），所述机架（10）的前部两侧设置有分别由安装于机架上的第一曲柄摇杆机构驱动并前后错开摆动的前部小腿杆（20），机架（10）的后部两侧分别设置有由安装于机架（10）上的第二曲柄摇杆机构驱动并错开摆动的后部小腿杆（30），所述前部小腿杆（20）和后部小腿杆（30）的下端分别设置有防滑足端（40），所述机架（10）的下部设置有重心调整装置。该四足机器人可调整重心以便在有一定坡度的路面上比较平稳地行走。

Description

一种重心可调的常速电驱动四足机器人及其使用方法 技术领域
本发明涉及一种重心可调的常速电驱动四足机器人及其使用方法。
 背景技术
现有的四足机器人通常用于并联五杆机构的伺服电机驱动，适用过程中需频繁变速、换向，而该频繁变速、换向容易带来冲击、能量损耗等问题，并且伺服电机成本较高。
 技术问题
现有的四足机器人在有一定坡度的路面上无法平稳地行走，通常需要通过调整机器人的步态，增加了控制难度。
 技术解决方案
本发明的目的在于提供一种重心可调的常速电驱动四足机器人及其使用方法，该四足机器人可调整重心以便在有一定坡度的路面上比较平稳地行走。
本发明的技术方案在于：一种重心可调的常速电驱动四足机器人，包括机架，所述机架的前部两侧设置有分别由安装于机架上的第一曲柄摇杆机构驱动并前后错开摆动的前部小腿杆，机架的后部两侧分别设置有由安装于机架上的第二曲柄摇杆机构驱动并错开摆动的后部小腿杆，所述前部小腿杆和后部小腿杆的下端分别设置有防滑足端，所述机架的下部设置有重心调整装置。
进一步地，所述重心调整装置包括前后端分别经轴承座连接于机架下部的丝杆，所述丝杆上螺接有滚珠螺母，所述滚珠螺母上固定有上端与设置于机架下侧面上的横向导轨滑动配合的配重块，所述机架的后部设置有输出端与丝杆后端相连接的卧式电机。
进一步地，所述第一曲柄摇杆机包括卧式设置于机架前部两侧的第一驱动电机，所述第一驱动电机的输出端设置有第一曲柄轮，所述第一曲柄轮与对应侧前部小腿杆的上端转动连接，所述机架的中部两侧卧式设置有第二驱动电机，所述第二驱动电机的输出端设置有第二曲柄轮，所述第二曲柄轮上铰接有第一连杆，所述第一连杆的另一端铰接有前部大腿杆，所述前部大腿杆的另一端与对应侧的前部小腿杆的中部相铰接，第一连杆的中部铰接有第一摇杆，所述第一摇杆的另一端分别与对应设置于机架上侧的第一固定座转动连接。
进一步地，位于机架一侧的前部小腿杆的上端铰接点和位于机架另一侧的前部小腿杆的上端铰接点错开180°；位于机架一侧的前部大腿杆的上端铰接点和位于机架另一侧的前部大腿杆的上端交接点错开180°；位于同一侧的前部大腿杆的上端铰接点和前部小腿杆的上端铰接点错开90°；所述第一固定座设置于机架侧部并靠近第一驱动电机。
进一步地，所述第二曲柄摇杆机构包括卧式设置于机架后部两侧的第三驱动电机，所述第三驱动电机的的输出端分别设置有第三曲柄轮，所述第三曲柄轮与对应侧后部小腿杆的上端转动连接， 所述机架的中部两侧卧式设置有第四驱动电机，所述第四驱动电机的输出端设置有第四曲柄轮，所述第四曲柄轮上铰接有第二连杆，所述第二连杆的另一端铰接有后部大腿杆，所述后部大腿杆的另一端与对应侧的后部小腿杆的中部相铰接，第二连杆的中部铰接有第二摇杆，所述第二摇杆的另一端与对应设置于机架上侧的第二固定座转动连接。
进一步地，位于机架一侧的后部小腿杆的上端铰接点和位于机架另一侧的后部小腿杆的上端铰接点错开180°；位于机架一侧的后部大腿杆的上端铰接点和位于机架另一侧的后部大腿杆的上端交接点错开180°；位于同一侧的后部大腿杆的上端铰接点和后部小腿杆的上端铰接点错开90°；所述第二固定座设置于机架侧部并靠近第三驱动电机。
进一步地，所述防滑足端的两侧分别经斜向肋板41与前部小腿杆或后部小腿杆固定连接，所述防滑足端由橡胶制成。
一种应用于重心可调的常速电驱动四足机器人的使用方法，包括以下步骤：
（1）通过控制第一驱动电机和第二驱动电机分别控制前部小腿杆行走；通过控制第三驱动电机和第四驱动电机分别控制后部小腿杆行走；
（2）当遇到上坡时，通过卧式电机驱动配重块向前移动来使机器人的重心前移动；当遇到下坡时，通过卧式电机驱动配重块向后移动来使机器人的重心后移。
 有益效果
与现有技术相比较，本发明具有以下优点：1.采用双常速电机驱动的腿部机构，避免了传统并联五杆机构的伺服电机频繁变速、换向所带来的冲击、能量损耗的问题，而且常速电机的成本也比较低，提高经济性。2.通过重心调整装置机器人可以实现在有一定坡度的路面上比较平稳地行走，而不用通过调整机器人的步态，降低的控制难度。
 附图说明
图1为本发明的结构示意图；
图2为本发明的侧视图；
图3为本发明的俯视图；
图4为本发明的图1的A-A剖视图。
 本发明的实施方式
为让本发明的上述特征和优点能更明显易懂，下文特举实施例，并配合附图，作详细说明如下，但本发明并不限于此。
参考图1至图4
一种重心可调的常速电驱动四足机器人，包括机架10，所述机架的前部两侧设置有分别由安装于机架上的第一曲柄摇杆机构驱动并前后错开摆动的前部小腿杆20，机架的后部两侧分别设置有由安装于机架上的第二曲柄摇杆机构驱动并错开摆动的后部小腿杆30，所述前部小腿杆和后部小腿杆的下端分别横向设置有防滑足端40，所述机架的下部设置有重心调整装置。
本实施例中，所述防滑足端的两侧分别经斜向肋板41与前部小腿杆或后部小腿杆固定连接，所述防滑足端由橡胶制成。
本实施例中，所述重心调整装置包括前后端分别经轴承座55连接于机架下部的丝杆51，所述丝杆上螺接有滚珠螺母52，所述滚珠螺母上固定有上端与设置于机架下侧面上的横向导轨11滑动配合的配重块53，所述机架的后部设置有输出端与丝杆后端相连接的卧式电机54，从而在有一定坡度的路面上行走时，通过调整配重块的位置来调整整个机器人的重心。
本实施例中，所述第一曲柄摇杆机包括卧式设置于机架前部两侧的第一驱动电机21，所述第一驱动电机的输出端分别经联轴器连接有第一曲柄轮22，所述第一曲柄轮与对应侧前部小腿杆的上端转动连接，所述机架的中部两侧卧式设置有第二驱动电机23，所述第二驱动电机的输出端联轴器连接有第二曲柄轮24，所述第二曲柄轮上铰接有第一连杆25，所述第一连杆的另一端铰接有前部大腿杆26，所述前部大腿杆的另一端与对应侧的前部小腿杆的中部相铰接，第一连杆的中部铰接有第一摇杆27，所述第一摇杆的另一端分别与对应设置于机架上侧的第一固定座28转动连接。从而通过第一曲柄摇杆机构来驱使前部小腿杆前后摆动。
本实施例中，位于机架一侧的前部小腿杆的上端铰接点和位于机架另一侧的前部小腿杆的上端铰接点错开180°（前后错位），位于机架一侧的前部大腿杆的上端铰接点和位于机架另一侧的前部大腿杆的上端铰接点错开180°（上下错位）；位于机架一侧的前部大腿杆的上端铰接点和位于机架另一侧的前部大腿杆的上端交接点错开180°（前后错位）；位于同一侧的前部大腿杆的上端铰接点和前部小腿杆的上端铰接点错开90°（以第二曲柄轮为基准顺时针计算）；所述第一固定座设置于机架侧部并靠近第一驱动电机。
本实施例中，所述第二曲柄摇杆机构包括卧式设置于机架后部两侧的第三驱动电机31，所述第三驱动电机的的输出端分别联轴器连接有第三曲柄轮32，所述第三曲柄轮与对应侧后部小腿杆的上端转动连接，所述机架的中部两侧卧式设置有第四驱动电机33，所述第四驱动电机的输出端联轴器连接有第四曲柄轮34，所述第四曲柄轮上铰接有第二连杆35，所述第二连杆的另一端铰接有后部大腿杆36，所述后部大腿杆的另一端与对应侧的后部小腿杆的中部相铰接，第二连杆的中部铰接有第二摇杆37，所述第二摇杆的另一端与对应设置于机架上侧的第二固定座38转动连接。从而通过第二曲柄摇杆机构来驱使后部小腿杆前后摆动。
本实施例中，位于机架一侧的后部小腿杆的上端铰接点和位于机架另一侧的后部小腿杆的上端铰接点错开180°（前后错位）；位于机架一侧的前部大腿杆的上端铰接点和位于机架另一侧的前部大腿杆的上端铰接点错开180°（上下错位）；位于机架一侧的后部大腿杆的上端铰接点和位于机架另一侧的后部大腿杆的上端交接点错开180°；位于同一侧的后部大腿杆的上端铰接点和后部小腿杆的上端铰接点错开90°（以第三曲柄轮为基准顺时针计算）；所述第二固定座设置于机架侧部并靠近第三驱动电机。
本实施例中，所述第一至第四曲柄轮的周部沿周向分别间隔设置有四个铰接孔，相邻两交接孔之间的夹角为90°，从而与对应的杆件相铰接。
本实施例中，该四足机器人配有控制系统，以便控制前部小腿杆、后部小腿杆协调运转（例如，通过控制第一驱动电机和第二驱动电机分别控制前部小腿杆行走；通过控制第三驱动电机和第四驱动电机分别控制后部小腿杆行走，并协调前部小腿杆和后部小腿杆），并控制配置块的位置来控制机器人的重心。
当机器人需要在有一定斜度的坡上进行较稳定地行走而不倾倒时，通过启动重心调整装置来使得机器人的重心前移，以实现机器人较为平稳地上坡运动。
一种应用于重心可调的常速电驱动四足机器人的使用方法，包括以下步骤：
（1）通过控制第一驱动电机和第二驱动电机分别控制前部小腿杆行走；通过控制第三驱动电机和第四驱动电机分别控制后部小腿杆行走；
（2）当遇到上坡时，通过卧式电机驱动配重块向前移动来使机器人的重心前移动；当遇到下坡时，通过卧式电机驱动配重块向后移动来使机器人的重心后移。
以上所述仅为本发明的较佳实施例，对于本领域的普通技术人员而言，根据本发明的教导，设计出不同形式的重心可调的常速电驱动四足机器人并不需要创造性的劳动，在不脱离本发明的原理和精神的情况下凡依本发明申请专利范围所做的均等变化、修改、替换和变型，皆应属本发明的涵盖范围。

Claims (8)

  1. 一种重心可调的常速电驱动四足机器人，包括机架，其特征在于，所述机架的前部两侧设置有分别由安装于机架上的第一曲柄摇杆机构驱动并前后错开摆动的前部小腿杆，机架的后部两侧分别设置有由安装于机架上的第二曲柄摇杆机构驱动并错开摆动的后部小腿杆，所述前部小腿杆和后部小腿杆的下端分别设置有防滑足端，所述机架的下部设置有重心调整装置。
  2. 根据权利要求1所述的一种重心可调的常速电驱动四足机器人，其特征在于，所述重心调整装置包括前后端分别经轴承座连接于机架下部的丝杆，所述丝杆上螺接有滚珠螺母，所述滚珠螺母上固定有上端与设置于机架下侧面上的横向导轨滑动配合的配重块，所述机架的后部设置有输出端与丝杆后端相连接的卧式电机。
  3. 根据权利要求2所述的一种重心可调的常速电驱动四足机器人，其特征在于，所述第一曲柄摇杆机包括卧式设置于机架前部两侧的第一驱动电机，所述第一驱动电机的输出端设置有第一曲柄轮，所述第一曲柄轮与对应侧前部小腿杆的上端转动连接，所述机架的中部两侧卧式设置有第二驱动电机，所述第二驱动电机的输出端设置有第二曲柄轮，所述第二曲柄轮上铰接有第一连杆，所述第一连杆的另一端铰接有前部大腿杆，所述前部大腿杆的另一端与对应侧的前部小腿杆的中部相铰接，第一连杆的中部铰接有第一摇杆，所述第一摇杆的另一端分别与对应设置于机架上侧的第一固定座转动连接。
  4. 根据权利要求3所述的一种重心可调的常速电驱动四足机器人，其特征在于，位于机架一侧的前部小腿杆的上端铰接点和位于机架另一侧的前部小腿杆的上端铰接点错开180°；位于机架一侧的前部大腿杆的上端铰接点和位于机架另一侧的前部大腿杆的上端交接点错开180°；位于同一侧的前部大腿杆的上端铰接点和前部小腿杆的上端铰接点错开90°；所述第一固定座设置于机架侧部并靠近第一驱动电机。
  5. 根据权利要求3或4所述的一种重心可调的常速电驱动四足机器人，其特征在于，所述第二曲柄摇杆机构包括卧式设置于机架后部两侧的第三驱动电机，所述第三驱动电机的的输出端分别设置有第三曲柄轮，所述第三曲柄轮与对应侧后部小腿杆的上端转动连接， 所述机架的中部两侧卧式设置有第四驱动电机，所述第四驱动电机的输出端设置有第四曲柄轮，所述第四曲柄轮上铰接有第二连杆，所述第二连杆的另一端铰接有后部大腿杆，所述后部大腿杆的另一端与对应侧的后部小腿杆的中部相铰接，第二连杆的中部铰接有第二摇杆，所述第二摇杆的另一端与对应设置于机架上侧的第二固定座转动连接。
  6. 根据权利要求5所述的一种重心可调的常速电驱动四足机器人，其特征在于，位于机架一侧的后部小腿杆的上端铰接点和位于机架另一侧的后部小腿杆的上端铰接点错开180°；位于机架一侧的后部大腿杆的上端铰接点和位于机架另一侧的后部大腿杆的上端交接点错开180°；位于同一侧的后部大腿杆的上端铰接点和后部小腿杆的上端铰接点错开90°；所述第二固定座设置于机架侧部并靠近第三驱动电机。
  7. 根据权利要求1所述的一种重心可调的常速电驱动四足机器人，其特征在于，所述防滑足端的两侧分别经斜向肋板与前部小腿杆或后部小腿杆固定连接，所述防滑足端由橡胶制成。
  8. 一种应用于权利要求5所述的一种重心可调的常速电驱动四足机器人的使用方法，其特征在于，包括以下步骤：
    （1）通过控制第一驱动电机和第二驱动电机分别控制前部小腿杆行走；通过控制第三驱动电机和第四驱动电机分别控制后部小腿杆行走；
    （2）当遇到上坡时，通过卧式电机驱动配重块向前移动来使机器人的重心前移动；当遇到下坡时，通过卧式电机驱动配重块向后移动来使机器人的重心后移。
PCT/CN2019/123617 2019-06-25 2019-12-06 一种重心可调的常速电驱动四足机器人及其使用方法 WO2020258733A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910557310.6 2019-06-25
CN201910557310.6A CN110126939A (zh) 2019-06-25 2019-06-25 一种重心可调的常速电驱动四足机器人及其使用方法

Publications (1)

Publication Number Publication Date
WO2020258733A1 true WO2020258733A1 (zh) 2020-12-30

Family

ID=67579454

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/123617 WO2020258733A1 (zh) 2019-06-25 2019-12-06 一种重心可调的常速电驱动四足机器人及其使用方法

Country Status (2)

Country Link
CN (1) CN110126939A (zh)
WO (1) WO2020258733A1 (zh)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110126939A (zh) * 2019-06-25 2019-08-16 福州大学 一种重心可调的常速电驱动四足机器人及其使用方法
CN111161652B (zh) * 2020-02-28 2021-11-19 广州丝路数字视觉科技有限公司 一种便于更换宣传展页的户外展板
CN111846004A (zh) * 2020-07-21 2020-10-30 李荣仲 一种设有重心调节机制的四足机器犬
CN114179925A (zh) * 2020-10-22 2022-03-15 北星空间信息技术研究院(南京)有限公司 一种可变电池位置的机器人实时重心稳定方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9662787B1 (en) * 2015-09-25 2017-05-30 Google Inc. Hydraulic pressure variation in a legged robot
CN208181238U (zh) * 2018-03-06 2018-12-04 河南科技大学 一种四足机器人
CN109204602A (zh) * 2018-10-31 2019-01-15 南京航空航天大学 微型四足机器人
CN109263746A (zh) * 2018-09-17 2019-01-25 重庆大学 基于双曲柄复合连杆机构的腿部机构及其仿生机器人
CN110126939A (zh) * 2019-06-25 2019-08-16 福州大学 一种重心可调的常速电驱动四足机器人及其使用方法

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1016327B (zh) * 1988-12-29 1992-04-22 谭丙蔚 连杆式行走机构
CN1306188C (zh) * 2001-01-01 2007-03-21 熊介良 “门内马斯摆杆”式步行机械腿装置
CN2801595Y (zh) * 2005-07-05 2006-08-02 华南农业大学 静液压六足步行机构
CN102700642B (zh) * 2012-05-14 2014-03-26 浙江工业大学 可转弯式四足步行机械
CN105667630B (zh) * 2016-03-24 2017-12-05 重庆大学 机器人腿部行走机构及其四足机器人
CN107826175A (zh) * 2017-12-04 2018-03-23 广东职业技术学院 一种四足步行机器人
CN210133206U (zh) * 2019-06-25 2020-03-10 福州大学 一种重心可调的常速电驱动四足机器人

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9662787B1 (en) * 2015-09-25 2017-05-30 Google Inc. Hydraulic pressure variation in a legged robot
CN208181238U (zh) * 2018-03-06 2018-12-04 河南科技大学 一种四足机器人
CN109263746A (zh) * 2018-09-17 2019-01-25 重庆大学 基于双曲柄复合连杆机构的腿部机构及其仿生机器人
CN109204602A (zh) * 2018-10-31 2019-01-15 南京航空航天大学 微型四足机器人
CN110126939A (zh) * 2019-06-25 2019-08-16 福州大学 一种重心可调的常速电驱动四足机器人及其使用方法

Also Published As

Publication number Publication date
CN110126939A (zh) 2019-08-16

Similar Documents

Publication Publication Date Title
WO2020258733A1 (zh) 一种重心可调的常速电驱动四足机器人及其使用方法
CN100594100C (zh) 机器人
CN110916970B (zh) 一种通过通讯实现减重车与下肢机器人协同运动的装置及方法
CN102180205A (zh) 轮腿机器人
CN110171398A (zh) 一种自动洗车装置
WO2018033123A1 (zh) 用于农配网线路旁路搭建的负荷开关车及其应用方法
CN210518196U (zh) 清洁行走装置及光伏阵列
CN210133206U (zh) 一种重心可调的常速电驱动四足机器人
CN106627828B (zh) 摆动式升降越障机器人
CN110179600A (zh) 一种爬楼及越障机器人以及其控制方法
CN107789162B (zh) 一种步态康复机器人用踏步装置
CN104060564A (zh) 路边石清洗装置
CN104228996B (zh) 一种用于坡路行走的双动力四足机器人
CN203923974U (zh) 路边石清洗装置
KR20120097844A (ko) 착석과 기립시 이동이 가능한 이동보조기
CN210518193U (zh) 清洁行走装置及光伏阵列
CN208573917U (zh) 一种爬梯越障机器人
CN207145905U (zh) 一种自动转动的显示屏支架
CN106043490B (zh) 一种连杆仿腿式行走机构及方法
CN209384176U (zh) 一种桥梁伸缩缝清堵装置
CN2726653Y (zh) 可调整行程的椭圆轨迹踏步机
TWI385009B (zh) Elliptical motion machine with adjustable pedal trajectory
CN107224699B (zh) 可侧向滑动的椭圆机
CN220989155U (zh) 一种按摩床的辅助调节结构
CN219630528U (zh) 一种双履步态训练装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19935350

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19935350

Country of ref document: EP

Kind code of ref document: A1