CN102514648A - Four-leg walking robot with isotropic series-parallel legs - Google Patents
Four-leg walking robot with isotropic series-parallel legs Download PDFInfo
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- CN102514648A CN102514648A CN2011104100486A CN201110410048A CN102514648A CN 102514648 A CN102514648 A CN 102514648A CN 2011104100486 A CN2011104100486 A CN 2011104100486A CN 201110410048 A CN201110410048 A CN 201110410048A CN 102514648 A CN102514648 A CN 102514648A
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Abstract
The invention discloses a four-leg walking robot with isotropic series-parallel legs. The robot comprises a rack and four isotropic series-parallel legs with the same structure which are installed under the rack, a leg rack, a first linear driver, a second linear driver, a third linear driver, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod and feet, wherein the three linear drivers act together to drive the feet to move in the space; the connecting rods are symmetrically connected in parallel; and meanwhile, the robot is symmetric and isotropic. The four legs are symmetrically arranged or arranged in the same direction so that the robot can move in all directions through a certain tread. The four-leg walking robot disclosed by the invention is simple in structure and easy in control, has high movement precision, rapid response capability and high bearing capacity, and is suitable for high-speed and high-load transportation operations under complex unstructured terrain conditions in the open air and operations in a risky environment.
Description
Technical field
The present invention relates to Robotics field in the mechanical engineering, specifically is a kind of isotropy series-parallel connection leg configuration four feet walking robot.
Background technology
At a high speed, the high-mechanic four feet walking robot is the specialized robot of imitation quadruped mode of motion; The walking that this robotlike is can be in the non-structure environment of complicacy stable; Can replace the people to accomplish many dangerous operations, many potential application prospects arranged in industries such as military affairs, mining, nuclear power industry, celestial body probing surface, fire-fighting and rescue, building industry, agricultural felling, teaching amusements.For a long time, the four feet walking robot technology is one of focus of domestic and international robot field's research always.Compare with industrial robot, four feet walking robot need all have reasonable motion and load-carrying properties, i.e. isotropy in all directions.Aspect four feet walk device Design of Mechanical Structure, the application of cascaded structure can improve the working space and the alerting ability of robot shank; The application of parallel-connection structure improves robot construction intensity and stability, and to improving walking robot load-carrying/very important meaning is arranged from anharmonic ratio, the parallel institution of symmetry has isotropy preferably fully; Series-parallel connection leg structure has combined the advantage of parallel institution and serial mechanism, can realize the motion of robot omnibearing, high-mechanic; Aspect driving, linear actuator is simple in structure, layout is easy, uses linear actuator can make the walker leg structure simpler, compact, and can improve the propulsive effort and the kinematic velocity of walker.
Find that through retrieval application number is that 201010279765.5 Chinese invention patent discloses a kind of comprehensive four feet walk mobile device based on hybrid mechanism, be used for search target and hauling operation under complex-terrain such as ruins and the narrow space condition.This is invented by a centrosymmetric frame, four and frame bonded assembly string and series-parallel connection three degree of freedom shank mechanism formation.Each shank mechanism assembly is made up of connecting rod, rotary joint, drive motor and coupler; Motor output shaft is connected with drive connecting rod through coupler, and all drive connecting rod and form revolute pair between vertical connecting rod of frame and the frame in a plane; Two drive connecting rod of two fixing motor-driven planar five-bar mechanisms on the pivot link are the turnover conversion of motion of motor the plane motion of foot end, and three motor inputs have realized 3 degree of freedom motion outputs of each foot end.The coordinated movement of various economic factors of four shank mechanisms realizes the actual all direction walking output of four feet walk mobile device.This patent is not considered the concussion shock problem between traveling process mesopodium end and the ground, and the requirement of high speed, high-bearing capacity when adopting the propulsive effort of drive motor to be difficult to satisfy walker operation in the open air with response time.Simultaneously, this patent institute design-calculated robot does not have isotropy, therefore has improved space aspect the alerting ability of motion.
Summary of the invention
The present invention is directed to the above-mentioned deficiency that exists in the prior art, a kind of isotropy series-parallel connection leg configuration four feet walking robot is provided.
The present invention realizes through following technical scheme.
A kind of isotropy series-parallel connection leg configuration four feet walking robot comprises frame, also comprises four series-parallel connection legs that structure is identical, and said four series-parallel connection legs have isotropy, and are installed on the below of frame.
Said series-parallel connection leg comprises: shank frame, first linear actuator, second linear actuator, the 3rd linear actuator, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod, the 5th connecting rod, the 6th connecting rod and foot.Wherein, the two ends of first linear actuator link to each other with shank frame and frame through hinge respectively, and the two ends of shank frame link to each other with frame respectively through hinge; Second linear actuator links to each other with an end of shank frame, first connecting rod respectively; The middle part of first connecting rod links to each other with the shank frame with an end of second connecting rod through hinge, and the end of first connecting rod links to each other with third connecting rod through hinge, and the middle part of second connecting rod links to each other with the shank frame through the 3rd linear actuator; The end of second connecting rod links to each other with the 4th connecting rod; Third connecting rod and the 4th connecting rod middle part are hinged, and the end of third connecting rod links to each other with the 5th connecting rod, and the end of the 4th connecting rod links to each other with the 6th connecting rod.The end of the 5th connecting rod and the 6th connecting rod is hinged on foot.
Said foot has elasticity.
The arrangement of said four series-parallel connection legs adopts symmetric arrangement or arranges in the same way.
Said first linear actuator, second linear actuator and the 3rd linear actuator adopt any type to satisfy and drive the linear drive system that requires.
During actual job; Wall scroll series-parallel connection leg has three and drives degree of freedom; First linear actuator drives whole shank and carries out the side-sway motion, and second linear actuator and the 3rd linear actuator can be worked in coordination with the drive foot and in shank mechanism plane, carried out plane-parallel type motion output.Walking robot integral body has 12 and drives degree of freedom, can realize the omnibearing movable of robot through certain gait output.
The present invention has substantive distinguishing features and marked improvement.The series-parallel connection leg structure that the present invention adopted has improved the bearing capacity and the alerting ability of quadruped robot leg structure; The parallelly connected leg structure of shaft portion is a symmetrical structure, and robot itself also is a symmetrical structure simultaneously, have isotropy, so robot all has good locomitivity and load-carrying capacity in all directions.Linear actuator is arranged easily, makes the robot leg bilge construction simpler, compact, has also improved the propulsive effort and the kinematic velocity of robot; The concussion that the elasticity of foot can reduce in robot motion's process is impacted, simultaneously for take a step to put aside energy next time.The present invention is simple in structure, control is easy, and kinematic accuracy is high, has high-speed response ability and high bearing capacity, is applicable to high speed, high capacity hauling operation and hazardous environment operation under the complicated non-structure topographic condition in field.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Among the figure, 1 is frame, and 2 is the shank frame, and 3 is first linear actuator, and 4 is second linear actuator; 5 is the 3rd linear actuator, and 6 is first connecting rod, and 7 is second connecting rod, and 8 is third connecting rod; 9 is the 4th connecting rod, and 10 is the 5th connecting rod, and 11 is the 6th connecting rod, and 12 is foot.
The specific embodiment
Elaborate in the face of embodiments of the invention down: present embodiment provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment being to implement under the prerequisite with technical scheme of the present invention.
Isotropy series-parallel connection leg configuration four feet walking robot as shown in Figure 1, that present embodiment provides comprises: frame 1 has isotropy with four series-parallel connection legs that structure is identical, said four series-parallel connection legs, and is installed on the below of frame.
Every series-parallel connection leg comprises shank frame 2, first linear actuator 3, second linear actuator 4, the 3rd linear actuator 5, first connecting rod 6, second connecting rod 7, third connecting rod 8, the 4th connecting rod 9, the 5th connecting rod 10, the 6th connecting rod 11 and foot 12.Wherein, The two ends of first linear actuator 3 link to each other with shank frame 2 and frame 1 through hinge respectively; The two ends of shank frame 2 link to each other with frame 1 respectively through hinge, and second linear actuator 4 links to each other with an end of shank frame 2, first connecting rod 6 respectively, and the middle part of first connecting rod 6 links to each other with shank frame 2 with an end of second connecting rod 7 through hinge; The end of first connecting rod 6 links to each other with third connecting rod 8 through hinge; The middle part of second connecting rod 7 links to each other with shank frame 2 through the 3rd linear actuator 5, and the end of second connecting rod 7 links to each other with the 4th connecting rod 9, and third connecting rod 8 and the 4th connecting rod 9 middle parts are hinged; The end of third connecting rod 8 links to each other with the 5th connecting rod 10, and the end of the 4th connecting rod 9 links to each other with the 6th connecting rod 11.The end of the 5th connecting rod 10 and the 6th connecting rod 11 is hinged on foot 12.Foot 12 has elasticity, can alleviate and ground between impact.
The arrangement of four series-parallel connection legs in the present embodiment can adopt symmetric arrangement or arrange in the same way.
First linear actuator that adopts in the present embodiment, second linear actuator and the 3rd linear actuator adopt any type to satisfy and drive the linear drive system that requires.
During actual job; Every series-parallel connection leg has three and drives degree of freedom; First linear actuator drives whole shank and carries out the side-sway motion, but second linear actuator and the 3rd linear actuator coordinated drive foot carry out plane-parallel type motion output in shank mechanism plane.Walking robot integral body has 12 and drives degree of freedom, can realize the omnibearing movable of robot through certain gait output.
Claims (6)
1. an isotropy series-parallel connection leg configuration four feet walking robot comprises frame, it is characterized in that: also comprise four series-parallel connection legs that structure is identical, said four series-parallel connection legs have isotropy, and are installed on the below of frame.
2. isotropy series-parallel connection leg configuration four feet walking robot according to claim 1; It is characterized in that; Said each bar series-parallel connection leg comprises: shank frame, first linear actuator, second linear actuator, the 3rd linear actuator, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod, the 5th connecting rod, the 6th connecting rod and foot, and wherein, the two ends of first linear actuator link to each other with shank frame and frame through hinge respectively; The two ends of shank frame link to each other with frame respectively through hinge; Second linear actuator links to each other with an end of shank frame, first connecting rod respectively, and the middle part of first connecting rod links to each other with the shank frame with an end of second connecting rod through hinge, and the end of first connecting rod links to each other with third connecting rod through hinge; The middle part of second connecting rod links to each other with the shank frame through the 3rd linear actuator; The end of second connecting rod links to each other with the 4th connecting rod, and third connecting rod and the 4th connecting rod middle part are hinged, and the end of third connecting rod links to each other with the 5th connecting rod; The end of the 4th connecting rod links to each other with the 6th connecting rod, and the end of the 5th connecting rod and the 6th connecting rod is hinged on foot.
3. isotropy series-parallel connection leg configuration four feet walking robot according to claim 2; It is characterized in that; Said first linear actuator, second linear actuator and the 3rd linear actuator have three altogether and drive degree of freedom; Wherein, first linear actuator drives whole shank and carries out the side-sway motion, and second linear actuator and the 3rd linear actuator coordinated drive foot carry out plane-parallel type motion output in shank frame plane.
4. isotropy series-parallel connection leg configuration four feet walking robot according to claim 2 is characterized in that said foot has elasticity.
5. isotropy series-parallel connection leg configuration four feet walking robot according to claim 1 is characterized in that, the arrangement of said four series-parallel connection legs adopts symmetric arrangement or arranges in the same way.
6. according to each described isotropy series-parallel connection leg configuration four feet walking robot in the claim 1 to 5; It is characterized in that said first linear actuator, second linear actuator and the 3rd linear actuator adopt any type to satisfy and drive the linear drive system that requires.
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| CN 201110410048 CN102514648B (en) | 2011-12-09 | 2011-12-09 | Four-leg walking robot with isotropic series-parallel legs |
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| CN 201110410048 CN102514648B (en) | 2011-12-09 | 2011-12-09 | Four-leg walking robot with isotropic series-parallel legs |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103273984A (en) * | 2013-06-18 | 2013-09-04 | 辰星（天津）自动化设备有限公司 | Quadruped-imitating stair-climbing robot |
| CN103395456A (en) * | 2013-08-15 | 2013-11-20 | 上海交通大学 | Wheel-legged mobile robot suitable for complicated terrains |
| CN103909993A (en) * | 2014-04-14 | 2014-07-09 | 贾岳杭 | Servo robot with four-foot lever leg structure |
| CN104960590A (en) * | 2015-06-30 | 2015-10-07 | 湖州市千金宝云机械铸件有限公司 | Four-foot walking robot |
| CN105856250A (en) * | 2016-05-20 | 2016-08-17 | 燕山大学 | Four-foot walking robot |
| CN108442507A (en) * | 2018-05-31 | 2018-08-24 | 辽宁工业大学 | A kind of sewer discharge outlet cleaning robot |
| CN108578181A (en) * | 2017-12-19 | 2018-09-28 | 浙江工业大学 | A kind of four-footed power-assisted healing robot |
| CN108725625A (en) * | 2018-06-14 | 2018-11-02 | 武汉智伴科技有限公司 | Climb building obstacle detouring transport power carrier, control method, mobile terminal and storage medium |
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| CN101407059A (en) * | 2008-11-06 | 2009-04-15 | 燕山大学 | Four-freedom degree industrial robot |
| CN102390460A (en) * | 2011-10-17 | 2012-03-28 | 上海交通大学 | Twelve-degree-of-freedom four-footed walker with hybrid leg structure |
| CN102390458A (en) * | 2011-10-17 | 2012-03-28 | 上海交通大学 | Hydraulic driving four-footed robot with space hybrid leg structure |
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2011
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| CN101407059A (en) * | 2008-11-06 | 2009-04-15 | 燕山大学 | Four-freedom degree industrial robot |
| CN102390460A (en) * | 2011-10-17 | 2012-03-28 | 上海交通大学 | Twelve-degree-of-freedom four-footed walker with hybrid leg structure |
| CN102390458A (en) * | 2011-10-17 | 2012-03-28 | 上海交通大学 | Hydraulic driving four-footed robot with space hybrid leg structure |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103273984A (en) * | 2013-06-18 | 2013-09-04 | 辰星（天津）自动化设备有限公司 | Quadruped-imitating stair-climbing robot |
| CN103395456A (en) * | 2013-08-15 | 2013-11-20 | 上海交通大学 | Wheel-legged mobile robot suitable for complicated terrains |
| CN103395456B (en) * | 2013-08-15 | 2016-07-06 | 上海交通大学 | Complicated landform movable robot with wheel legs |
| CN103909993A (en) * | 2014-04-14 | 2014-07-09 | 贾岳杭 | Servo robot with four-foot lever leg structure |
| CN103909993B (en) * | 2014-04-14 | 2016-05-25 | 贾岳杭 | A kind of four-footed lever leg structure servo robot |
| CN104960590A (en) * | 2015-06-30 | 2015-10-07 | 湖州市千金宝云机械铸件有限公司 | Four-foot walking robot |
| CN105856250A (en) * | 2016-05-20 | 2016-08-17 | 燕山大学 | Four-foot walking robot |
| CN105856250B (en) * | 2016-05-20 | 2018-01-23 | 燕山大学 | A kind of four feet walking robot |
| CN108578181A (en) * | 2017-12-19 | 2018-09-28 | 浙江工业大学 | A kind of four-footed power-assisted healing robot |
| CN108442507A (en) * | 2018-05-31 | 2018-08-24 | 辽宁工业大学 | A kind of sewer discharge outlet cleaning robot |
| CN108725625A (en) * | 2018-06-14 | 2018-11-02 | 武汉智伴科技有限公司 | Climb building obstacle detouring transport power carrier, control method, mobile terminal and storage medium |
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