CN103332235B - Modularized walking robot with flexible torso - Google Patents

Modularized walking robot with flexible torso Download PDF

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Publication number
CN103332235B
CN103332235B CN201310236657.3A CN201310236657A CN103332235B CN 103332235 B CN103332235 B CN 103332235B CN 201310236657 A CN201310236657 A CN 201310236657A CN 103332235 B CN103332235 B CN 103332235B
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steering wheel
walking
ball
robot
body plate
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CN103332235A (en
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王立权
王海龙
王刚
陈曦
焦可鑫
任梦轩
廖洪千
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Harbin Engineering University
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Harbin Engineering University
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Abstract

The invention provides a modularized walking robot with a flexible torso. The walking robot comprises the flexible torso and two groups of walking legs, wherein the flexible torso comprises a front machine body plate, a rear machine body plate, and waist joints used for connecting the front machine body plate with the rear machine body plate; the two groups of walking legs are respectively mounted on the left sides and right sides of the front machine body plate and the rear machine body plate, and are connected with the front machine body plate and the rear machine body plate; first steering engines are used for driving the walking legs; a second steering engine is used for driving the flexible torso. The modularized walking robot abandons the traditional rigid body structure, and has three two-free-degree waist joints, so that the movement flexibility and stability of the robot are higher, and the obstacle crossing capability is stronger. The walking legs of the walking robot can be conveniently expanded into six legs, eight legs, ten legs or even more legs. As the walking leg structure is simplified in a better manner, reactive power loss due to gravity action in the walking process is reduced, and as a double-action damper is mounted between each thigh and each crus, the passive buffering effect is achieved, and the ground impact on the robot in the walking process is reduced.

Description

One has flexible trunk modularization walking robot
Technical field
What the present invention relates to is a kind of robot, specifically legged type robot.
Background technology
Along with the development in epoch, the research direction of robot has turned to the AUTONOMOUS TASK aspect development under the unstructured moving grids such as aerospace, space exploration, under water underfloor duct, disease examination treatment, rescue and relief work and counterterrorist activity from the Fixed Point Operation of structured environment.Future robot is human work by be difficult to that arrive or dangerous environment the mankind under.Irregular and formed the common feature of these environment unevenly, the application of traditional wheeled or caterpillar type robot is greatly limited, and under this background, the research for legged type robot is flourish.Multifeet walking robot is by the robot imitated based on myriopod mode of motion.So-called polypody generally refers to more than four-footed and four-footed, and common multi-foot robot comprises quadruped robot, six biped robots and eight biped robots etc.Multi-foot robot has higher stability of motion in the process of walking, and the podomere structure of its redundancy still can keep stabilized conditions in the irregular environment of complexity, even if break down in indivedual joint still can fulfil assignment.Relative to wheeled and caterpillar type robot, what it was discrete fall, and foot point makes it have stronger ground comformability.
Six biped robot stability and load-carrying capacity are better than quadruped robot, and it is simple compared with eight biped robot structures, a Typical Representative of multi-foot robot, the advantage of six biped robots make its be particluarly suitable for performing in complicated irregular environment field investigation, under water seek and deep space probing etc. to independence, task that reliability requirement is higher.More representational as California, USA Polytechnics jet propulsion laboratory development robot LEMUR in six biped robot fields, LEMUR robot is mainly used in prospecting, the I& M of space equipment.Every bar leg has 4 rotational freedoms, and limbs are rigidity regular hexagon structure, is integrated with the end-effector of various advanced person, has quick linkage function, can executing means fast.Six biped robots of another one classics are the RHex robots developed by units such as California, USA Berkeley.The every bar leg of this robot has one to drive degree of freedom.Rigidity body is equipped with 1 triaxial accelerometer and 1 three axis optical fibre gyro instrument, attitude can adjusted by after outer force-disturbance, obtained the transient posture of trunk by the strain measurement unit of each leg, and change gait reduces driving load rapidly, realizes self adaptation and runs.Found by contrast, existing multi-foot robot is substantially all adopt rigid body, alerting ability and the compliance of such robot motion are poor, the flexibility deficiency of body also can limit robot walking, run, jump and the function such as rolling, in order to improve the stability in robot kinematics, start have some researchists to attempt adopting multi-foot robot the design of flexible body.The ELIRO-II quadruped robot of people's developments such as such as QingBei, Korea polytechnical university Kyoung-Ho Kim, this bionical quadruped robot contains the waist joint of a two-freedom between the body of front and back, one of them is the passive freedom degree swung, be used for the step-length of expanding machinery people and speed, another one pitch freedom is active degree of freedom, be used for increasing the alerting ability of robot on irregular ground, multi-foot robot containing flexible trunk is more more stable than conventional rigid body walking robot, and gait during walking is more similar to the animal of occurring in nature.Also has number of patent application: 201110196221.7, publication No.: what CN102343950A patent document was recorded have developed a kind of submissive quadruped robot with flexible waist and elastic leg by people such as Beijing Jiaotong University Zhang Xiuli, this robot trunk has three degree of freedom, it is active pitch freedom between front trunk and backbone, backbone is connected with waist, waist and the revolute pair of rear trunk with torsion spring, makes robot body have the passive freedom degree of roll and deflection respectively.This invention adopts flexible structure to replace traditional rigid construction, adds the stability of motion of robot.Find by analyzing, mostly be in document that quadruped robot adopts flexible structure trunk, six biped robots containing flexible trunk also do not have related introduction, and it is flexible not enough that prior art exists body, make the alerting ability of robot poor, limit the functions such as the contraction of robot, torsion, rolling; And robot list walking leg complex structure, weight are large, thus add the idle work that robot gravity in the process of walking does, waste of power is increased.
Summary of the invention
The object of the present invention is to provide that modularization, extendability are strong, compact conformation, there is flexible trunk, there is the one slowing down ground shock there is flexible trunk modularization walking robot.
The object of the present invention is achieved like this:
One of the present invention has flexible trunk modularization walking robot, it is characterized in that: comprise flexible trunk, walking leg, flexible trunk comprises forebody plate, rear body plate and is connected the waist joint of forebody plate, rear body plate, walking leg has two groups, the left and right sides of forebody plate and rear body plate is installed respectively and is all connected with rear body plate with forebody plate, first servo driving walking leg, the flexible trunk of the second servo driving.
The present invention can also comprise:
1, described walking leg comprises first-the third-largest leg connecting rod, shank link, toe, first steering wheel, bolster, bracing frame, first U-shaped frame, first double acting damper, pivot shaft is fixed on forebody plate, pivot shaft and bracing frame are connected formation support frame, first steering wheel is fixed on the first steering wheel permanent seat, first steering wheel permanent seat is fixed on bracing frame, the output shaft of the first steering wheel is connected with the first steering wheel, and one end of the first U-shaped frame is connected with the first steering wheel, the other end and steering wheel tail end axle and the first steering wheel permanent seat form revolute pair jointly, and one end that the first U-shaped frame 1 deviates from the first steering wheel is connected with second largest leg connecting rod, first-the third-largest leg connecting rod, shank link forms parallel-crank mechanism, revolute pair is formed between adjacent two connecting rods, be hinged between shank link and toe, the first double acting damper is placed between toe and shank link and forms passive freedom degree, and first double acting damper one end and shank link form revolute pair, the other end and toe are formed hinged.
2, flexible trunk also comprises the second steering wheel, the second steering wheel permanent seat, the second U-shaped frame, the second steering wheel, the first-the second ball rod, the first-the second ball cap, connecting rod, axle of usheing to seat, the second double acting damper, center cross, axle sleeve, top chock, step, the first-the second link span, M type connecting panel;
Flexible trunk is symmetrical formula structure, wherein the structure of side is: the second steering wheel is fixed on the second steering wheel permanent seat, second steering wheel permanent seat and rear body plate, the mouth of the second U-shaped frame is connected with the second steering wheel, the external part flat board of the second U-shaped frame is connected with the first ball rod, first ball rod and the first ball cap form ball pivot, there is screw thread at the two ends of connecting rod, and form with the first ball cap and the second ball cap and be threaded, second ball rod and the second ball cap form ball pivot too, and the second ball rod and forebody plate are connected;
The structure of waist joint is: axle of usheing to seat is fixed on rear body plate, second double acting damper one end coordinates with shaft clearance of usheing to seat and forms revolute pair, the other end coordinates with a minor axis End play of center cross and forms revolute pair, the longitudinal end of center cross and axle sleeve form revolute pair, waist joint is made to have the degree of freedom that swings, top chock is connected with step and forms plain bearing housing, bearing shell to be embedded in bearing seat and to limit its circumference and rotates, two external parts of axle sleeve are inserted in the hole of bearing shell, waist joint is had and swings up and down degree of freedom, first link span is connected with M type connecting panel, second link span is fixed on axle sleeve, M type connecting panel is connected with the second link span, first link span and the second link span are separately fixed on forebody plate.
3, each organizes flexible trunk and every two groups of walking legs form one group of moving cell, and described moving cell has more than three groups or three groups, arranges, connected as one form polypody walking mechanism by body link span before and after all moving cells.
4, flexible trunk is also installed the first-the second jump ring, the first jump ring is stuck in ushers to seat in the groove of axle, and limit the second double acting damper axial motion, the second jump ring is arranged in the second ball cap, limits the axial location of the second ball cap.
Advantage of the present invention is: the present invention has abandoned traditional body rigid construction, has the waist joint of three two-freedoms, make the kinematic dexterity of robot and stability higher, obstacle climbing ability is stronger.Owing to have employed modular design philosophy, the walking robot of six foots, eight foots, pure or more foot can be expanded to very easily.Because walking leg structure simplifies more, decrease the reactive loss due to Action of Gravity Field in walking process, and double acting damper is housed between thigh and shank, serve the effect of passive buffering, reduce the impulsive force that robot comes from ground in the process of walking.
Accompanying drawing explanation
Fig. 1 is front view of the present invention;
Fig. 2 is birds-eye view of the present invention;
Fig. 3 is fuselage block diagram of the present invention;
Fig. 4 is compliance trunk block diagram;
Fig. 5 is compliance trunk upward view;
Fig. 6 is Six-foot walking robot complete machine birds-eye view;
Fig. 7 is Six-foot walking robot complete machine block diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing citing, the present invention is described in more detail:
Composition graphs 1 ~ 7, of the present invention have flexible trunk modularization walking robot and consist of the following components: modular construction front fuselage 67, modular construction fuselage middle-end 66, modular construction back body 64, body link span 65, hex bolt 63.
Complete machine assembling is as follows: modular construction front fuselage 67, fuselage middle-end 66, back body 64 are connected with body link span 65 by hex bolt 63.
The each modularization airframe structure of composition graphs 3 is made up of the compliance trunk of two walking legs and a two-freedom that are distributed in body both sides.
Composition graphs 1 and Fig. 2, walking robot comprises walking leg, and it specifically comprises: toe 1, bearing pin 2, spring cotter 3, shank link 4, double acting damper 5, bearing pin 6, thick link 7, thick link 8, thick link 9, bearing pin 10 steering engine seat bolt of rear end plate 11, steering wheel tail end axle 12, steering wheel axle fix screw 13, U-shaped frame fix screw 14, steering wheel 15, steering wheel 16, steering wheel bolt of rear end plate 17, steering wheel captive nut 18, steering wheel permanent seat 19, U-shaped frame 20, transmission screw 21, pivot shaft 22, bracing frame 23, hex bolt 24, hex bolt 25.
Single walking leg structure assembling is as follows: pivot shaft 22 is fixed on forebody plate 61 by two Allen bolts 24, pivot shaft 22 is connected by two hex bolts 25 and bracing frame 23, and pivot shaft 22 and bracing frame 23 together constitute the support frame of whole piece walking leg.Steering wheel 16 is by two steering wheel bolt of rear end plates 17, steering wheel captive nut 18 is fixed on steering wheel permanent seat 19, steering wheel captive nut 18 is fixed on bracing frame 23 by four steering engine seat bolt of rear end plates 11, steering wheel 16 is as the diarthrodial propulsion source of master of whole piece walking leg, the output shaft of steering wheel 16 is connected by steering wheel axle fix screw 13 with steering wheel 15, one end of U-shaped frame 16 is connected by 4 U-shaped frame fix screws 14 with steering wheel 15, the other end and steering wheel tail end axle 12, steering wheel permanent seat 19 forms revolute pair jointly, U-shaped frame 20 deviates from one end of steering wheel 16 by transmission screw 21, be connected with thick link 8, thick link 7, thick link 8, thick link 9, shank link 4 forms parallel-crank mechanism, revolute pair is formed by bearing pin 10 and bearing pin 6 between adjacent two bars, be hinged between shank link 4 and toe 1, its rotating shaft is bearing pin 2, spring cotter 3 is inserted in one end circular hole of bearing pin 2, play the effect preventing bearing pin from coming off, double acting damper 5 is placed between toe 1 and shank link 4 and forms a passive freedom degree, double acting damper 5 one end and shank link 4 form revolute pair by bearing pin 6, the other end and toe 1 are formed hinged by bearing pin 2.
Its principle of work is: steering wheel 16 drives thick link 8 to rotate, a bar of the planar parallelogram mechanism that thick link 8 is formed as thick link 7, thick link 8, thick link 9, shank link 4, when thick link 8 rotation can drive this parallel-crank mechanism to move, thus achieving swinging up and down of walking leg thigh, this degree of freedom is active degree of freedom.Thigh and shank junction form revolute pair by toe 1, shank link 4 and bearing pin 2, are a passive joint herein, and a double acting damper 5 is placed in this passive joint place and plays the effect slowing down ground shock.
Composition graphs 4 and Fig. 5, compliance trunk in modularization airframe structure comprises: hex bolt 26, axle sleeve link span 27, top chock 28, holding screw 29, bearing seat tie bolt 30, bearing shell 31, slotted cheese head screw 32, step 33, axle sleeve 34, slotted cheese head screw 35, hex bolt 36, to usher to seat axle 37, jump ring 38, double acting damper 39, center cross 40, M type connecting panel 41, hex bolt 42, link span 43, link span 44, slotted cheese head screw 45, rear body plate 46, steering engine seat bolt of rear end plate 47, steering wheel permanent seat 48, steering wheel fix screw 49, steering wheel 50, steering wheel 51, slotted cheese head screw 52, U-shaped frame 53, ball rod 54, slotted cheese head screw 55, ball cap 56, connecting rod 57, ball cap 58, ball rod 59, jump ring 60, forebody plate 61, hexagonal-head screw 62.
The assembling of compliance trunk structure is as follows: this flexible trunk is made up of forebody plate 61, rear body plate 46 and waist joint three part.Two steering wheels 50 are the propulsion source of this two-freedom waist joint, are distributed in the left and right sides of body, and steering wheel 50 is fixed on steering wheel permanent seat 48 by steering wheel fix screw 49, and steering wheel permanent seat 48 is connected by four steering engine seat bolt of rear end plates 47 and rear body plate 46.The mouth of U-shaped frame 53 is connected by four slotted cheese head screws 52 with steering wheel 51, the external part flat board of U-shaped frame 53 is connected with ball rod 54 by slotted cheese head screw 55, ball rod 1 and ball cap 56 form ball pivot, screw thread has been attacked at the two ends of connecting rod 57, form with ball cap 56 and ball cap 58 and be threaded, ball rod 59 is same with ball cap 58 also forms Spherical Joint Motion pair, jump ring 60 pairs of ball caps 2 play the effect of axial location, and ball rod 59 is connected by four hexagonal-head screwes 62 and forebody plate 61.Axle 37 of usheing to seat is fixed on rear body plate 46 by four hex bolts 36, double acting damper 39 one end forms revolute pair with axle 37 free-running fit of usheing to seat, jump ring 38 is stuck in ushers to seat in the groove of axle 37, play the effect of restriction double acting damper 39 end float misalignment, the other end of double acting damper 39 is same with a minor axis end of center cross 40 carries out free-running fit, form revolute pair, longitudinal end and the axle sleeve 34 of center cross 40 form revolute pair, waist is made to have the degree of freedom that swings, top chock 28 and step 33 are connected by bearing seat tie bolt 30 and form plain bearing housing, play the effect supporting bearing shell and rotating shaft, bearing shell 31 is embedded in bearing seat, limit its circumference by holding screw 29 to rotate, two external parts of axle sleeve 34 are inserted in the hole of bearing shell 31, waist is had and swings up and down degree of freedom, link span 43 is connected with M type connecting panel 41 by four hex bolts 42, link span 44 is fixed on axle sleeve 34 by four slotted cheese head screws 35, M type connecting panel 41 is connected by two hex bolts 42 with link span 44.Link span 43 and link span 44 are fixed on forebody plate 61 by four slotted cheese head screws 45 respectively.
Its principle of work is: ball rod 54 can be driven to move in a circle when the steering wheel 50 being positioned at two ends, body left and right rotates, ball rod 54 and ball cap 56 form ball pivot, the sport of ball rod 54 is delivered to connecting rod 57 by ball pivot, thus the swing of drivening rod 57, other end ball cap 58 and the ball rod 59 of connecting rod 57 also form ball pivot, the swing of connecting rod 57 equally also can drive the motion of ball rod 59, because ball rod 59 and forebody plate 61 are connected, corresponding forebody plate 61 and the rear body plate 46 of driving of the motion of ball rod 59 relatively rotates.In sum, when two ends, body left and right steering wheel 50 synchronized rotating in same direction, forebody plate 61 can be made to do upper and lower luffing relative to rear body plate 46, when two ends, body left and right steering wheel 50 is synchronized rotate backward time, forebody plate 61 can be made to do roll motion relative to rear body plate 46.

Claims (5)

1. one kind has flexible trunk modularization walking robot, it is characterized in that: comprise flexible trunk, walking leg, flexible trunk comprises forebody plate, rear body plate and is connected the waist joint of forebody plate, rear body plate, walking leg has two groups, the left and right sides of forebody plate and rear body plate is installed respectively and is all connected with rear body plate with forebody plate, first servo driving walking leg, the flexible trunk of the second servo driving;
Described walking leg comprises first leg connecting rod, second largest leg connecting rod, the third-largest leg connecting rod, shank link, toe, first steering wheel, bolster, bracing frame, first U-shaped frame, first double acting damper, pivot shaft is fixed on forebody plate, pivot shaft and bracing frame are connected formation support frame, first steering wheel is fixed on the first steering wheel permanent seat, first steering wheel permanent seat is fixed on bracing frame, the output shaft of the first steering wheel is connected with the first steering wheel, and one end of the first U-shaped frame is connected with the first steering wheel, the other end and steering wheel tail end axle and the first steering wheel permanent seat form revolute pair jointly, and one end that the first U-shaped frame deviates from the first steering wheel is connected with second largest leg connecting rod, first leg connecting rod, second largest leg connecting rod, the third-largest leg connecting rod, shank link forms parallel-crank mechanism, revolute pair is formed between adjacent two connecting rods, be hinged between shank link and toe, the first double acting damper is placed between toe and shank link and forms passive freedom degree, and first double acting damper one end and shank link form revolute pair, the other end and toe are formed hinged.
2. one according to claim 1 has flexible trunk modularization walking robot, it is characterized in that: flexible trunk also comprises the second steering wheel, the second steering wheel permanent seat, the second U-shaped frame, the second steering wheel, the first ball rod, the second ball rod, the first ball cap, the second ball cap, connecting rod, axle of usheing to seat, the second double acting damper, center cross, axle sleeve, top chock, step, the first link span, the second link span, M type connecting panel;
Flexible trunk is symmetrical formula structure, wherein the structure of side is: the second steering wheel is fixed on the second steering wheel permanent seat, second steering wheel permanent seat and rear body plate are connected, the mouth of the second U-shaped frame is connected with the second steering wheel, the external part flat board of the second U-shaped frame is connected with the first ball rod, first ball rod and the first ball cap form ball pivot, there is screw thread at the two ends of connecting rod, and form with the first ball cap and the second ball cap and be threaded, second ball rod and the second ball cap form ball pivot too, and the second ball rod and forebody plate are connected;
The structure of waist joint is: axle of usheing to seat is fixed on rear body plate, second double acting damper one end coordinates with shaft clearance of usheing to seat and forms revolute pair, the other end coordinates with a minor axis End play of center cross and forms revolute pair, the longitudinal end of center cross and axle sleeve form revolute pair, waist joint is made to have the degree of freedom that swings, top chock is connected with step and forms plain bearing housing, bearing shell to be embedded in bearing seat and to limit its circumference and rotates, two external parts of axle sleeve are inserted in the hole of bearing shell, waist joint is had and swings up and down degree of freedom, first link span is connected with M type connecting panel, second link span is fixed on axle sleeve, M type connecting panel is connected with the second link span, first link span and the second link span are separately fixed on forebody plate.
3. one according to claim 1 and 2 has flexible trunk modularization walking robot, it is characterized in that: each organizes flexible trunk and every two groups of walking legs form one group of moving cell, described moving cell has more than three groups or three groups, arranges, connected as one formation polypody walking mechanism by body link span before and after all moving cells.
4. one according to claim 1 and 2 has flexible trunk modularization walking robot, it is characterized in that: flexible trunk is also installed the first jump ring, the second jump ring, first jump ring is stuck in ushers to seat in the groove of axle, limit the second double acting damper axial motion, second jump ring is arranged in the second ball cap, limits the axial location of the second ball cap.
5. one according to claim 3 has flexible trunk modularization walking robot, it is characterized in that: flexible trunk is also installed the first jump ring, the second jump ring, first jump ring is stuck in ushers to seat in the groove of axle, limit the second double acting damper axial motion, second jump ring is arranged in the second ball cap, limits the axial location of the second ball cap.
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