CN103661667B - A kind of dexterous type quadruped robot with flexible waist - Google Patents
A kind of dexterous type quadruped robot with flexible waist Download PDFInfo
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- CN103661667B CN103661667B CN201310676751.0A CN201310676751A CN103661667B CN 103661667 B CN103661667 B CN 103661667B CN 201310676751 A CN201310676751 A CN 201310676751A CN 103661667 B CN103661667 B CN 103661667B
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Abstract
The present invention discloses a kind of dexterous type quadruped robot with flexible waist, comprises front and back vehicle body, waist mechanism, mechanism of crotch and leg mechanism.Be connected by split type Hooke's hinge between the vehicle body of front and back, realize deflection, pitching relatively.Front and back vehicle body all installs mechanism of Liang Tao crotch, makes mechanism of crotch output shaft outside vehicle body, installation leg portion mechanism; Finishing bevel gear cuter engaged transmission between output shaft and transmission shaft, realizes the rotating drive of output shaft.Mechanism of crotch is fixed with dead axle; Gear case is made by driving fixed-axis rotation; Realize the front and back of leg mechanism thus, swing up and down.Leg mechanism has leg portion and lower leg portion, between be connected by knee joint structure; Knee joint, by two bevel drives, makes the relative leg portion swing of lower leg portion.Advantage of the present invention is: the traffic potential that can improve mountain environment, reduces the turn radius of advancing, and reduces the rotor inertia of robot leg, energization degree of utilization.
Description
Technical field
The invention belongs to sniffing robot field, relate to a kind of four-footed sniffing robot, specifically, is a kind of dexterous type quadruped robot with flexible waist.
Background technology
Occurring in nature, mammal has very high landform adaptive capacity.The speed of cheetah can reach 110km/h, and goat freely can be run between mountain region.The flexible spinal that quadruped mammal has can increase steplength in running, and reduces turn radius, realizes bumper and absorbing shock and landform comformability, plays an important role to its stable walking at a high speed.Meanwhile, the leg of quadruped mammal is lightweight near sufficient end portion, muscle is less, and close body part is heavier, muscle is comparatively large, drives shank to produce main propulsive effort adapt with thigh when running.Quadruped flexible body and efficient energy reversal play an important role for their high-speed motion and gait conversion.Along with going deep into of quadruped robot research, for the requirement of quadruped robot, also change from static state walking to dynamic motions such as jumping, run.Mostly the current existing four-footed motor drive machines National People's Congress is rigid body, poor for landform adaptive capacity, and thigh motor arranges dispersion, causes capacity usage ratio low, cannot provide enough power for Robotic Dynamic gait and gait conversion; Some drive lacking or without driving quadruped robot to have employed the flexible spinal of polylith elastomeric material splicing as propulsive effort, but degree of freedom is very few, does not have the ability of field walking; Other have the quadruped robot waist poor rigidity of waist, cannot according to the maximum deflection scope of landform environmental modulation waist, and field landform adaptive capacity is poor.
Summary of the invention
The present invention is directed in prior art, the problem that the rigid body of quadruped robot and thigh motor dispersed placement cause capacity usage ratio low, a kind of dexterous type quadruped robot with flexible waist is proposed, its trunk has flexible structure, the traffic potential of mountain environment can be improved, reduce the turn radius of advancing, reduce the rotor inertia of robot leg, energization degree of utilization.
The present invention has the dexterous type quadruped robot of flexible waist, comprises front body, rear, waist mechanism, mechanism of crotch and leg mechanism.
Wherein, front body and rear are framed structure; Be connected by waist mechanism between front body aft end face with rear front end face.
Described waist mechanism is split type Hooke's hinge, and wherein, two hinge seats respectively bearing to be connected in cross searching axle on two groups of opposite ends, have lateral deflection and longitudinal pitching two degree of freedom; Two hinge seats are connected with front body, rear respectively.Front body and rear relativity shift is made by the deflection degree of freedom of Hooke's hinge; Front body pitching relative to rear can be made by the pitch freedom of Hooke's hinge.
Mechanism of described crotch has four covers, and structure is identical, comprises gear box A, bevel gear shaft A, dead axle and synchronous pulley A; Wherein, gear box A is the tubular three-port structure with T-shaped cross section, has three arms, makes three arms be respectively the first arm, the second arm and the 3rd arm; First arm is relative with the second arm mouth of pipe; In first arm and the 3rd arm, all bearing is connected with bevel gear shaft A; Dead axle is installed with in second arm; In first arm and the 3rd arm, the inner of bevel gear shaft A all has finishing bevel gear cuter, and engages each other; In first arm, bevel gear shaft A outer end and dead axle are all installed with synchronous pulley A;
The mechanism of crotch of the above-mentioned Structure composing of four covers is be arranged on front body and rear inner bottom surface respectively by gearbox shaft bearing a pair between two; Gearbox shaft bearing bearing is connected to the first arm and second tube end; And make the outer end of the 3rd arm internal bevel gear axle A in often pair of mechanism of crotch outside vehicle body; In mechanism of above-mentioned crotch, the 3rd arm internal bevel gear axle A external part is used for installing a set of leg mechanism.
The corresponding two cover driver trains be arranged on vehicle body end face of mechanism of above-mentioned Mei Tao crotch drive; Described driver train comprises synchronous pulley B and drive motor A; Wherein, drive motor A output shaft and synchronous pulley B are coaxially connected; Mechanism of Ling Meitao crotch corresponding two cover driver trains be respectively the first driver train and the second driver train; Wherein, in the first driver train, synchronous pulley B is socketed by the synchronous pulley A that bevel gear shaft A in Timing Belt and mechanism of a set of crotch installs; Synchronous pulley B in second driver train is socketed by the synchronous pulley A on Timing Belt and dead axle.Thus, in first driver train, drive motor A drives synchronous pulley B to rotate, and then drives the first arm internal bevel gear to rotate, thus drives the 3rd arm internal bevel gear to rotate, the rotation of final drive the 3rd arm internal bevel gear axle A, makes leg mechanism move back and forth; And drive motor A drives synchronous pulley B to rotate in the second driver train, and then drive the synchronous pulley A that the dead axle in the second arm is installed to rotate, thus drive whole gear case to rotate; Now also need to drive the finishing bevel gear cuter in the first arm internal bevel gear assembly A to rotate by the first driver train, leg mechanism is swung up and down.
Described leg mechanism comprises leg portion, lower leg portion and knee joint part; In leg portion upper end and mechanism of crotch, the outer end of bevel gear shaft A is connected; Leg portion lower end is connected with lower leg portion upper end by knee joint structure; Described knee joint structure, comprises gear box B, bevel gear shaft B and axle drive shaft; Wherein, gear box B head bearing is connected with bevel gear shaft B; Axle drive shaft two ends connect respectively at gear case left and right sides bearing; Make the axis of the axes normal axle drive shaft of bevel gear shaft B; The inner of bevel gear shaft B and axle drive shaft all have finishing bevel gear cuter, and engages each other; In said gear case B, the left and right sides is connected with both sides, leg portion lower end respectively, and makes the two ends of axle drive shaft be each passed through both sides, leg portion lower end, is connected with both sides, lower leg portion lower end; The outer end of bevel gear shaft B and the output shaft fixed connection of drive motor B.
The invention has the advantages that:
1, in quadruped robot of the present invention, the relative position of forward and backward vehicle body is changed by the waist mechanism of Hooke's hinge structure, detecting in traveling process in complicated particular surroundings thus, when running into the special topography and geomorphology of various complexity, can relatively be deflected by forward and backward vehicle body, can turn at small space, reduce the turn radius of sniffing robot; And for the obstacle run in traveling process, can first front body is placed on obstacle, then utilize the pitch freedom of waist, make forward and backward vehicle body press close to blocking surfaces, center of gravity reduces, and prevents from making sniffing robot layback overturning because front body is higher;
2, in quadruped robot of the present invention, waist mechanism limits it by the flexure strip of design and freely rotates, and when robot waist does comformability rotation, flexure strip deforms, after robot gets back to structuring landform, get back to home position;
3, in quadruped robot of the present invention, in waist mechanism, be designed with positive stop, the position of block can be changed according to landform and actual needs, thus change the range of deflection angles of waist; As advanced on level land, forward and backward vehicle body does not need relative pitching, can with positive stop by locked for waist pitch freedom; For general quadruped mammal, the angle of its backbone K/UP (backbone curve opening upwards) is less than the angle that backbone is bent downwardly (Open Side Down for backbone curve), so, robot can be limited and be bent downwardly angle comparatively greatly, and K/UP angle is less; When descending, waist K/UP can reduce robot height of gravitational center, waist at this moment can be made to upward deflect angle comparatively large, and waist to deflect down angle less or locked;
4, in quadruped robot of the present invention, two drive motor in hip joint are all arranged on car body, decrease weight and the rotor inertia of leg, improve capacity usage ratio, meanwhile, make quadruped robot integral structure become compact; And knee joint motor is arranged on the thigh position of quadruped robot, reduction hip articulation inertia is also beneficial to;
5, in quadruped robot of the present invention, the pitch in hip joint carries out transmission by driven by motor synchronous pulley in conjunction with finishing bevel gear cuter; Bevel drive adopts gear case, ensure that precision and lubrication, decreases the wearing and tearing of finishing bevel gear cuter; And adopt synchronous belt pulley transmission noise little, and energy absorbing, transmitting ratio is large, and need not lubricate, and precision is also higher, and drive motor position is comparatively flexible;
6, in quadruped robot of the present invention during yaw, the drive motor of pitch also will rotate simultaneously; The yaw in hip joint adopts the transmission of synchronous pulley driven gear case, ensures that yaw and pitch are independent of each other;
7, in quadruped robot of the present invention, vehicle body adopts tower structure, alleviates weight, adds rigidity, can adapt to mountain region complex environment walking well;
8, in quadruped robot of the present invention, shank hollow, there is spring inside, have vibration damping and energy storage effect, when making quadruped robot be traveling in the rugged ground such as mountain region, spring can play the effect of vibration damping and energy storage, add the stability of quadruped robot, improve capacity usage ratio.
Accompanying drawing explanation
Fig. 1 is quadruped robot integral structure schematic diagram of the present invention;
Fig. 2 a is waist mechanism structure front elevational schematic in quadruped robot of the present invention;
Fig. 2 b is that in quadruped robot of the present invention, waist mechanism structure faces cross-sectional schematic;
Fig. 2 c is that in quadruped robot of the present invention, cross-sectional schematic is looked on the waist mechanism structure right side;
Fig. 3 a is crotch's mechanism structure schematic diagram in quadruped robot of the present invention;
Fig. 3 b is crotch's mechanism structure cutaway view in quadruped robot of the present invention;
Fig. 4 is driving mechanism structure schematic diagram in quadruped robot of the present invention;
Fig. 5 is leg mechanism structural representation in quadruped robot of the present invention;
Fig. 6 is leg mechanism structure cutaway view in quadruped robot of the present invention.
In figure:
1-front body 2-rear 3-waist mechanism
Mechanism of 4-crotch 5-leg mechanism 301-Hooke's hinge
302-elastic construction 303-position limiting structure 301a-U type hinge seat A
301b-U type hinge seat B301c-cross searching axle 301d-bearing is to A
301e-bearing is to B301f-bearing cap shim A301g-bearing cap shim B
302a-flexure strip A302b-flexure strip B303a-position-limited trough
303b-limiting stopper 303c-limiting stopper mounting groove 303d-limiting stopper baffle plate
303e-limit dais 401-gear box A 402-bevel gear assembly A
403-dead axle assembly 404-synchronous pulley A405-gearbox shaft bearing
406-hollow shaft 407-driver train 402a-bevel gear shaft
402b-deep groove ball bearing C402c-a set of cups 402d-sleeve
402e-roller bearing end cap 402f-finishing bevel gear cuter 403a-dead axle
403b-gear box end cover 407a-synchronous pulley B407b-drive motor A
501-thigh structure 502-shank structure 503-knee joint structure
504-drive motor B505-bumper and absorbing shock structure 502a-U type framed structure
502b-cylindrical support structure 503a-gear box B 503b-bevel gear assembly B
503c-axle drive shaft 505a-slide bar 505b-cushions foot
505c-damping spring
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described.
Quadruped robot of the present invention, comprises front body 1, rear 2, waist mechanism 3, mechanism of crotch 4 and leg mechanism 5, as shown in Figure 1.
Wherein, front body 1 is identical with rear 2 structure, is rectangular frame structure; Be connected by waist mechanism 3 between front body 1 aft end face with rear 2 front end face.
Described waist mechanism 3 is made up of with position limiting structure 303 Hooke's hinge 301, elastic construction 302, has two degree of freedom, as shown in Fig. 2 a, 2b, 2c; Wherein, Hooke's hinge 301 comprises U-shaped hinge seat A301a, U-shaped hinge seat B301b, cross searching axle 301c, a pair deep groove ball bearing A301d, a pair deep groove ball bearing B301e, pair of flanges formula bearing cap shim to A301f, pair of flanges formula bearing cap shim B301g.The attachment face of U-shaped hinge seat A301a and U-shaped hinge seat B301b is connected respectively by screw and front body 1 aft end face, rear 2 front end face.U-shaped hinge seat A301a has coaxial cylindrical hole with two tiger's jaw ends of U-shaped hinge seat B301b; The transverse axis of described cross searching axle 301c and longitudinal axis two ends are socketed with a pair deep groove ball bearing A301d and a pair deep groove ball bearing B301e respectively; A pair deep groove ball bearing A301d coordinates with the through hole of the tiger's jaw end of two of U-shaped hinge seat A301a, U-shaped hinge seat B301b the outer ring of B301e respectively with a pair deep groove ball bearing.One end of a pair deep groove ball bearing A301d and a pair deep groove ball bearing B301e to coordinate with the step surface that the longitudinal axis designs respectively by the transverse axis of cross searching axle 301c locates, the other end is located respectively by the bearing cap shim A301f be fixedly mounted on U-shaped hinge seat A301a, U-shaped hinge seat B301b and bearing cap shim B301g, realizes the axial restraint of a pair deep groove ball bearing A301d and a pair deep groove ball bearing B301e thus.In the waist mechanism 3 of said structure, front body 1 and rear 2 relativity shift can be made by the deflection degree of freedom of Hooke's hinge 301, front body 1 pitching relative to rear 2 can be made by the pitch freedom of Hooke's hinge 301.Described elastic construction 302 comprises a pair flexure strip A302a and a pair flexure strip B302b, is arc-shaped elastic sheet.In a pair flexure strip A302a, two flexure strips are horizontally disposed with, and two ends are connected with U-shaped hinge seat A301a and cross searching axle 301c respectively; In a pair flexure strip B302b, two flexure strips are vertically arranged, and two ends are connected with U-shaped hinge seat B301b and cross searching axle 301c respectively; The two ends of two flexure strips in a pair flexure strip A302a and a pair flexure strip B302b are bonded to each other respectively, and in a pair flexure strip A302a and a pair flexure strip B302b, the extrados of two flexure strips is oppositely arranged (namely the circular arc of two flexure strips is circumscribed).Limit the pitch freedom of Hooke's hinge 301 respectively by a pair flexure strip A302a and a pair flexure strip B302b and deflect degree of freedom; When Hooke's hinge deflects, the tension and compression respectively of two flexure strips in a pair flexure strip B302b; When Hooke's hinge pitching, the tension and compression respectively of two flexure strips in a pair flexure strip A302a.After Hooke's hinge 301 external force is removed, by the elastic reaction of a pair flexure strip A302a and a pair flexure strip B302b, Hooke's hinge 301 is made to get back to initial position.The rigidity of above-mentioned a pair flexure strip A302a and a pair flexure strip B302b is specifically chosen as required.Described position limiting structure 303 comprises position-limited trough 303a, limiting stopper 303b, limiting stopper mounting groove 303c and limiting stopper baffle plate 303d; Wherein, position-limited trough 303a designs the end, two ends of transverse axis in cross searching axle 301c and the longitudinal axis, circumferentially edge, forms circular arc type structure; Make thus to form limit dais 303e between the two ends of position-limited trough 303a; Simultaneously at position limiting structure 303 bearing cap shim A301f at one end and bearing cap shim B301g offers a pair limiting stopper mounting groove 303c respectively; Limiting stopper mounting groove 303c is positioned at outside limit dais 303d two ends, is positioned at position-limited trough 303a correspondence position; Thus by inserting limiting stopper 303b in a pair limiting stopper mounting groove 303c, make Hooke's hinge 301 in deflection with luffing process, coordinate when between limiting stopper 303b with limit dais 303e two ends, realize deflection and the luffing angle sports limiting of Hooke's hinge 301, and then it is spacing with luffing to realize front body 1 deflection relative to rear 2; And by limit dais 303e bearing cap shim A301f at one end and bearing cap shim B301g offers more than one pair of limiting stopper mounting groove 303c, limiting stopper 303b is made to insert different limiting stopper mounting groove 303c, the deflection and the luffing angle maxim that realize Hooke's hinge 301 regulate, and then realize front body 1 deflection relative to rear 2 and luffing angle maxim and regulate.Described limiting stopper baffle plate 303d be fixedly mounted on position-limited trough 303a on bearing cap shim A301f at one end and bearing cap shim B301g, limiting stopper mounting groove and position-limited trough are blocked, prevent dust dirt from entering, realize limiting stopper simultaneously in limiting stopper mounting groove
axiallylocation.
Mechanism of described crotch has four covers, and structure is identical, comprises gear box A 401, bevel gear assembly A402, dead axle assembly 403 and synchronous pulley A404, as shown in Fig. 3 a, 3b.Wherein, gear case 401, for having the tubular three-port structure in T-shaped cross section, has three arms, makes three arms be respectively the first arm, the second arm and the 3rd arm; First arm is relative with the second arm mouth of pipe.Bevel gear assembly A402 is installed with all in the same manner in first arm and the 3rd arm.Described bevel gear assembly A402 comprises bevel gear shaft 402a, a pair deep groove ball bearing C402b and a set of cups 402c, sleeve 402d, roller bearing end cap 402e.Wherein, a set of cups 402c is tubular structure, and coaxial sleeve is inner at arm; And rear end has flange arrangement outer rim and fit in arm mouth of pipe end, realizes the location between a set of cups 402c and arm.Bevel gear shaft 402a is connected with bearing between a set of cups 402c by a pair deep groove ball bearing C402b, and the bearing realized thus between bevel gear shaft 402a with gear case 401 connects.The outer ring of a pair deep groove ball bearing C402b one end coordinates with inner edge, a set of cups 402c front end locates; The outer ring of the other end coordinates with the roller bearing end cap 402e be arranged on the arm mouth of pipe, roller bearing end cap 402e, a set of cups 402c rear end outer rim and arm mouth of pipe end face three is fixed by screw; And a pair deep groove ball bearing C402b upper bearing inner ring realizes axial location by circlip for shaft, and by sleeve 402d axial location between a pair deep groove ball bearing C402b; Thus, the axial location of a pair deep groove ball bearing C402 is realized.Bevel gear shaft 402a the inner of above-mentioned bevel gear assembly A402 has finishing bevel gear cuter 402f, is positioned at gear case 401; It is outside that outer end is positioned at gear case 401 through roller bearing end cap 402e; And the finishing bevel gear cuter 402f of two cover bevel gear assembly A402 the inners engages each other.Described second arm internal fixtion is provided with dead axle assembly 403; Dead axle assembly 403 comprises dead axle 403a and gear box end cover 403b; Gear box end cover 403b is fixedly mounted on the second arm mouth of pipe; Dead axle 403a is through gear case 401 end cap, and coaxial and gear box end cover 403b fixes, and realizes fixing between dead axle 403a and gear case 401 thus.Bevel gear shaft 402a external part in above-mentioned first arm internal bevel gear assembly A402, and second dead axle 403a in arm external part on all coaxially by key connecting, synchronous pulley A404 is installed, synchronous pulley A404 coordinates with the step surface that external part designs and locates, and by circular nut axial restraint that external part end thread is installed.In mechanism of above-mentioned crotch 4, in the 3rd arm, the bevel gear shaft 402a external part of bevel gear assembly A402 is used for installing a set of leg mechanism 5.
The mechanism of crotch 4 of the above-mentioned Structure composing of four covers is be arranged on front body 1 respectively with on rear 2 inner bottom surface by gearbox shaft bearing 405 a pair between two.Described gearbox shaft bearing 405 bearing carrier ring is connected on the one hollow shaft 406 of coaxial design on dead axle and first pipe port roller bearing end cap 402e outer wall; Be used for through bevel gear shaft 402a in hollow shaft 406.Above-mentioned often pair of mechanism of crotch 4 relatively vehicle body fore-and-aft direction axisymmetrical, and in often pair of mechanism of crotch 4 in the 3rd arm internal bevel gear assembly A402 bevel gear shaft 402a external part outside vehicle body.
The corresponding two cover driver trains 407 be arranged on vehicle body end face of mechanism of above-mentioned Mei Tao crotch 4 drive; As shown in Figure 4, described driver train 407 comprises synchronous pulley B407a and drive motor A407b; Wherein, drive motor A407b output shaft and synchronous pulley B407a are coaxially connected; And two of mechanism of Ling Meitao crotch 4 correspondence cover driver trains 407 are respectively the first driver train and the second driver train; Wherein, the synchronous pulley B407a in the first driver train is socketed by the synchronous pulley A404 on bevel gear shaft 402a in the first arm internal bevel gear assembly A402 in Timing Belt and mechanism of a set of crotch 4; Synchronous pulley B407a in second driver train is socketed by the synchronous pulley A404 that the dead axle 403a in Timing Belt and the second arm installs; Thus, in first driver train, drive motor A407b drives synchronous pulley B407a to rotate, and then drive finishing bevel gear cuter 402f in the first arm internal bevel gear assembly A402 to rotate, thus drive finishing bevel gear cuter 402f in the 3rd arm internal bevel gear assembly A402 to rotate, in final drive the 3rd arm internal bevel gear assembly A402, the rotation of bevel gear shaft 402a, makes leg mechanism 5 move back and forth; And drive motor A407b drives synchronous pulley B407a to rotate in the second driver train, and then drive the synchronous pulley A404 that the dead axle in the second arm is installed to rotate, thus drive whole gear case 401 to rotate, leg mechanism 5 is swung up and down.While said gear case 401 rotates, because the first drive motor does not work, therefore the finishing bevel gear cuter 402f in the first arm internal bevel gear assembly A402 is static not to rotate, but in the 3rd arm internal bevel gear assembly A402, finishing bevel gear cuter 402f can rotate with gear case 401 by the finishing bevel gear cuter 402f in the first arm internal bevel gear assembly A402; Finishing bevel gear cuter 402f thus in the 3rd arm internal bevel gear assembly A402 can drive the bevel gear shaft 402a in the internal bevel gear assembly A402 of the 3rd arm to rotate, thus brings the swing of whole leg mechanism 5; Mechanism of visible crotch 4 two degree of freedom motions (drive leg mechanism 5 swing and swing up and down degree of freedom) are couplings; Therefore, when the second driver train drive gear casing 401 rotates, also need to drive the finishing bevel gear cuter 402f in the first arm internal bevel gear assembly A402 to rotate by the first driver train, thus the rotation of bevel gear shaft 402a in the 3rd arm internal bevel gear assembly A402 that brings of the rotation of offsetting the finishing bevel gear cuter 402f in the 3rd arm internal bevel gear assembly A402, make bevel gear shaft 402a opposed gear case 401 without rotation, thus swing does not occur when leg is swung up and down; And the first driver train drives the finishing bevel gear cuter 402f in the first arm internal bevel gear assembly A402 to rotate the rotation not affecting gear case 401, thus, can realize the decoupling zero between 4 two degree of freedom motion of mechanism of crotch, what realize between 4 two the degree of freedom motions of mechanism of crotch is separate.By mechanism of above-mentioned crotch 4, reduce weight and the rotor inertia of quadruped robot leg, improve capacity usage ratio, make quadruped robot integral structure become compact.
Described leg mechanism 5 comprises leg portion 501, lower leg portion 502 and knee joint part 503, as shown in Figure 5; Leg portion 501 is vertical framed structure; Lower leg portion 502 top is U-shaped framed structure 502a, and bottom is cylindrical support structure 502b; Cylindrical support structure 502b top and U-shaped framed structure 502a bottom surface are connected.In leg portion 501 upper end and mechanism of crotch 4, in the 3rd arm internal bevel gear assembly A402, the external part of bevel gear shaft 402a is connected; Leg portion 501 lower end is connected with U-shaped framed structure 502a in lower leg portion 502 by knee joint structure 503.Described knee joint structure 503 and mechanism of crotch 4 similar, as shown in Figure 6, comprise gear box B 503a, bevel gear assembly B503b and axle drive shaft 503c; Wherein, gear box B 503a and the gear box A 401 in bevel gear assembly B503b and mechanism of crotch 4, bevel gear assembly A402 structure are identical; And bevel gear assembly B503b is arranged in the 3rd arm of gear box B 503a with the mounting means that bevel gear assembly A402 is identical in gear box A 401.In the middle part of axle drive shaft 503c, there is finishing bevel gear cuter; The two ends of axle drive shaft 503c are connected by bearing with second tube end with the first arm in gear box B 503a respectively, and in concrete connection mode and mechanism of crotch, the bevel gear shaft 402a of bevel gear assembly A402 is identical with the connection mode between arm; And the finishing bevel gear cuter on axle drive shaft 503c is engaged with the finishing bevel gear cuter on bevel gear shaft in bevel gear assembly B503b.In said gear case B503a the first arm and second pipe end section not and both sides, leg portion 501 lower end be connected by bolt, and make the two ends of axle drive shaft 503c be each passed through both sides, leg portion 501 lower end, and fixed by key connecting with U-shaped framed structure 502a both sides in lower leg portion 502.Thus, the output shaft of drive motor B504 is connected by the bevel gear shaft external part on the 3rd arm internal bevel gear assembly B503b in coupler and gear box B 503a; Drive motor B504 is made to drive the finishing bevel gear cuter in bevel gear assembly B503b to rotate, the finishing bevel gear cuter on axle drive shaft 503c is driven to rotate, and then axle drive shaft 503c is rotated, drive lower leg portion 502 swing eventually through axle drive shaft 503c, form the one degree of freedom that knee joint structure 503 moves.
Above-mentioned lower leg portion 502 is also provided with bumper and absorbing shock structure 505, bumper and absorbing shock structure 505 comprises slide bar 505a, cushions sufficient 505b, damping spring 505c; Wherein, slide bar 505a is slidably connected in lower leg portion 502 in cylindrical support structure 502b, can slide axially; Slide bar 505a top has flange, by coordinating with cylindrical support structure 502b bottom inward flange, and in conjunction with framed structure 502a bottom surface U-shaped in lower leg portion 502, realizes the axial limiting of slide bar 505a.Cushioning sufficient 505b is spherical inflatable structure, is fixedly mounted on slide bar 505a bottom.Also be provided with damping spring 505c in cylindrical support structure 502b, damping spring 505c is positioned between slide bar 505a top and U-shaped framed structure 502a bottom surface.By above-mentioned bumper and absorbing shock structure 505, when making quadruped robot of the present invention be traveling in the rugged ground such as mountain region, there is the function of vibration damping and energy storage, add the stability of quadruped robot, improve capacity usage ratio.
Claims (7)
1. there is a dexterous type quadruped robot for flexible waist, it is characterized in that: comprise front body, rear, waist mechanism, mechanism of crotch and leg mechanism;
Wherein, front body and rear are framed structure; Be connected by waist mechanism between front body aft end face with rear front end face;
Described waist mechanism is split type Hooke's hinge, and wherein, two hinge seats respectively bearing to be connected in cross searching axle on two groups of opposite ends, have lateral deflection and longitudinal pitching two degree of freedom; Two hinge seats are connected with front body, rear respectively; Front body and rear relativity shift is made by the deflection degree of freedom of Hooke's hinge; Front body pitching relative to rear can be made by the pitch freedom of Hooke's hinge;
Mechanism of described crotch has four covers, and structure is identical, comprises gear box A, bevel gear shaft A, dead axle and synchronous pulley A; Wherein, gear box A is the tubular three-port structure with T-shaped cross section, has three arms, makes three arms be respectively the first arm, the second arm and the 3rd arm; First arm is relative with the second arm mouth of pipe; In first arm and the 3rd arm, all bearing is connected with bevel gear shaft A; Dead axle is installed with in second arm; In first arm and the 3rd arm, the inner of bevel gear shaft A all has finishing bevel gear cuter, and engages each other; In first arm, bevel gear shaft A outer end and dead axle are all installed with synchronous pulley A;
The mechanism of crotch of the above-mentioned Structure composing of four covers is be arranged on front body and rear inner bottom surface respectively by gearbox shaft bearing a pair between two; Gearbox shaft bearing bearing is connected to the first arm and second tube end; And make the outer end of the 3rd arm internal bevel gear axle A in often pair of mechanism of crotch outside vehicle body;
The corresponding two cover driver trains be arranged on vehicle body end face of mechanism of above-mentioned Mei Tao crotch drive; Described driver train comprises synchronous pulley B and drive motor A; Wherein, drive motor A output shaft and synchronous pulley B are coaxially connected; Mechanism of Ling Meitao crotch corresponding two cover driver trains be respectively the first driver train and the second driver train; Wherein, in the first driver train, synchronous pulley B is socketed by the synchronous pulley A that bevel gear shaft A in Timing Belt and mechanism of a set of crotch installs; Synchronous pulley B in second driver train is socketed by the synchronous pulley A on Timing Belt and dead axle;
Described leg mechanism comprises leg portion, lower leg portion and knee joint structure; In leg portion upper end and mechanism of crotch, the outer end of bevel gear shaft A is connected; Leg portion lower end is connected with lower leg portion upper end by knee joint structure; Described knee joint structure, comprises gear box B, bevel gear shaft B and axle drive shaft; Wherein, gear box B head bearing is connected with bevel gear shaft B; Axle drive shaft two ends connect respectively at gear case left and right sides bearing; Make the axis of the axes normal axle drive shaft of bevel gear shaft B; The inner of bevel gear shaft and axle drive shaft all have finishing bevel gear cuter, and engages each other; In said gear case B, the left and right sides is connected with both sides, leg portion lower end respectively, and makes the two ends of axle drive shaft be each passed through both sides, leg portion lower end, is connected with both sides, lower leg portion lower end; The outer end of bevel gear shaft and the output shaft fixed connection of drive motor B.
2. a kind of dexterous type quadruped robot with flexible waist as claimed in claim 1, is characterized in that: have elastic construction in described waist mechanism; Described elastic construction comprises a pair flexure strip A and a pair flexure strip B, is arc-shaped elastic sheet; In a pair flexure strip A, two flexure strips are horizontally disposed with, and two ends are connected with the hinge seat and cross searching axle with pitch freedom respectively; In a pair flexure strip B, two flexure strips are vertically arranged, two ends respectively with there is the hinge seat that deflects degree of freedom and cross searching axle is connected; The two ends of two flexure strips in a pair flexure strip A and a pair flexure strip B are bonded to each other respectively, and in a pair flexure strip A and a pair flexure strip B, the extrados of two flexure strips is oppositely arranged.
3. a kind of dexterous type quadruped robot with flexible waist as claimed in claim 1, is characterized in that: have position limiting structure in described waist mechanism; Described position limiting structure comprises position-limited trough, limiting stopper, limiting stopper mounting groove and limiting stopper baffle plate; Wherein, position-limited trough designs the end of transverse axis in cross searching axle and the longitudinal axis, circumferentially edge, forms circular arc type structure; Make thus to form limit dais between the two ends of position-limited trough; In the circumference of end, position-limited trough place, offer at least one pair of limiting stopper mounting groove simultaneously; Limiting stopper mounting groove is positioned at outside limit dais two ends, is positioned at position-limited trough correspondence position; Thus by inserting limiting stopper in a pair limiting stopper mounting groove, making Hooke's hinge in deflection with luffing process, coordinating when between limiting stopper with limit dais two ends, realize deflection and the luffing angle sports limiting of Hooke's hinge; Limiting stopper baffle plate is fixedly mounted on position-limited trough institute at one end, blocks, and realize the location of limiting stopper to limiting stopper mounting groove and position-limited trough.
4. a kind of dexterous type quadruped robot with flexible waist as claimed in claim 1, is characterized in that: described first arm and the 3rd arm are all connected by a pair deep groove ball bearing and a set of cups, sleeve, roller bearing end cap bearing with between bevel gear shaft; Wherein, a set of cups is tubular structure, and coaxial sleeve is inner at arm; And rear end has flange arrangement outer rim and fit in arm mouth of pipe end, realizes the location between a set of cups and arm; Bevel gear shaft is connected with bearing between a set of cups by a pair deep groove ball bearing, and the bearing realized thus between bevel gear shaft with gear case connects; The outer ring of a pair deep groove ball bearing one end coordinates with inner edge, a set of cups front end locates; The outer ring of the other end coordinates with the roller bearing end cap be arranged on the arm mouth of pipe, roller bearing end cap, a set of cups rear end outer rim and arm mouth of pipe end face three is fixed; And a pair deep groove ball bearing upper bearing inner ring realizes axial location by circlip for shaft, and by sleeve axial location between a pair deep groove ball bearing.
5. a kind of dexterous type quadruped robot with flexible waist as claimed in claim 1, is characterized in that: the first arm and the 3rd arm are all connected by a pair deep groove ball bearing and a set of cups, sleeve, roller bearing end cap bearing with between bevel gear shaft; Wherein, a set of cups is tubular structure, and coaxial sleeve is inner at arm; And rear end has flange arrangement outer rim and fit in arm mouth of pipe end, realizes the location between a set of cups and arm; Bevel gear shaft is connected with bearing between a set of cups by a pair deep groove ball bearing, and the bearing realized thus between bevel gear shaft with gear case connects; The outer ring of a pair deep groove ball bearing one end coordinates with inner edge, a set of cups front end locates; The outer ring of the other end coordinates with the roller bearing end cap be arranged on the arm mouth of pipe, roller bearing end cap, a set of cups rear end outer rim and arm mouth of pipe end face three is fixed; And a pair deep groove ball bearing upper bearing inner ring realizes axial location by circlip for shaft, and by sleeve axial location between a pair deep groove ball bearing.
6. a kind of dexterous type quadruped robot with flexible waist as claimed in claim 1, it is characterized in that: in described first driver train, drive motor A drives synchronous pulley B to rotate, and then drive finishing bevel gear cuter in the first arm internal bevel gear assembly A to rotate, thus drive finishing bevel gear cuter in the 3rd arm internal bevel gear assembly A to rotate, in final drive the 3rd arm internal bevel gear assembly A, the rotation of bevel gear shaft, makes leg mechanism move back and forth; And drive motor A drives synchronous pulley B to rotate in the second driver train, and then drive the synchronous pulley A that the dead axle in the second arm is installed to rotate, thus drive whole gear case to rotate; Now also need to drive the finishing bevel gear cuter in the first arm internal bevel gear assembly A to rotate by the first driver train, leg mechanism is swung up and down.
7. a kind of dexterous type quadruped robot with flexible waist as claimed in claim 1, is characterized in that: described lower leg portion bottom is tubular structure, and inside is provided with buffer structure; Buffer structure draws together slide bar, buffering foot, damping spring; Wherein, sliding bar is connected in shank bottom; ; Buffering foot is spherical inflatable structure, is fixedly mounted on slide bar bottom; Lower leg portion is also provided with damping spring in bottom, and damping spring is positioned between top end of sliding rod and bottom surface, lower leg portion top.
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| CN105235770A (en) * | 2015-11-19 | 2016-01-13 | 中国科学院合肥物质科学研究院 | Two-freedom-degree bionic flexible spinal structure of quadruped robot |
| CN105538338A (en) * | 2016-02-05 | 2016-05-04 | 东南大学 | Bionic spine mechanism applied to quadruped robot and robot |
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| CN106892016B (en) * | 2017-02-15 | 2023-06-16 | 华南理工大学 | Steerable waist structure applied to quadruped robot |
| CN107097213A (en) * | 2017-05-19 | 2017-08-29 | 沃奇（北京）智能科技有限公司 | Robot lower limb |
| CN107647947B (en) * | 2017-11-02 | 2024-05-28 | 北京安颂科技有限公司 | Tibial prosthesis and artificial knee joint |
| CN107933734B (en) * | 2017-11-16 | 2020-04-17 | 哈尔滨工业大学 | Large-climbing-gradient robot foot capable of changing soft terrain based on drilling and tunneling |
| CN108622228B (en) * | 2018-05-25 | 2020-11-17 | 昆明理工大学 | Quadruped robot with flexible waist |
| CN109129560B (en) * | 2018-08-30 | 2020-08-14 | 浙江大学 | Flexible waist structure suitable for biped robot and design method thereof |
| CN110562346A (en) * | 2018-08-30 | 2019-12-13 | 哈尔滨理工大学 | Novel structure four-footed hydraulic robot |
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