CN104890759A - Four-footed robot - Google Patents
Four-footed robot Download PDFInfo
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- CN104890759A CN104890759A CN201510404059.1A CN201510404059A CN104890759A CN 104890759 A CN104890759 A CN 104890759A CN 201510404059 A CN201510404059 A CN 201510404059A CN 104890759 A CN104890759 A CN 104890759A
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Abstract
The invention discloses a four-footed robot, which is characterized by mainly comprising a rack, a dust shield and four mechanical legs with identical structures; the rack is internally provided with twelve servo motors, which comprise four lifting motors, four propelling motors and four swinging motors and are used for driving the four mechanical legs, and every three motors control one mechanical leg to realize rising, lowering, advancing, retreating and side swinging movements of the mechanical leg; the rack comprises connecting plates, a square mounting plate and a rod; the connecting plates are located on two sides of the square mounting plate and are used for fixing the square mounting plate, and all the components are mutually fixedly connected by screws; the dust shield and the rack are mutually fixedly connected by screws; each leg part structure mainly comprises one swinging motor, one lifting motor, one propelling motor, a support plate, a lifting rod, a tail end rod, a long propelling rod, a short propelling rod, a No. 1 short shaft, a No. 2 short shaft and a support shaft; all mechanisms of each leg part are divided into a lifting system, a propelling system and a swinging system according to the functions in the moving process.
Description
Technical field
The invention belongs to robotics, be specially a kind of quadruped robot.
Background technology
Legged type robot is of a great variety, can be used for multiple fields such as military affairs, service for life, rescue and relief work and amusement.According to the walking manner of robot, robot can be divided into wheeled robot, caterpillar type robot and legged type robot.Wheeled robot and the requirement of caterpillar type robot move mode to surrounding environment higher, therefore its field of application is subject to certain restrictions.Legged type robot relies on it to show very strong comformability with the discontinuous contact characteristic on ground in the process of walking, especially on the passage having obstacle or on very inapproachable work-yard, has more vast potential for future development.The sufficient number of most legged type robot is even number, according to sufficient number, legged type robot can be divided into biped, four-footed, six foots and eight foots, even more.Quadruped robot can realize the walking on uneven ground and complex-terrain in static walking mode, can realize walking at a high speed again, therefore more come into one's own in dynamic walking mode.But there is many technical matterss such as load-carrying capacity is poor, total quality is comparatively large, complex structure, control difficulty, poor stability and alerting ability are not enough in current sufficient formula machine gait processes to need to solve, especially do not possess the anti-rollover under External Force Acting, overturn-preventing function.
201420480836.1) and the staggered form quadruped robot (number of patent application: 201410833599.7) that designs of Zhejiang Polytechnical University's leaf filial piety fine jade the quadruped robot of existing bibliographical information mainly contains: the quadruped robot model of the people such as Zhejiang Polytechnical University Wu Hua woods design (number of patent application:.Research shows, the former have employed piston crank mechanism and bar structure, therefore there is the deficiency that sufficient end motion track is complicated and control accuracy is low; The latter have employed steering wheel as driver train, therefore there is the deficiency of single speed and output dynamics instability.When receiving external impacts, this two quadruped robot does not possess overturn-preventing function.
Summary of the invention
For the deficiencies in the prior art, the technical matters that quasi-solution of the present invention is determined is, provides a kind of quadruped robot.This robot architecture is simple, good stability, and flexibly, lighter weight, controls easily, particularly have overturn-preventing function during external impacts in motion.
The technical scheme that the present invention solves existing technical matters is: design a kind of quadruped robot, mainly comprises identical four pedipulators of frame, dust boot and structure, i.e. left front leg, RAT, left back leg and right rear leg; Be provided with 12 servomotors in described frame, comprise 4 lifting motors, 4 pushing motors and 4 oscillating motors, for driving four pedipulators, every three electric machine control pedipulator, realizes the rising and falling of pedipulator, advances, retreats and side-sway motion; Described frame comprises connecting panel, square shape adapter plate and bar, and connecting panel is positioned at the both sides of square shape adapter plate, in order to fixing port font adapter plate, adopts screw to be fixedly connected with between each assembly; Also screw is adopted to be fixedly connected with between described dust boot and frame; Described leg structure comprises oscillating motor, lifting motor, pushing motor, stay bearing plate, lifting arm, end bar, long catch bar, short catch bar, No. 1 minor axis, No. 2 minor axises and pivot shaft; The each mechanism of leg is divided into elevator system, moving system and oscillation system according to the function in motion process;
Described elevator system mainly comprises lifting motor, stay bearing plate, lifting arm and end bar; Described lifting motor is fixedly connected with stay bearing plate by screw; Described lifting arm is connected with lifting motor by flange, and lifting motor rotates and drives lifting arm motion; Described end bar is connected with lifting arm on-fixed with bearing, roller bearing end cap by bearing, and both can relatively rotate;
Described moving system mainly comprises pushing motor, short catch bar, long catch bar, No. 1 minor axis and No. 2 minor axises; Described pushing motor is fixedly connected with stay bearing plate by screw; Described short catch bar is connected with pushing motor by flange, and pushing motor drives short catch bar to rotate; Described No. 2 minor axises and short catch bar weld together; Described long catch bar is connected with No. 2 minor axis on-fixeds by bearing, roller bearing end cap, and both can relatively rotate; Described end bar and No. 1 minor axis weld together, long catch bar is connected with No. 1 minor axis on-fixed by bearing, roller bearing end cap, and end bar and long catch bar can be relatively rotated.
Described oscillation system mainly comprises oscillating motor, square shape adapter plate and pivot shaft; Described oscillating motor is fixedly connected with square shape adapter plate by flange, screw; Described stay bearing plate is connected with oscillating motor by threaded flange, and oscillating motor drives stay bearing plate to rotate; Described pivot shaft is fixedly connected with stay bearing plate by screw, and is connected with square shape adapter plate on-fixed by bearing, roller bearing end cap, and both can relatively rotate.
Advantage and the good effect of quadruped robot of the present invention are:
1, the linkage simple and ingenious structure designed by the present invention, effectively can alleviate the quality of leg, reduces robot energy consumption, simultaneously can increase load-carrying capacity by a relatively large margin.
2, the present invention is a kind of novel quadruped robot, possess the public advantage of all quadruped robots, by the cooperation control to leg, multiple gait can be realized, comprise 1324 gaits, pseudo-1324 gaits and diagonal gait, thus actv. meets multiple landform demand.
3, the present invention adopts three driven by servomotor pedipulator, and pass through the cooperation control bar structure of wherein two motors, make the path of motion of leg end more fast, accurately, simultaneously by the adjustment of oscillating motor, make robot can have stronger organism balance ability, under violent side effect, balance can be kept, thus reach robot under various landform fast, pulsation-free motion.
Accompanying drawing explanation
Fig. 1 is the integral structure schematic diagram of a kind of embodiment of quadruped robot of the present invention;
Fig. 2 is schematic diagram after the integral structure excision dust boot of a kind of embodiment of quadruped robot of the present invention;
Fig. 3 is the rack construction schematic diagram of a kind of embodiment of quadruped robot of the present invention;
Fig. 4 is the structural scheme of mechanism of the left back leg of a kind of embodiment of quadruped robot of the present invention;
Fig. 5 is the structural representation of the left back leg of a kind of embodiment of quadruped robot of the present invention;
Fig. 6 is No. 1 minor axis of the left back leg of a kind of embodiment of quadruped robot of the present invention and the structural representation of end bar weldment.
Detailed description of the invention
The present invention is described further below in conjunction with embodiment and accompanying drawing thereof.But the claims of the application is not limited to the description scope of described embodiment.
A kind of quadruped robot of the present invention's design (is called for short robot, see Fig. 1-6), it is characterized in that this robot forms primarily of frame 3, dust boot 4, left front leg 5, RAT 6, left back leg 2 and right rear leg 1, wherein the structure of left front leg 5, RAT 6, left back leg 2, right rear leg 1 is just the same, be uniformly distributed and be arranged on both sides, frame 3 long limit, between dust boot 4 and frame 3, adopt screw to be fixedly connected with.Robot of the present invention four pedipulator structures are identical, by 4 linkage compositions, according to the function of linkage in robot kinematics, be divided into elevator system, moving system and oscillation system, the main innovate point of robot is the oscillation system of leg, oscillation system plays a very important role for the stability tool of whole robot, foreign impacts is subject to when robot is walked on extreme terrain or suddenly, robot can readjust the center of gravity of whole robot by the side-sway of leg, prevent toppling of robot.
Described frame 3 inside is provided with 12 servomotors, and for driving four pedipulators, every three electric machine control pedipulator, realizes the rising and falling of pedipulator, advances, retreats and side-sway motion (see Fig. 2).
Described frame 3 (see Fig. 3) is by No. 1 connecting panel 301, No. 2 connecting panels 311, No. 3 connecting panels 305, No. 4 connecting panels 307, No. 1 square shape adapter plate 312, No. 2 square shape adapter plates 302, No. 3 square shape adapter plates 306, No. 4 square shape adapter plates 308, No. 1 bar 310, No. 2 bars 303, No. 3 bars 304 and No. 4 bars 309 form, No. 1 bar 310, No. 2 bars 303, No. 3 bars 304, No. 4 bars 309 and No. 2 connecting panels 311, screw is adopted to be fixedly connected with between No. 3 connecting panels 305, No. 1 connecting panel 301, No. 2 connecting panels 311, No. 3 connecting panels 305, No. 4 connecting panels 307 and No. 1 square shape adapter plate 312, No. 2 square shape adapter plates 302, No. 3 square shape adapter plates 306, also screw is adopted to be fixedly connected with between No. 4 square shape adapter plates 308.
Robot of the present invention four pedipulator structures are identical, by 4 linkage compositions.Now for left back leg integral structure (see Fig. 4), the leg structure of robot of the present invention mainly comprises oscillating motor 201, lifting motor 202, pushing motor 203, stay bearing plate 204, No. 2 square shape adapter plates 302, lifting arm 205, end bar 206, long catch bar 208, short catch bar 211, No. 1 minor axis 207, No. 2 minor axises 209, pivot shafts 210.Leg structure can be divided into three systems, elevator system, moving system and oscillation system.
Described elevator system (see Fig. 4,5) mainly comprises lifting motor 202, stay bearing plate 204, lifting arm 205, end bar 206.Described lifting motor 202 is fixedly connected with stay bearing plate 204 by screw; Described lifting arm 205 is connected with lifting motor 202 by flange, and lifting motor 202 rotates and drives lifting arm 205 to move; Described end bar 206 is connected with lifting arm 205 on-fixed with bearing, roller bearing end cap by bearing, and both can relatively rotate.
Described moving system mainly comprises pushing motor 203, short catch bar 211, long catch bar 208, No. 1 minor axis 207, No. 2 minor axises 209.Described pushing motor 203 is fixedly connected with stay bearing plate 204 by screw; Described short catch bar 211 is connected with pushing motor 203 by flange, and pushing motor 203 drives short catch bar 211 to rotate; Described No. 2 minor axises 209 and short catch bar 211 weld together; Described long catch bar 208 is connected with No. 2 minor axis 209 on-fixeds by bearing, roller bearing end cap, and both can relatively rotate; Described end bar 206 and No. 1 minor axis 207 weld together, long catch bar 208 is connected with No. 1 minor axis 207 on-fixed by bearing, roller bearing end cap, and end bar 206 and long catch bar 208 can be relatively rotated.
Described oscillation system mainly comprises oscillating motor 201, No. 2 square shape adapter plates 302, pivot shafts 210.Described oscillating motor 201 is fixedly connected with No. 2 square shape adapter plates 302 by flange, screw; Described stay bearing plate 204 is connected with oscillating motor 201 by threaded flange, and oscillating motor 201 drives stay bearing plate 204 to rotate; Described pivot shaft 210 is fixedly connected with stay bearing plate 204 by screw, and is connected with No. 2 square shape adapter plate 302 on-fixeds by bearing, roller bearing end cap, and both can relatively rotate.When being subject to external impacts, the center-of-gravity position of robot can change, and when robot center of gravity is not in the stable triangular region of robot, robot will topple side.Robot of the present invention is when being subject to external impacts, the oscillating motor 201 of the left back leg of robot 2 will drive No. 2 square shape adapter plates 302 to rotate suitable angle, regulate the left back leg 2 of robot to robot interior or external rotating certain angle, article four, leg oscillation system moves simultaneously, thus the center of gravity reaching robot is from the object of newly getting back in stable triangular region, the lateral forces that effectively prevent robot impacts and topples.
As everyone knows, when robot receives external impacts, center-of-gravity position changes, and when robot center of gravity is not in the stable triangular region of robot, robot will topple.When robot of the present invention is subject to external impacts, the oscillating motor axle of robot leg will drive square shape adapter plate to rotate suitable angle, regulate robot leg to robot interior or external rotating certain angle, article four, leg moves simultaneously, thus the center of gravity reaching robot is from the object of newly getting back in stable triangular region, effectively prevent toppling of robot.This is the main innovate point of robot of the present invention.
The principle of work of robot of the present invention with process is: four leg structures of robot are identical, realize the rising and falling of leg by driven by servomotor, advance and side-sway motion, by the cooperation control to four legs, multiple gait can be realized, comprise 1324 gaits, pseudo-1324 gaits and diagonal gait, thus actv. meets multi-motion rate request and landform demand.When leg structure works, lifting motor 202 and pushing motor 203 co-ordination complete advance or the setback of leg.Lifting motor 202 rotates, and drive lifting arm 205 to rotate, lifting arm 205 drives end bar 206 to move: pushing motor 203 rotates simultaneously, and drive short catch bar 211, short catch bar 211 drives long catch bar 208, and long catch bar 208 drives end bar 206 to move.Two motor coordination work in this process, combined action, thus complete advance or setback.When oscillating motor 201 rotates, stay bearing plate 204 is driven to rotate, thus drive whole bar structural system to complete inside and outside swing, oscillation system plays a very important role for the stability tool of whole robot, when robot is walked on extreme terrain or when being subject to suddenly foreign impacts, robot can readjust the center of gravity of whole robot by the side-sway of leg, prevent toppling of robot.
Robot of the present invention does not address body and the head-tail of robot, and it is applicable to prior art, and the robot of embodiment also comprises dog head, dog body and dog tail, forms a complete towser robot.The all parts of not addressing of the present invention are applicable to prior art.
Claims (1)
1. a quadruped robot, is characterized in that this robot mainly comprises identical four pedipulators of frame, dust boot and structure, i.e. left front leg, RAT, left back leg and right rear leg; Be provided with 12 servomotors in described frame, comprise 4 lifting motors, 4 pushing motors and 4 oscillating motors, for driving four pedipulators, every three electric machine control pedipulator, realizes the rising and falling of pedipulator, advances, retreats and side-sway motion; Described frame comprises connecting panel, square shape adapter plate and bar, and connecting panel is positioned at the both sides of square shape adapter plate, in order to fixing port font adapter plate, adopts screw to be fixedly connected with between each assembly; Also screw is adopted to be fixedly connected with between described dust boot and frame; Described leg structure comprises oscillating motor, lifting motor, pushing motor, stay bearing plate, lifting arm, end bar, long catch bar, short catch bar, No. 1 minor axis, No. 2 minor axises and pivot shaft; The each mechanism of leg is divided into elevator system, moving system and oscillation system according to the function in motion process;
Described elevator system mainly comprises lifting motor, stay bearing plate, lifting arm and end bar; Described lifting motor is fixedly connected with stay bearing plate by screw; Described lifting arm is connected with lifting motor by flange, and lifting motor rotates and drives lifting arm motion; Described end bar is connected with lifting arm on-fixed with bearing, roller bearing end cap by bearing, and both can relatively rotate;
Described moving system mainly comprises pushing motor, short catch bar, long catch bar, No. 1 minor axis and No. 2 minor axises; Described pushing motor is fixedly connected with stay bearing plate by screw; Described short catch bar is connected with pushing motor by flange, and pushing motor drives short catch bar to rotate; Described No. 2 minor axises and short catch bar weld together; Described long catch bar is connected with No. 2 minor axis on-fixeds by bearing, roller bearing end cap, and both can relatively rotate; Described end bar and No. 1 minor axis weld together, long catch bar is connected with No. 1 minor axis on-fixed by bearing, roller bearing end cap, and end bar and long catch bar can be relatively rotated;
Described oscillation system mainly comprises oscillating motor, square shape adapter plate and pivot shaft; Described oscillating motor is fixedly connected with square shape adapter plate by flange, screw; Described stay bearing plate is connected with oscillating motor by threaded flange, and oscillating motor drives stay bearing plate to rotate; Described pivot shaft is fixedly connected with stay bearing plate by screw, and is connected with square shape adapter plate on-fixed by bearing, roller bearing end cap, and both can relatively rotate.
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| CN201510404059.1A CN104890759B (en) | 2015-07-10 | 2015-07-10 | A kind of quadruped robot |
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| CN201510404059.1A CN104890759B (en) | 2015-07-10 | 2015-07-10 | A kind of quadruped robot |
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| CN104890759B CN104890759B (en) | 2017-06-16 |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105966491A (en) * | 2016-07-08 | 2016-09-28 | 河北工业大学 | Flexible leg structure with plane five-rod mechanism |
| CN106005089A (en) * | 2016-07-08 | 2016-10-12 | 河北工业大学 | Quadruped robot platform |
| CN106476928A (en) * | 2016-12-21 | 2017-03-08 | 山东大学 | The variable electronic quadruped robot of mechanism configuration |
| CN107200078A (en) * | 2017-05-17 | 2017-09-26 | 上海大学 | A kind of link-type multi-foot robot |
| CN108275217A (en) * | 2018-02-28 | 2018-07-13 | 信阳师范学院 | A kind of quadruped robot of multi-locomotion mode |
| WO2018161936A1 (en) * | 2017-03-10 | 2018-09-13 | 杭州宇树科技有限公司 | Leg power system structure for electric-drive quadruped robot |
| CN108697568A (en) * | 2016-02-18 | 2018-10-23 | 罗多尔夫·利农 | Support construction |
| CN109398527A (en) * | 2018-11-06 | 2019-03-01 | 北京建筑大学 | A kind of multi link Movable device |
| CN109733503A (en) * | 2019-02-20 | 2019-05-10 | 上海交大临港智能制造创新科技有限公司 | A kind of robot leg structure and robot |
| CN109733502A (en) * | 2019-02-20 | 2019-05-10 | 上海交大临港智能制造创新科技有限公司 | A kind of robot leg structure and robot |
| CN110466641A (en) * | 2019-07-09 | 2019-11-19 | 深圳市朗驰欣创科技股份有限公司 | Pedipulator and robot |
| WO2020112229A2 (en) | 2018-09-26 | 2020-06-04 | Ghost Robotics Llc | Legged robot |
| CN111846000A (en) * | 2020-07-30 | 2020-10-30 | 上海交通大学 | Wheel leg robot leg structure and mobile robot |
| CN112193346A (en) * | 2020-11-09 | 2021-01-08 | 大连工业大学 | Parallel four-foot robot dog |
| CN112606925A (en) * | 2020-12-25 | 2021-04-06 | 江苏集萃复合材料装备研究所有限公司 | Four-foot walking robot and walking mode thereof |
| CN112623065A (en) * | 2021-02-04 | 2021-04-09 | 德鲁动力科技(成都)有限公司 | Simple quadruped robot structure |
| CN112757295A (en) * | 2020-12-28 | 2021-05-07 | 武汉远图信息科技有限公司 | Biped robot gravity center control method and simulation system based on reinforcement learning |
| CN113696992A (en) * | 2021-08-18 | 2021-11-26 | 道子(北京)科技有限责任公司 | Quadruped robot |
| CN114291182A (en) * | 2022-01-06 | 2022-04-08 | 无锡陆吾智能科技有限公司 | Light-duty high performance four-footed robot |
| CN114954729A (en) * | 2022-06-29 | 2022-08-30 | 武汉大学 | Twelve-degree-of-freedom quadruped robot |
| RU2788754C1 (en) * | 2022-07-22 | 2023-01-24 | Акционерное общество "ИНТЕЛЛЕКТ МАШИН" (АО "ИМ") | Robot device |
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| CN108697568A (en) * | 2016-02-18 | 2018-10-23 | 罗多尔夫·利农 | Support construction |
| CN106005089A (en) * | 2016-07-08 | 2016-10-12 | 河北工业大学 | Quadruped robot platform |
| CN105966491A (en) * | 2016-07-08 | 2016-09-28 | 河北工业大学 | Flexible leg structure with plane five-rod mechanism |
| CN106476928A (en) * | 2016-12-21 | 2017-03-08 | 山东大学 | The variable electronic quadruped robot of mechanism configuration |
| US10940582B2 (en) | 2017-03-10 | 2021-03-09 | Hangzhou Yushu Technology Co., Ltd. | Leg power system structure of electrically driven four-legged robot |
| WO2018161936A1 (en) * | 2017-03-10 | 2018-09-13 | 杭州宇树科技有限公司 | Leg power system structure for electric-drive quadruped robot |
| CN107200078A (en) * | 2017-05-17 | 2017-09-26 | 上海大学 | A kind of link-type multi-foot robot |
| CN107200078B (en) * | 2017-05-17 | 2019-04-23 | 上海大学 | A kind of link-type multi-foot robot |
| CN108275217A (en) * | 2018-02-28 | 2018-07-13 | 信阳师范学院 | A kind of quadruped robot of multi-locomotion mode |
| CN108275217B (en) * | 2018-02-28 | 2023-12-15 | 信阳师范学院 | Four-foot robot with multiple motion modes |
| EP3856381A4 (en) * | 2018-09-26 | 2022-08-17 | Ghost Robotics Corporation | Legged robot |
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| CN109398527A (en) * | 2018-11-06 | 2019-03-01 | 北京建筑大学 | A kind of multi link Movable device |
| CN109733502A (en) * | 2019-02-20 | 2019-05-10 | 上海交大临港智能制造创新科技有限公司 | A kind of robot leg structure and robot |
| CN109733502B (en) * | 2019-02-20 | 2021-11-02 | 上海交大临港智能制造创新科技有限公司 | Robot leg structure and robot |
| CN109733503A (en) * | 2019-02-20 | 2019-05-10 | 上海交大临港智能制造创新科技有限公司 | A kind of robot leg structure and robot |
| CN109733503B (en) * | 2019-02-20 | 2021-11-02 | 上海交大临港智能制造创新科技有限公司 | Robot leg structure and robot |
| CN110466641A (en) * | 2019-07-09 | 2019-11-19 | 深圳市朗驰欣创科技股份有限公司 | Pedipulator and robot |
| CN111846000A (en) * | 2020-07-30 | 2020-10-30 | 上海交通大学 | Wheel leg robot leg structure and mobile robot |
| CN112193346A (en) * | 2020-11-09 | 2021-01-08 | 大连工业大学 | Parallel four-foot robot dog |
| CN112606925A (en) * | 2020-12-25 | 2021-04-06 | 江苏集萃复合材料装备研究所有限公司 | Four-foot walking robot and walking mode thereof |
| CN112757295A (en) * | 2020-12-28 | 2021-05-07 | 武汉远图信息科技有限公司 | Biped robot gravity center control method and simulation system based on reinforcement learning |
| CN112623065A (en) * | 2021-02-04 | 2021-04-09 | 德鲁动力科技(成都)有限公司 | Simple quadruped robot structure |
| CN113696992A (en) * | 2021-08-18 | 2021-11-26 | 道子(北京)科技有限责任公司 | Quadruped robot |
| CN114291182A (en) * | 2022-01-06 | 2022-04-08 | 无锡陆吾智能科技有限公司 | Light-duty high performance four-footed robot |
| CN114291182B (en) * | 2022-01-06 | 2023-07-21 | 无锡陆吾智能科技有限公司 | Four-foot robot |
| CN114954729A (en) * | 2022-06-29 | 2022-08-30 | 武汉大学 | Twelve-degree-of-freedom quadruped robot |
| RU2788754C1 (en) * | 2022-07-22 | 2023-01-24 | Акционерное общество "ИНТЕЛЛЕКТ МАШИН" (АО "ИМ") | Robot device |
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| CN104890759B (en) | 2017-06-16 |
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