CN106608308A - Robot - Google Patents
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- CN106608308A CN106608308A CN201510689396.XA CN201510689396A CN106608308A CN 106608308 A CN106608308 A CN 106608308A CN 201510689396 A CN201510689396 A CN 201510689396A CN 106608308 A CN106608308 A CN 106608308A
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Abstract
The invention relates to the field of intelligent movement, in particular to a robot. The robot comprises a robot body and four moving components located below the four bottom corners of the robot body respectively. The moving components can drive the robot to move. The robot body comprises a first robot main body and a second robot main body which are connected in the forward motion direction of the robot. The first robot main body and the second robot main body are movably connected. The four-foot robot moves faster and faster in practice, motion is smoother and smoother, the obstacle climbing ability is stronger and stronger, and movement performance of the four-foot robot is improved to a greater degree.
Description
Technical field
The present invention relates to intelligent mobile field, a kind of more particularly to a kind of robot, and in particular to four-footed
Robot.
Background technology
As automatic technology is fast-developing, robot is more and more occurred in the visual field of people.
In the past robot was mainly used in industrial production line, for replacing the mankind to complete that some are simple, loaded down with trivial details,
Repeating for task.Now robot starts gradually to go to people at one's side, such as sweeping robot, purchase
Thing robot, hall guided robot, meal delivery robot etc..
Above-mentioned these robots are obvious with one relative to the production line robot used in industry
Characteristic --- it is mobile.These robots are required in certain environment according to the task change position of itself
Put.Mobile robot has various modes for realizing motion, and sufficient formula is wheeled, wriggles, flight, swimming
Etc..But relatively conventional is sufficient formula and wheeled, because this two kinds of motion side that to be also the mankind commonly use
Formula.Its mesopodium formula has two foots, four-footed, six foots relatively conventional.It is wheeled have two-wheeled, three-wheel, four-wheel compared with
For common.Wheeled robot has speed fast in relatively flat landform, the advantage such as energy expenditure is little,
But its obstacle climbing ability is poor, and legged type robot comparatively obstacle climbing ability is strong, can adapt to more
Terrain environment, but it is bigger than wheeled in level terrain motion consumption, and algorithm is more complicated.Now with
The wheeled combining form with sufficient formula, i.e., add wheel in the end of sufficient formula, has the two advantage concurrently.
More universal structure quadruped robot is that four-footed is housed in the corner of a larger solid, its
Motion gait, is that the mankind use for reference from the motion of animal, and effect of the four-footed in motor process makes
It is also the emphasis of people's research most it will be evident that the space of four-footed is maximum, wherein, per foot
There is a 2DOF in the joint (buttockss joint) being connected with body, and knee joint has 1 degree of freedom, four-footed totally 12 from
By spending, its schematic diagram is as shown in Figure 1.Also more freedom, such as 16 and 20 degree of freedom.In reality
Application in, by taking BIGDOG the most advanced as an example, when obstacle is skipped with gait of galloping at all speed, also
It is that to there is action buffering bad, the problems such as take-off distance, and at itself when rotation, substantially all
It is turning over slowly by continuous little successive step, consumes big, reaction is slow.
The content of the invention
It is contemplated that overcoming quadruped robot of the prior art to deposit when obstacle is skipped with gait of galloping at all speed
In action bad, the take-off distance of buffering, the problems such as big, reaction is slow is consumed when rotation at itself,
There is provided a kind of motion more flexible, more efficiently quadruped robot.
For achieving the above object, the present invention is employed the following technical solutions：
The invention provides a kind of robot, including robot body and four are located at respectively robot sheet
Moving parts under the base angle of body four, moving parts can drive robot motion, wherein, robot body
Including the first robot body and the second robot body along the connection of robot direction of advance, described the
One robot body is flexibly connected with the second robot body.
In some embodiments, the first robot body can deviate robot with respect to the second robot body
The direction activity of direction of advance.
In some embodiments, the first robot body can be in vertical and horizontal with respect to the second robot body
Deviate the direction activity of robot direction of advance.
In some embodiments, connected by rotary shaft between the first robot body and the second robot body.
In some embodiments, the first robot body is provided with the first motor, and first motor has
Extend the motor shaft of the first robot body；Second robot body is provided with first connecting rod, described
There is axis hole on first connecting rod；Motor shaft is connected with shaft hole matching.
In some embodiments, it is connected through the hinge between the first robot body and the second robot body.
In some embodiments, it is flexibly connected between moving parts and robot body.
In some embodiments, moving parts opposed robots body can be in longitudinal direction and/or advance side of robot
To direction activity.
In some embodiments, moving parts opposed robots body can be in the direction of robot direction of advance
And/or the direction activity of lateral run-out robot direction of advance.
In some embodiments, robot body is respectively equipped with the second motor at four base angles；Described second
Motor has the motor shaft for extending robot body；Moving parts has a second connecting rod, and described second
There is axis hole on connecting rod；Motor shaft is connected with shaft hole matching.
In some embodiments, moving parts includes longitudinally connected the first moving parts and the second move portion
Part, first moving parts and the second moving parts are flexibly connected.
In some embodiments, the first moving parts can be in lateral run-out robot with respect to the second moving parts
The direction activity of direction of advance.
In some embodiments, the first moving parts is provided with the 3rd motor；3rd motor have prolong
Stretch out the motor shaft of the first moving parts；Second moving parts has third connecting rod, the third connecting rod
It is upper that there is axis hole；Motor shaft is connected with shaft hole matching.
The beneficial effects of the present invention is：
The present invention no longer studies more ripe more difficult improved four-footed motion from another direction,
But the less robot body of the unwitnessed movement angle of primary study people.By long-term reality
Research is tested, successfully based on existing deeper and deeper research, more and more, increasingly finer is various
Theory, by what is connected into along each part that robot direction of advance is fixedly connected, is always treated as one
The robot body of the object of individual fixation, is divided into two parts, i.e. the first robot body and the second machine
Human body, the first robot body is flexibly connected with the second robot body, i.e. robot body itself
Can be movable relatively, be then provided with new degree of freedom.The present invention on traditional quadruped structure by adding more
Multiple degrees of freedom, can be 2 degree of freedom, and the robot body of an entirety originally is divided into into two parts,
Can be connected using 2 orthogonal rotary joints between two parts, in actual application process, its
" waist joint " of animal can be modeled as, makes the motion of quadruped robot more flexible, more effectively,
So that compare traditional structure when same action purpose is completed, the range of movement and power needed for extremity
Component is less, and can provide bigger space and athletic posture.For example in obstacle jump when institute
The jump power and skip distance for needing is less, and when turning faster, required gait adjustment number of times is less.
Under " galloping at all speed " gait, the consumption to leg power is less, and the distance that can be run per gait cycle
It is longer.
The quadruped robot of present invention movement velocity in practice is more and more faster, and action is more and more smooth,
Obstacle climbing ability is more and more stronger, largely improves the exercise performance of quadruped robot.
Description of the drawings
Fig. 1 is the structural representation of one embodiment of the quadruped robot of prior art.
The structural representation of the one embodiment for the quadruped robot that Fig. 2 is provided for the present invention.
Fig. 3 is the effect schematic diagram of the quadruped robot waist joint when turning shown in Fig. 2.
Fig. 4 is the obstacle detouring schematic diagram of the quadruped robot shown in Fig. 1.
Fig. 5 is the obstacle detouring schematic diagram of the quadruped robot shown in Fig. 2.
Fig. 6 is " galloping at all speed " gait reference attitude schematic diagram of the quadruped robot shown in Fig. 2.
Fig. 7 is that " galloping at all speed " gait front foot of the quadruped robot shown in Fig. 2 lands attitude schematic diagram.
Fig. 8 is that " galloping at all speed " gait of the quadruped robot shown in Fig. 2 terminates attitude schematic diagram.
Reference:
1-buttockss joint；2-knee joint；3-waist joint；4-obstacle；5-the first robot sheet
Body；6-the second robot body；7-the first moving parts；8-the second moving parts.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, its
In from start to finish same or similar label represent same or similar element or with same or like work(
The element of energy.It is exemplary below with reference to the embodiment of Description of Drawings, it is intended to for explaining this
Invention, and be not considered as limiting the invention.
In describing the invention, it is to be understood that term " " center ", " longitudinal direction ", " horizontal stroke
To ", " length ", " width ", " thickness ", " on ", D score, "front", "rear",
"left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outward "
Orientation or position relationship Deng instruction is based on orientation shown in the drawings or position relationship, merely to just
In the description present invention and simplified description, rather than indicate or imply that the device or element of indication must have
Specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating
Or hint relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, define
One or more spy can be expressed or be implicitly included to the feature of " first ", " second "
Levy.In describing the invention, " multiple " are meant that two or more, unless otherwise bright
It is really specific to limit.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " setting ",
The terms such as " connection ", " fixation " should be interpreted broadly, for example, it may be being fixedly connected, also may be used
Being to be detachably connected, or it is integrally connected；Can be mechanically connected, or electrically connect；Can
Being to be joined directly together, it is also possible to be indirectly connected to by intermediary, can be the company of two element internals
It is logical.For the ordinary skill in the art, can as the case may be understand that above-mentioned term exists
Concrete meaning in the present invention.
The present invention is elaborated below in conjunction with the accompanying drawings.
The invention provides a kind of robot, including robot body and four are located at respectively robot sheet
Moving parts under the base angle of body four, moving parts can drive robot motion.I.e. the invention provides one
Plant quadruped robot.
The present invention's mainly thes improvement is that, robot body is included along robot direction of advance connection
The first robot body 5 and the second robot body 6, the first robot body 5 and the second robot
Body 6 is flexibly connected.Will robot body be laterally divided into two parts, do not fix between two parts,
Can be movable relatively, that is, increased new degree of freedom.In the present invention, laterally i.e. horizontal direction, relative,
Longitudinal direction is vertical direction, and the present invention is in the horizontal plane along the direction of advance of robot by robot body
It is divided into two parts, can be movable relatively between two parts, be i.e. many activity space of other dimensions of this two parts,
Wherein, direction of advance refers to the main direction of advance of quadruped robot its design direction of advance in other words, tool
Fore-and-aft direction that can be as shown in Figure 2 in body embodiment, can be machine by this direction in this specific embodiment
The axis of device people's direction of advance is defined as X-axis.The accompanying drawing 2 of the present invention is changed as experimental structure
Enter, be the simple structural representation of one embodiment, simply simply divided each several part,
And using the connected mode similar to joint, such as connected mode of axle, by Motor drive between each several part.
The activity space of other dimensions refers in certain embodiments the master that can deviate whole robot body
Activity direction is the direction of advance of robot, and the first robot body 5 relative second is referred in embodiment
Robot body 6 can deviate the direction activity of robot direction of advance, that is, deviate as shown in Figure 2
Fore-and-aft direction, in the specific embodiment of the present invention, relative second robot of the first robot body 5
Body 6 can deviate the direction activity of robot direction of advance in vertical and horizontal, i.e., as shown in Figure 2
Above-below direction and left and right directions activity, then increased two degree of freedom of Z axis and Y-axis.
Being flexibly connected between the first robot body 5 and the second robot body 6 in some embodiments can be with
It is modeled as the various connected modes similar to joint that waist joint 3, i.e. those skilled in the art can implement
Be capable of achieving connection herein, the form of such as motor direct-connected, be also not limited to use motor other
Mode etc., it is also possible to be designed as complete passive frame mode.Specifically, for example in some embodiments,
Connected by rotary shaft between the first robot body 5 and the second robot body 6.More specifically, example
Such as can be that the first motor is provided with the first robot body 5, first motor have extend
The motor shaft of the first robot body 5；Second robot body 6 is provided with first connecting rod, and described
There is axis hole on one connecting rod；Motor shaft is connected with shaft hole matching, specific connection fit system be it is known,
Will not be described here.In other specific embodiments, the first robot body 5 and the second robot
It is connected through the hinge between body 6.The present invention increased two freedom by rotatable waist joint 3
Degree.
In some embodiments, also it is flexibly connected between moving parts and robot body.Specifically, some
In embodiment, moving parts opposed robots body can be in longitudinal direction and/or the direction of robot direction of advance
Activity, i.e., above-below direction as shown in Figure 2 and fore-and-aft direction activity, i.e., with Z axis and X-axis two
Individual degree of freedom, its body can be similar to Aranea, wherein, the direction present invention of robot direction of advance is
Refer to that its movable dimension can be along the axis of robot direction of advance, can advance to retreat, i.e.,
Can be along fore-and-aft direction activity as shown in Figure 2.In further embodiments, moving parts is relative
Robot body can be in the direction of robot direction of advance and/or the side of lateral run-out robot direction of advance
To activity, i.e., fore-and-aft direction as shown in Figure 2 and left and right directions activity, i.e., with X-axis and Y-axis
Two degree of freedom, its body can be similar to Canis familiaris L..
Being flexibly connected between moving parts and robot body in some embodiments can be modeled as buttockss joint 1,
The various connected modes similar to joint that i.e. those skilled in the art can implement are capable of achieving herein
Connection, the form of such as motor direct-connected is also not limited to use other modes of motor etc..Specifically,
For example in some embodiments, robot body is respectively equipped with the second motor at four base angles；Described second
Motor has the motor shaft for extending robot body；Moving parts has a second connecting rod, and described second
There is axis hole on connecting rod；Motor shaft is connected with shaft hole matching.The present invention passes through rotatable buttockss joint 1
Each moving parts is set to be respectively provided with two degree of freedom.
In certain embodiments, moving parts includes that the first longitudinally connected moving parts 7 and second is moved
Dynamic component 8, the moving parts 8 of first moving parts 7 and second is also flexibly connected, will move portion
Part is divided into two parts in vertical plane, can be movable relatively between two parts, i.e. many other dimensions of this two parts
The activity space of degree, specifically, in some embodiments, relative second move portion of the first moving parts 7
Part 8 can be in the activity of the direction of lateral run-out robot direction of advance, i.e., right and left as shown in Figure 2
To activity, i.e., with Y-axis one degree of freedom.
Being flexibly connected in some embodiments between the first moving parts 7 and the second moving parts 8 to simulate
For the various connected modes similar to joint that knee joint 2, i.e. those skilled in the art can implement
Connection herein is realized, the form of such as motor direct-connected is also not limited to use the other modes of motor
Deng.Specifically, for example in some embodiments, relative second moving parts 8 of the first moving parts 7
In top, connect by way of similar to buttockss joint 1 between the first moving parts 7 and robot body,
Connect by way of similar to knee joint 2 between the first moving parts 7 and the second moving parts 8, its
Motor connection can also be adopted, specifically, the first moving parts 7 is provided with the 3rd motor；Described
Three motors have the motor shaft for extending the first moving parts 7；Second moving parts 8 connects with the 3rd
Bar, has axis hole on the third connecting rod；Motor shaft is connected with shaft hole matching.By rotatable knee joint
Joint 2 makes each moving parts also have one degree of freedom in addition.It is similar to a robot body
On filled the serial manipulator of four 3DOFs.
If accompanying drawing 3 is the effect schematic diagram of the waist joint 3 when turning of the quadruped robot shown in accompanying drawing 2,
The robot of the present invention is when needing to turn, it is possible to use waist joint 3 makes turning faster, waist joint 3
After turning left, the range of movement of whole front moving parts is all moved to the left.
If accompanying drawing 4 is the obstacle detouring schematic diagram of the quadruped robot shown in accompanying drawing 1, obstacle 4 is skipped by robot
Afterwards front moving parts is at least robot body length apart from the length of obstacle 4, i.e., entirely jumped
Minimum robot body length L of journey displacement.I.e. during obstacle detouring, the machine of traditional structure
Moving parts is at least robot body length apart from obstacle 4 after people's ski-jump.And the present invention such as accompanying drawing 5
The obstacle detouring schematic diagram of the quadruped robot of accompanying drawing 2 is shown, by the structure of the present invention, in jump barrier
When hindering 4, rear moving parts can be less than robot body length apart from the length of obstacle 4, and skip barrier
Front moving parts can be less than L apart from obstacle 4 after hindering 4.Present configuration can make obstacle detouring need away from
From diminishing, and reduce the energy that obstacle detouring is consumed.
As shown in accompanying drawing 6,7,8, run under the gait of " galloping at all speed ", present configuration can make
The relatively conventional structure of each cycle displacement becomes big,
A specific embodiment of present invention offer is the following is, to illustrate such scheme and its various bars
The selection of part.
Embodiment 1
The present embodiment is used for " the galloping at all speed " of the robot for illustrating the present invention and runs.
As shown in Figure 2, robot of the invention has a robot body and four are located at respectively machine
Moving parts under the base angle of human body four.Wherein, robot body is divided in the longitudinal direction first
The robot body 6 of robot body 5 and second, the first robot body 5 and the second robot body 6
Between connected by waist joint 3, relative second robot body 6 of the first robot body 5 can up and down,
Left and right activity.Each moving parts is divided into respectively in the vertical direction the first moving parts 7 and second
Moving parts 8, the first moving parts 7 is connected with the bottom comer of robot body by buttockss joint 1, the
One moving parts 7 is connected with the second moving parts 8 by knee joint 2, specific joint connection mode
To be fixed with motor on motor direct-connected, i.e. a part, there is connecting rod in another connection member, have on connecting rod
Axis hole, the motor shaft of motor is connected with shaft hole matching.
The present invention robot during running, the first robot body 5 lift can with it is front
The support process synchronization of moving parts is obtaining higher robot body front end ground clearance.And such as
Under the conditions of same machines human body front end ground clearance, the support distance of front moving parts then shortens fruit,
As shown in Figure 6.
After completing support process, front moving parts is lifted and swung forward, while rear moving parts will
The action of (afterwards pendulum is supported simultaneously) is pedaled in cooperation before completing, robot body part moves forward.Front
After moving parts lands, front moving parts swings to the rear to continue to make robot body part forward
It is mobile.Moving parts suitably pushes contractive action before simultaneously, buffering the shock of a fall power and for next week
Phase motion is prepared, as shown in Figure 7.
Due to the bending of robot body part, during the raising height of identical front moving parts, the present invention
In front moving parts ground clearance it is bigger, so front moving parts land when, than traditional structure
Pick-up point is more forward (because the action of rear moving parts makes the robot body always proal).
After front moving parts landing, rear moving parts is liftoff to follow action, and now robot body continues
Put after reach and front moving parts, when the speed put after front moving parts is slower, before robot body
Partial angle turns forward transition from hypsokinesis.Now isogonal words of robot body, rear moving parts
To be lifted very high, this is unnecessary.The angle of robot body will be adjusted to more than 180 °, this
The terrain clearance of moving parts will not be very high after sample, and the trend that leans forward of robot body front end will also
The liftoff time of moving parts after auxiliary increase.Afterwards moving parts does in the air forward swing action, because machine
The angle of device human body will be adjusted to more than 180 °, and the touchdown point of the later moving parts of institute will be from front movement
Part is closer to as shown in Figure 8.
Pressing action is done after afterwards moving parts lands and carrys out cushion impact forces, need waist joint 3 and front
Moving parts coordinates.If robot continues with this speed motion, the starting of next gait cycle
The angle of point robot body is greater than 180 °.And if terminating motion, then need movable portion
Part adjusts robot to stablize gait.As a example by moving parts adjustment in the past, then move left before first stretching out
Part, after stretch out front right moving parts, last 3 to 0 ° of synchronization control robot body waist joint is simultaneously adjusted
Whole moving parts and robot body angle are to having given tacit consent to primary state.
It is of the invention by adding 2 degree of freedom on traditional quadruped structure from above-described embodiment,
In actual application process, it can be modeled as " waist joint " of animal, make the motion of quadruped robot
It is more flexible, more effectively so that compare traditional structure when same action purpose is completed, extremity
Required range of movement and the component of power is less, and can provide bigger space and athletic posture.
Such as required in obstacle jump jump power and skip distance is less, when turning faster, required step
State adjustment number of times is less.Under " galloping at all speed " gait, the consumption to leg power is less, and per gait
The distance that cycle can run is longer.The quadruped robot of present invention movement velocity in practice is more next
Faster, action is more and more smooth, and obstacle climbing ability is more and more stronger, largely improves four-footed machine
The exercise performance of people.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " show
The description of example ", " specific example " or " some examples " etc. means to combine the embodiment or example
The specific features of description, structure, material or feature be contained at least one embodiment of the present invention or
In example.In this manual, identical reality is not necessarily referring to the schematic representation of above-mentioned term
Apply example or example.And, the specific features of description, structure, material or feature can be any
Combine in an appropriate manner in one or more embodiments or example.
Although embodiments of the invention have been shown and described above, it is to be understood that above-mentioned reality
It is exemplary to apply example, it is impossible to be interpreted as limitation of the present invention, and one of ordinary skill in the art exists
Within the scope of the invention can be to above-described embodiment in the case of without departing from principle and objective of the invention
It is changed, changes, replacing and modification.
Claims (13)
1. a kind of robot, including robot body and four are located at respectively under the base angle of robot body four
Moving parts, the moving parts can drive robot motion, it is characterised in that the robot
Body includes the first robot body and the second robot body along robot direction of advance connection, institute
State the first robot body to be flexibly connected with the second robot body.
2. robot according to claim 1, it is characterised in that first robot body
Can deviate the direction activity of robot direction of advance with respect to the second robot body.
3. robot according to claim 2, it is characterised in that first robot body
With respect to the direction activity that the second robot body can deviate robot direction of advance in vertical and horizontal.
4. robot according to claim 1, it is characterised in that first robot body
It is connected by rotary shaft between the second robot body.
5. robot according to claim 4, it is characterised in that first robot body
The first motor is provided with, first motor has the motor shaft for extending the first robot body；
Second robot body is provided with first connecting rod, has axis hole on the first connecting rod；
The motor shaft is connected with shaft hole matching.
6. robot according to claim 1, it is characterised in that first robot body
It is connected through the hinge between the second robot body.
7. robot according to claim 1, it is characterised in that the moving parts and machine
It is flexibly connected between human body.
8. robot according to claim 7, it is characterised in that the moving parts is with respect to machine
Device human body can be in the activity of the direction of longitudinal direction and/or robot direction of advance.
9. robot according to claim 7, it is characterised in that the moving parts is with respect to machine
Device human body can be in the direction of robot direction of advance and/or the direction of lateral run-out robot direction of advance
Activity.
10. robot according to claim 7, it is characterised in that the robot body exists
The second motor is respectively equipped with four base angles；Second motor has the motor for extending robot body
Axle；
The moving parts has second connecting rod, has axis hole on the second connecting rod；
The motor shaft is connected with shaft hole matching.
11. robots according to claim 1, it is characterised in that the moving parts includes
Longitudinally connected the first moving parts and the second moving parts, first moving parts and the second movement
Component activity connects.
12. robots according to claim 11, it is characterised in that first moving parts
Can be in the activity of the direction of lateral run-out robot direction of advance with respect to the second moving parts.
13. robots according to claim 11, it is characterised in that first moving parts
It is provided with the 3rd motor；3rd motor has the motor shaft for extending the first moving parts；
Second moving parts has third connecting rod, has axis hole on the third connecting rod；
The motor shaft is connected with shaft hole matching.
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| CN107235089A (en) * | 2017-06-30 | 2017-10-10 | 天津大学 | A kind of ten five degree of freedom bionic 6-leg climbing robots |
| CN107336762A (en) * | 2017-06-30 | 2017-11-10 | 天津大学 | One kind, which is reduced, drives diarthrodial four-leg bionic robot |
| CN108674515A (en) * | 2018-04-04 | 2018-10-19 | 东南大学 | A kind of backbone humanoid robot and its control method for turning to jump |
| CN109398521A (en) * | 2017-08-15 | 2019-03-01 | 天津市大然科技有限公司 | Design method for static gait of quadruped robot under participation of waist twisting |
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| CN107336762A (en) * | 2017-06-30 | 2017-11-10 | 天津大学 | One kind, which is reduced, drives diarthrodial four-leg bionic robot |
| CN109398521A (en) * | 2017-08-15 | 2019-03-01 | 天津市大然科技有限公司 | Design method for static gait of quadruped robot under participation of waist twisting |
| CN108674515A (en) * | 2018-04-04 | 2018-10-19 | 东南大学 | A kind of backbone humanoid robot and its control method for turning to jump |
| CN108674515B (en) * | 2018-04-04 | 2021-08-24 | 东南大学 | Spine robot and steering jumping control method thereof |
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Application publication date: 20170503 |