CN106956247A - The quadruped robot active compliance vertebra of serial-parallel mirror - Google Patents
The quadruped robot active compliance vertebra of serial-parallel mirror Download PDFInfo
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- CN106956247A CN106956247A CN201710311320.2A CN201710311320A CN106956247A CN 106956247 A CN106956247 A CN 106956247A CN 201710311320 A CN201710311320 A CN 201710311320A CN 106956247 A CN106956247 A CN 106956247A
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- vertebra
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- quadruped robot
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- parallel mirror
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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Abstract
The invention discloses a kind of quadruped robot active compliance vertebra of serial-parallel mirror.The present invention by former and later two spinal levels it is staggered embedded be composed in series, each spinal levels include chassis, the secondary connector of ball, rotating connector, non-dead axle interverbebral disc and some linear actuators, described linear actuator one end is connected by the secondary connector of ball with non-dead axle interverbebral disc, the other end is connected by rotating connector with chassis, is fixedly connected between former and later two sections of vertebra by two non-dead axle interverbebral disc dislocation.Flexible spine of the invention by adding active drive, bionical multi-foot robot is developed to few foot with the direction that Flexible spine is combined；Flexible spine uses the serial-parallel mirror mode that parallel-connection structure and cascaded structure are combined, both there is the characteristics of parallel-connection structure positioning precision is high, the stability of whole spinal structure is added, while adding the range of movement and the free degree of whole Flexible spine by way of series connection；Embedded mode adds the arm of force of each driver, so as to reduce the energy consumption of whole bionical vertebra.
Description
Technical field
The present invention relates to four-leg bionic robot field, and in particular to a kind of quadruped robot active ridge of serial-parallel mirror
Vertebra.
Background technology
Mobile robot majority is used under the mal-conditions such as disaster assistance, and the continuation purpose of research is enhancing mobile system
Locomitivity.In nature, the walking of most mammals of land all relies on leg to realize enough, not only
Flexibly, rapidly, and to various complicated landform there is extremely strong adaptability.And vertebra is used as the center element of body of mammals
Element, can be used for increase range of movement and absorb impulsive force.
In recent years, four-leg bionic robot field focused on the motion control of robot leg mostly, and existing polypody is climbed
There is no flexible vertebra in row robot trunk, the connection forelimb and the rigid structure body of hind leg developed, it is difficult to Xiang Fei
The environmental applications extension of structuring.From the perspective of bionics, embodied containing vertebrate organism in the evolution of 1 years well
Motion control capabilities, the improvement direction combined from polypody to few foot with Flexible spine more conforms to the think of of mechanism Bio-simulated Evolution
Think, and with the appearance of the flexible trunk containing vertebra, the design of robot foot become simply, size diminishes.
The quadruped robot research containing vertebra is passive compliance mostly both at home and abroad at present, many to be replaced using elastomer.Although
The use of flexible member can be such that it is shown in motion process more excellent with protection system from motion or vibration really up to the mark and unexpected
Good stability.But steering for robot, gallop at all speed or jump process in the deformity of spinal column can not carry out active control, limit
The active free degree, gait length and the speed of service of quadruped robot are made.
Parallel-connection structure is the desired characteristics of a spinal joint.Robot in quick motion and non-structured environment,
Spinal joint can be by strong, unstable impulsive force, compared with cascaded structure, and parallel-connection structure provides higher precision, end
Portion's actuator is supported on several mechanical chains, and the error of single driver will not add up.But the fortune of single parallel institution
Dynamic scope is smaller, and the mode connected can increase the range of movement of vertebra.
Also have using parallel institution to do the scheme of the flexible trunk of quadruped robot now, to realize quick motion and landform
Adaptability.Such as Chinese patent literature [application number：CN201510330474.7] disclose a kind of four-footed with waist structure in parallel
Robot, including frame, waist structure in parallel and four parallel manipulator legs, in the cooperation of waist structure in parallel and four parallel manipulator legs
Under, it is possible to achieve six-freedom degree.Waist structure itself in parallel in foregoing invention only has four frees degree, and slewing area compared with
Small, adaptability is not strong enough.
The content of the invention
The purpose of the present invention aiming at above-mentioned technology defect and not enough there is provided a kind of four-footed machine of serial-parallel mirror
People's active compliance vertebra, the rigid material of connection forelimb hind leg is replaced by elasticity, powered active compliance backbone, to carry
The mobility and the adaptability to environment of this system of doing more physical exercises of high quadruped robot.
The present invention is for the used technical scheme that solves the above problems：
A kind of quadruped robot active compliance vertebra of serial-parallel mirror, it by former and later two spinal levels it is staggered embedded connect
Composition, each spinal levels include chassis, the secondary connector of ball, rotating connector, non-dead axle interverbebral disc, some linear actuators,
It is fixedly connected between former and later two sections of bionical vertebra by two non-dead axle interverbebral disc dislocation.
Described linear actuator one end is connected by the secondary connector of ball with non-dead axle interverbebral disc, and the other end passes through the company of rotation
Fitting is connected with chassis, is fixedly connected between former and later two sections of vertebra by two non-dead axle interverbebral disc dislocation.
In said apparatus, described submissive vertebra uses hollow structure, the convenient cabling for supplying and powering.
In said apparatus, the number of described often section linear actuator is three, is circumferentially uniformly distributed, forms a kind of
The parallel-connection structure of Three Degree Of Freedom, improves the stability and positioning precision of vertebra.
In said apparatus, two described non-60 ° of dislocation of dead axle interverbebral disc are fixedly connected so that linear actuator is embedded in
Formula is arranged, and adds the arm of force of driver, and spinal structure forms a kind of serial mechanism while uniform compact, entirety is added again
The range of movement and the free degree of spinal structure, overall vertebra are a kind of structures of serial-parallel mirror.
In said apparatus, described linear actuator uses pneumatic apparatus, such as single-acting spring reset cylinder；
Pneumatic apparatus can reliably work under severe conditions, and simple to operate, substantially achievable non-maintaining, while pneumatic hold
Units are used so that the load that can bear of whole spinal structure is bigger.
In said apparatus, the air inlet of described pneumatic apparatus installs electric Proportion valve, and electric Proportion valve is with subtracting
Pressure valve is connected, and pressure-reducing valve is connected with source of the gas, and electric Proportion valve is connected with controller；By the aperture for adjusting electric Proportion valve
Stable speed control can simply be realized.
In said apparatus, sensing unit is there is also mounted on described precentrum, the sensing unit is arranged on precentrum
On chassis, the attitude angle to measure whole spinal structure；Described sensing unit uses athletic posture instrument, can be with comprehensive defeated
Go out attitude angle and acceleration.
Technical solution of the present invention, has the following advantages that：
Present example devises a kind of compact conformation, the bionical submissive vertebra of quadruped robot of active drive；By adding master
The Flexible spine of dynamic driving, bionical multi-foot robot is developed to few foot with the direction that Flexible spine is combined, and can cause foot
Design become simple；Flexible spine uses the serial-parallel mirror mode that parallel-connection structure and cascaded structure are combined, both with parallel connection
The characteristics of structure positioning high precision, the stability of whole spinal structure is added, while being added by way of series connection whole
The range of movement and the free degree of Flexible spine, in the presence of linear actuator, precentrum can realize the motion of six degree of freedom；Before
Latter two spinal levels uses staggered embedded series system, makes between total relative compact, front and rear two sections vertebra
Motion realizes a kind of non-fixed-axis rotation, and arc line type is presented in the movement locus of barycenter, closer to bionical rule；In compact conformation
Under the premise of, embedded mode adds the arm of force of each driver, so as to reduce the energy consumption of whole bionical vertebra；Each section is soft
The structure of property vertebra is 3-PRS parallel institutions, and Inverse Kinematics Solution is relatively easily solved.The present invention simulates mammal well
The characteristic of spinal motion, while having compact structure, high accuracy and wide scope, is suitably applied robot field.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The accompanying drawing to be used needed for embodiment or description of the prior art is briefly described, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of quadruped robot active compliance spinal structure schematic diagram of serial-parallel mirror in the embodiment of the present invention；
Fig. 2 is rear vertebra active section section partial structural diagram in the embodiment of the present invention；
Fig. 3 is the connection diagram of embodiment of the present invention cathetus driver；
Fig. 4 is control system schematic diagram in the embodiment of the present invention.
In figure, 1, posterior pyramids；2nd, precentrum；3rd, sensing unit；4th, non-dead axle interverbebral disc；5th, linear actuator；6th, control
System；101st, posterior pyramids chassis；102nd, posterior pyramids rotating base；201st, precentrum chassis；202nd, precentrum rotating base；401、
Interverbebral disc screw；402nd, intervertebral dribbling sub-mount；501st, driver rotates secondary；502nd, driver ball pair；601 controllers；602、
Air compressor；603rd, electric Proportion valve；604th, pressure-reducing valve.
Embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that described implementation
Example is a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify description, rather than indicate or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that indicating or implying relative importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary, can be with
It is the connection of two element internals, can is wireless connection or wired connection.For one of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
As long as in addition, technical characteristic involved in invention described below different embodiments non-structure each other
It can just be combined with each other into conflict.
The rigid material for connecting forelimb hind leg is replaced by elasticity, powered active compliance backbone by the present invention, with
The mobility and the adaptability to environment of this system of doing more physical exercises of raising quadruped robot, present embodiment discloses one kind string simultaneously
The quadruped robot active compliance vertebra of series-parallel connection, refer to Fig. 1, for the quadruped robot active compliance vertebra knot of the serial-parallel mirror
Structure schematic diagram, the Flexible spine structure includes：Postcentrum 1, precentrum 2, sensing unit 3, non-dead axle interverbebral disc 4, linear drives
Device 5, control system 6, wherein：
Described precentrum 2 includes precentrum chassis 201 and precentrum rotating base 202；Described postcentrum 1 includes posterior pyramids
Chassis 101 and posterior pyramids rotating base 102；Described non-dead axle interverbebral disc 4 includes interverbebral disc screw 401 and the secondary bottom of intervertebral dribbling
Seat 402；Described linear actuator 5 includes driver and rotates pair 501 and driver ball pair 502；Described control system 6 includes
Controller 601, air compressor 602, electric Proportion valve 603 and pressure-reducing valve 604；Selected in described the present embodiment of linear actuator 5
With single-acting spring reset cylinder, one end fixed drive rotates pair 501, and other end fixed drive ball pair 502, driver turns
Dynamic pair 501 is connected with precentrum rotating base 102, and driver ball pair 502 is connected with intervertebral dribbling sub-mount 402；Former and later two
Cone includes linear actuator 5 respectively and driver rotates pair 501, driver ball pair 502, constitutes two freedom degree parallel connection knots
Structure, former and later two cones respectively have a non-dead axle interverbebral disc 4, in order to prevent the generation of singular point, the size of non-dead axle interverbebral disc 4
It is smaller than front and rear centrum chassis；Between two non-dead axle interverbebral discs 4 by interverbebral disc screw 401 interlock 60 ° be fixedly connected, with up to
To non-fixed-axis rotation and section space-efficient effect；Sensing unit 3 is arranged on precentrum 2, comprehensive output attitude angle and acceleration
Degree；Sensing unit 3 is connected with controller 601, feeds back in controller 601, and controller 601 is connected with electric Proportion valve 603, electricity
The stomata one end of gas proportioning valve 603 is connected with pressure-reducing valve 604, and the other end is connected with linear actuator 5, that is, the present embodiment
In single-acting spring reset cylinder, pressure-reducing valve 604 is connected with air compressor 602.
The sensing unit 3 is arranged on precentrum chassis 201, the attitude angle to measure whole spinal structure；It is described
Sensing unit 3 use athletic posture instrument, can be with comprehensive output attitude angle and acceleration.
The course of work of apparatus of the present invention：As shown in figure 4, during the active vertebra work of serial-parallel mirror, by controlling straight line
Driver 5 produces different amounts of contraction, can make precentrum 2 that different attitudes are presented.Air compressor 602 and pressure-reducing valve 604
It is connected, pressure-reducing valve 604 is connected with electric Proportion valve 603, controller 601 controls the aperture of electric Proportion valve 603, can be achieved
Regulation to the air inflow of linear actuator 5, so as to realize the control to the amount of contraction of linear actuator 5 and speed.When precentrum 2 or
When linear actuator 5 on person's postcentrum 1 is all moved with speed in the same direction, precentrum chassis 201 can produce the receipts of an axial direction
Contracting extends；When not total movement in the linear actuator 5 on precentrum 2 or postcentrum 1, precentrum chassis 201 can be real
Existing pitching and the motion of yaw direction；When the linear actuator 5 of precentrum 2 and postcentrum 1 is not moved in the same direction, non-dead axle intervertebral
Disk 4 can be rotated, but 201, precentrum chassis can lateral translation；When the linear actuator 5 of precentrum 2 and adjacent postcentrum 1 is total to
During with motion, it is possible to achieve the motion of torsional direction.Therefore precentrum 2 is under the driving of overall spinal structure, six are can be achieved certainly
By the motion spent.
During the active vertebra work of serial-parallel mirror, when precentrum 2 tilts certain angle, on sensing unit 3 in real time by before
The attitude signal of cone sends the controller 601 in control system 6, the appearance that controller 601 is transmitted by receiving sensing unit 3 to
State angle and acceleration, the amount of exercise of each linear actuator 5, the structure of each section Flexible spine are gone out by inverse kinematics
It is 3-PRS parallel institutions, inverse kinetics solution is relatively easily solved.The controller 601 of control system 6 control electric Proportion valve 603
Aperture, can be achieved the regulation to the air inflow of linear actuator 5, so as to realize the control to the amount of exercise of linear actuator 5 and speed.
Obviously, above-described embodiment is only intended to clearly illustrate example, and the not restriction to embodiment.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of change or
Change.There is no necessity and possibility to exhaust all the enbodiments.And the obvious change thus extended out or
Among changing still in the protection domain of the invention.
Claims (8)
1. the quadruped robot active compliance vertebra of serial-parallel mirror, it is characterised in that：It is staggeredly embedding by former and later two spinal levels
It is composed in series with entering formula, each spinal levels include chassis, the secondary connector of ball, rotating connector, non-dead axle interverbebral disc and some
Linear actuator, described linear actuator one end is connected by the secondary connector of ball with non-dead axle interverbebral disc, and the other end is by turning
Follower link is connected with chassis, is fixedly connected between former and later two sections of vertebra by two non-dead axle interverbebral disc dislocation.
2. the quadruped robot active compliance vertebra of serial-parallel mirror according to claim 1, it is characterised in that：Each vertebra
The number of the linear actuator of section is three, is circumferentially uniformly distributed, and forms a kind of parallel-connection structure of Three Degree Of Freedom, improves ridge
The stability and positioning precision of vertebra.
3. the quadruped robot active compliance vertebra of serial-parallel mirror according to claim 1, it is characterised in that：Described two
Individual non-dead axle interverbebral disc is fixedly connected in 60 ° of dislocation so that the embedded arrangement of linear actuator, adds the arm of force of driver.
4. the quadruped robot active compliance vertebra of serial-parallel mirror according to claim 1, it is characterised in that：Described is straight
Line drive uses pneumatic apparatus.
5. the quadruped robot active compliance vertebra of serial-parallel mirror according to any one of claim 1 to 4, its feature exists
In：Described pneumatic apparatus uses single-acting spring reset cylinder.
6. the quadruped robot active compliance vertebra of serial-parallel mirror according to claim 5, it is characterised in that：Described gas
The air inlet of dynamic executive component installs electric Proportion valve, and electric Proportion valve is connected with pressure-reducing valve, and pressure-reducing valve is connected with source of the gas,
Electric Proportion valve is connected with controller；Stable speed control can be simply realized by adjusting the aperture of electric Proportion valve.
7. the quadruped robot active compliance vertebra of serial-parallel mirror according to claim 5, it is characterised in that：Before described
Sensing unit is there is also mounted on spinal levels, the sensing unit is arranged on chassis, the appearance to measure whole spinal structure
State angle.
8. the quadruped robot active compliance vertebra of serial-parallel mirror according to any one of claim 1 to 4, its feature exists
In：Described sensing unit uses athletic posture instrument, can be with comprehensive output attitude angle and acceleration.
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| CN201710311320.2A CN106956247B (en) | 2017-05-05 | 2017-05-05 | Active compliant vertebra of serial-parallel four-foot robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710311320.2A CN106956247B (en) | 2017-05-05 | 2017-05-05 | Active compliant vertebra of serial-parallel four-foot robot |
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| CN107696024A (en) * | 2017-11-17 | 2018-02-16 | 嘉兴学院 | A kind of cross-couplings bionic joint based on pneumatic muscles |
| CN108000503A (en) * | 2017-12-01 | 2018-05-08 | 嘉兴学院 | A kind of multi-cylinder snake-shaped robot system based on pneumatic muscles |
| CN108453759A (en) * | 2018-05-21 | 2018-08-28 | 中国计量大学 | Bio-robot and its spinal device |
| CN108621137A (en) * | 2018-06-22 | 2018-10-09 | 哈尔滨理工大学 | A kind of quadruped robot spinal device for earthquake rescue |
| CN111438694A (en) * | 2020-05-21 | 2020-07-24 | 中国计量大学 | Biped robot diagonal gait planning method based on double generation functions |
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| CN111438694A (en) * | 2020-05-21 | 2020-07-24 | 中国计量大学 | Biped robot diagonal gait planning method based on double generation functions |
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