CN109398523B - Closed-chain quadruped robot with intermittent adjustment characteristic - Google Patents
Closed-chain quadruped robot with intermittent adjustment characteristic Download PDFInfo
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- CN109398523B CN109398523B CN201811031707.3A CN201811031707A CN109398523B CN 109398523 B CN109398523 B CN 109398523B CN 201811031707 A CN201811031707 A CN 201811031707A CN 109398523 B CN109398523 B CN 109398523B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The utility model provides a closed chain four-footed robot with characteristic is adjusted to pause, through the stability of the robot foot end support phase of intermittent type mechanism adjustment and the leg lifting height of strideing across the looks, has guaranteed the trafficability characteristic and the carrying capacity of robot to complicated ground, has compromise the improvement when carrying the ride comfort and has surmounted the ability. The whole machine is powered by two motors, and a single leg is a single-degree-of-freedom mechanism, so that the complexity of a control system is simplified, and the reliability of control is effectively ensured. The quadruped robot can be used for detection and investigation, material transportation and other occasions in the mountain land environment.
Description
Technical Field
The invention relates to a closed-chain quadruped robot with an intermittent adjustment characteristic, in particular to a closed-chain quadruped robot which realizes the straight half-cycle and high half-cycle leg lifting of a foot end track of the robot through an intermittent mechanism.
Background
Chinese patent CN103818492A discloses a wheel-leg composite carrying robot, which proposes a wheel-leg composite robot, wherein the joints of the leg mechanisms of the wheel-leg composite robot adopt sliding pairs to optimize the foot end trajectory, generate a straight motion trajectory of the supporting phase, and are suitable for being used as a carrying platform, which cannot adapt to complex environments, and particularly, the crossing ability is limited to a certain extent.
Disclosure of Invention
The invention aims to provide a closed-chain four-footed robot with a pause adjusting characteristic, which ensures that the track at the foot end of the robot is straight in the half cycle and high in the half cycle to lift the legs so as to realize stronger adaptability and obstacle crossing capability.
The technical scheme of the invention is as follows:
a closed chain quadruped robot with a rest adjustment characteristic is composed of identical first to fourth single legs, a frame, identical first and second double output shaft driving motors; the first single leg is fixedly connected with the frame through the first single-leg rack, and the second to fourth single legs are fixedly connected with the frame in the same way as the first single leg is fixedly connected with the frame; the first single-leg and the second single-leg internal cranks are respectively and fixedly connected with output shafts on two sides of a first double-output-shaft driving motor, and the third single-leg and the fourth single-leg internal cranks are respectively and fixedly connected with output shafts on two sides of a second double-output-shaft driving motor; the phase difference between the first single-leg crank and the second single-leg crank is 180 degrees, and the phase difference between the third single-leg crank and the fourth single-leg crank is 180 degrees; the first double output shaft drive motor and the second double output shaft drive motor are used for driving the first single-leg inner crank to rotate around the whole circle.
An intermittent mechanism is arranged in the first to fourth single legs, and the first to fourth single legs can lift legs with straight foot end tracks in the half cycle and high foot end tracks in the half cycle through the intermittent mechanism.
The first single-leg rack comprises a first rotating end, a second rotating end, a first fixed end, a second fixed end, a third fixed end, a fourth fixed end and a linear slide way.
The first single-leg rack is fixedly connected with the frame through the first fixed end, the second fixed end, the third fixed end and the fourth fixed end.
The first single leg consists of a first single-leg frame, a connecting shaft, a connecting rod, a driven part, a driving part, a first three-amplitude rod, a second force rod, a shank rod and a second three-amplitude rod.
The driven piece comprises a gear surface and a driven crank surface.
The driving part comprises a non-full tooth surface, a boss surface and a driving crank surface.
The transmission ratio of the non-full tooth surface on the driving part to the gear surface on the driven part is 1: 4.
The middle mounting hole of the driven part is rotatably connected with the first rotating end, the middle mounting hole of the driving part is rotatably connected with the second rotating end, and the mounting hole on the driving crank surface of the driving part is rotatably connected with a vertex angle mounting hole of the first three-amplitude rod through a pin shaft; the other vertex angle mounting hole of the first three-amplitude rod is rotatably connected with the end mounting hole of the second-amplitude rod through a pin shaft; the connecting shaft is connected with the linear slideway in a sliding mode, the connecting rod is connected with the connecting shaft in a rotating mode through one end mounting hole, the other end mounting hole of the two-force rod is connected with the top corner mounting hole of the shank rod in a rotating mode through a pin shaft, the other top corner mounting hole of the shank rod is connected with the top corner mounting hole of the second three-width rod in a rotating mode through a pin shaft, the other top corner mounting hole of the second three-width rod is connected with the third top corner mounting hole of the first three-width rod in a rotating mode through a pin shaft, the third top corner mounting hole of the second three-width rod is connected with one end of the connecting shaft in a rotating mode, the connecting shaft is connected with the linear slideway in a sliding mode, the connecting rod is connected with the connecting shaft in a rotating mode through a pin shaft, and the other end.
In the first to fourth single legs, the second to fourth single legs have the same rod shape, mechanical structure and assembly mode as the first single leg.
The driving part and the driven part are matched to realize intermittent motion, the gear surface is meshed with the non-full gear surface, and the arc of the driven crank surface is contacted with the arc of the boss surface to realize locking.
Compared with the prior art, the invention has the following beneficial effects:
the invention utilizes the intermittent mechanism to be applied to the leg part of the robot, and adjusts the stability of the supporting phase at the foot end of the robot and the leg lifting height of the spanning phase through the intermittent mechanism, thereby having stronger adaptability and obstacle-crossing capability compared with the common legged robot, and being suitable for large load and passing more complicated terrains. Meanwhile, the device adopts a scheme that four identical single-leg symmetrical arrangements form a whole machine, and the whole machine is powered by two motors, so that the complexity of a control system is simplified, and the reliability of control is effectively ensured.
Drawings
FIG. 1 is a three-dimensional view of a closed chain quadruped robot with a rest adjustment feature;
FIG. 2 is a top view of a closed chain quadruped robot with a dwell adjustment feature;
FIG. 3 is a three-dimensional view of the gantry;
FIG. 4 is a three-dimensional view of a single leg;
FIG. 5 is a three-dimensional view of the follower;
FIG. 6 is a three-dimensional view of the driving member;
fig. 7 is a three-dimensional view of single leg movement.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1 and 2, a closed chain quadruped robot with a rest adjustment feature is composed of identical first to fourth single legs a, B, C, D, a frame E, identical first and second dual output shaft drive motors 1, 2; the first single leg A is fixedly connected with the frame E through a first single-leg rack, and the fixed connection mode of the second to fourth single legs B, C and D and the frame E is the same as that of the first single leg A and the frame E; the cranks in the first single leg A and the second single leg B are respectively and fixedly connected with the output shafts at two sides of the first double-output shaft driving motor 1, and the cranks in the third single leg C and the fourth single leg D are fixedly connected with the output shafts at two sides of the second double-output shaft driving motor 2; the phase difference between the cranks of the first single leg A and the second single leg B is 180 degrees, and the phase difference between the cranks of the third single leg C and the fourth single leg D is 180 degrees; the first double output shaft driving motor 1 and the second double output shaft driving motor 2 drive the first single leg A, the second single leg B, the fourth single leg C and the fourth single leg D to realize the complete revolution motion of the cranks in the first single leg A, the second single leg B, the fourth single leg C and the fourth single leg D.
Intermittent mechanisms are arranged in the first to fourth single legs A, B, C and D, and the first to fourth single legs A, B, C and D are lifted by the intermittent mechanisms, so that the tracks of foot ends of the first to fourth single legs A, B, C and D are straight in a half cycle and high in a half cycle.
The first single-leg rack A-1 comprises a first rotating end A-1-1, a second rotating end A-1-2, a first fixed end A-1-3, a second fixed end A-1-4, a third fixed end A-1-5, a fourth fixed end A-1-6 and a linear slideway A-1-7 as shown in figure 3.
The first single-leg rack A-1 is fixedly connected with the frame E through a first fixed end A-1-3, a second fixed end A-1-4, a third fixed end A-1-5 and a fourth fixed end A-1-6.
The first single leg A is composed of a first frame A-1, a connecting shaft A-2, a connecting rod A-3, a driven part A-4, a driving part A-5, a first three amplitude rods A-6, a second force rod A-7, a shank rod A-8 and a second three amplitude rods A-9 as shown in figure 4.
The middle mounting hole of the driven part A-4 is rotationally connected with the first rotating end A-1-1, the middle mounting hole of the driving part A-5 is rotationally connected with the second rotating end A-1-2, and the mounting hole on the driving crank surface A-5-3 of the driving part A-5 is rotationally connected with a vertex angle mounting hole of the first three amplitude rod A-6 through a pin shaft; the other vertex angle mounting hole of the first three-amplitude rod A-6 is rotatably connected with the end mounting hole of the second-amplitude rod A-7 through a pin shaft; the other end mounting hole of the two-force rod A-7 is rotatably connected with the vertex angle mounting hole of the shank rod A-8 through a pin shaft, the other vertex angle mounting hole of the shank rod A-8 is rotatably connected with the vertex angle mounting hole of the second three-amplitude rod A-9 through a pin shaft, the other vertex angle mounting hole of the second three-amplitude rod A-9 is rotatably connected with the third vertex angle mounting hole of the first three-amplitude rod A-6 through a pin shaft, the third vertex angle mounting hole of the second three-amplitude rod A-9 is rotatably connected with one end of a connecting shaft A-2, the connecting shaft A-2 is slidably connected with the linear slideway A-1-7, one end mounting hole of the connecting rod A-3 is rotatably connected with the other end of the connecting shaft A-2, and the other end mounting hole of the connecting rod A-3 is rotatably connected with the end mounting hole of the driven crank surface A-4-2 The holes are rotatably connected by pin shafts.
In the first to fourth single legs A, B, C and D, the shape, mechanical structure and assembly mode of the rod piece of the second to fourth single legs B, C and D are completely the same as those of the rod piece of the first single leg A.
As shown in FIG. 5, the driven member A-4 comprises a gear surface A-4-1 and a driven crank surface A-4-2.
As shown in FIG. 6, the driving part A-5 comprises a non-full tooth surface A-5-1, a boss surface A-5-2 and a driving crank surface A-5-3.
As shown in fig. 7(a) - (b), fig. 7(a) is taken as an initial state, the driving part a-5 rotates clockwise, the foot end track is positioned at the supporting phase, the driven crank surface a-4-2 is in contact with the boss surface a-5-2 and locked, the connecting shaft a-2 is positioned at the far end of the stroke of the crank slide block, the crank slide block mechanism keeps an extension state, and a straight track is generated at the moment; as shown in fig. 7(b) - (c), the driving part a-5 continues to rotate clockwise, the gear surface a-4-1 and the non-full gear surface a-5-1 enter into engagement, and the foot end trajectory enters into the swing phase from the support phase; the driving piece A-5 rotates clockwise, the crank slide block mechanism is changed from an extension state to a shortening state, the connecting shaft A-2 approaches from the far end of the crank slide block stroke to the near end of the stroke, the effective rod length of the leg mechanism is changed, the foot end track is in a swing phase, and the leg mechanism generates a high leg lifting track; as shown in fig. 7(c) - (d), the driving part a-5 rotates clockwise, the foot end trajectory is in the swing phase, the driven crank surface a-4-2 is locked in contact with the boss surface a-5-2, the leg mechanism frame is in a shortened state, the connecting shaft a-2 is kept at the near end of the crank slider stroke, and a leg raising trajectory is generated; as shown in fig. 7(d) - (a), the transition process is that from the gear surface a-4-1 to the non-full gear surface a-5-1, the leg mechanism frame is changed from the shortened state to the extended state, the connecting shaft a-2 is switched from the stroke near end to the stroke far end of the crank slider, the crossing phase is switched to the supporting phase, and the high leg lifting trajectory is switched to the straight trajectory and returns to the initial state.
Claims (3)
1. A closed chain quadruped robot with an intermittent adjustment feature, characterized in that:
a closed chain quadruped robot with a rest adjustment characteristic is composed of identical first to fourth single legs (A, B, C, D), a frame (E), identical first and second double output shaft driving motors (1, 2); the first single leg (A) is fixedly connected with the frame (E) through the first single-leg rack, and the second to fourth single legs (B, C, D) are fixedly connected with the frame (E) in the same way as the first single leg (A) is fixedly connected with the frame (E); the internal cranks of the first single leg (A) and the second single leg (B) are respectively and fixedly connected with output shafts on two sides of a first double-output shaft driving motor (1), and the internal cranks of the third single leg (C) and the fourth single leg (D) are respectively and fixedly connected with output shafts on two sides of a second double-output shaft driving motor (2); the phase difference between the cranks of the first single leg (A) and the second single leg (B) is 180 degrees, and the phase difference between the cranks of the third single leg (C) and the fourth single leg (D) is 180 degrees; the first double output shaft driving motor (1) and the second double output shaft driving motor (2) are used for driving to realize the whole-circle rotary motion of the crank inside the first single leg, the second single leg (A, B, C, D) and the fourth single leg (A, B, C, D);
intermittent mechanisms are arranged in the first to fourth single legs (A, B, C, D), and the intermittent mechanisms are used for realizing the half-cycle straight and half-cycle high leg lifting of the foot end tracks of the first to fourth single legs (A, B, C, D), so that the closed-chain four-foot robot with the intermittent adjustment characteristic has the performances of stable support phase and high leg lifting of crossing phase;
the first single leg (A) consists of a first single-leg frame (A-1), a connecting shaft (A-2), a connecting rod (A-3), a driven part (A-4), a driving part (A-5), a first three-amplitude rod (A-6), a second force rod (A-7), a shank rod (A-8) and a second three-amplitude rod (A-9);
the driven part (A-4) comprises a gear surface (A-4-1) and a driven crank surface (A-4-2);
the driving part (A-5) comprises a non-full tooth surface (A-5-1), a convex table surface (A-5-2) and a driving crank surface (A-5-3);
the driving part (A-5) and the driven part (A-4) are matched to form an intermittent mechanism, the gear surface (A-4-1) is meshed with the non-full gear surface (A-5-1), and the arc of the driven crank surface (A-4-2) is in contact with the arc of the boss surface (A-5-2) to realize locking;
the middle mounting hole of the driven part (A-4) is rotatably connected with the first rotating end (A-1-1), the middle mounting hole of the driving part (A-5) is rotatably connected with the second rotating end (A-1-2), and the mounting hole on the driving crank surface (A-5-3) of the driving part (A-5) is rotatably connected with a vertex angle mounting hole of the first three-amplitude rod (A-6) through a pin shaft; the other vertex angle mounting hole of the first three-amplitude rod (A-6) is rotatably connected with the end mounting hole of the second-amplitude rod (A-7) through a pin shaft; the other end mounting hole of the two-force rod (A-7) is rotatably connected with the vertex angle mounting hole of the shank rod (A-8) through a pin shaft, the other vertex angle mounting hole of the shank rod (A-8) is rotatably connected with the vertex angle mounting hole of the second three-amplitude rod (A-9) through a pin shaft, the other vertex angle mounting hole of the second three-amplitude rod (A-9) is rotatably connected with the third vertex angle mounting hole of the first three-amplitude rod (A-6) through a pin shaft, the third vertex angle mounting hole of the second three-amplitude rod (A-9) is rotatably connected with one end of a connecting shaft (A-2), the connecting shaft (A-2) is slidably connected with the linear slideway (A-1-7), one end mounting hole of the connecting rod (A-3) is rotatably connected with the other end of the connecting shaft (A-2), and a mounting hole at the other end of the connecting rod (A-3) is rotatably connected with a mounting hole at the end part of the driven crank surface (A-4-2) through a pin shaft.
2. The closed chain quadruped robot with the intermittence adjustment characteristic as claimed in claim 1, wherein:
the first single-leg rack (A-1) comprises a first rotating end (A-1-1), a second rotating end (A-1-2), a first fixed end (A-1-3), a second fixed end (A-1-4), a third fixed end (A-1-5), a fourth fixed end (A-1-6) and a linear slideway (A-1-7);
the first single-leg rack (A-1) is fixedly connected with the frame (E) through a first fixed end (A-1-3), a second fixed end (A-1-4), a third fixed end (A-1-5) and a fourth fixed end (A-1-6).
3. The closed chain quadruped robot with the intermittence adjustment characteristic as claimed in claim 1, wherein:
the transmission ratio of the non-full tooth surface (A-5-1) on the driving part (A-5) to the gear surface (A-4-1) on the driven part (A-4) is 1: 4;
of the first to fourth single legs (A, B, C, D), the second to fourth single legs (B, C, D) have the same shape, mechanical structure and assembly as the first single leg (A).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811031707.3A CN109398523B (en) | 2018-09-05 | 2018-09-05 | Closed-chain quadruped robot with intermittent adjustment characteristic |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811031707.3A CN109398523B (en) | 2018-09-05 | 2018-09-05 | Closed-chain quadruped robot with intermittent adjustment characteristic |
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| CN109398523A CN109398523A (en) | 2019-03-01 |
| CN109398523B true CN109398523B (en) | 2020-11-10 |
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| CN201811031707.3A Active CN109398523B (en) | 2018-09-05 | 2018-09-05 | Closed-chain quadruped robot with intermittent adjustment characteristic |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110171500B (en) * | 2019-04-26 | 2020-08-21 | 北京交通大学 | Trunk-variable multi-foot walking platform |
| CN111362021B (en) * | 2020-03-23 | 2021-12-17 | 周鹏 | Building material feeder capable of controlling falling amount and avoiding material accumulation |
| CN114524030B (en) * | 2022-02-25 | 2022-11-25 | 昆明理工大学 | Wheel-foot type robot leg structure based on incomplete gear and wheel-foot type robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6478314B1 (en) * | 1998-02-11 | 2002-11-12 | Joseph C. Klann | Walking device |
| CN104960590A (en) * | 2015-06-30 | 2015-10-07 | 湖州市千金宝云机械铸件有限公司 | Four-foot walking robot |
| CN204895642U (en) * | 2015-07-27 | 2015-12-23 | 湖州市千金宝云机械铸件有限公司 | Stable mobile robot |
| CN207311647U (en) * | 2017-08-23 | 2018-05-04 | 南安市景燕电子科技有限公司 | Climbing robot |
| CN207670528U (en) * | 2017-12-19 | 2018-07-31 | 浙江工业大学 | Bionical mobile robot device |
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