CN109760762A - A kind of foot end self-adaptive hydraulic quadruped robot - Google Patents
A kind of foot end self-adaptive hydraulic quadruped robot Download PDFInfo
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- CN109760762A CN109760762A CN201910165870.7A CN201910165870A CN109760762A CN 109760762 A CN109760762 A CN 109760762A CN 201910165870 A CN201910165870 A CN 201910165870A CN 109760762 A CN109760762 A CN 109760762A
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- sufficient end
- fuselage
- connecting rod
- robot
- quadruped robot
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Abstract
The invention discloses a kind of hydraulic quadruped robots that sufficient end is adaptive, including fuselage and four pedipulators, the end plate and connecting rod of fuselage engraved structure form, the self weight of robot can effectively be mitigated, four leg structures are identical and are evenly and symmetrically distributed on the surrounding of fuselage, there are three the freedom degrees of active for every leg, the movement of robot is realized by servo actuator control hydraulic cylinder, sufficient end is by bolt, spring and hemispherical solid rubber composition, the rigidity of the adjustable spring of pretension bolt on sufficient end, the case where avoiding the stability of sufficient end and the excessive influence robot motion of ground contact force.
Description
Technical field
The present invention relates to robot fields, more specifically, more particularly to hydraulic quadruped robot field.
Background technique
Important component of the quadruped robot as bio-robot research field is flexibly stablized, discontinuous branch with it
The movement characteristic of support embodies good adaptive capacity to environment in complicated unknown unstructured operating environment, rescues speedily carrying out rescue work
The various fields such as calamity, geophysical surveying and military combat are with a wide range of applications.
Compared with motor, pneumatic actuation mode, hydraulic-driven can make robot have bigger load capacity, and can be
Sufficiently large driving moment is provided for robot in the extremely short time, meets the needs of robot stabilized control and gait stability control.
For legged type robot when being contacted with ground, there are biggish impact forces, and during the motion, sufficient end is continuous
Ground is impacted, easily damage robot body and its control system.
Summary of the invention
The purpose of the present invention is designing a kind of hydraulic quadruped robot that can reduce robot foot end and ground contact force,
Improve the stability in robot kinematics.
The present invention is through the following technical solutions to achieve the above objectives: a kind of foot end self-adaptive hydraulic quadruped robot, packet
Include: fuselage, the identical pedipulator of four structures are distributed in fuselage surrounding, sufficient end is made of spring and hemispherical solid rubber.
The fuselage has the end plate of four pieces of hollow outs, to mitigate robot own wt, by the company of six roots of sensation level between end plate
Bar connection.
It is connected between the quadruped robot fuselage and single leg, each component of single leg by rotary joint, respectively sideway hip closes
Section, pitching hip joint and knee joint.
The sideway hip joint is responsible for left and right pendulum, realizes that body swings；Pitching hip joint and knee joint are born respectively
Duty thigh and shank lifting and fall, and realizes that robot moves forward and backward.
Knee formula structure configures after described four legs of robot use preceding elbow, to improve the stabilization during gait motion
Property, and using hydraulic cylinder as joint drive element.
The sufficient end is made of bolt, spring and hemispherical solid rubber, in hemispherical solid rubber plane there are five
Boss: one, center, remaining four are evenly arranged on center surrounding, so that spring is fixed.
Bolt on the sufficient end can change the rigidity of spring by manually adjusting, and be allowed to adapt to different roads
Planar condition.
The vola can increase the frictional force between ground using solid rubber, also can absorb part of impact force.
Compared with prior art, the beneficial effects of the present invention are: in robot kinematics, sufficient end and ground face contact
When, buffering shock-absorbing can be carried out by vola and damping spring, can manually adjustment spring rigidity, improve to complicated ground
Adaptability；By hydraulic driving mode, keep robot bearing capacity stronger, and robot overall structure is simple and compact.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is front view of the invention；
Fig. 3 is left view of the invention；
Fig. 4 is leg structure schematic diagram of the invention；
Fig. 5 is structure of foot schematic diagram of the invention；
In figure, 1- fuselage, 2- sideway hydraulic cylinder, 3- sideway connecting rod, 4- thigh hydraulic cylinder, 5- shank hydraulic cylinder, 6- foot end, 7- is small
Leg, 8- thigh, 9- fuselage connecting rod, 10- pitching hip joint, 11- knee joint, 12- end-stopping plate, 13- sideway hip joint, 14- servo
Valve, 15- bolt, 16- damping spring, the vola 17-.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
A kind of foot end self-adaptive hydraulic quadruped robot, as shown in Figure 1, comprising: fuselage 1 and the identical machinery of four structures
Leg, every leg is by sideway hydraulic cylinder 2, sideway connecting rod 3, thigh 8, thigh hydraulic cylinder 4, shank 7, shank hydraulic cylinder 5 and sufficient 6 groups of end
At each hydraulic cylinder is controlled by servo valve 14.
The power resources of robot are to be pumped out hydraulic oil from fuel tank by hydraulic pump, and hydraulic oil flows after being depressurized by pressure reducing valve
Oil inlet through servo valve, and then flow into hydraulic cylinder, hydraulic oil passes through overflow valve overflow oil return box.
Plane has boss on the vola 17, and for fixing damping spring 16, damping spring 16 has the tune of bolt 15 above
Save spring rate.
When quadruped robot advances under control, thigh and small is controlled by thigh hydraulic cylinder 4 and shank hydraulic cylinder 5 respectively
Leg rises and falls, and realizes moving forward and backward for leg, controls swinging for sideway connecting rod 3 by sideway hydraulic cylinder 2, realizes robot side
To regulation.
Robot during the motion, for different weight bearings and surface conditions, can change bullet by adjusting bolt 15
Spring rigidity guarantees the stationarity of robot, and larger or road surface hardness of such as bearing a heavy burden is larger, and the coefficient of elasticity of spring can be made to become larger,
And then effectively absorb impact force.
The various embodiments described above are merely to illustrate the present invention, wherein the structure of each component, connection type and manufacture craft etc. are all
It can be varied, all equivalents and improvement carried out based on the technical solution of the present invention should not exclude
Except protection scope of the present invention.
Claims (5)
1. a kind of foot end self-adaptive hydraulic quadruped robot, it is characterised in that: formed using the end plate and connecting rod of engraved structure
Fuselage, the identical leg of four mechanical structures are evenly and symmetrically distributed on the surrounding of fuselage.
2. a kind of sufficient end self-adaptive hydraulic quadruped robot according to claim 1, it is characterised in that: external fuselage is equipped with
Power source, hydraulic system, cooling system and control system.
3. a kind of sufficient end self-adaptive hydraulic quadruped robot according to claim 1, it is characterised in that: leg by connecting rod,
Thigh, shank, sufficient end and driver composition, the driver being made of servo valve and hydraulic cylinder, controls connecting rod are complete around articulation
At the walking of robot, the movement such as jump, run.
4. a kind of sufficient end self-adaptive hydraulic quadruped robot according to claim 1, it is characterised in that: every leg is by three
Driven by Hydraulic Cylinder, first hydraulic cylinder is at fuselage and sideway connecting rod, and second in sideway connecting rod and thigh junction, third
In thigh and shank junction.
5. a kind of sufficient end self-adaptive hydraulic quadruped robot according to claim 1, it is characterised in that: sufficient end by bolt,
Spring and hemispherical solid rubber form, and the rigidity of the adjustable spring of pretension bolt on sufficient end, vola uses solid rubber
The frictional force between ground can be increased, also can absorb part of impact force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910165870.7A CN109760762A (en) | 2019-03-06 | 2019-03-06 | A kind of foot end self-adaptive hydraulic quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910165870.7A CN109760762A (en) | 2019-03-06 | 2019-03-06 | A kind of foot end self-adaptive hydraulic quadruped robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109760762A true CN109760762A (en) | 2019-05-17 |
Family
ID=66457840
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910165870.7A Pending CN109760762A (en) | 2019-03-06 | 2019-03-06 | A kind of foot end self-adaptive hydraulic quadruped robot |
Country Status (1)
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111439322A (en) * | 2020-05-19 | 2020-07-24 | 燕山大学 | Lightweight four-degree-of-freedom leg mechanism of four-footed bionic robot |
| CN111619693A (en) * | 2020-05-27 | 2020-09-04 | 哈尔滨工业大学 | Robot foot end mechanism |
| CN113071577A (en) * | 2021-04-30 | 2021-07-06 | 郑州宇通重工有限公司 | Robot sole force flexible control method and multi-foot robot platform |
| CN114800582A (en) * | 2022-04-06 | 2022-07-29 | 中山大学 | Adaptability foot end mechanism of crocodile claw imitation |
| CN114852211A (en) * | 2022-05-31 | 2022-08-05 | 华南理工大学 | Torsion-resistant truss-based parallel quadruped robot device and control method thereof |
-
2019
- 2019-03-06 CN CN201910165870.7A patent/CN109760762A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111439322A (en) * | 2020-05-19 | 2020-07-24 | 燕山大学 | Lightweight four-degree-of-freedom leg mechanism of four-footed bionic robot |
| CN111439322B (en) * | 2020-05-19 | 2021-02-19 | 燕山大学 | Lightweight four-degree-of-freedom leg mechanism of four-footed bionic robot |
| US11142268B2 (en) | 2020-05-19 | 2021-10-12 | Yanshan University | Lightweight 4-degree-of-freedom leg mechanism of bionic quadruped robot |
| CN111619693A (en) * | 2020-05-27 | 2020-09-04 | 哈尔滨工业大学 | Robot foot end mechanism |
| CN111619693B (en) * | 2020-05-27 | 2021-08-27 | 哈尔滨工业大学 | Robot foot end mechanism |
| CN113071577A (en) * | 2021-04-30 | 2021-07-06 | 郑州宇通重工有限公司 | Robot sole force flexible control method and multi-foot robot platform |
| CN113071577B (en) * | 2021-04-30 | 2022-10-25 | 郑州宇通重工有限公司 | Robot sole force flexible control method and multi-foot robot platform |
| CN114800582A (en) * | 2022-04-06 | 2022-07-29 | 中山大学 | Adaptability foot end mechanism of crocodile claw imitation |
| CN114800582B (en) * | 2022-04-06 | 2023-04-14 | 中山大学 | Adaptability foot end mechanism of imitation crocodile claw |
| CN114852211A (en) * | 2022-05-31 | 2022-08-05 | 华南理工大学 | Torsion-resistant truss-based parallel quadruped robot device and control method thereof |
| CN114852211B (en) * | 2022-05-31 | 2023-08-18 | 华南理工大学 | Anti-torsion truss-based parallel four-foot robot device and control method thereof |
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Application publication date: 20190517 |