CN111332382A - Horizontal joint quadruped robot - Google Patents
Horizontal joint quadruped robot Download PDFInfo
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- CN111332382A CN111332382A CN202010247700.6A CN202010247700A CN111332382A CN 111332382 A CN111332382 A CN 111332382A CN 202010247700 A CN202010247700 A CN 202010247700A CN 111332382 A CN111332382 A CN 111332382A
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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 invention discloses a horizontal joint quadruped robot, and belongs to the technical field of industrial robots. The quadruped robot comprises a main body frame and four legs with the same structure. The leg structures of the quadruped robot are symmetrical front and back relative to the main body frame and are symmetrically fixed on the main body frame left and right. The leg comprises a leg stretching mechanism, a hip joint structure and a leg swinging mechanism. The leg stretching mechanism provides the horizontal quadruped robot with the moving freedom degree for linear motion; the hip joint mechanism provides the leg lifting and leg placing rotational freedom degree for the horizontal joint quadruped robot; the leg swinging mechanism provides the rotation freedom degree of side swinging for the horizontal joint quadruped robot. The control system of the quadruped robot adopts a control mode of an upper computer and a CAN bus analyzer to coordinate and control the motors at all joints, thereby realizing the advancing and turning of the quadruped robot. By adopting the technical scheme, the quadruped robot has twelve degrees of freedom, simple structure and flexible movement.
Description
The technical field is as follows:
the invention belongs to the technical field of robots, and particularly relates to a horizontal joint quadruped robot.
Background art:
the traditional four-footed robot is mainly designed into elbow or knee type, the main motion mode of the traditional four-footed robot is to drive the legs to move by using a motor as a driving element, and the design has the defects that the structure of the legs of the robot is complicated, the gravity center of the robot is difficult to balance, and the legs are easy to climb sundries on the ground when the robot walks, so that the body of the robot is unbalanced. Aiming at the defects, the invention carries out structural optimization design on the elbow or knee type robot, optimizes the single-leg three-freedom-degree structure of the traditional four-foot robot into the leg with two rotational freedom degrees and one mobile freedom degree, and creatively uses the linear sliding table module in the hip joint structure to realize the mobile freedom degree of the robot.
According to the research condition of the existing quadruped robot, a single chip microcomputer or a PLC is adopted in a control system, and a motion control card is matched to realize the coordinated control of each motor. However, these methods have inevitable disadvantages: complex circuitry, complex programming language, and unstable communications. Comprehensively considering, the invention finally selects the system architecture of the upper computer + the CAN bus analyzer. The upper computer is used for ensuring the speed of algorithm calculation and processing, and the CAN bus analyzer is used for ensuring the real-time performance of data transmission. Wherein the upper computer is a PC machine provided with LabVIEW. The reason why the PC of LabVIEW is selected as the upper computer is that LabVIEW is a graphical programming form based on a flow chart, and icon codes are used for replacing programming languages to create a development environment of an application program, so that the program is more visual and clear. The LabVIEW built-in environment provides abundant modules, and a device bottom driving function can be called, so that the communication is more convenient and faster.
The invention content is as follows:
the invention aims to solve the technical problem of providing a twelve-degree-of-freedom horizontal joint quadruped robot which is simpler in structure and more stable, and improving a control method thereof.
The invention provides a horizontal joint quadruped robot, which comprises a main body frame 1, four leg mechanisms with the same structure, a power supply and a control system; the four leg mechanisms with the same structure are symmetrically connected to the main body frame 1 in a front-back manner and in a left-right manner relative to the main body frame 1; the leg mechanism comprises a leg stretching mechanism 2, a hip joint mechanism 3 and a leg swinging mechanism 4; the power supply is fixed under the main body frame 1.
The main body frame 1 comprises a bridge plate 5, a side plate 6, a first hexagonal through column 7, an upper plate 8 and an auxiliary fixing frame 9; the side plate 6 is fixedly connected with the bridge plate 5, the upper plate 8 is fixedly connected with the first hexagonal through column 7 through a screw, the first hexagonal through column 7 is fixedly connected with the side plate 6, and the auxiliary fixing frame 9 is fixedly connected with the side plate 6.
The leg telescoping mechanism 2 comprises a linear sliding table module guide rail 10, a linear sliding table module foot 11, a linear sliding table module sliding block 12, a large synchronous pulley 13, a direct-acting joint motor shaft 14, a circular table motor adapter 15, a small synchronous pulley 16, a first driving motor 17 and a second hexagonal direct-through column 18; the straight line slip table module guide rail 10 link firmly in sharp slip table module lower margin 11, sharp slip table module slider 12 install in on the straight line slip table module guide rail 10 and guarantee to slide, sharp slip table module lower margin 11 link firmly in on the curb plate 6, big synchronous pulley 13 cup joints with headless screw and fixes on the straight joint motor shaft 14, first driving motor 17 passes through second hexagonal through post 18 with the bridge plate 5 links firmly, round platform motor adapter 15 with first driving motor 17 links firmly, little synchronous pulley 16 cup joints with headless screw and fixes the axial region of round platform motor adapter 15.
The hip joint structure 3 comprises a hip joint adapter 19, a hip joint motor adapter 20, a planetary reducer 21, a reducer-motor connecting frame 22 and a second driving motor 23; the hip joint adapter 19 is fixedly connected with the linear sliding table module sliding block 12 in the leg stretching mechanism, the planetary reducer 21 is fixedly connected with the hip joint adapter 19, the reducer-motor connecting frame 22 is fixedly connected with the planetary reducer 21, the second driving motor 23 is fixedly connected with the reducer-motor connecting frame 22, and the hip joint motor adapter 20 is fixedly connected with the output end of the planetary reducer 21 through a pin sleeve.
The leg swinging mechanism 4 comprises a motor adapter 24, a motor bracket 25, a third driving motor 26, a thigh 27, a bionic hoof 28 and a shock absorption foot pad 29; the motor adapter 24 is fixedly connected with the hip joint motor adapter 20, the motor support 25 is fixedly connected with the motor adapter 24, the third driving motor 26 is fixedly connected with the motor support 25, the thigh 27 is fixedly connected with the third driving motor 26, the bionic hoof 28 is fixedly connected with the tail end plane of the thigh 27, and the shock absorption foot pad 29 is fixedly connected with the bottom of the bionic hoof 28.
The control system comprises an upper computer, a CAN bus analyzer, a power circuit and a serial port communication circuit; the hardware part of the control system is arranged above the main body frame 1, and the upper computer is a PC (personal computer) provided with LabVIEW2016 software.
The leg stretching mechanism provides the horizontal quadruped robot with the moving freedom degree for linear motion; the hip joint mechanism provides the leg lifting and leg placing rotational freedom degree for the horizontal joint quadruped robot; the leg swinging mechanism provides the rotation freedom degree of side swinging for the horizontal joint quadruped robot. The control system adopts a system architecture of an upper computer and a CAN bus analyzer; the upper computer is used for ensuring the speed of algorithm calculation and processing, and the CAN bus analyzer is used for ensuring the real-time performance of data transmission.
The invention has the following technical characteristics:
1. through using sharp slip table module to provide the degree of freedom of movement for the robot in four-footed robot shank telescopic machanism department, this four-footed robot obtains the mode of forward motion more easily than traditional four-footed robot. Can make shank telescopic machanism obtain corresponding movement distance through controlling first driving motor according to actual step length needs to realize robot linear motion's accurate control.
2. This four-footed robot second driving motor and third driving motor provide two rotational degrees of freedom for the robot, compare traditional four-footed robot, and this robot shank structure is more simple, and it is more convenient to lift the leg and put leg action control, and the home range is wider.
3. The control system of the quadruped robot utilizes the PC with the LabVIEW as an upper computer, assists the CAN bus analyzer to control the motion of 12 motors, has high precision and strong real-time performance, and provides powerful guarantee for environmental decision of the quadruped robot.
Description of the drawings:
FIG. 1 is a schematic structural diagram of a horizontal joint quadruped robot of the present invention;
FIG. 2 is a schematic structural diagram of a main frame of the robot of the present invention;
FIG. 3 is a schematic structural view of a leg stretching mechanism in the robot of the present invention;
FIG. 4 is a schematic structural diagram of a hip joint mechanism in the robot of the present invention;
FIG. 5 is a schematic structural diagram of a leg swing mechanism in the robot of the present invention;
FIG. 6(a) is one of the schematic diagrams of the leg postures of the horizontal quadruped robot during walking;
FIG. 6(b) is a second schematic view of the leg posture of the horizontal quadruped robot during walking;
FIG. 6(c) is a third schematic view of the leg posture of the horizontal quadruped robot during walking;
FIG. 6(d) is a fourth schematic view showing the leg postures of the horizontal quadruped robot during walking;
FIG. 6(e) is a fifth schematic view showing the leg postures of the horizontal quadruped robot during walking;
fig. 7 is a block diagram of a control system of the horizontal joint quadruped robot of the present invention.
In the figure: 1: a main body frame; 2: a leg telescoping mechanism; 3: a hip joint mechanism; 4: a leg swing mechanism; 5: a bridge plate; 6: a side plate; 7: a first hexagonal through-post; 8: an upper plate; 9: an auxiliary fixing frame; 10: a linear sliding table module guide rail; 11: a linear sliding table module foot; 12: a linear sliding table module slider; 13: a large synchronous pulley; 14: a direct acting joint motor shaft; 15: a round platform motor adapter; 16: a small synchronous pulley; 17: a first drive motor; 18: a second hexagonal through-post; 19: a hip joint adapter; 20: a hip joint motor adapter; 21: a planetary reducer; 22: speed reducer-motor link; 23: a second drive motor; 24: a motor adapter; 25: a motor bracket; 26: a third drive motor; 27: a thigh; 28: bionic hoofs; 29: shock attenuation callus on sole.
The specific implementation mode is as follows:
the present invention will be further explained with reference to the following examples and accompanying drawings.
As shown in fig. 1: the horizontal joint quadruped robot provided by the technical scheme of the invention comprises a main body frame of the quadruped robot, four leg mechanisms with the same structure, a control system and a power supply. The four leg mechanisms are symmetrically arranged in front and back and symmetrically arranged in left and right and fixedly connected to the main body frame 1. The leg mechanism comprises a leg stretching mechanism 2, a hip joint mechanism 3 and a leg swinging mechanism 4. The power supply is fixed under the main body frame 1.
As shown in fig. 2, the main body frame 1 includes a bridge plate 5, a side plate 6, a first hexagonal through post 7, an upper plate 8 and an auxiliary fixing frame 9; the side plate 6 is fixedly connected with the bridge plate 5, the upper plate 8 is fixedly connected with the first hexagonal through column 7 through a screw, the first hexagonal through column 7 is fixedly connected with the side plate 6, and the auxiliary fixing frame 9 is fixedly connected with the side plate 6;
as shown in fig. 3, the leg telescoping mechanism 2 includes a linear sliding table module guide rail 10, a linear sliding table module foot 11, a linear sliding table module slider 12, a large synchronous pulley 13, a direct-acting joint motor shaft 14, a circular table motor adapter 15, a small synchronous pulley 16, a first drive motor 17 and a second hexagonal direct-current column 18; the straight line slip table module guide rail 10 link firmly in straight line slip table module lower margin 11, straight line slip table module slider 12 install in on the straight line slip table module guide rail 10 and guarantee to slide, straight line slip table module guide rail 10 pass through straight line slip table module lower margin 11 even in on the curb plate 6, big synchronous pulley 13 cup joints with headless screw and fixes on the straight joint motor shaft 14, first driving motor 17 passes through second hexagonal through post 18 with the bridge plate 5 links firmly, round platform motor adapter 15 with first driving motor 17 links firmly, little synchronous pulley 16 cup joints with headless screw and fixes the axial region of round platform motor adapter 15.
As shown in fig. 4, the hip joint structure 3 includes a hip joint adapter 19, a hip joint motor adapter 20, a planetary reducer 21, a reducer-motor connecting frame 22, and a second driving motor 23; the hip joint adapter 19 is fixedly connected with the linear sliding table module sliding block 12 in the leg stretching mechanism, the planetary reducer 21 is fixedly connected with the hip joint adapter 19, the reducer-motor connecting frame 22 is fixedly connected with the planetary reducer 21, the second driving motor 23 is fixedly connected with the reducer-motor connecting frame 22, and the hip joint motor adapter 20 is fixedly connected with the output end of the planetary reducer 21 through a pin sleeve.
As shown in fig. 5, the leg swing mechanism 4 includes a motor adapter 24, a motor bracket 25, a third driving motor 26, a thigh 27, a bionic hoof 28 and a shock-absorbing foot pad 29; the motor adapter 24 is fixedly connected with the hip joint motor adapter 20, the motor support 25 is fixedly connected with the motor adapter 24, the third driving motor 26 is fixedly connected with the motor support 25, the thigh 27 is fixedly connected with the third driving motor 26, the bionic hoof 28 is fixedly connected with the tail end plane of the thigh 27, and the shock absorption foot pad 29 is fixedly connected with the bottom of the bionic hoof 28.
The invention relates to a method for realizing actions of walking and the like of a horizontal joint quadruped robot, which comprises the following steps:
the horizontal joint quadruped robot has a default posture in which all four legs are vertical to the ground, as shown in fig. 6 (a). Fig. 6(a), 6(b), 6(c), and 6(d) show the state of the leg of the quadruped robot in sequence when the quadruped robot moves forward. The horizontal joint quadruped robot adopts diagonal gait in the advancing process as follows: firstly, the left front leg and the right rear leg keep the default standing posture, and the second driving motor 23 in the right front leg and the left rear leg drives the hip joint motor adapter 20 to rotate theta through motion control1Then, the leg swing mechanism 4 is lifted, and this operation is referred to as operation 1. The right front leg and left rear leg postures at this time are shown in fig. 6 (b). After the hip joint motor switching frame 20 starts to rotate, the first driving motor 17 of the right front leg and the left rear leg drives the small synchronous belt pulley 16 through motion control, then drives the large synchronous belt pulley 13 through the synchronous belt pulley, and finally drives the linear sliding table module sliding block 12 to generate linear motion with the distance d through the synchronous belt in the linear sliding table module guide rail 10, and the postures of the right front leg and the left rear leg are as shown in fig. 6(c) at the moment. Then, the second driving motor 23 of the right front leg and the left rear leg drives the hip joint motor adapter 20 to rotate reversely through motion control, so that the leg swing mechanism 4 returns to the default standing posture, and the posture of the right front leg and the left rear leg is shown in fig. 6 (d). Through the above steps, the leg swing mechanism 4 realizes the lifting and lowering actions, and the leg swing mechanism 4 generates the linear motion with the distance d. But at this stage the robot does not move, only changing the relative positions of the legs and the body. The process is a first locomotor gait. Accordingly, after the first motion gait is finished, the coordinated motion of the left front leg and the right rear leg is referred to as a second motion gait. In the second motion gait, the motion steps of the left front leg and the right rear leg are similar to those of the first motion gait, and the difference is that the first driving motor 17 which is added to the right front leg and the left rear leg drives the first motion gait to rotate reversely so as to realize that the linear sliding table module sliding block 12 returns to the initial position in the leg stretching mechanism 4, and at the moment, the main body frame realizes the linear motion of moving the d forwards. The two motion gaits are alternated, thereby realizing the forward motion of the horizontal joint quadruped robot.
The horizontal joint quadruped robot can bypass the obstacle in front of the leg in the advancing process, and the specific implementation method is as follows: in the linear motion process of the horizontal joint quadruped robot, the leg swinging mechanism 4 of the leg drives the thigh 27 to rotate theta through motion control by the third driving motor 262And (e) the oblique upper lifting of the thigh is realized so as to bypass the obstacle, as shown in fig. 6 (e).
The horizontal joint quadruped robot can realize linear motion and turning motion, and the specific realization method comprises the following steps: in the linear motion process of the horizontal joint quadruped robot, the moving distance of the linear sliding table module sliding block 12 of the left front leg is longer than that of the linear sliding table module sliding block 12 of the right front leg, so that the robot can turn right in the advancing process.
The invention relates to a control system of a horizontal joint quadruped robot, which comprises the following concrete implementation methods:
as shown in fig. 7, the control system of the horizontal joint quadruped robot of the present invention includes hardware such as a host computer equipped with LabVIEW2016 and a CANalyst-II analyzer. The 12 joint motors in the invention adopt HT-02 mechanical dog servo motors produced by a certain company, and have the advantages of integrating a driver and an encoder into a whole, simplifying wiring, having small volume and having a packaged bottom driving function. The host computer can directly call the bottom driving function of the host computer, and the motion control is conveniently carried out. The upper computer is connected with the motor through a CANalyst-II analyzer, and data coding transmission and analysis are achieved through an application layer protocol CANopen of the CAN. The specific method is that the application layer protocol CANopen protocol is firstly compiled into a dynamic link library, and then the dynamic link library is called in LabVIEW. After the upper computer communicates with the motors through the CANalyst-II analyzer, the upper computer firstly calculates the required rotation angle of each motor, then sends a motor driving message in the format shown in the following table 1, and then transmits the motor driving message to a driver of the motor through the CANalyst-II analyzer, and the driver realizes that the motors output given torque through a built-in current loop.
TABLE 1 Motor drive messages
Claims (1)
1. A horizontal joint quadruped robot is characterized by comprising a main body frame (1), four leg mechanisms with the same structure, a power supply and a control system; the four leg mechanisms with the same structure are symmetrically and fixedly connected to the main body frame (1) in a front-back manner and in a left-right manner relative to the main body frame (1); the leg mechanism comprises a leg stretching mechanism (2), a hip joint mechanism (3) and a leg swinging mechanism (4); the power supply is fixed under the main body frame (1); the main body frame (1) comprises a bridge plate (5), a side plate (6), a first hexagonal through column (7), an upper plate (8) and an auxiliary fixing frame (9); the side plate (6) is fixedly connected with the bridge plate (5), the upper plate (8) is fixedly connected with the first hexagonal through column (7) through a screw, the first hexagonal through column (7) is fixedly connected with the side plate (6), and the auxiliary fixing frame (9) is fixedly connected with the side plate (6); the leg stretching mechanism (2) comprises a linear sliding table module guide rail (10), linear sliding table module feet (11), a linear sliding table module sliding block (12), a large synchronous pulley (13), a direct-acting joint motor shaft (14), a circular table motor adapter (15), a small synchronous pulley (16), a first driving motor (17) and a second hexagonal through column (18); the linear sliding table module guide rail (10) is fixedly connected with a linear sliding table module ground foot (11), a linear sliding table module sliding block (12) is installed on the linear sliding table module guide rail (10) and is guaranteed to slide, the linear sliding table module ground foot (11) is fixedly connected with the side plate (6), the large synchronous belt pulley (13) is fixedly connected with the direct-acting joint motor shaft (14) through a headless screw in a sleeved mode, the first driving motor (17) is fixedly connected with the bridge plate (5) through the second hexagonal through column (18), the circular table motor adapter (15) is fixedly connected with the first driving motor (17), and the small synchronous belt pulley (16) is fixedly connected with the shaft portion of the circular table motor adapter (15) through a headless screw in a sleeved mode; the hip joint structure (3) comprises a hip joint adapter (19), a hip joint motor adapter frame (20), a planetary speed reducer (21), a speed reducer-motor connecting frame (22) and a second driving motor (23); the hip joint adapter (19) is fixedly connected with a linear sliding table module sliding block (12) in the leg stretching mechanism, the planetary speed reducer (21) is fixedly connected with the hip joint adapter (19), the speed reducer-motor connecting frame (22) is fixedly connected with the planetary speed reducer (21), the second driving motor (23) is fixedly connected with the speed reducer-motor connecting frame (22), and the hip joint motor adapter (20) is fixedly connected with the output end of the planetary speed reducer (21) through a pin in a sleeved mode; the leg swinging mechanism (4) comprises a motor adapter (24), a motor bracket (25), a third driving motor (26), a thigh (27), a bionic hoof (28) and a shock absorption foot pad (29); the motor adapter (24) is fixedly connected with the hip joint motor adapter frame (20), the motor support (25) is fixedly connected with the motor adapter (24), the third driving motor (26) is fixedly connected with the motor support (25), the thigh (27) is fixedly connected with the third driving motor (26), the bionic hoof (28) is fixedly connected with the tail end plane of the thigh (27), and the shock absorption foot pad (29) is fixedly connected with the bottom of the bionic hoof (28); the control system comprises an upper computer, a CAN bus analyzer, a power circuit and a serial port communication circuit; the hardware part of the control system is arranged above the main body frame (1), and the upper computer is a PC (personal computer) provided with LabVIEW2016 software.
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| CN202010247700.6A CN111332382A (en) | 2020-04-01 | 2020-04-01 | Horizontal joint quadruped robot |
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| CN202010247700.6A CN111332382A (en) | 2020-04-01 | 2020-04-01 | Horizontal joint quadruped robot |
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Cited By (5)
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| CN112265639A (en) * | 2020-11-25 | 2021-01-26 | 安徽理工大学 | Unmanned aerial vehicle is patrolled and examined to intelligence in pit with explosion-proof function |
| CN112849298A (en) * | 2021-04-07 | 2021-05-28 | 常州大学 | Walking quadruped robot in body sliding mode |
| CN113525547A (en) * | 2021-07-25 | 2021-10-22 | 李国强 | Wheel-leg combined quadruped robot |
| GB2598756A (en) * | 2020-09-10 | 2022-03-16 | Bladebug Ltd | A system and method of robot locomotion |
| CN114683297A (en) * | 2020-12-31 | 2022-07-01 | 国网智能科技股份有限公司 | Rotatable supporting leg of foot type inspection robot of transformer substation and working method of rotatable supporting leg |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| GB2598756A (en) * | 2020-09-10 | 2022-03-16 | Bladebug Ltd | A system and method of robot locomotion |
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| CN113525547A (en) * | 2021-07-25 | 2021-10-22 | 李国强 | Wheel-leg combined quadruped robot |
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Application publication date: 20200626 |