CN111391937A - Four-footed bionic robot with flexible spine - Google Patents
Four-footed bionic robot with flexible spine Download PDFInfo
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- CN111391937A CN111391937A CN202010285329.2A CN202010285329A CN111391937A CN 111391937 A CN111391937 A CN 111391937A CN 202010285329 A CN202010285329 A CN 202010285329A CN 111391937 A CN111391937 A CN 111391937A
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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 relates to the field of robots, in particular to a four-footed bionic robot with a flexible spine, which comprises the flexible spine and a plurality of multi-degree-of-freedom robot legs fixed on the flexible spine, wherein the flexible spine comprises a main framework, an auxiliary framework and buffer springs which are all in a rectangular structure, a bearing part is arranged at the end part of the main framework, a plurality of rotating motors are arranged on a connecting part, the axes of the output shafts of all the rotating motors are collinear, a connecting frame is arranged at the end part of the auxiliary framework, the connecting frame is fixedly connected with the output shafts of all the rotating motors, and the two ends of all the buffer springs are respectively fixedly connected with the end surface of the main framework, which is positioned at the bearing part, and the end surface of the auxiliary framework, which is positioned at the connecting frame, the robot with the flexible spine meets the speed requirement better, and the moving capability of the robot under the extreme environment is improved.
Description
Technical Field
The invention relates to the field of robots, in particular to a four-footed bionic robot with a flexible spine.
Background
In recent years, the flows of purchasing, production and sale in manufacturing enterprises are accompanied with the flow of materials, more and more manufacturing enterprises pay more attention to the automation of production and logistics, and the application of intelligent sorting systems, stacking robots and automatic roller bed systems is increasingly popularized. The efficient and high-speed logistics four-footed bionic robot can greatly solve the problems of obvious and bulky size, slow speed and low efficiency in the current logistics industry, and can optimize the track and improve the speed. In addition, modern war is more prone to a large amount of hot weapons, large heavy weapons and high-tech technologies, transportation becomes a difficult problem which puzzles the military, and the quadruped robot can just fill the gap, is adaptive to various complex terrains, can transport materials efficiently, can survey terrains and environments even in dangerous environments, and can perform rescue activities in extreme environments.
A robot research and development team of university in Zhejiang publishes a four-footed robot which is 1 m long, 60 cm high when four feet stand, 70 kg heavy, 20 kg load, 6 km per hour of walking speed and 2 hours of endurance time. At present, the 'shadow-stop' quadruped robot has many abilities of running and jumping, climbing a ladder, walking on a gravel road, automatically squatting down and standing up, and the like, can automatically adjust the body direction to stand again even if falling down to the ground, and is expected to be applied to actual scenes such as security, investigation, disaster relief, and the like. Can autonomously cope with complex terrain conditions and complete the functions of walking up and down slopes, obstacle crossing and the like. The disadvantages are that the coordination control is more complex when the legs move and the bearing capacity is smaller.
At present, some robots such as Big-Dog and the like which are most represented and belong to the Boston power company in America are shown in the following figures, and have outstanding motion capability and strong terrain adaptability, so that the robots can adapt to complex terrains such as mountains, slopes, jungles, ice surfaces, snowfields and the like.
Disclosure of Invention
The invention aims to provide a four-footed bionic robot with a flexible spine, which aims to solve the problems in the background technology.
The technical scheme of the invention is as follows:
the utility model provides a four-footed bionic robot with flexible backbone, the robot is including flexible backbone and the multi freedom robot leg that a plurality of fixed on flexible backbone, flexible backbone is including main skeleton, vice skeleton and the buffer spring who is the rectangle structure, the bearing portion is installed to main skeleton's tip, install a plurality of rotating electrical machines on the connecting portion, all the output shaft axis collineation of rotating electrical machines, the link is installed to the tip of vice skeleton, the output shaft fixed connection of link and all rotating electrical machines, all buffer spring's both ends respectively with main skeleton is located bearing portion place terminal surface with vice skeleton is located link place terminal surface fixed connection, and all multi freedom robot legs are installed respectively at main skeleton and vice skeleton and are kept away from buffer spring's tip.
Further, the multi-freedom-degree robot leg comprises a lower leg plate, a upper leg plate, a first freedom-degree motor and a second freedom-degree motor, wherein a rotating shaft capable of being rotatably connected with one end of the upper leg plate is fixedly installed at one end of the lower leg plate, a synchronous belt wheel is fixedly installed on the rotating shaft, one end, far away from the synchronous belt wheel, of the upper leg plate is fixedly installed on the first freedom-degree motor, one end, far away from the synchronous belt wheel, of the upper leg plate is provided with a avoiding hole used for avoiding an output shaft of the first freedom-degree motor, a belt wheel is arranged on an output shaft of the first freedom-degree motor, the synchronous belt wheel is in transmission fit with the belt wheel through a synchronous belt, and the first freedom-degree motor is fixedly.
Further, the length directions of the shank plate and the thigh plate are perpendicular to the output axis of the first degree of freedom motor, and the output axis of the first degree of freedom motor is overlapped with the axis of the second degree of freedom motor.
Furthermore, all the second-degree-of-freedom motors are fixedly installed at one ends, far away from the rotating motor, of the main framework and the auxiliary framework respectively, and are perpendicular to the length directions of the main framework and the auxiliary framework respectively.
Furthermore, all the second-degree-of-freedom motors are fixedly installed at one ends, far away from the rotating motor, of the main framework and the auxiliary framework through third-degree-of-freedom motors respectively, the axis of an output shaft of each second-degree-of-freedom motor is perpendicular to the axis of an output shaft of each third-degree-of-freedom motor, and a connecting seat used for fixing the second-degree-of-freedom motors is arranged at the output end of each third-degree-of-freedom motor.
Furthermore, the main framework and the auxiliary framework comprise two flat plates which are parallel to each other and a plurality of square tubes, the two flat plates are fixedly connected through all the square tubes, and the length directions of all the square tubes are perpendicular to the plane where the flat plates are fixedly connected with the main framework and the auxiliary framework.
Further, the axes of the first degree-of-freedom motor and the second degree-of-freedom motor are both parallel to the axis of the rotating motor.
Furthermore, a belt wheel cover used for covering an output shaft of the first degree-of-freedom motor is arranged on the first degree-of-freedom motor, and spherical feet are integrally formed at the end parts, far away from the thighs, of the shanks.
Further, the central lines of all the buffer springs are perpendicular to the axis of the output shaft of the rotating motor.
Furthermore, the robot also comprises a plurality of motor drivers, relays and batteries which are arranged in the flexible spine, and all the motor drivers, the relays and the batteries are electrically connected with all the multi-degree-of-freedom robot legs and all the rotating motors in a one-to-one correspondence manner.
The invention provides a four-footed bionic robot with a flexible spine by improvement, compared with the prior art, the four-footed bionic robot has the following improvements and advantages:
one is as follows: the invention has strong bearing capacity, good stability and simple structure;
the second step is as follows: the multi-degree-of-freedom robot leg ensures certain bearing and flexibility through a motor joint shape driving mode.
And thirdly: the robot with the flexible spine provided by the invention can better meet the speed requirement, is beneficial to the optimization of the track, and can increase the adjustable range of the weight center of the robot and improve the moving capability of the robot in an extreme environment.
Drawings
The invention is further explained below with reference to the figures and examples:
fig. 1 is a schematic perspective view of a first embodiment of the present invention;
fig. 2 is a schematic perspective view of a first embodiment of the present invention;
FIG. 3 is a schematic perspective view of a second embodiment of the present invention;
FIG. 4 is a schematic perspective view of a second embodiment of the present invention;
FIG. 5 is a simplified structural diagram of a first degree of freedom motor for driving rotation of the lower leg in accordance with the present invention;
description of reference numerals:
the flexible spine 1, the main framework 11, the auxiliary framework 12, the buffer spring 13, the flat plate 14, the square tube 15, the supporting part 16, the connecting frame 17, the rotating motor 18, the multi-degree-of-freedom machine leg 2, the lower leg plate 21, the spherical foot 22, the upper leg plate 23, the first degree-of-freedom motor 24, the second degree-of-freedom motor 25, the rotating shaft 26, the synchronous belt wheel 27, the belt wheel 28, the synchronous belt 29, the third degree-of-freedom motor 3, the connecting seat 31, the motor driver 4, the relay 5, the battery 6 and the belt wheel cover 7.
Detailed Description
The present invention is described in detail below, and technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a four-footed bionic robot with a flexible spine by improvement:
the first embodiment is as follows:
as shown in fig. 1-5, a four-footed bionic robot with a flexible spine, the robot includes a flexible spine 1 and a plurality of multi-degree-of-freedom robot legs 2 fixed on the flexible spine 1, the flexible spine 1 includes a main frame 11, an auxiliary frame 12 and buffer springs 13 which are all rectangular structures, a bearing part 16 is installed at the end of the main frame 11, a plurality of rotating motors 18 are installed on the connecting part, the axes of the output shafts of all the rotating motors 18 are collinear, a connecting frame 17 is installed at the end of the auxiliary frame 12, the connecting frame 17 is fixedly connected with the output shafts of all the rotating motors 18, the two ends of all the buffer springs 13 are respectively fixedly connected with the end face of the main frame 11 where the bearing part 16 is located and the end face of the auxiliary frame 12 where the connecting frame 17 is located, all the multi-degree-of-freedom robot legs 2 are respectively installed at the ends of the main frame 11 and the auxiliary frame 12 which are far away from the, the rotating motor 18 on the main frame 11 can drive the auxiliary frame 12 to rotate around the axis of the output shaft of the rotating motor 18, meanwhile, the buffer spring 13 can assist the auxiliary frame 12 to rotate too much, the reset load of the rotating motor 18 driving the auxiliary frame 12 is too large, the restoring force of the buffer spring 13 can assist the rotating motor 18, the load of the rotating motor is reduced, the rotating motor 18 is protected, the service life of the rotating motor 18 is prolonged, the robot with the flexible spine 1 can meet the speed requirement, and therefore through the bionics concept, the flexible spine 1 is analogized to be used as an energy storage device through two buffer springs 13.
The multi-degree-of-freedom robot leg 2 comprises a lower leg plate 21, a upper leg plate 23, a first degree-of-freedom motor 24 and a second degree-of-freedom motor 25, wherein a rotating shaft 26 capable of being rotatably connected with one end of the upper leg plate 23 is fixedly installed at one end of the lower leg plate 21, a synchronous belt wheel 27 is fixedly installed on the rotating shaft 26, one end, far away from the synchronous belt wheel 27, of the upper leg plate 23 is fixedly installed on the first degree-of-freedom motor 24, an avoiding hole used for avoiding an output shaft of the first degree-of-freedom motor 24 is formed in one end, far away from the synchronous belt wheel 27, of the upper leg plate 23, a belt wheel 28 is arranged on the output shaft of the first degree-of-freedom motor 24, the synchronous belt wheel 27 is in transmission fit with the belt wheel 28 through a synchronous belt 29, the first degree-of-freedom motor is fixedly installed at, therefore, the shank rotates around the end part of the thigh around the rotating shaft 26, the position of the synchronous belt wheel 27 is equivalent to that of a knee joint, the second-degree-of-freedom motor 25 drives the first-degree-of-freedom motor 24 to rotate, the shank and the thigh simultaneously rotate around the output shaft of the second-degree-of-freedom motor 25, the second-degree-of-freedom motor 25 realizes the function of a hip joint, and certain bearing and flexibility are guaranteed through a motor joint shape driving mode.
The length directions of the shank plate 21 and the thigh plate 23 are perpendicular to the output axis of the first degree-of-freedom motor 24, the output axis of the first degree-of-freedom motor 24 is overlapped with the axis of the second degree-of-freedom motor 25, and the moving capability that the first degree-of-freedom motor 24 and the second degree-of-freedom motor 25 are matched to realize linear walking can be guaranteed.
All the second degree-of-freedom motors 25 are fixedly installed at one ends, far away from the rotating motor 18, of the main framework 11 and the auxiliary framework 12 respectively, all the second degree-of-freedom motors 25 are perpendicular to the length direction of the main framework 11 and the length direction of the auxiliary framework 12 respectively, all the multiple degree-of-freedom machine legs 2 are installed at four corners of the flexible spine 1 respectively, the main framework 11 and the auxiliary framework 12 can rotate relatively, and meanwhile, the multiple degree-of-freedom machine legs 2 are uniform in action direction, strong in bearing capacity, good in stability and simple in structure.
The axes of the first degree-of-freedom motor 24 and the second degree-of-freedom motor 25 are both parallel to the axis of the rotating motor 18, so that the terrain is flat, so that the degree of freedom is not needed in some cases, and the change of the flexible spine 1 in a driving state is ensured not to influence the overall stability.
The first degree of freedom motor 24 is provided with a belt wheel cover 7 for covering an output shaft of the first degree of freedom motor 24, the end part of the shank far away from the thigh is integrally formed with a spherical foot 22, and the spherical foot 22 improves the stability of the shank supported on the ground.
The center lines of all the buffer springs 13 are perpendicular to the axis of the output shaft of the rotating motor 18, so that the restoring force is prevented from being dispersed, the auxiliary framework 12 can be pulled by the most direct force, and the restoring force of the buffer springs 13 can assist the rotating motor 18 to reduce the load of the rotating motor 18.
The robot also comprises a plurality of motor drivers 4, relays 5 and batteries 6 which are arranged in the flexible spine 1, all the motor drivers 4, the relays 5 and the batteries 6 are electrically connected with all the multi-degree-of-freedom robot legs 2 and all the rotating motors 18 in a one-to-one correspondence way, the main framework 11 is also provided with a main board, which is not shown in the figure, the main board is not shown in the figure and is electrically connected with all the first degree-of-freedom motors 24, the second degree-of-freedom motors 25, the third degree-of-freedom motors 3 and the rotating motors 18 through all the motor drivers 4, all the first degree-of-freedom motors 24, the second degree-of-freedom motors 25, the third degree-of-freedom motors 3 and the rotating motors 18 are electrically connected with the batteries 6, all the relays 5 are respectively and electrically connected to the branches of the multi-degree-of-freedom robot legs 2 and the batteries 6, and all the relays 5 are electrically connected with the main board, which.
The master board is not shown in the figure, and the model number is DSQC639, and the working principle of the master board is the prior art, and the working principle is not described in detail here.
The relay 5 is of the model HH53P11, the working principle of which is the prior art and is not described in detail herein.
The motor driver 4 is a servo motor driver 4, and the model thereof is SA 3L 04C, and all of the first degree-of-freedom motor 24, the second degree-of-freedom motor 25, the third degree-of-freedom motor 3, and the rotary motor 18 are servo motors.
Example two:
as shown in fig. 1-5, a four-footed bionic robot with a flexible spine, the robot includes a flexible spine 1 and a plurality of multi-degree-of-freedom robot legs 2 fixed on the flexible spine 1, the flexible spine 1 includes a main frame 11, an auxiliary frame 12 and buffer springs 13 which are all rectangular structures, a bearing part 16 is installed at the end of the main frame 11, a plurality of rotating motors 18 are installed on the connecting part, the axes of the output shafts of all the rotating motors 18 are collinear, a connecting frame 17 is installed at the end of the auxiliary frame 12, the connecting frame 17 is fixedly connected with the output shafts of all the rotating motors 18, the two ends of all the buffer springs 13 are respectively fixedly connected with the end face of the main frame 11 where the bearing part 16 is located and the end face of the auxiliary frame 12 where the connecting frame 17 is located, all the multi-degree-of-freedom robot legs 2 are respectively installed at the ends of the main frame 11 and the auxiliary frame 12 which are far away from the, the rotating motor 18 on the main frame 11 can drive the auxiliary frame 12 to rotate around the axis of the output shaft of the rotating motor 18, meanwhile, the buffer spring 13 can assist the auxiliary frame 12 to rotate too much, the reset load of the rotating motor 18 driving the auxiliary frame 12 is too large, the restoring force of the buffer spring 13 can assist the rotating motor 18, the load of the rotating motor is reduced, the rotating motor 18 is protected, the service life of the rotating motor 18 is prolonged, the robot with the flexible spine 1 can meet the speed requirement, and therefore through the bionics concept, the flexible spine 1 is analogized to be used as an energy storage device through two buffer springs 13.
The multi-degree-of-freedom robot leg 2 comprises a lower leg plate 21, a upper leg plate 23, a first degree-of-freedom motor 24 and a second degree-of-freedom motor 25, wherein a rotating shaft 26 capable of being rotatably connected with one end of the upper leg plate 23 is fixedly installed at one end of the lower leg plate 21, a synchronous belt wheel 27 is fixedly installed on the rotating shaft 26, one end, far away from the synchronous belt wheel 27, of the upper leg plate 23 is fixedly installed on the first degree-of-freedom motor 24, an avoiding hole used for avoiding an output shaft of the first degree-of-freedom motor 24 is formed in one end, far away from the synchronous belt wheel 27, of the upper leg plate 23, a belt wheel 28 is arranged on the output shaft of the first degree-of-freedom motor 24, the synchronous belt wheel 27 is in transmission fit with the belt wheel 28 through a synchronous belt 29, the first degree-of-freedom motor is fixedly installed at, therefore, the shank rotates around the end part of the thigh around the rotating shaft 26, the position of the synchronous belt wheel 27 is equivalent to that of a knee joint, the second-degree-of-freedom motor 25 drives the first-degree-of-freedom motor 24 to rotate, the shank and the thigh simultaneously rotate around the output shaft of the second-degree-of-freedom motor 25, the second-degree-of-freedom motor 25 realizes the function of a hip joint, and certain bearing and flexibility are guaranteed through a motor joint shape driving mode.
The length directions of the shank plate 21 and the thigh plate 23 are perpendicular to the output axis of the first degree-of-freedom motor 24, the output axis of the first degree-of-freedom motor 24 is overlapped with the axis of the second degree-of-freedom motor 25, and the moving capability that the first degree-of-freedom motor 24 and the second degree-of-freedom motor 25 are matched to realize linear walking can be guaranteed.
All the second-degree-of-freedom motors 25 are fixedly mounted at one ends, far away from the rotating motor 18, of the main framework 11 and the auxiliary framework 12 through the third-degree-of-freedom motors 3 respectively, the axis of an output shaft of each second-degree-of-freedom motor 25 is perpendicular to the axis of an output shaft of each third-degree-of-freedom motor 3, a connecting seat 31 used for fixing the second-degree-of-freedom motor 25 is arranged at the output end of each third-degree-of-freedom motor 3, and the second-degree-of-freedom motors 25 and the third-degree-of-freedom motors 3 enable hip joints to have 2 degrees of freedom, so that the hip joints can work in an extreme.
The first degree of freedom motor 24 is provided with a belt wheel cover 7 for covering an output shaft of the first degree of freedom motor 24, the end part of the shank far away from the thigh is integrally formed with a spherical foot 22, and the spherical foot 22 improves the stability of the shank supported on the ground.
The center lines of all the buffer springs 13 are perpendicular to the axis of the output shaft of the rotating motor 18, so that the restoring force is prevented from being dispersed, the auxiliary framework 12 can be pulled by the most direct force, and the restoring force of the buffer springs 13 can assist the rotating motor 18 to reduce the load of the rotating motor 18.
The robot further comprises a plurality of motor drivers 4, relays 5 and batteries 6 which are arranged in the flexible spine 1, all the motor drivers 4, the relays 5 and the batteries 6 are electrically connected with all the multi-degree-of-freedom robot legs 2 and all the rotating motors 18 in a one-to-one correspondence mode, a main board which is not shown in the drawing is further arranged in the main framework 11, the main board is electrically connected with all the first-degree-of-freedom motors 24, the second-degree-of-freedom motors 25, the third-degree-of-freedom motors 3 and the rotating motors 18 through all the motor drivers 4, all the first-degree-of-freedom motors 24, the second-degree-of-freedom motors 25, the third-degree-of-freedom motors 3 and the rotating motors 18 are electrically connected with the batteries 6, all the relays 5 are respectively and electrically connected to branches of the multi-.
The flat plate 14 and the square tube 15 are used as frameworks of a body to support various power sources, and used as an inner core such as a control end motor to drive, the battery 6 and the relay 5 are indispensable, and the usable space distribution of the body can be properly adjusted to the placing position, so that a position is reserved for placing a mainboard, and the mainboard is not particularly drawn due to the fact that the mainboard is not high in shape requirement.
The model of the mainboard is DSQC639, the working principle of the mainboard is the prior art, and the working principle is not detailed here.
The relay 5 is of the model HH53P11, the working principle of which is the prior art and is not described in detail herein.
The motor driver 4 is a servo motor driver 4, and the model thereof is SA 3L 04C, and all of the first degree-of-freedom motor 24, the second degree-of-freedom motor 25, the third degree-of-freedom motor 3, and the rotary motor 18 are servo motors.
The working principle is as follows:
the hip joint is driven by a third degree of freedom motor 3 to drive a multi-degree of freedom robot leg 2 to rotate 180 degrees, a thigh plate 23 and a shank plate 21 are respectively driven by a first degree of freedom motor 24 and a second degree of freedom motor 25 which are perpendicular to the output axis of the third degree of freedom motor 3, the second degree of freedom motor 25 enables a thigh to rotate 180 degrees, the first degree of freedom motor 24 serves as a knee joint, the first degree of freedom motor 24 is moved to the thigh end through the transmission matching of a synchronous belt pulley 27, a belt pulley 28 and a synchronous belt 29, so that the rotational inertia of the shank during rotation is reduced, and each leg has 3 degrees of freedom.
We find that the cheetah can move rapidly and jump through bionics, a flexible spine 1 is necessary, main movable joints are arranged at the back waist part when the cheetah moves, and a main framework 11 comprises various internal organs and the like. Therefore, by means of the bionics concept, the flexible spine 1 is analogized as an energy storage and storage device by two buffer springs 13, a rotating motor 18 for providing power is fixed on the main framework 11, and the auxiliary framework 12 is connected with the rotating motor 18 through a connecting frame 17.
Compared with the second embodiment, the first embodiment has a simpler structure, does not need more degrees of freedom when moving on a road with flat terrain, has a simplified structure of a mechanical leg with more degrees of freedom, is lower in cost and lighter in weight, and improves the moving speed.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A four-footed bionic robot with flexible spine which is characterized in that: the robot is including flexible backbone (1) and multiple freedom machine leg (2) that a plurality of was fixed on flexible backbone (1), flexible backbone (1) is including main skeleton (11), vice skeleton (12) and buffer spring (13) that are the rectangle structure, supporting portion (16) are installed to the tip of main skeleton (11), install a plurality of rotating electrical machines (18) on the connecting portion, all the output shaft axis collineation of rotating electrical machines (18), link (17) are installed to the tip of vice skeleton (12), link (17) and the output shaft fixed connection of all rotating electrical machines (18), all the both ends of buffer spring (13) respectively with main skeleton (11) are located supporting portion (16) place terminal surface with vice skeleton (12) are located link (17) place terminal surface fixed connection, and buffer spring (12) are kept away from to main skeleton (11) and vice skeleton (12) respectively to all machine legs (2) are installed An end of the spring (13).
2. The quadruped bionic robot with the flexible spine according to claim 1, characterized in that: the multi-degree-of-freedom robot leg (2) comprises a shank plate (21), a thigh plate (23), a first degree-of-freedom motor (24) and a second degree-of-freedom motor (25), wherein one end of the shank plate (21) is fixedly provided with a rotating shaft (26) which can be rotatably connected with one end of the thigh plate (23), a synchronous belt wheel (27) is fixedly arranged on the rotating shaft (26), one end of the thigh plate (23) far away from the synchronous belt wheel (27) is fixedly arranged on a first degree of freedom motor (24), one end of the thigh plate (23) far away from the synchronous belt wheel (27) is provided with an avoiding hole for avoiding an output shaft of the first degree of freedom motor (24), a belt wheel (28) is arranged on an output shaft of the first degree of freedom motor (24), the synchronous belt wheel (27) is in transmission fit with the belt wheel (28) through a synchronous belt (29), the first free motor is fixedly arranged on the output end of the second free motor (25).
3. The quadruped bionic robot with the flexible spine according to claim 2, characterized in that: the length directions of the shank plate (21) and the thigh plate (23) are vertical to the output axis of the first degree of freedom motor (24), and the axis of the output shaft of the first degree of freedom motor (24) is superposed with the axis of the second degree of freedom motor (25).
4. A four-footed biomimetic robot with a flexible spine according to claim 3, characterized in that: and all the second-degree-of-freedom motors (25) are fixedly arranged at one ends, far away from the rotating motor (18), of the main framework (11) and the auxiliary framework (12) respectively, and all the second-degree-of-freedom motors (25) are perpendicular to the length directions of the main framework (11) and the auxiliary framework (12) respectively.
5. A four-footed biomimetic robot with a flexible spine according to claim 3, characterized in that: all the second-degree-of-freedom motors (25) are fixedly installed at one ends, far away from the rotating motor (18), of the main framework (11) and the auxiliary framework (12) through the third-degree-of-freedom motors (3), the axes of output shafts of the second-degree-of-freedom motors (25) are perpendicular to the axes of output shafts of the third-degree-of-freedom motors (3), and connecting seats (31) used for fixing the second-degree-of-freedom motors (25) are arranged at the output ends of the third-degree-of-freedom motors (3).
6. The quadruped bionic robot with the flexible spine according to claim 1, characterized in that: the main framework (11) and the auxiliary framework (12) comprise two flat plates (14) which are parallel to each other and a plurality of square tubes (15), the two flat plates (14) are fixedly connected through all the square tubes (15), and the length directions of all the square tubes (15) are perpendicular to the plane where the flat plates (14) are fixedly connected with the main framework and the auxiliary framework.
7. The quadruped bionic robot with the flexible spine according to claim 2, characterized in that: the axes of the first degree-of-freedom motor (24) and the second degree-of-freedom motor (25) are both parallel to the axis of the rotating motor (18).
8. The quadruped bionic robot with the flexible spine according to claim 2, characterized in that: the first degree of freedom motor (24) is provided with a pulley cover (7) used for covering an output shaft of the first degree of freedom motor (24), and the end part of the shank far away from the thigh is integrally formed with a spherical foot (22).
9. The quadruped bionic robot with the flexible spine according to claim 1, characterized in that: the central lines of all the buffer springs (13) are perpendicular to the axis of the output shaft of the rotating motor (18).
10. The quadruped bionic robot with the flexible spine according to claim 1, characterized in that: the robot further comprises a plurality of motor drivers (4), relays (5) and batteries (6) which are arranged in the flexible spine (1), and all the motor drivers (4), the relays (5) and the batteries (6) are electrically connected with all the multi-degree-of-freedom robot legs (2) and all the rotating motors (18) in a one-to-one correspondence mode.
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Application publication date: 20200710 |