CN114701584A - Parallel-driven leg foldable and unfoldable quadruped robot - Google Patents
Parallel-driven leg foldable and unfoldable quadruped robot Download PDFInfo
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- CN114701584A CN114701584A CN202210440384.3A CN202210440384A CN114701584A CN 114701584 A CN114701584 A CN 114701584A CN 202210440384 A CN202210440384 A CN 202210440384A CN 114701584 A CN114701584 A CN 114701584A
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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 parallel-driven foldable and unfoldable leg quadruped robot, which comprises a robot body and four leg and foot mechanisms. The four leg-foot mechanisms are distributed at four corners of the fuselage and are used for supporting the fuselage; each leg and foot mechanism comprises a parallel driving mechanism, a folding and unfolding leg part and a foot part, wherein the parallel driving mechanism is arranged on the machine body, the upper end of the folding and unfolding leg part is connected with the parallel driving mechanism, the lower end of the folding and unfolding leg part is connected with the foot part, and the parallel driving mechanism and the folding and unfolding leg part move together to enable the foot part to have three spatial degrees of freedom. The parallel-driven leg foldable quadruped robot has the advantages of good dynamic characteristic, high rigidity of the whole robot, large working space, high output end positioning and corner precision, foldability and retractability, and easiness in realizing high-speed and high-precision movement.
Description
Technical Field
The invention relates to the technical field of quadruped robots, in particular to a parallel-driven quadruped robot with foldable legs.
Background
From the beginning of this century, with the trend of high-speed development of technologies such as intelligent manufacturing and artificial intelligence, the research on quadruped robots also realizes the process from concepts to prototypes, and gradually transfers from laboratories to commercial application scenes. At present, the application scenes of the quadruped robot at home and abroad are continuously enriched and expanded, and the quadruped robot has urgent requirements particularly in scenes such as police explosion-removing detection, electric power facility inspection, field exploration and the like. However, the quadruped robot still has the key problems of low load ratio, poor maneuvering performance, weak system fault tolerance and the like, and further development of the quadruped robot is hindered.
The leg-foot structure of the traditional four-foot robot is realized in a series connection mode, is an open-loop structure, has a larger working space and higher flexibility, but has obvious defects, such as low end precision, low rigidity, large inertia, poor dynamic performance, large moving part mass and the like caused by error accumulation among all kinematic pairs.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention aims to provide a parallel-driven foldable leg quadruped robot which has the advantages of good dynamic characteristics, high rigidity of the whole robot, large working space, high output end positioning and corner precision, foldability and retractability and easiness in realizing high-speed and high-precision movement.
The parallel-driven leg foldable and extensible quadruped robot provided by the embodiment of the invention comprises:
a body;
the four leg and foot mechanisms are distributed at four corners of the machine body and are used for supporting the machine body; each leg and foot mechanism comprises a parallel driving mechanism, a folding and unfolding leg part and a foot part, wherein the parallel driving mechanism is arranged on the machine body, the upper end of the folding and unfolding leg part is connected with the parallel driving mechanism, the lower end of the folding and unfolding leg part is connected with the foot part, and the parallel driving mechanism and the folding and unfolding leg part move together to enable the foot part to have three spatial degrees of freedom.
The parallel-driven leg foldable and unfoldable quadruped robot provided by the invention is easy to realize high-speed and high-precision operation, has the characteristics of good dynamic performance, large rigidity of the whole robot, large working space, high output end positioning and corner precision and the like, and has the advantages of foldability and stowability, and wide scientific research and commercial application prospects.
According to some embodiments of the present invention, in each of the leg-foot mechanisms, the parallel driving mechanism includes a fixed platform, three driving branched chains and a movable platform, the fixed platform is fixed on the fuselage, the movable platform is located below the fixed platform, the three driving branched chains are arranged at intervals along a circumferential direction of the fixed platform, two ends of the three driving branched chains are respectively connected to the fixed platform and the movable platform, and the folding and unfolding leg portions are respectively connected to the fixed platform and the movable platform; the three drive branch chain with decide between the platform, three drive branch chain with move between the platform, roll over exhibition shank with decide between the platform and roll over exhibition shank with move and respectively have two mutually perpendicular's rotational degree of freedom between the platform, the rotation center line direction of two mutually perpendicular rotational degree of freedom is fore-and-aft direction and left and right directions respectively, three drive branch chain with decide still to have a vertical removal degree of freedom between the platform respectively.
According to some embodiments of the invention, two of the three driving branches are oppositely disposed left and right, and another of the three driving branches is oppositely disposed front and back with respect to the folding leg portion.
According to some embodiments of the invention, in each of the leg-foot mechanisms, three first ears are provided on the fixed platform, and three second ears are provided on the movable platform; the three driving branched chains respectively comprise sliding blocks and branched chain rods, the three sliding blocks are respectively vertically slidably and correspondingly arranged on the three first lugs, the upper ends of the three branched chain rods are correspondingly connected with the three sliding blocks, the lower ends of the three branched chain rods are correspondingly connected with the three second lugs, and the two mutually perpendicular rotational degrees of freedom are respectively arranged between the branched chain rods and the sliding blocks and between the branched chain rods and the second lugs.
According to some embodiments of the present invention, each of the driving branched chains further comprises a first rotating rod and a second rotating rod, and the number of the branched chains is two; first dwang with the slider rotates and links to each other, the second dwang with the second ear rotates and links to each other, two the upper end of branch chain pole respectively correspondingly with the both ends of first dwang are rotated and are connected, two the lower extreme of branch chain pole respectively correspondingly with the both ends of second dwang are rotated and are connected, two branch chain pole first dwang with the second dwang constitutes a parallelogram.
According to some embodiments of the invention, each of the driving branches further comprises an upper hook hinge and a lower hook hinge, and the branch rod is a single rod; the upper hook hinge is mounted on the sliding block, the lower hook hinge is mounted on the second lug, and the upper end and the lower end of the branch rod are correspondingly connected with the upper hook hinge and the lower hook hinge respectively.
According to some embodiments of the invention, the folding legs comprise thigh branches, folding branches and shank branches; the thigh branched chains comprise a first thigh branched chain and a second thigh branched chain, the upper ends of the first thigh branched chains are connected with the fixed platform through a third rotating rod, the third rotating rod extends in the front-back direction and is rotatably connected with the fixed platform, and one end of the third rotating rod is hinged with the upper ends of the first thigh branched chains; the lower end of the second thigh branched chain is connected with the movable platform through a fourth rotating rod, the fourth rotating rod extends in the front-back direction and is rotatably connected with the movable platform, one end of the fourth rotating rod is hinged with the lower end of the second thigh branched chain, and the upper end of the second thigh branched chain is hinged with the middle part of the first thigh branched chain; the shank branched chain is connected with the first thigh branched chain and the second thigh branched chain through the folding and unfolding branched chain.
According to some embodiments of the invention, the folding branches comprise first folding branches and second folding branches, and the lower leg branches comprise first lower leg branches and second lower leg branches; the upper end of the first folding and unfolding branched chain is hinged with the lower end of the first thigh branched chain, the upper end of the second folding and unfolding branched chain is hinged with the lower end of the second thigh branched chain, and the first folding and unfolding branched chain and the second folding and unfolding branched chain are in X-shaped cross hinge joint; the upper end of the first shank branched chain is hinged with the lower end of the first folding and unfolding branched chain, the upper end of the second shank branched chain is hinged with the lower end of the second folding and unfolding branched chain, the lower end of the first shank branched chain is hinged with the middle of the second shank branched chain, and the lower end of the second shank branched chain is fixed with the foot.
According to some embodiments of the invention, the leg-foot mechanisms are arranged in a knee-type arrangement, and the leg-foot mechanisms are arranged in an elbow-type arrangement.
According to some embodiments of the present invention, a third ear is disposed on the fixed platform, a fourth ear is disposed on the movable platform, the third rotating rod is connected to the third ear, and the fourth rotating rod is connected to the fourth ear.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic diagram of the overall structure of the parallel-driven leg foldable and expandable quadruped robot of the present invention.
Fig. 2 is a schematic structural diagram of a leg and foot mechanism in the parallel-driven leg foldable and unfoldable four-foot robot of the invention.
Fig. 3 is a schematic structural diagram of a parallel driving mechanism in the parallel-driven leg foldable and unfoldable four-footed robot of the present invention.
Reference numerals:
parallel-driven foldable leg quadruped robot 1000
Fuselage 1
Leg and foot mechanism 2
The first ear 2111 and the third ear 2112 of the fixed platform 211 drive the branched chain 212
Slider 2121 branched rod 2122 first rotating rod 2123 second rotating rod 2124
Folding and unfolding leg 22
Thigh branch 221 first thigh branch 2211 second thigh branch 2212 fold-out branch 222
First extended branch 2221 second extended branch 2222 lower leg branch 223 first lower leg branch 2231
Second lower leg branch 2232, third rotation rod 224, fourth rotation rod 225
Foot 23
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
A parallel-driven leg foldable and expandable quadruped robot 1000 according to an embodiment of the present invention will be described with reference to fig. 1 to 3.
As shown in fig. 1 to 3, a parallel-driven leg foldable and expandable quadruped robot 1000 according to an embodiment of the present invention includes a body 1 and four leg-foot mechanisms 2. The four leg-foot mechanisms 2 are distributed at four corners of the machine body 1 and used for supporting the machine body 1; each leg-foot mechanism 2 comprises a parallel driving mechanism 21, a folding-unfolding leg part 22 and a foot part 23, wherein the parallel driving mechanism 21 is arranged on the machine body 1, the upper end of the folding-unfolding leg part 22 is connected with the parallel driving mechanism 21, the lower end of the folding-unfolding leg part 22 is connected with the foot part 23, and the parallel driving mechanism 21 and the folding-unfolding leg part 22 move together to enable the foot part 23 to have three degrees of freedom in space.
Specifically, four leg-foot mechanisms 2 are distributed at four corners of the body 1 for supporting the body 1. For example, as shown in fig. 1, four leg mechanisms 2 may be fixed to the lower side of the body 1 at the front left, front right, rear left, and rear right, respectively, so that the body 1 can be supported well.
Each leg and foot mechanism 2 comprises a parallel driving mechanism 21, a folding and unfolding leg part 22 and a foot part 23, wherein the parallel driving mechanism 21 is arranged on the machine body 1, the parallel driving mechanism 21 is a closed chain, the parallel driving mechanism 21 can be driven by an electric push rod, the upper end of the folding and unfolding leg part 22 is connected with the parallel driving mechanism 21, the lower end of the folding and unfolding leg part 22 is connected with the foot part 23, the folding and unfolding leg part 22 is a driving chain, the folding and unfolding leg part 22 can be driven by a motor, the parallel driving mechanism 21 and the folding and unfolding leg part 22 move together to enable the foot part 23 to have three spatial movement degrees of freedom, namely, the front-back, left-right and up-down movement of the foot part 23 can be realized together by one closed chain and one driving chain, so that the walking function of the parallel-driven leg foldable and unfolding quadruped robot 1000 is realized.
Different from the traditional quadruped robot in a serial form, the leg foldable and unfoldable quadruped robot 1000 driven in parallel in the embodiment of the invention adopts the parallel driving mechanism 21, so that on one hand, the quadruped robot 1000 has the advantages of compact structure, small moving part mass, high rigidity, good dynamic response characteristic, large bearing capacity in unit weight and easiness in realizing high-speed movement, and on the other hand, the four-footed robot 1000 of the invention has higher movement accuracy and better maneuvering performance of the feet 23. Secondly, the foldable leg 22 is introduced into the foldable leg 1000 of the parallel-driven leg foldable quadruped robot 1000 of the embodiment of the present invention, so that the four leg mechanisms 2 of the quadruped robot 1000 of the present invention can be folded and unfolded, on one hand, the quadruped robot 1000 of the present invention occupies a smaller space when not in operation, thereby facilitating transportation and storage of the quadruped robot 1000 of the present invention; on the other hand, the maneuvering characteristics of the quadruped robot 1000 are improved, the reachable working space of the legs of the quadruped robot 1000 is enlarged, and the movement performance of the parallel-driven foldable quadruped robot 1000 with the legs is further improved.
In conclusion, the parallel-driven foldable leg quadruped robot 1000 provided by the invention is easy to realize high-speed and high-precision operation, has the characteristics of good dynamic performance, large rigidity of the whole robot, large working space, high precision of output end positioning and corner turning and the like, and has the advantages of folding and unfolding property and folding property, and wide scientific research and commercial application prospects.
According to some embodiments of the present invention, as shown in fig. 2, in each leg and foot mechanism 2, the parallel driving mechanism 21 includes a fixed platform 211, three driving branched chains 212 and a movable platform 213, the fixed platform 211 is fixed on the body 1, for example, the fixed platform 211 can be fixed on the body 1 by bolts, the processing and installation are convenient, and the fixed platform 211 can also be integrally formed with the body 1, thereby simplifying the processing and installation process and reducing the overall cost of the four-legged robot 1000. The movable platform 213 is positioned below the fixed platform 211, the three driving branched chains 212 are arranged at intervals along the circumferential direction of the fixed platform 211, two ends of each driving branched chain 212 are respectively connected with the fixed platform 211 and the movable platform 213, and the folding and unfolding leg parts 22 are respectively connected with the fixed platform 211 and the movable platform 213; three driving branched chains 212 and the fixed platform 211, three driving branched chains 212 and the movable platform 213, the folding and unfolding leg 22 and the fixed platform 211, and the folding and unfolding leg 22 and the movable platform 213 respectively have two mutually perpendicular rotational degrees of freedom, the directions of the rotational center lines of the two mutually perpendicular rotational degrees of freedom are respectively the front and back direction and the left and right direction, and the three driving branched chains 212 and the fixed platform 211 respectively have a vertical degree of freedom of movement, so that when the parallel driving mechanism 21 and the folding and unfolding leg 22 move together, three spatial degrees of freedom of movement of the foot 23 are realized. In the parallel-driven foldable leg quadruped robot 1000 in the embodiment, three driving branched chains 212 connected with the movable platform 213 are all connected to the fixed platform 211, so that a closed chain is formed. The foot 23 is connected to the fixed platform 211 and the movable platform 213 through the folding legs 22 to form a driving chain. The leg-foot mechanism 2 of the leg foldable and expandable quadruped robot 1000 driven in parallel can better realize three degrees of freedom of movement of the foot 23 in space by arranging a closed chain and a driving chain, and compared with a transmission mode that the driving chain is open-loop, the closed driving transmission is more stable, thereby being beneficial to improving the control precision of the foot 23.
Preferably, a first driving unit (not shown) for driving the three driving branches 212 to vertically move in the up-down direction with respect to the fixed platform 211, and a second driving unit (not shown) for driving the folding leg 22 to swing in the left-right direction with respect to the fixed platform 211 are fixed to the fixed platform 211, and compared to the conventional tandem robot, the first driving unit and the second driving unit of the present invention do not move along with the movement of the driving chain. Adopt such being provided with to do benefit to the lightweight that realizes the driving chain, improve the dynamic response performance of driving chain, the driving chain has got rid of behind the burden of drive unit moreover, can also reduce the energy consumption. Optionally, the first driving unit is an electric push rod, the second driving unit is a motor, and a hydraulic driving mechanism can be used to replace electric driving to obtain higher driving power density.
Specifically, as shown in fig. 2 and 3, two driving branches 212 of the three driving branches 212 are oppositely arranged left and right, and another driving branch 212 of the three driving branches 212 is oppositely arranged front and back with respect to the folding leg portion 22, which is beneficial to realizing three degrees of freedom of spatial movement of the foot 23.
According to some embodiments of the present invention, as shown in fig. 3, in each leg-foot mechanism 2, three first ears 2111 are provided on the fixed platform 211, and three second ears 2131 are provided on the movable platform 213; the three driving branched chains 212 each include a slider 2121 and a branched chain rod 2122, and the three sliders 2121 are respectively vertically slidably disposed on the three first ears 2111, so that there is a vertical freedom of movement between the three driving branched chains 212 and the fixed platform 211. The upper ends of the three branched chain rods 2122 are correspondingly connected with the three sliders 2121, the lower ends of the three branched chain rods 2122 are correspondingly connected with the three second lugs 2131, and two rotational degrees of freedom which are perpendicular to each other are respectively arranged between the branched chain rods 2122 and the sliders 2121 and between the branched chain rods 2122 and the second lugs 2131. It will be appreciated that the first ear 2111 of the fixed platform 211 facilitates the installation and the up-and-down movement of the slider 2121, and the second ear 2131 of the movable platform 213 provides the installation position for the branch chain bar 2122.
Optionally, as shown in fig. 2 and 3, each driving branched chain 212 further includes a first rotating rod 2123 and a second rotating rod 2124, and there are two branched chains 2122; the first rotating rod 2123 is rotatably connected to the slider 2121, the second rotating rod 2124 is rotatably connected to the second lug 2131, the upper ends of the two chain support rods 2122 are respectively and correspondingly rotatably connected to two ends of the first rotating rod 2123, the lower ends of the two chain support rods 2122 are respectively and correspondingly rotatably connected to two ends of the second rotating rod 2124, the two chain support rods 2122, the first rotating rod 2123 and the second rotating rod 2124 form a parallelogram, so that two mutually perpendicular rotational degrees of freedom are respectively provided between each chain support rod 2122 and the slider 2121 and between each chain support rod 2122 and the second lug 2131, the directions of the rotational center lines of the mutually perpendicular rotational degrees of freedom are respectively a front-back direction and a left-right direction, and the three driving branched chains 212, the movable platform 213 and the fixed platform 211 form a closed chain. It can be appreciated that the driving branch 212 has better load bearing performance due to the use of two branch rods 2122.
Optionally, each driving branched chain 212 further includes an upper hooke joint and a lower hooke joint (not shown in the figure), and the branched chain rod 2122 is a single rod; an upper hook hinge is arranged on the sliding block 2121, a lower hook hinge is arranged on the second lug 2131, the upper end and the lower end of the branched chain rod 2122 are respectively and correspondingly connected with the upper hook hinge and the lower hook hinge, so that two mutually perpendicular rotational degrees of freedom are respectively arranged between the branched chain rod 2122 and the sliding block 2121 and between the branched chain rod 2122 and the second lug 2131, the directions of the rotational center lines of the two mutually perpendicular rotational degrees of freedom are respectively the front-back direction and the left-right direction, and the three driving branched chains 212, the movable platform 213 and the fixed platform 211 form a closed chain. It can be understood that the driving branched chain 212 has a simpler structure because a single branched chain rod 2122 is directly adopted to match with a hooke joint to realize two mutually perpendicular degrees of freedom.
According to some embodiments of the present invention, as shown in fig. 1, the folded leg portion 22 includes a thigh branch 221, a folded branch 222, and a shank branch 223; the thigh branched chain 221 includes a first thigh branched chain 2211 and a second thigh branched chain 2212, the upper end of the first thigh branched chain 2211 is connected to the fixed platform 211 through a third rotating rod 224, the third rotating rod 224 extends in the front-rear direction and is rotatably connected to the fixed platform 211, and one end of the third rotating rod 224 is hinged to the upper end of the first thigh branched chain 2211; the lower end of the second thigh branched chain 2212 is connected with the movable platform 213 through a fourth rotating rod 225, the fourth rotating rod 225 extends in the front-rear direction and is rotatably connected with the movable platform 213, one end of the fourth rotating rod 225 is hinged to the lower end of the second thigh branched chain 2212, and the upper end of the second thigh branched chain 2212 is hinged to the middle of the first thigh branched chain 2211; the shank branch 223 is connected to the first thigh branch 2211 and the second thigh branch 2212 through the folding branch 222, so that the third rotating rod 224 can drive the moving platform 213, the folding branch 222 and the shank branch 223 to swing along the left and right directions through the first thigh branch 2211 and the second thigh branch 2212. The thigh branch 221, the folding branch 222, the shank branch 223 and the foot 23 are connected with the fixed platform 211 through a third rotating rod 224 and connected with the movable platform 213 through a fourth rotating rod 225 to form a driving chain.
According to some embodiments of the present invention, as shown in fig. 1, folding branch 222 comprises a first folding branch 2221 and a second folding branch 2222, and lower leg branch 223 comprises a first lower leg branch 2231 and a second lower leg branch 2232; the upper end of the first folding branch 2221 is hinged to the lower end of the first thigh branch 2211, the upper end of the second folding branch 2222 is hinged to the lower end of the second thigh branch 2212, and the first folding branch 2221 and the second folding branch 2222 are hinged in an X-shaped cross manner; the upper end of the first lower leg branched chain 2231 is hinged to the lower end of the first folding and unfolding branched chain 2221, the upper end of the second lower leg branched chain 2232 is hinged to the lower end of the second folding and unfolding branched chain 2222, the lower end of the first lower leg branched chain 2231 is hinged to the middle of the second lower leg branched chain 2232, and the lower end of the second lower leg branched chain 2232 is fixed to the foot 23. When the folding device is folded, the first folding branched chain 2221 and the second folding branched chain 2222 are close to each other, and the operation is convenient.
According to some embodiments of the present invention, as shown in fig. 1, of the four leg-foot mechanisms 2, the two leg-foot mechanisms 2 located at the front are in a knee arrangement, and the two leg-foot mechanisms 2 located at the rear are in an elbow arrangement. Note that the upper end of the second lower leg branch 2232 connected to the foot portion 23 is disposed in a knee arrangement, and the upper end of the second lower leg branch 2232 connected to the foot portion 23 is disposed in a rear arrangement, i.e., in an elbow arrangement. Alternatively, of the four leg-foot mechanisms 2, the two leg-foot mechanisms 2 located at the front and the two leg-foot mechanisms 2 located at the rear may be arranged in a knee arrangement or an elbow arrangement.
According to some embodiments of the present invention, as shown in fig. 2 and 3, the fixed platform 211 is provided with a third ear 2112, the movable platform 213 is provided with a fourth ear 2132, the third rotating rod 224 is connected with the third ear 2112, and the fourth rotating rod 225 is connected with the fourth ear 2132, so that the connection and installation are more convenient.
Optionally, the fixed platform 211 and the movable platform 213 are integrally formed, so that the quadruped robot 1000 of the present invention has good structural rigidity and good stability.
Optionally, the first lug 2111 and the third lug 2112 are fixed to the fixed platform 211 in a screw connection or riveting manner, and the second lug 2131 and the fourth lug 2132 are fixed to the movable platform 213 in a screw connection or riveting manner, so that the processing difficulty of the fixed platform 211 and the movable platform 213 is reduced, and further the cost is reduced.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like are intended to mean that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A parallel-driven foldable and unfoldable leg quadruped robot, comprising:
a body;
the four leg and foot mechanisms are distributed at four corners of the machine body and are used for supporting the machine body; each leg and foot mechanism comprises a parallel driving mechanism, a folding and unfolding leg part and a foot part, wherein the parallel driving mechanism is arranged on the machine body, the upper end of the folding and unfolding leg part is connected with the parallel driving mechanism, the lower end of the folding and unfolding leg part is connected with the foot part, and the parallel driving mechanism and the folding and unfolding leg part move together to enable the foot part to have three spatial degrees of freedom.
2. The parallel-driven foldable and extendable leg quadruped robot as claimed in claim 1, wherein in each of the leg and foot mechanisms, the parallel-driven mechanism comprises a fixed platform, three driving branches and a movable platform, the fixed platform is fixed on the robot body, the movable platform is located below the fixed platform, the three driving branches are arranged at intervals along the circumferential direction of the fixed platform, two ends of the three driving branches are respectively connected with the fixed platform and the movable platform, and the foldable and extendable legs are respectively connected with the fixed platform and the movable platform; the three driving branched chains and the fixed platform, the three driving branched chains and the movable platform, the folding and unfolding leg and the fixed platform and the folding and unfolding leg and the movable platform respectively have two mutually perpendicular rotational degrees of freedom, the directions of the rotational center lines of the two mutually perpendicular rotational degrees of freedom are respectively the front and back direction and the left and right direction, and the three driving branched chains and the fixed platform also respectively have a vertical degree of freedom of movement.
3. The parallel driven leg foldable and expandable quadruped robot as claimed in claim 2, wherein two of the three driving branches are arranged in left and right opposition and another of the three driving branches is arranged in front and back opposition to the foldable leg.
4. The parallel driven leg foldable and expandable quadruped robot as claimed in claim 3, wherein in each of the leg-foot mechanisms, the fixed platform is provided with three first ears and the movable platform is provided with three second ears; the three driving branched chains respectively comprise sliding blocks and branched chain rods, the three sliding blocks are respectively vertically slidably and correspondingly arranged on the three first lugs, the upper ends of the three branched chain rods are correspondingly connected with the three sliding blocks, the lower ends of the three branched chain rods are correspondingly connected with the three second lugs, and the two mutually perpendicular rotational degrees of freedom are respectively arranged between the branched chain rods and the sliding blocks and between the branched chain rods and the second lugs.
5. The parallel driven leg foldable and expandable quadruped robot as claimed in claim 4, wherein each of the driving branches further comprises a first rotating rod and a second rotating rod, and the number of the branch links is two; first dwang with the slider rotates and links to each other, the second dwang with the second ear rotates and links to each other, two the upper end of branch chain pole respectively correspondingly with the both ends of first dwang are rotated and are connected, two the lower extreme of branch chain pole respectively correspondingly with the both ends of second dwang are rotated and are connected, two branch chain pole first dwang with the second dwang constitutes a parallelogram.
6. The parallel-driven leg foldable and unfoldable quadruped robot as claimed in claim 4, wherein each of the driving branches further comprises an upper hook hinge and a lower hook hinge, and the branch rod is a single rod; the upper hook hinge is mounted on the sliding block, the lower hook hinge is mounted on the second lug, and the upper end and the lower end of the branch rod are correspondingly connected with the upper hook hinge and the lower hook hinge respectively.
7. The parallel driven leg foldable and expandable quadruped robot as claimed in any one of claims 2-6 wherein the foldable and expandable leg comprises a thigh branch, a foldable and expandable branch and a shank branch; the thigh branched chains comprise a first thigh branched chain and a second thigh branched chain, the upper ends of the first thigh branched chains are connected with the fixed platform through a third rotating rod, the third rotating rod extends in the front-back direction and is rotatably connected with the fixed platform, and one end of the third rotating rod is hinged with the upper ends of the first thigh branched chains; the lower end of the second thigh branched chain is connected with the movable platform through a fourth rotating rod, the fourth rotating rod extends in the front-back direction and is rotatably connected with the movable platform, one end of the fourth rotating rod is hinged with the lower end of the second thigh branched chain, and the upper end of the second thigh branched chain is hinged with the middle part of the first thigh branched chain; the shank branched chain is connected with the first thigh branched chain and the second thigh branched chain through the folding and unfolding branched chain.
8. The parallel driven leg foldable and expandable quadruped robot as recited in claim 7, wherein the foldable and expandable branches comprise a first foldable and expandable branch and a second foldable and expandable branch, and the lower leg branches comprise a first lower leg branch and a second lower leg branch; the upper end of the first folding branched chain is hinged with the lower end of the first thigh branched chain, the upper end of the second folding branched chain is hinged with the lower end of the second thigh branched chain, and the first folding branched chain and the second folding branched chain are in X-shaped cross hinge; the upper end of the first shank branched chain is hinged with the lower end of the first folding and unfolding branched chain, the upper end of the second shank branched chain is hinged with the lower end of the second folding and unfolding branched chain, the lower end of the first shank branched chain is hinged with the middle of the second shank branched chain, and the lower end of the second shank branched chain is fixed with the foot.
9. The parallel driven leg foldable and unfoldable quadruped robot of claim 8, wherein of the four leg-foot mechanisms, the front two leg-foot mechanisms are in a knee arrangement and the rear two leg-foot mechanisms are in an elbow arrangement.
10. The parallel-driven foldable-leg quadruped robot as claimed in claim 7, wherein the fixed platform is provided with a third ear, the movable platform is provided with a fourth ear, the third rotating rod is connected with the third ear, and the fourth rotating rod is connected with the fourth ear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210440384.3A CN114701584B (en) | 2022-04-25 | 2022-04-25 | Parallel-driven foldable leg quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210440384.3A CN114701584B (en) | 2022-04-25 | 2022-04-25 | Parallel-driven foldable leg quadruped robot |
Publications (2)
| Publication Number | Publication Date |
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| CN114701584A true CN114701584A (en) | 2022-07-05 |
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