CN114802521B - Parallel-driven all-elbow type quadruped robot - Google Patents
Parallel-driven all-elbow type quadruped robot Download PDFInfo
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- CN114802521B CN114802521B CN202210440381.XA CN202210440381A CN114802521B CN 114802521 B CN114802521 B CN 114802521B CN 202210440381 A CN202210440381 A CN 202210440381A CN 114802521 B CN114802521 B CN 114802521B
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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 all-elbow type quadruped robot, which comprises a robot body and four leg-foot mechanisms. The four leg-foot mechanisms respectively comprise a parallel driving mechanism, an elbow type leg and a foot part, the four parallel driving mechanisms are arranged at the front left part, the front right part, the rear left part and the rear right part of the machine body, the upper ends of the four elbow type legs are respectively and correspondingly connected with the four parallel driving mechanisms, and the lower ends of the four elbow type legs are respectively and correspondingly connected with the four foot parts; in each leg-foot mechanism, the parallel drive mechanism and the elbow leg move together to make the foot have three spatial moving degrees of freedom. The parallel-driven all-elbow type quadruped robot has the advantages of good dynamic characteristics, large rigidity of the whole robot, large working space, high precision of positioning and turning of the output end, and easy realization of high-speed and high-precision motion.
Description
Technical Field
The invention relates to the technical field of quadruped robots, in particular to an all-elbow quadruped robot driven in parallel.
Background
From this century, with the trend of high-speed development of technologies such as intelligent manufacturing and artificial intelligence, the research of quadruped robots also realizes the process from concept to prototype, and gradually moves from laboratories to commercial application scenarios. 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 in scenes such as police explosion-removing detection, 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, one purpose of the invention is to provide a parallel-driven all-elbow type quadruped robot which has the advantages of good dynamic characteristics, large rigidity of the whole robot, large working space, high precision of positioning and turning of an output end and easiness in realizing high-speed and high-precision movement.
The parallel-driven all-elbow type quadruped robot provided by the embodiment of the invention comprises the following components:
a body;
the four leg-foot mechanisms comprise a parallel driving mechanism, an elbow type leg and a foot, the four parallel driving mechanisms are arranged at the front left part, the front right part, the rear left part and the rear right part of the machine body, the upper ends of the four elbow type legs are correspondingly connected with the four parallel driving mechanisms respectively, and the lower ends of the four elbow type legs are correspondingly connected with the four foot parts respectively; in each leg-foot mechanism, the parallel drive mechanism and the elbow leg move together to make the foot have three spatial moving degrees of freedom.
Different from the traditional four-foot robot in a serial form, the parallel-driven all-elbow four-foot robot in the embodiment of the invention adopts a parallel driving mechanism, so that on one hand, the four-foot robot 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-foot robot has higher movement accuracy and better maneuvering performance of feet. In addition, the parallel-driven all-elbow type quadruped robot of the embodiment of the invention improves the maneuvering performance of the quadruped robot by introducing the elbow type legs, enlarges the reachable working space of the legs of the quadruped robot, and further improves the motion performance of the parallel-driven all-elbow type quadruped robot. In conclusion, the parallel-driven all-elbow type quadruped robot disclosed 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 machine, large working space, high output end positioning and corner precision and the like, and has 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 elbow-type leg is respectively connected to 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 elbow type leg and the fixed platform and the elbow type leg and the movable platform respectively have two mutually perpendicular rotational degrees of freedom, the directions of the rotational axes 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 respectively have a vertical degree of freedom of movement.
According to some embodiments of the invention, two of the three driving branches are in a left-right opposing arrangement and another of the three driving branches is in a front-back opposing arrangement with the elbow leg.
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 sleeves and branched chain rods, the three sleeves 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 sleeves, the lower ends of the three branched chain rods are correspondingly connected with the three second lugs, and the three branched chain rods and the three sleeves, and the three branched chain rods and the three second lugs are respectively provided with two rotational degrees of freedom which are perpendicular to each other.
According to some embodiments of the present invention, each of the driving branched chains further includes a first rotating rod and a second rotating rod, and the number of the branched chains is two; first dwang with the sleeve 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 present invention, each of the driving branches further includes 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 sleeve, the lower hook hinge is mounted on the second ear, and the upper end and the lower end of the branch rod are respectively and correspondingly connected with the upper hook hinge and the lower hook hinge.
According to some embodiments of the invention, the elbow leg comprises a thigh 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 upper 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, and one end of the fourth rotating rod is hinged with the upper end of the second thigh branched chain; the second thigh branched chain is hinged with the first thigh branched chain in a crossed manner; the shank branched chain is connected with the first thigh branched chain and the second thigh branched chain.
According to some embodiments of the invention, the lower leg branches comprise a first lower leg branch and a second lower leg branch; the upper end of the first shank branched chain is hinged with the lower end of the first thigh branched chain, the upper end of the second shank branched chain is hinged with the lower end of the second thigh branched chain, the lower end of the first shank branched chain is connected 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 first thigh branch and the second shank branch are parallel, and the second thigh branch and the first shank branch are parallel.
According to some embodiments of the present invention, the first and second thigh branched chains are respectively and correspondingly provided with a first and a second limiting groove at the crossing hinge joint, the first and second limiting grooves cross and buckle with each other, and two opposite concave side walls of the first limiting groove are spaced from two opposite side walls of the second thigh branched chain, and two opposite concave side walls of the second limiting groove are spaced from two opposite side walls of the first thigh branched chain.
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 view of the overall structure of a parallel-driven all-elbow type quadruped robot of the present invention.
Fig. 2 is a schematic structural diagram of a leg-foot mechanism in a parallel-driven all-elbow four-foot robot according to the present invention.
Fig. 3 is a schematic structural diagram of a parallel driving mechanism in the parallel-driven all-elbow four-footed robot of the present invention.
Reference numerals:
parallel-driven all-elbow quadruped robot 1000
Leg and foot mechanism 2
The first ear 2111 of the fixed platform 211, the third ear 2112, the third rotating rod 2113 drive the branched chain 212
Sleeve 2121 branched rod 2122 first rotating rod 2123 second rotating rod 2124 moving platform 213
Elbow type leg 22
Thigh branch 221 first thigh branch 2211 second thigh branch 2212 first limiting groove 2213
Second limit recess 2214 calf branch 222 first calf branch 2221 second calf branch 2222
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 reference numerals refer to the same or similar elements or elements having the same or similar functions 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 all-elbow 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, the parallel-driven all-elbow type quadruped robot 1000 according to the embodiment of the present invention includes a body 1 and four leg-foot mechanisms 2. The four leg-foot mechanisms 2 respectively comprise a parallel driving mechanism 21, an elbow type leg 22 and a foot 23, the four parallel driving mechanisms 21 are arranged at the front left part, the front right part, the rear left part and the rear right part of the machine body 1, the upper ends of the four elbow type legs 22 are correspondingly connected with the four parallel driving mechanisms 21 respectively, and the lower ends of the four elbow type legs 22 are correspondingly connected with the four foot 23 respectively; in each leg and foot mechanism 2, the parallel drive mechanism 21 and the elbow leg 22 move together to provide the foot 23 with three spatial degrees of freedom of movement.
Specifically, as shown in fig. 1, four leg-foot mechanisms 2 are distributed at four corners of the body 1, i.e., at the front left portion, the front right portion, the rear left portion, and the rear right portion of the lower side of the body 1, for smoothly supporting the body 1.
The four leg-foot mechanisms 2 respectively comprise a parallel driving mechanism 21, an elbow type leg 22 and a foot part 23, the four parallel driving mechanisms 21 are arranged at the front left part, the front right part, the rear left part and the rear right part of the lower side of the machine body 1, the parallel driving mechanisms 21 are closed chains, the parallel driving mechanisms 21 can be driven by electric push rods, the upper ends of the four elbow type legs 22 are correspondingly connected with the four parallel driving mechanisms 21 respectively, the lower ends of the four elbow type legs 22 are correspondingly connected with the four foot parts 23 respectively, the elbow type legs 22 are driving chains, and the elbow type legs 22 can be driven by motors; in each leg-foot mechanism 2, the parallel driving mechanism 21 and the elbow type leg 22 move together to make the foot 23 have three degrees of freedom of movement in space, that is, the front, back, left, right and up and down movement of the foot 23 can be realized together by a closed chain and a driving chain, thereby realizing the walking function of the parallel-driven all-elbow type quadruped robot 1000.
Different from the traditional four-footed robot in a serial form, the parallel-driven all-elbow four-footed robot 1000 of the embodiment of the invention adopts the parallel-driving mechanism 21, so that on one hand, the four-footed 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 easy realization of 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 parallel-driven all-elbow type quadruped robot 1000 of the embodiment of the present invention improves the maneuvering performance of the quadruped robot 1000 by introducing the elbow type legs 22, expands the reachable working space of the legs of the quadruped robot 1000, and further improves the moving performance of the parallel-driven all-elbow type quadruped robot 1000. In conclusion, the parallel-driven all-elbow type quadruped robot 1000 disclosed 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 machine, large working space, high precision of output end positioning and rotation angle and the like, and has 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 the three driving branched chains 212 are respectively connected with the fixed platform 211 and the movable platform 213, and the elbow-type leg 22 is respectively connected with the fixed platform 211 and the movable platform 213; the three driving branched chains 212 and the fixed platform 211, the three driving branched chains 212 and the movable platform 213, the elbow type leg 22 and the fixed platform 211, and the elbow type leg 22 and the movable platform 213 respectively have two mutually perpendicular rotational degrees of freedom, the rotational axes of the two mutually perpendicular rotational degrees of freedom are respectively in the front-back direction and the left-right direction, and the three driving branched chains 212 and the fixed platform 211 respectively have one vertical degree of freedom of movement. In the parallel-driven all-elbow quadruped robot 1000 of the present embodiment, the three driving branched chains 212 connected to the movable platform 213 are all connected to the fixed platform 211, thereby forming a closed chain. The foot 23 is connected to the stationary platform 211 and the movable platform 213 by the elbow legs 22 to form a drive chain. The leg-foot mechanism 2 of the parallel-driven all-elbow type quadruped robot 1000 is provided with the closed chain and the driving chain, so that three spatial freedom degrees of movement of the foot 23 can be better realized, and compared with a transmission mode that the driving chain is open-loop, the closed driving transmission is more stable, and the control precision of the foot 23 is favorably improved.
According to some embodiments of the present invention, 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 elbow legs 22 to swing in the left-right direction with respect to the fixed platform 211 are fixed to the fixed platform 211, and the first driving unit and the second driving unit of the present invention do not move according to the movement of the driving chain, compared to the conventional tandem robot. By adopting the arrangement, the light weight of the driving chain is favorably realized, the dynamic response performance of the driving chain is improved, and the energy consumption can be reduced after the driving chain is free from the burden of the driving unit. 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.
According to some embodiments of the present invention, two of the three driving branches 212 are disposed opposite to each other in the left-right direction, and another driving branch 212 of the three driving branches 212 is disposed opposite to the elbow leg 22 in the front-back direction, so that three degrees of freedom of movement in the space of the foot 23 can be achieved.
According to some embodiments of the present invention, as shown in fig. 3, in each leg and 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; three driving branched chains 212 respectively comprise sleeves 2121 and branched chains 2122, the three sleeves 2121 are respectively vertically and correspondingly arranged on the three first lugs 2111 in a sliding manner, the upper ends of the three branched chains 2122 are correspondingly connected with the three sleeves 2121, the lower ends of the three branched chains are correspondingly connected with the three second lugs 2131, and two mutually perpendicular rotational degrees of freedom are respectively arranged between the three branched chains 2122 and the three sleeves 2121 and between the three branched chains 2122 and the three second lugs 2131. It will be appreciated that the mounting and up and down movement of sleeve 2121 is facilitated by the provision of first ears 2111 on stationary platform 211, and that the provision of second ears 2131 on movable platform 213 provides mounting locations for strut rods 2122.
According to some embodiments of the present invention, as shown in fig. 3, each driving branch 212 further comprises a first rotating rod 2123 and a second rotating rod 2124, and there are two branch rods 2122; the first rotating rod 2123 is rotatably connected to the sleeve 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 rotatably connected to the two ends of the first rotating rod 2123, respectively, the lower ends of the two chain support rods 2122 are rotatably connected to the two ends of the second rotating rod 2124, respectively, 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 sleeve 2121 and between each chain support rod 2122 and the second lug 2131, the directions of the rotational axes 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.
According to some embodiments of the present invention, each driving branch 212 further includes an upper hook joint and a lower hook joint (not shown), and the branch rod 2122 is a single rod; the upper hook joint is arranged on the sleeve 2121, the lower hook joint 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 joint and the lower hook joint, so that two mutually perpendicular rotational degrees of freedom are respectively arranged between the branched chain rod 2122 and the sleeve 2121 and between the branched chain rod 2122 and the second lug 2131, the rotational axis directions 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 and 2, the elbow leg 22 includes a thigh branch 221 and a shank branch 222; the thigh branched chain 221 comprises 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 with the fixed platform 211 through a third rotating rod 2113, the third rotating rod 2113 extends in the front-back direction and is rotatably connected with the fixed platform 211, and one end of the third rotating rod 2113 is hinged with the upper end of the first thigh branched chain 2211; the upper end of the second thigh branched chain 2212 is connected to the movable platform 213 via a fourth rotating lever 2133, the fourth rotating lever 2133 extends in the front-rear direction and is rotatably connected to the movable platform 213, and one end of the fourth rotating lever 2133 is hinged to the upper end of the second thigh branched chain 2212; second thigh branch 2212 is cross-hinged to first thigh branch 2211; the lower leg branch 222 is connected to the first and second thigh branches 2211 and 2212, so that the third rotating rod 2113 can drive the movable platform 213 and the lower leg branch 222 to swing in the left-right direction through the first and second thigh branches 2211 and 2212. The thigh branch 221, the shank branch 222 and the foot 23 are connected to the fixed platform 211 through a third rotating rod 2113, and are connected to the movable platform 213 through a fourth rotating rod 2133, so as to form a driving chain. Second thigh branch 2212 is cross-hinged to first thigh branch 2211, which is advantageous for making the entire thigh branch 221 more rigid and more structurally stable.
According to some embodiments of the present invention, as shown in fig. 2, the fixed platform 211 is further provided with a third ear 2112, and the movable platform 213 is further provided with a fourth ear 2132; the third ear 2112 of the fixed platform 211 is used for being rotatably connected with the third rotating rod 2113, the fourth ear 2132 of the movable platform 213 is used for being rotatably connected with the fourth rotating rod 2133, and the third ear 2112 and the fourth ear 2132 are arranged to facilitate installation of the third rotating rod 2113 and the fourth rotating rod 2133.
According to some embodiments of the invention, as shown in fig. 2, the lower leg branches 222 include a first lower leg branch 2221 and a second lower leg branch 2222; the upper end of the first calf branched chain 2221 is hinged with the lower end of the first thigh branched chain 2211, the upper end of the second calf branched chain 2222 is hinged with the lower end of the second thigh branched chain 2212, the lower end of the first calf branched chain 2221 is connected with the middle of the second calf branched chain 2222, and the lower end of the second calf branched chain 2222 is fixed with the foot 23.
Note that the upper end of the second lower leg branch 2222 connected to the foot portion 23 faces rearward, and is in an elbow arrangement. As shown in fig. 1, the present invention is a parallel driven all-elbow quadruped robot, i.e. four feet 23 are all connected to a lower leg branch 222 in an elbow arrangement.
According to some embodiments of the present invention, as shown in fig. 2, the first thigh branch 2211 and the second calf branch 2222 are parallel, and the second thigh branch 2212 and the first calf branch 2221 are parallel, so that the driving force of the parallel driving mechanism 21 can be well transmitted to the foot 23.
According to some embodiments of the present invention, as shown in fig. 2, the first and second thigh branches 2211 and 2212 are respectively and correspondingly provided with a first and second limiting grooves 2213 and 2214 at the crossing hinge positions, the first and second limiting grooves 2213 and 2214 are crossed and buckled with each other, two opposite concave sidewalls of the first limiting groove 2213 are spaced from two opposite sidewalls of the second thigh branch 2212, and two opposite concave sidewalls of the second limiting groove 2214 are spaced from two opposite sidewalls of the first thigh branch 2211. In this way, on one hand, the first thigh branched chain 2211 and the second thigh branched chain 2212 can relatively rotate within a certain range, so that the parallel-driven all-elbow type quadruped robot 1000 of the present invention can realize a normal walking process; on the other hand, the range of motion of first and second upper leg 2211 and 2212 is limited, avoiding the unpredictable hazard that may arise in the event of a control failure or error.
In the description of the specification, references to "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like, 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 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 (8)
1. A parallel driven all-elbow quadruped robot, comprising:
a body;
the four leg-foot mechanisms comprise a parallel driving mechanism, an elbow type leg and a foot part, the four parallel driving mechanisms are arranged at the front left part, the front right part, the rear left part and the rear right part of the machine body, the upper ends of the four elbow type legs are correspondingly connected with the four parallel driving mechanisms respectively, and the lower ends of the four elbow type legs are correspondingly connected with the four foot parts respectively; in each leg-foot mechanism, the parallel driving mechanism and the elbow type leg move together to enable the foot to have three spatial moving degrees of freedom;
in each leg-foot mechanism, the parallel driving mechanism comprises a fixed platform, three driving branched chains and a movable platform, the fixed platform is fixed on the machine body, the movable platform is positioned below the fixed platform, the three driving branched chains are arranged at intervals along the circumferential direction of the fixed platform, two ends of the three driving branched chains are respectively connected with the fixed platform and the movable platform, and the elbow type leg is respectively connected with the fixed platform and the movable platform; two mutually perpendicular rotational degrees of freedom are respectively arranged between the three driving branched chains and the fixed platform, between the three driving branched chains and the movable platform, between the elbow type leg and the fixed platform and between the elbow type leg and the movable platform, the rotational axis directions of the two mutually perpendicular rotational degrees of freedom are respectively a front-back direction and a left-right direction, and a vertical movement degree of freedom is also respectively arranged between the three driving branched chains and the fixed platform;
the elbow type leg comprises a thigh branched chain and a shank branched chain; 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 end of the first thigh branched chain; the upper 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, and one end of the fourth rotating rod is hinged with the upper end of the second thigh branched chain; the second thigh branched chain is hinged with the first thigh branched chain in a crossed manner; the shank branched chain is connected with the first thigh branched chain and the second thigh branched chain.
2. The parallel driven all-elbow quadruped robot as claimed in claim 1 wherein two of the three driving branches are oppositely disposed left and right and another one of the three driving branches is oppositely disposed front and back with respect to the elbow leg.
3. The parallel driven all-elbow four-footed robot of claim 2 wherein in each of the leg-footed 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 sleeves and branched chain rods, the three sleeves 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 sleeves, the lower ends of the three branched chain rods are correspondingly connected with the three second lugs, and the three branched chain rods and the three sleeves, and the three branched chain rods and the three second lugs are respectively provided with two rotational degrees of freedom which are perpendicular to each other.
4. The parallel driven all-elbow type quadruped robot as claimed in claim 3, wherein 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 sleeve 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.
5. The parallel-driven all-elbow quadruped robot as claimed in claim 3, wherein each of the driving branches further comprises an upper hook joint and a lower hook joint, and the branch link is a single link; the upper hook joint is installed on the sleeve, the lower hook joint is installed on the second lug, and the upper end and the lower end of the branch rod are correspondingly connected with the upper hook joint and the lower hook joint respectively.
6. The parallel driven all-elbow quadruped robot as claimed in any one of claims 1 to 5 wherein the lower leg branches comprise a first lower leg branch and a second lower leg branch; the upper end of the first shank branched chain is hinged with the lower end of the first thigh branched chain, the upper end of the second shank branched chain is hinged with the lower end of the second thigh branched chain, the lower end of the first shank branched chain is connected with the middle of the second shank branched chain, and the lower end of the second shank branched chain is fixed with the foot.
7. The parallel driven all-elbow quadruped robot as claimed in claim 6 wherein the first thigh branch and the second calf branch are parallel and the second thigh branch and the first calf branch are parallel.
8. The parallel driven all-elbow type quadruped robot as claimed in claim 7, wherein the first and second thigh branches are respectively provided with a first and second limiting groove at the crossing hinge point, the first and second limiting grooves are crossed and buckled with each other, and there is a gap between the two opposite concave side walls of the first limiting groove and the two opposite side walls of the second thigh branch, and there is a gap between the two opposite concave side walls of the second limiting groove and the two opposite side walls of the first thigh branch.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114802521A (en) | 2022-07-29 |
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