CN114852211A - Torsion-resistant truss-based parallel quadruped robot device and control method thereof - Google Patents
Torsion-resistant truss-based parallel quadruped robot device and control method thereof Download PDFInfo
- Publication number
- CN114852211A CN114852211A CN202210604982.XA CN202210604982A CN114852211A CN 114852211 A CN114852211 A CN 114852211A CN 202210604982 A CN202210604982 A CN 202210604982A CN 114852211 A CN114852211 A CN 114852211A
- Authority
- CN
- China
- Prior art keywords
- double
- connecting rod
- truss
- layer
- shank
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a parallel quadruped robot device based on an anti-torsion truss and a control method thereof, relating to the technical field of robots, wherein the parallel quadruped robot device based on the anti-torsion truss comprises a machine body part, wherein the machine body part comprises a frame component, the frame component comprises a chassis plate, two substrate structures which are fixedly arranged on the chassis plate in a front-back mode and a truss structure which connects the two substrate structures, the truss structure comprises a plurality of truss pipes which are connected in a transverse-longitudinal mode, and the truss pipes which are connected are in clearance fit with each other through adapters; and the four legs are connected with the machine body part, each leg comprises a leg support connected with the machine body part and a parallel connecting rod mechanism arranged on the leg support, the substrate structure is provided with an upper motor of a Yaw shaft for driving the leg support to rotate, and the leg support is provided with a lower motor of a Pitch shaft for driving the parallel connecting rod mechanism to move. The invention can solve the problem that the stability of the multi-degree-of-freedom parallel robot on the undulating road section is not high.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a parallel quadruped robot device based on an anti-torsion truss and a control method of the parallel quadruped robot device.
Background
The quadruped robot has unique site adaptability, so that the quadruped robot is always researched by teams in various countries. For example, the GO series of the domestic astrone technology and the MIT of the foreign boston power machine dog and the massachusetts institute of technology are mature, and the four-legged robots all adopt the traditional tandem leg type, and the stress of the tandem legs is not ideal.
For example, the Guangdong province intelligent manufacturing research institute, applied in 2019, 5, 28, application number 201920797559, of an agile quadruped robot based on a coaxial parallel mechanism, the quadruped robot comprising a trunk, four parallel legs, a dual-motor coaxial asynchronous transmission module arranged in the trunk and used for driving the parallel legs to move, a control and communication module and a power module, wherein the parallel legs are installed on two sides of the trunk and comprise thighs and calves. However, the quadruped robot still has the problem of low stability.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the above-mentioned problems in the prior art. Therefore, the embodiment of the invention provides a parallel quadruped robot device based on a torsional truss, which solves the problem that the stability of a multi-degree-of-freedom parallel robot on an undulating road section is not high.
The embodiment of the invention also provides a control method of the parallel quadruped robot device.
According to an embodiment of the first aspect of the invention, a torsion-resistant truss-based parallel quadruped robot device is provided, which comprises a body part, wherein the body part comprises a frame assembly, the frame assembly comprises a chassis plate, two substrate structures fixedly arranged on the chassis plate in a front-back mode and a truss structure for connecting the two substrate structures, the truss structure comprises a plurality of truss pipes which are connected with each other in a transverse-longitudinal mode, the connected truss pipes are connected with each other in a clearance fit mode through adapters, the substrate structure is provided with a plurality of guide shaft supports, and the truss pipes connected with the substrate structures are fixedly assembled in the guide shaft supports through interference fit; and with four shank that the organism part is connected, the shank include with shank support that the organism part is connected and install the parallel link mechanism at the shank support, the base plate structural mounting is used for driving shank support pivoted Yaw axle upside motor, the shank support mounting has the drive Pitch axle downside motor of parallel link mechanism action, Yaw axle upside motor with Pitch axle downside motor is not on the coplanar, parallel link mechanism include by two double-deck first-order connecting rods of Pitch axle downside motor drive, with one of them the double-deck first-order connecting rod of thigh is articulated to land the double-deck second-order connecting rod of shank and with another the double-deck second-order connecting rod of shank is articulated to land the non-double-order connecting rod of shank and the double-order connecting rod of shank is articulated to land.
The torsion-resistant truss-based parallel quadruped robot device at least has the following beneficial effects: the truss structure is used as a connecting bridge of the frame assembly, the Yaw shaft upper side motor for driving the leg support to rotate is arranged on the substrate structure, when the leg moves, the leg can transmit reaction torque to the Yaw shaft upper side motor, so that the substrate structure is subjected to torque and further transmitted to the interior of the machine body part, and the truss structure can directly offset the torque, so that the stability and balance of the movement of the machine body part can be kept, and the stability of the machine body on an undulating road section can be improved; in addition, the motor on the upper side of the Yaw axis and the motor on the lower side of the Pitch axis are not on the same plane, so that the motion space of the leg is directly increased; in the parallel connection link mechanism of the leg, the thigh double-layer first-order connecting rod, the non-landing shank double-layer second-order connecting rod and the landing shank double-layer second-order connecting rod all adopt double-layer hollow rod piece structures, so that the stability of the leg can be ensured, the motion stability of the leg can be improved, the motion response is quicker, and the rapidity of motion action can be ensured.
According to the embodiment of the first aspect of the invention, the substrate structure comprises two Yaw axis fixing plates arranged on the left and right sides and a connecting plate for connecting the two Yaw axis fixing plates, the Yaw axis fixing plates and the connecting plate are respectively fixed with the chassis plate through vertical plate connecting pieces, and the Yaw axis upper side motor is installed on the Yaw axis fixing plates.
According to an embodiment of the first aspect of the present invention, the leg support comprises a driving plate and two side support plates connected to both sides of the driving plate, the driving plate is connected to an output shaft of the Yaw axis upper side motor, and the Pitch axis lower side motor is mounted on the side support plates.
According to the embodiment of the first aspect of the present invention, the thigh double-layer first-order link comprises two thigh first-order plates, the thigh double-layer first-order link is connected with one end of the lower motor of the Pitch shaft, and a first aluminum column is placed between the two thigh first-order plates and fastened to the lower motor of the Pitch shaft through a first fastening screw.
According to the embodiment of the first aspect of the present invention, the hinge assemblies are hinged between the thigh double-layer first-order connecting rod and the non-grounding calf double-layer second-order connecting rod, between the thigh double-layer first-order connecting rod and the grounding calf double-layer second-order connecting rod, and between the grounding calf double-layer second-order connecting rod and the non-grounding calf double-layer second-order connecting rod, each hinge assembly includes a first knock screw and a first nut which are matched with each other, and the thigh double-layer first-order connecting rod, the non-grounding calf double-layer second-order connecting rod and the grounding calf double-layer second-order connecting rod are all provided with bearing pieces through which the first knock screw passes.
According to the embodiment of the first aspect of the invention, the thigh double-layer first-order connecting rod, the non-touchdown calf double-layer second-order connecting rod and the touchdown calf double-layer second-order connecting rod all adopt a carbon fiber double-layer hollow rod piece structure.
According to the embodiment of the first aspect of the invention, the end part of the double-layer second-order connecting rod of the landing shank is provided with the foot end made of rubber materials.
According to an embodiment of the first aspect of the invention, the body portion further comprises a control system comprising a gyroscope disposed on the chassis plate; the microcomputer is arranged on the chassis plate and is electrically connected with the gyroscope so as to receive an input signal of the gyroscope; the setting is in a plurality of singlechip on the underpan board, the microcomputer with the singlechip electricity is connected to send control signal through serial communication mode for the singlechip is packed and is handled, singlechip and each Yaw epaxial side motor electricity is connected, gives each with control signal through CAN communication mode Yaw epaxial side motor, singlechip and each Pitch axle downside motor electricity is connected, gives each with control signal through CAN communication mode Pitch axle downside motor electricity.
According to an embodiment of the first aspect of the present invention, the body part further includes a power supply assembly, and the power supply assembly includes a battery and a plurality of distribution plates electrically connected to the battery, and the distribution plates are configured to supply power to the Yaw axis upper side motor, the Pitch axis lower side motor, and the control system.
According to an embodiment of the second aspect of the present invention, there is provided a control method of a multi-degree-of-freedom parallel quadruped robot apparatus for controlling a torsion truss-based parallel quadruped robot apparatus according to an embodiment of the first aspect of the present invention, including the steps of:
the microcomputer reads a reading signal of the gyroscope in a serial port communication mode;
the microcomputer sends a control signal to the singlechip through a serial port communication mode;
the single chip microcomputer receives and packages the control signals of the microcomputer, and transmits the control signals to the motors on the upper sides of the Yaw shafts and the motors on the lower sides of the Pitch shafts in a CAN communication mode;
after control signals are received by control boards of the motors on the upper sides of the Yaw shafts and the motors on the lower sides of the Pitch shafts, the motors rotate in a moment mode or a position mode, and the microcomputer forms an instantaneous gait control instruction and synchronously transmits the instantaneous gait control instruction to the single chip microcomputer through serial port communication so as to control the maneuvering action of the multi-degree-of-freedom parallel quadruped robot device.
The control method of the multi-degree-of-freedom parallel quadruped robot device at least has the following beneficial effects: when walking and walking, the motor on the upper side of the Yaw shaft controls the rotation angle alpha 1 of the double-layer first-order connecting rod of the thigh, the motor on the lower side of the Pitch shaft controls the rotation angle alpha 2 of the double-layer second-order connecting rod of the non-landing calf, wherein the clockwise rotation direction of the motor is positive, the anticlockwise rotation direction of the motor is negative, the position of the foot end of the landing calf double-layer second-order connecting rod can be accurately determined by controlling the angle values of the alpha 1 and the alpha 2 and the corresponding geometric relationship of each part of the leg, the stepping Pitch and the stepping height of the leg can be controlled by controlling the rotating angles of the motor on the upper side of the Yaw shaft and the motor on the lower side of the Pitch shaft, and the walking motion of the four-foot robot device can be freely connected in parallel by the alternate control of the gait motion of the four legs. When passing through the fluctuating road section, the motors on the upper sides of the Yaw shafts and the motors on the lower sides of the Pitch shafts output corresponding instructions to keep the motion posture, so that the motion stability of the legs is ensured.
Drawings
The invention is further described below with reference to the accompanying drawings and examples;
FIG. 1 is a perspective view of an embodiment of the present invention;
FIG. 2 is a top view of an embodiment of the present invention;
FIG. 3 is a front view of an embodiment of the present invention;
FIG. 4 is a perspective view of a body portion in an embodiment of the invention;
FIG. 5 is a front view of a body portion in an embodiment of the invention;
FIG. 6 is a perspective view of a frame assembly in an embodiment of the present invention;
FIG. 7 is a perspective view of a leg in an embodiment of the present invention;
FIG. 8 is an exploded view of the connection of the thigh double-deck first-order link to the non-touchdown calf double-deck second-order link in an embodiment of the present invention;
FIG. 9 is an exploded view of the connection of the grounded and non-grounded calf two-level two-step link in an embodiment of the invention.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring now to fig. 1 to 9, a torsion truss-based parallel quadruped robotic device is shown comprising a body portion 100 and four legs 200 connected to the body portion 100.
Referring to fig. 1 to 6, the body portion 100 includes a frame assembly 110, the frame assembly 110 includes a chassis plate 111, two substrate structures fixedly disposed on the chassis plate 111 in a front-back direction, and a truss structure connecting the two substrate structures, the truss structure includes a plurality of truss tubes 116 connected to each other in a transverse and longitudinal direction, the connected truss tubes 116 are connected to each other by an adaptor 117 in a clearance fit manner, the substrate structure is provided with a plurality of guide shaft holders, and the truss tubes 116 connected to the substrate structure are fixed in the guide shaft holders 115 by interference fit. In this embodiment, the truss structure is formed by stacking truss tubes 116, the truss tubes 116 are formed by three carbon fiber pipes with different lengths, and the truss tubes 116 connected to the base plate structure are inserted into the guide shaft support 115 and then fastened by screws and nuts.
Referring to fig. 7 to 9, the leg 200 includes a leg holder 220 connected to the body part 100 and a parallel link mechanism mounted to the leg holder 220, the substrate structure is mounted with a Yaw axis upper side motor 211 for driving the leg holder 220 to rotate, and the leg holder 220 is mounted with a Pitch axis lower side motor 231 for driving the parallel link mechanism to operate. The Yaw axis upper motor 211 and the Pitch axis lower motor 231 are not on the same plane, and the movement space of the leg 200 is directly increased.
The parallel link mechanism comprises two thigh double-layer first-order links 240 driven by a motor 231 on the lower side of a Pitch shaft, a grounded calf double-layer second-order link 250 hinged with one thigh double-layer first-order link 240, and a non-grounded calf double-layer second-order link 260 hinged with the other thigh double-layer first-order link 240, wherein the non-grounded calf double-layer second-order link 260 and the grounded calf double-layer second-order link 250 are hinged. As shown in fig. 7, the thigh double-layer first-order connecting rod 240, the non-touchdown calf double-layer second-order connecting rod 260 and the touchdown calf double-layer second-order connecting rod 250 all adopt a carbon fiber double-layer hollow rod structure, so that the stability of legs and the stability of leg movement can be guaranteed, the movement response is quicker, and the rapidity of movement action is guaranteed.
Specifically, the substrate structure includes two Yaw axis fixing plates 112 disposed on the left and right sides and a connecting plate 113 connecting the two Yaw axis fixing plates 112, the Yaw axis fixing plates 112 and the connecting plate 113 are fixed to the chassis plate 111 by vertical plate connectors 114, respectively, and the Yaw axis upper side motor 211 is mounted on the Yaw axis fixing plates 112.
It can be understood that, a truss structure is adopted as a connecting bridge of the frame assembly 110, the Yaw axis upper side motor 211 for driving the leg support 220 to rotate is installed on the Yaw axis fixing plate 112 of the substrate structure, when the leg 200 moves, the leg 200 transmits a reaction torque to the Yaw axis upper side motor 211, so that the Yaw axis fixing plate 112 receives a torque and then transmits the torque to the inside of the body part 100, and the truss structure can directly offset the torque, so that the stability and balance of the movement of the body part 100 can be maintained, and the stability of the body on the undulating road section can be improved.
Referring to fig. 7, the leg support 220 includes a driving plate 221 and two side support plates 222 connected to two sides of the driving plate 221, the driving plate 221 is connected to an output shaft of the Yaw axis upper motor 211, specifically, the Yaw axis upper motor 211 is connected to the driving plate 221 through screws, two sides of the driving plate 221 are connected to a vertical plate connecting member 223, the vertical plate connecting member 223 is further connected to the side support plates 222 through screws, and the two side support plates 222 are further joggled and reinforced through a plurality of support plates 224. A Pitch shaft lower motor 231 is mounted on the side bracket plate 222.
Referring to fig. 8, the thigh double-layer first-order link 240 includes two thigh first-order plates 241, one end of the thigh double-layer first-order link 240 connected to the lower motor 231 of the Pitch shaft, and a first aluminum pillar 282 disposed between the two thigh first-order plates 241 and fastened to the lower motor 231 of the Pitch shaft by a first fastening screw 281.
Referring to fig. 8 and 9, the grounded lower leg double-layered second-order link 250 includes two grounded lower leg second-order plates 251, and the non-grounded lower leg double-layered second-order link 260 includes two non-grounded lower leg second-order plates 261. Preferably, a plurality of second nuts 284 are arranged between the two thigh first-step plates 241 at the middle position of the thigh double-layer first-step connecting rod 240, and the two thigh first-step plates 241 are fastened by second fastening screws 283, wherein the second nuts 284 are double-headed nuts. Similarly, a second nut 284 and a second fastening screw 283 engaged with the second nut are also provided between the two grounded lower leg second plates 251, and a second nut 284 and a second fastening screw 283 engaged with the second nut are also provided on the non-grounded lower leg second plate 261.
In addition, the hinge assembly 270 is used for realizing hinge connection between the thigh double-layer first-order connecting rod 240 and the non-grounding calf double-layer second-order connecting rod 260, between the thigh double-layer first-order connecting rod 240 and the grounding calf double-layer second-order connecting rod 250, between the grounding calf double-layer second-order connecting rod 250 and the non-grounding calf double-layer second-order connecting rod 260, the hinge assembly 270 comprises a first knock-off screw 271 and a first nut 275 which are matched with each other, and the thigh double-layer first-order connecting rod 240, the non-grounding calf double-layer second-order connecting rod 260 and the grounding calf double-layer second-order connecting rod 250 are all provided with bearing pieces through which the first knock-off screw 271 penetrates. The bearing member is a flange bearing 274 or a deep groove ball bearing 272. Taking the hinge assembly 270 between the thigh double-layer first-order link 240 and the non-grounded calf double-layer second-order link 260 as an example, the flange bearing 274 and the deep groove ball bearing 272 are both interference-fitted into the thigh first-order plate 241 or the non-grounded calf second-order plate 261, and a Teflon washer 273 is placed between the adjacent thigh first-order plate 241 and the non-grounded calf second-order plate 261.
The end of the double-layer second-order connecting rod 250 of the landing shank is provided with a foot end 252 made of rubber material.
In this embodiment, four leg portions 200 are formed by parallel legs and arranged in a quasi-symmetrical manner, i.e., the rear leg portion and the front leg portion are not arranged in the same manner, as shown in fig. 1. The leg adopts double-deck structure, and reasonable clear fretwork in addition can guarantee the stability of leg structure and improve the stationarity of leg motion, makes the motion response rapider, guarantees the rapidity of motion action. The leg is of a leg type which tends to be bionic, the leg type is greatly different from the traditional leg type, and the movement action of the leg type ensures graceful gait and bionic.
In some embodiments, the body portion 100 further includes a control system including a microcomputer 121, a gyroscope 123, and two single-chip microcomputers. Wherein, the singlechip is the STM32 singlechip.
The microcomputer 121, the gyroscope 123 and the two singlechips are all arranged on the chassis plate 111. In which a microcomputer 121 is fixed to a microcomputer holder 122, and the microcomputer holder 122 is fixed to a chassis base 111. The gyroscope 118 is fixed at a designated position on the chassis board 111.
The microcomputer 121 is electrically connected to the gyroscope 123 to receive an input signal from the gyroscope 123.
The microcomputer 121 is electrically connected with the single chip microcomputer to send control signal for the single chip microcomputer to carry out packing processing through serial port communication mode, the single chip microcomputer is electrically connected with each Yaw axis upside motor 211, to transmit control signal for each Yaw axis upside motor 211 through CAN communication mode, the single chip microcomputer is electrically connected with each Pitch axis downside motor 231, to transmit control signal for each Pitch axis downside motor 231 through CAN communication mode.
The body part 100 further comprises a power supply assembly, the power supply assembly comprises a battery 131 and a plurality of distribution plates 133 electrically connected with the battery 131, and the distribution plates 133 are used for supplying power to the Yaw axis upper side motor 211, the Pitch axis lower side motor 231 and the control system. Wherein the battery 131 is fixed to the battery mount 132, and the battery mount 132 is fixed on the chassis board 111.
The body portion 100 further includes a camera assembly, which includes a camera 141, the camera 141 is fixed to a camera seat 142 by screws, the camera seat 142 is connected to an aluminum column 143 by screws, and the aluminum column 143 is connected to the chassis plate 111 by screws. The camera 141 is located at the front of the body portion 100.
The body portion 100 also includes a radar assembly including a lidar 151 attached by screws to a tower mount 152, the tower mount 152 being attached to the chassis plate 111.
In this embodiment, the distributor 133 is provided with five distributor plates, one main distributor plate and four sub-distributor plates, the microcomputer 121 is located at the front middle part of the frame assembly 110, the battery 131 is located at the rear middle part of the trunk, the main distributor plate is fixed in the hollow part below the tower-shaped support 152, and the four sub-distributor plates are symmetrically fixed at the left and right sides of the trunk. The battery 131 is connected with the main distribution board, and the main distribution board supplies power to all parts of the whole device through the four sub-distribution boards.
The embodiment also shows a control method of the multi-degree-of-freedom parallel quadruped robot device, which is used for controlling the parallel quadruped robot device based on the torsional truss and comprises the following steps:
the microcomputer 121 reads the read signal of the gyroscope 123 in a serial port communication mode;
the microcomputer 121 sends a control signal to the single chip microcomputer in a serial port communication mode;
the singlechip receives and packages the control signal of the microcomputer 121, and transmits the control signal to each Yaw axis upper side motor 211 and each Pitch axis lower side motor 231 in a CAN communication mode;
after receiving control signals from control boards of the Yaw axis upper side motor 211 and the Pitch axis lower side motor 231, the Yaw axis upper side motor and the Pitch axis lower side motor rotate in a moment mode or a position mode, and the microcomputer forms an instantaneous gait control instruction and synchronously transmits the instantaneous gait control instruction to the single chip microcomputer through serial port communication so as to control the maneuvering action of the multi-degree-of-freedom parallel quadruped robot device.
It can be understood that when walking, the motor on the upper side of the Yaw shaft controls the rotation angle alpha 1 of the thigh double-layer first-order connecting rod, the motor on the lower side of the Pitch shaft controls the rotation angle alpha 2 of the non-landing calf double-layer second-order connecting rod, wherein the clockwise rotation direction of the motor is positive, the anticlockwise rotation direction is negative, the position of the landing foot end of the landing calf double-layer second-order connecting rod can be accurately determined by controlling the angle values of the alpha 1 and the alpha 2 and the corresponding geometric relationship of each part of the leg, the stepping distance and the stepping height of the leg can be controlled by controlling the rotation angles of the motor on the upper side of the Yaw shaft and the motor on the lower side of the Pitch shaft, and the walking motion of the four-foot robot device can be freely connected in parallel through the alternative control of the gait motion of the four legs. When passing through the fluctuating road section, the motors on the upper sides of the Yaw shafts and the motors on the lower sides of the Pitch shafts output corresponding instructions to keep the motion posture, so that the motion stability of the legs is ensured.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (10)
1. A torsion truss-based parallel quadruped robotic device, comprising: comprises that
The machine body part comprises a frame assembly, the frame assembly comprises a chassis plate, two substrate structures which are fixedly arranged on the chassis plate in a front-back mode and a truss structure which connects the two substrate structures, the truss structure comprises a plurality of truss pipes which are connected in a transverse-longitudinal mode, the connected truss pipes are in clearance fit connection through a connector, the substrate structure is provided with a plurality of guide shaft supports, and the truss pipes connected with the substrate structure are assembled in the guide shaft supports in an interference fit mode to be fixed; and
with four shank that body part connects, the shank include with shank support that body part connects and install the parallel link mechanism at shank support, the base plate structure install be used for driving shank support pivoted Yaw axle upside motor, shank support mounting has the drive Pitch axle downside motor of parallel link mechanism action, Yaw axle upside motor with Pitch axle downside motor is not on the coplanar, parallel link mechanism include by Pitch axle downside motor drive's two double-deck first-order connecting rods of thigh, with one of them the double-deck first-order connecting rod articulated of shank touches the double-deck second order connecting rod of shank and with another the double-deck second order connecting rod of shank is not touched, the double-deck second order connecting rod of shank and the double-deck second order connecting rod of shank hinge of shank are touched to the non-touch.
2. The torsion truss-based quadruped robotic device according to claim 1, wherein: the base plate structure includes two Yaw axle fixed plates that set up about and will two the connecting plate that the Yaw axle fixed plate is connected, the Yaw axle fixed plate with the connecting plate respectively through perpendicular board connecting piece with the chassis board is fixed, the side motor is installed on the Yaw axle on the fixed plate.
3. The torsion truss-based quadruped robotic device according to claim 1, wherein: shank support includes the driving plate and connects two side support plates of driving plate both sides, the driving plate with the output shaft of Yaw epaxial side motor, Pitch axle downside motor is installed on the side support plate.
4. The torsion truss-based quadruped robotic device according to claim 3, wherein: the double-layer first-order connecting rod of the thigh comprises two first-order thigh plates, the double-layer first-order thigh connecting rod is connected with the motor at the lower side of the Pitch shaft, and a first aluminum column is placed between the first-order thigh plates and fastened to the motor at the lower side of the Pitch shaft through a first fastening screw.
5. The torsion truss-based quadruped robotic device according to claim 3, wherein: the hinge assembly is hinged between the thigh double-layer first-order connecting rod and the non-grounding calf double-layer second-order connecting rod, between the thigh double-layer first-order connecting rod and the grounding calf double-layer second-order connecting rod and between the grounding calf double-layer second-order connecting rod and the non-grounding calf double-layer second-order connecting rod, the hinge assembly comprises a first knock screw and a first nut which are matched with each other, and the thigh double-layer first-order connecting rod, the non-grounding calf double-layer second-order connecting rod and the grounding calf double-layer second-order connecting rod are respectively provided with a bearing piece through which the first knock screw penetrates.
6. The torsion truss-based quadruped robotic device according to claim 5, wherein: the thigh double-layer first-order connecting rod, the non-touchdown shank double-layer second-order connecting rod and the touchdown shank double-layer second-order connecting rod are all of a carbon fiber double-layer hollow rod piece structure.
7. The torsion truss-based quadruped robotic device according to claim 5, wherein: the end part of the double-layer second-order connecting rod of the landing shank is provided with a foot end made of rubber material.
8. The torsion truss-based quadruped robotic device according to any one of claims 1 to 7, wherein: the body portion further includes a control system including
A gyroscope disposed on the chassis plate;
the microcomputer is arranged on the chassis plate and is electrically connected with the gyroscope so as to receive an input signal of the gyroscope;
the setting is in a plurality of singlechip on the underpan board, microcomputer with the singlechip electricity is connected to send control signal for through serial port communication mode the singlechip carries out the packing and handles, singlechip and each the side motor electricity of Yaw axle is connected, gives each with control signal transmission through CAN communication mode the side motor of Yaw axle, singlechip and each the side motor electricity of Pitch axle is connected, gives each with control signal transmission through CAN communication mode the side motor of Pitch axle.
9. The torsion truss-based quadruped robotic device according to claim 8, wherein: the organism part still includes power supply module, power supply module include the battery and with a plurality of distribution board that the battery electricity is connected, distribution board is used for Yaw epaxial side motor Pitch axle downside motor and control system supply power.
10. A control method of the torsion truss-based quadruped robotic device for controlling the torsion truss-based quadruped robotic device of claim 8 or 9, comprising the steps of:
the microcomputer reads a reading signal of the gyroscope in a serial port communication mode;
the microcomputer sends a control signal to the singlechip through a serial port communication mode;
the single chip microcomputer receives and packages the control signals of the microcomputer, and transmits the control signals to the motors on the upper sides of the Yaw shafts and the motors on the lower sides of the Pitch shafts in a CAN communication mode;
after control signals are received by control boards of the motors on the upper sides of the Yaw shafts and the motors on the lower sides of the Pitch shafts, the motors rotate in a moment mode or a position mode, and the microcomputer forms an instantaneous gait control instruction and synchronously transmits the instantaneous gait control instruction to the single chip microcomputer through serial port communication so as to control the maneuvering action of the multi-degree-of-freedom parallel quadruped robot device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210604982.XA CN114852211B (en) | 2022-05-31 | 2022-05-31 | Anti-torsion truss-based parallel four-foot robot device and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210604982.XA CN114852211B (en) | 2022-05-31 | 2022-05-31 | Anti-torsion truss-based parallel four-foot robot device and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114852211A true CN114852211A (en) | 2022-08-05 |
| CN114852211B CN114852211B (en) | 2023-08-18 |
Family
ID=82640550
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210604982.XA Active CN114852211B (en) | 2022-05-31 | 2022-05-31 | Anti-torsion truss-based parallel four-foot robot device and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114852211B (en) |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014161991A (en) * | 2013-02-28 | 2014-09-08 | Nsk Ltd | Robot movement mechanism and robot comprising the same |
| CA2857903A1 (en) * | 2014-07-28 | 2016-01-28 | Can American Stone Spreader Sales Ltd. | Apparatus for discharge of bulk materials |
| CN205706943U (en) * | 2016-02-17 | 2016-11-23 | 常州恐龙园股份有限公司 | A kind of ten two degrees of freedom quadruped robot mechanisms |
| CN106476928A (en) * | 2016-12-21 | 2017-03-08 | 山东大学 | The variable electronic quadruped robot of mechanism configuration |
| CN106904226A (en) * | 2017-03-10 | 2017-06-30 | 杭州宇树科技有限公司 | A kind of leg power system architecture of electric drive quadruped robot |
| CN207345974U (en) * | 2017-10-31 | 2018-05-11 | 中科新松有限公司 | A kind of quadruped robot |
| US10105845B1 (en) * | 2016-02-05 | 2018-10-23 | Boston Dynamics, Inc. | Modular robot system |
| AT519987B1 (en) * | 2017-09-18 | 2018-12-15 | Dipl Ing Eugen Svoboda Meng | DEVICE FOR CARRYING OUT A HIPPED MOVEMENT |
| CN109760762A (en) * | 2019-03-06 | 2019-05-17 | 哈尔滨理工大学 | A kind of foot end self-adaptive hydraulic quadruped robot |
| CN110104089A (en) * | 2019-05-05 | 2019-08-09 | 昆明理工大学 | A kind of flexible spinal four-leg bionic robot |
| CN110217311A (en) * | 2019-05-28 | 2019-09-10 | 广东省智能制造研究所 | A kind of quick quadruped robot based on coaxial parallel-connection mechanism |
| CN111003074A (en) * | 2019-11-07 | 2020-04-14 | 清华大学 | Parallel wheel-foot type robot leg structure and mobile robot |
| CN111267989A (en) * | 2020-03-18 | 2020-06-12 | 腾讯科技（深圳）有限公司 | Wheel-foot type mobile platform and wheel-foot type mobile robot |
| CN213138967U (en) * | 2020-07-29 | 2021-05-07 | 北京科技大学 | Eight-degree-of-freedom disc type brushless motor driven quadruped robot |
| CN112894777A (en) * | 2021-03-05 | 2021-06-04 | 云南利恒优联智能设备有限公司 | Truss robot with multi-degree-of-freedom stable movement function |
| CN214451422U (en) * | 2020-12-22 | 2021-10-22 | 王宁 | Multi-terrain traveling robot dog |
| WO2022076022A1 (en) * | 2020-10-06 | 2022-04-14 | Ojjo, Inc. | Systems, methods, and machines for joining truss foundation components |
-
2022
- 2022-05-31 CN CN202210604982.XA patent/CN114852211B/en active Active
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014161991A (en) * | 2013-02-28 | 2014-09-08 | Nsk Ltd | Robot movement mechanism and robot comprising the same |
| CA2857903A1 (en) * | 2014-07-28 | 2016-01-28 | Can American Stone Spreader Sales Ltd. | Apparatus for discharge of bulk materials |
| US10105845B1 (en) * | 2016-02-05 | 2018-10-23 | Boston Dynamics, Inc. | Modular robot system |
| CN205706943U (en) * | 2016-02-17 | 2016-11-23 | 常州恐龙园股份有限公司 | A kind of ten two degrees of freedom quadruped robot mechanisms |
| CN106476928A (en) * | 2016-12-21 | 2017-03-08 | 山东大学 | The variable electronic quadruped robot of mechanism configuration |
| CN106904226A (en) * | 2017-03-10 | 2017-06-30 | 杭州宇树科技有限公司 | A kind of leg power system architecture of electric drive quadruped robot |
| AT519987B1 (en) * | 2017-09-18 | 2018-12-15 | Dipl Ing Eugen Svoboda Meng | DEVICE FOR CARRYING OUT A HIPPED MOVEMENT |
| CN207345974U (en) * | 2017-10-31 | 2018-05-11 | 中科新松有限公司 | A kind of quadruped robot |
| CN109760762A (en) * | 2019-03-06 | 2019-05-17 | 哈尔滨理工大学 | A kind of foot end self-adaptive hydraulic quadruped robot |
| CN110104089A (en) * | 2019-05-05 | 2019-08-09 | 昆明理工大学 | A kind of flexible spinal four-leg bionic robot |
| CN110217311A (en) * | 2019-05-28 | 2019-09-10 | 广东省智能制造研究所 | A kind of quick quadruped robot based on coaxial parallel-connection mechanism |
| CN111003074A (en) * | 2019-11-07 | 2020-04-14 | 清华大学 | Parallel wheel-foot type robot leg structure and mobile robot |
| CN111267989A (en) * | 2020-03-18 | 2020-06-12 | 腾讯科技（深圳）有限公司 | Wheel-foot type mobile platform and wheel-foot type mobile robot |
| CN213138967U (en) * | 2020-07-29 | 2021-05-07 | 北京科技大学 | Eight-degree-of-freedom disc type brushless motor driven quadruped robot |
| WO2022076022A1 (en) * | 2020-10-06 | 2022-04-14 | Ojjo, Inc. | Systems, methods, and machines for joining truss foundation components |
| CN214451422U (en) * | 2020-12-22 | 2021-10-22 | 王宁 | Multi-terrain traveling robot dog |
| CN112894777A (en) * | 2021-03-05 | 2021-06-04 | 云南利恒优联智能设备有限公司 | Truss robot with multi-degree-of-freedom stable movement function |
Non-Patent Citations (2)
| Title |
|---|
| 李栓成: "四足机器人腿部结构运动学分析与仿真", 军事交通学院学报, vol. 16, no. 8, pages 91 - 94 * |
| 郭建: "仿生四足机器人的结构与步态分析", 机械制造, no. 2021, pages 28 - 32 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114852211B (en) | 2023-08-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104608923B (en) | A kind of honeycomb fashion six rotor transporter aircrafts | |
| CN111003074B (en) | Parallel wheel-foot type robot leg structure and mobile robot | |
| CN1276820C (en) | Robot and joint unit | |
| CN110239644A (en) | A kind of bionical quadruped robot based on flexible spinal technology | |
| KR101109639B1 (en) | Variable leg for walking robot | |
| CN105128971A (en) | Bionic four-footed wall-climbing robot based on falcula attachment | |
| CN111891254A (en) | Quadruped robot and foot structure of quadruped robot | |
| CN110962956A (en) | Reconfigurable wheel-foot robot based on parallel modular structure | |
| CN105415350A (en) | Parallel-connected three-freedom-degree force feedback handle | |
| CN108639181B (en) | Multi-degree-of-freedom four-foot bionic robot | |
| CN113183184A (en) | Six-degree-of-freedom force feedback teleoperation master hand with gravity compensation | |
| CN210083393U (en) | Desktop type quadruped robot system with compact structure | |
| CN114852211A (en) | Torsion-resistant truss-based parallel quadruped robot device and control method thereof | |
| CN110104089B (en) | Flexible spine four-footed bionic robot | |
| CN109605392A (en) | A kind of multi-joint parallel connection spray robot | |
| CN102815347A (en) | Modularized reconfigurable single-link crawling robot and marching method thereof | |
| CN209467267U (en) | A kind of two-wheel manifold type omnidirectional inverted pendulum balanced sequence platform | |
| CN217260387U (en) | Desktop-level small bionic quadruped robot | |
| CN2649273Y (en) | Snake type robot with automatic-changing motion mode | |
| CN206287139U (en) | A kind of snake-shaped robot with flexible link | |
| CN106272387B (en) | A kind of modularization reconfigurable robot | |
| CN113371092B (en) | Laser-guided multi-degree-of-freedom damage detection wall-climbing robot device | |
| CN114394252A (en) | Solar unmanned aerial vehicle wing rib assembly pose adjusting system | |
| CN101009054B (en) | Simple modularized robot | |
| CN112959360A (en) | Portable arm with 5G long-range shooting function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |