CN206704341U - A kind of quadruped robot mechanism of primary topology - Google Patents
A kind of quadruped robot mechanism of primary topology Download PDFInfo
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- CN206704341U CN206704341U CN201720533339.7U CN201720533339U CN206704341U CN 206704341 U CN206704341 U CN 206704341U CN 201720533339 U CN201720533339 U CN 201720533339U CN 206704341 U CN206704341 U CN 206704341U
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- 230000007246 mechanism Effects 0.000 title claims abstract description 22
- 210000002414 leg Anatomy 0.000 claims abstract description 93
- 210000000689 upper leg Anatomy 0.000 claims abstract description 37
- 210000001624 hip Anatomy 0.000 claims abstract description 23
- 210000004394 hip joint Anatomy 0.000 claims abstract description 22
- 230000008878 coupling Effects 0.000 claims abstract description 5
- 238000010168 coupling process Methods 0.000 claims abstract description 5
- 238000005859 coupling reaction Methods 0.000 claims abstract description 5
- 230000007704 transition Effects 0.000 claims description 11
- 238000010276 construction Methods 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 10
- 210000003127 knee Anatomy 0.000 description 29
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 241001455214 Acinonyx jubatus Species 0.000 description 1
- 241001212149 Cathetus Species 0.000 description 1
- 230000003187 abdominal effect Effects 0.000 description 1
- 230000000386 athletic effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 230000001020 rhythmical effect Effects 0.000 description 1
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Abstract
A kind of quadruped robot mechanism of primary topology, including trunk unit and leg unit, the bottom of trunk unit are connected with four leg units；Leg unit includes hip leg section, thigh leg section and shank leg section, between trunk unit and hip leg section, between hip leg section and thigh leg section, between thigh leg section and shank leg section respectively by coupling half axis connection, hip joint roll linear hydraulic actuator is connected between hip leg section and trunk unit, thigh pitching linear hydraulic actuator is connected between thigh leg section and hip leg section, shank pitching linear hydraulic actuator is connected between shank leg section and thigh leg section.Every leg of the mechanism is controlled using three linear hydraulic cylinders, effectively reduce leg exercise inertia, make leg unit modularization, it is effectively increased the mutability of structure and relatively low safeguards difficulty, leg unit split blade type designs, movement inertia is effectively reduced, ensure that the mutability of motion topological structure.
Description
Technical field
It the utility model is related to a kind of quadruped robot mechanism of primary topology, it is therefore intended that break through single topology knot
The quadruped robot of structure belongs to bio-robot field to the limitation of different terrain handling capacity.
Background technology
Legged type robot occurs from the sixties in last century, till now existing half century-old history.With control element, control
The development of method, new material etc., the reliability and degree of intelligence of legged type robot have obtained rapid lifting.From 2008
The first public BigDog of Boston power, to 2011 occur heavy burden than more LS3, then to the later stage Cheetah and
Spot series etc., each the limit for impacting all kinds of indexs of quadruped robot.
In the more ripe four-footed model machine of announced, technology, the topological structure that its leg uses can substantially be divided into
Four classes：Elbow formula after knee formula and preceding knee after double knee formulas, duplex formula, preceding elbow.From stability and manipulation ability, four types are not
Have too big difference, but due to after knee formula after preceding elbow and preceding knee both topological structures of elbow formula employ holohedral symmetry arrangement,
Trunk barycenter caused by joint control error can effectively be suppressed in the shake of direction of advance.Furthermore for extreme terrain, such as slope
Spend larger mountain region, elbow formula has that the larger traffic capacity is more excellent after preceding knee, while after preceding elbow knee formula and preceding knee elbow formula compared with than
Double knee or elbow formulas have effectively saved abdominal space, existing big compared with ripe a few money model machines for the four-footed platform to bear a heavy burden greatly
Employ both the above structure more.
Utility model content
For single topological structure quadruped robot to the limitation of different terrain handling capacity, comprehensive different topology knot
Structure provides a kind of variable topology knot for advantage, the utility model such as the stability, manipulation ability, heavy burden ability of robot body
The quadruped robot of structure, knee formula and preceding knee elbow formula topological structure can freely it be converted after preceding elbow.
The quadruped robot mechanism, including trunk unit and leg unit, the bottom of trunk unit are connected with four legs
Unit；Leg unit includes hip leg section, thigh leg section and shank leg section, between trunk unit and hip leg section, hip leg section
Between thigh leg section, between thigh leg section and shank leg section respectively by coupling half axis connection, hip leg section and trunk unit it
Between be connected with hip joint roll linear hydraulic actuator, thigh pitching linear hydraulic is connected between thigh leg section and hip leg section
Actuator, shank pitching linear hydraulic actuator is connected between shank leg section and thigh leg section.
The trunk unit uses lead frame structure, ensures to effectively reduce structure weight on the premise of structural strength
Amount, adds internal installing space.
The trunk unit is connected by bridge with hip leg section, and hip joint roll linear hydraulic actuator is connected to bridge
Between hip leg section.In four leg units, one bridge of anterior two legs portion units shared, rear portion two legs portion list
Member shares a bridge.
The hip leg section includes hip joint external connection frame and inner panel, and inner panel is connected to hip joint external connection inframe.
The cylinder body and piston of the hip joint roll linear hydraulic actuator are hinged on hip leg section by connecting shaft respectively
On trunk unit.
The piston cylinder and cylinder body of the thigh pitching linear hydraulic actuator are respectively hinged at thigh leg section by connecting shaft
And on inner panel.
The shank leg section includes shank transition leg section and shank bottom leg section, and shank bottom leg section is fixedly connected on shank
On transition leg section.
The shank pitching linear hydraulic actuator is respectively hinged at thigh leg section and shank transition leg section by connecting shaft
On.
Leg unit of the present utility model forms complete kinematic chain by linear hydraulic actuator, and its own passes through program
The rhythmic movement of control and the reciprocation with the external world, make robot produce the movement relative to ground, before can realizing after elbow
Knee formula walking manner, elbow walking manner after preceding knee.In conversion process, robot should be at shutting down or unloading condition, passes through people
Leg unit is put to opposite side, now shank pitching linear hydraulic actuator start section and has also shifted to opposite side by work intervention,
By switching control program, robot is set to complete the adjustment of different structure gait.Because the piston rod of linear hydraulic actuator is made
Dynamic length is longer, and three section components of leg unit employ split blade type design in addition, effectively draw the scope of activities of rod member
Divide Liao Lianggeban areas, so as to which by the manual intervention under shutdown or unloading condition, preceding knee elbow formula or preceding elbow can be realized
Knee formula walking mode switches afterwards.And in motion process, to prevent the start misprogramming of oil cylinder or other emergency situations from causing
Oil cylinder start break through half regional boundary limit, cause mechanism to damage, in addition to using two sets control programs, also using to linear hydraulic work
Dynamic device top offset sensor signal carries out " hardness is spacing ", and single actuator servo valve off-load is used when detection reaches displacement limits
Or mass motion playback processing mode, avoid the further start of linear hydraulic actuator.
The utility model mechanism uses 12 frees degree, and every leg is controlled using three linear hydraulic cylinders, effectively reduced
Leg exercise inertia, trunk use welded type frame structure, inside can integrated hydraulic system, control system, power source etc., protecting
It can effectively increase the installing space of part on the premise of card intensity and have preferable heat dispersion.The utility model has following
Feature：
(1) leg section of leg unit employs split blade type design, effectively reduces movement inertia, ensure that motion topology knot
The mutability of structure；
(2) each leg section of leg unit employs Double half axle connection, and the driving space of linear hydraulic actuator has been divided into two
Ge Ban areas, it ensure that accessible passing through of the oil cylinder in Liang Geban areas free switching；
(3) leg unit is connected by screw bolts with trunk unit, and this time design makes leg unit modularization, effective increase
The mutability of structure simultaneously relatively low safeguards difficulty.
Brief description of the drawings
Fig. 1 is the structural representation (knee formula after preceding elbow) of the quadruped robot mechanism of the utility model primary topology.
Fig. 2 is the structural decomposition diagram of leg unit in the utility model.
Fig. 3 is the structural representation of the utility model cathetus hydraulic unit driver.
Fig. 4 is the view of knee formula after elbow before leg unit is changed into from elbow formula after preceding knee in the utility model.
Fig. 5 be the quadruped robot mechanism of the utility model primary topology preceding knee after elbow formula view.
Fig. 6 is knee formula (right B) topological structural scheme of mechanism after elbow formula (left A) and preceding elbow after preceding knee of the present utility model.
In figure：1. trunk unit, 2. leg units, 3. hip joint roll linear hydraulic actuator, 4. thigh pitching straight lines
Hydraulic actuator, 5. shank pitching linear hydraulic actuator；
201. bridges, 202. hip joint external connection frames, 203. inner panels, 204. locking buckle closures, 205. connection semiaxis, 206.
Thigh leg section, 207. linear hydraulic actuator connecting shafts, 208. clamping screws, 209. shank transition leg sections, 210. shank bottoms
Leg section；
A. elbow formula topological structure after preceding knee, knee formula topological structure after elbow before B..
Embodiment
The quadruped robot mechanism of primary topology of the present utility model, as shown in figure 1, including trunk unit 1, leg
Unit 2, hip joint roll linear hydraulic actuator 3, thigh pitching linear hydraulic actuator 4 and shank pitching linear hydraulic start
Device 5.The bottom of trunk unit 1 is connected with four leg units 2.Leg unit 2 divide for three section, between connected successively by connection semiaxis
Connect.
Trunk unit 1 uses lead frame structure, ensures to effectively reduce construction weight on the premise of structural strength, increases
Internal installing space is added.The inside of trunk unit 1 can integrate the parts such as power source, Closed Hydraulic Driving system and control system.
The structure of leg unit 2 as shown in Fig. 2 using high intensity aerolite as designing material, using mechanics and
The rod member principle of optimality optimizes configuration, effective relatively low leg exercise inertia while proof strength.Leg unit 2 include across
Beam 201, hip joint external connection frame 202, thigh leg section 206 and shank leg section.Hip joint external connection frame 202 passes through connection half
Axle 205 is connected to one end of bridge 201.Hip joint roll straight line is connected between hip joint external connection frame 202 and bridge 201
Hydraulic actuator 3, the cylinder body and piston of hip joint roll linear hydraulic actuator 3 are hinged on outside hip joint by connecting shaft respectively
Portion is connected in frame 202 and bridge 201.Inner panel 203 is provided with hip joint external connection frame 202, both are by locking buckle closure 204
Locking connection, both is integrated and form the hip leg section of leg unit 2.Thigh leg section 206 is with inner panel 203 by coupling half
Axle 205 connects, and this connected mode using connection semiaxis ensure that the change of leg topological structure, distinguish linear hydraulic work
The start space of dynamic device.Thigh pitching linear hydraulic actuator 4, thigh pitching are connected between thigh leg section 206 and inner panel 203
The piston cylinder and cylinder body of linear hydraulic actuator 4 are respectively hinged on thigh leg section 206 and inner panel 203 by connecting shaft.Shank
Transition leg section 209 is connected on thigh leg section 206 by coupling semiaxis.Shank bottom leg section 210 and shank transition leg section 209
It is fixed together by clamping screw 208, both is integrated and form the shank leg section of leg unit 2.Thigh leg section
Shank pitching linear hydraulic actuator 5, shank pitching linear hydraulic actuator 5 are connected between 206 and shank transition leg section 209
It is respectively hinged at by connecting shaft on thigh leg section 206 and shank transition leg section 209.Pass through the work of three linear hydraulic actuator
Stopper rod and cylinder body couple different leg sections respectively, form complete drive chain.Therefore, the robot mechanism shares 12 frees degree,
Respectively hip joint roll, four thigh pitching and four shank pitching.Each linear hydraulic actuator uses as shown in Figure 3
Existing structure.
Anterior two leg units 2 can share a set of bridge 201, and two, rear portion leg unit 2 can also share a set of
Bridge.
Trunk unit 1 is bolted with the bridge 201 in leg unit 2, and this time is designed the module of leg unit 2
Change, be effectively increased the mutability of structure.
Leg unit 2 forms complete kinematic chain by linear hydraulic actuator, and its own passes through programme controlled rhythm and pace of moving things
Motion and the reciprocation with the external world, make robot produce the movement relative to ground.Because quadruped robot is equally being conducted oneself with dignity
In the case of have larger difference using the oil cylinder power output of different topological structure demands (knee formula be significantly less than preceding knee after preceding elbow
Elbow formula afterwards), and had nothing in common with each other for the velocity disturbance in non-athletic direction, when particularly being controlled in position, this disturbance difference
Substantially (after preceding elbow knee formula disturbance minimum), but for the handling capacity of anxious steep gradient, after elbow formula is significantly higher than preceding elbow after preceding knee
Knee formula.Therefore for different gradient is relatively slow or level land is more using knee formula walking manner (referring to Fig. 6) after the preceding elbow shown in Fig. 5,
And for the larger landform of the gradient using elbow walking manner after preceding knee as shown in Figure 1 (referring to Fig. 6).Its conversion process such as Fig. 4
It is shown.
In conversion process, robot should be at shutting down or unloading condition, is put leg unit 2 to another by manual intervention
Side, now the start section of linear hydraulic actuator 3 also shifted to opposite side, by switching control program, complete robot
The adjustment of different structure gait.Because the length of oil cylinder fully achieves structure dead band, to prevent robot in running
In due to misprogramming or operational error, cause to occur the middle leg portion location mode in Fig. 4, in a program to different topology
Displacement transducer in structure is spacing in the area Zhong Zuo positions of corresponding sports half, robot is moved stopping when reaching defined position
And do leg unit playback processing according to program setting.
Claims (9)
1. the quadruped robot mechanism of primary topology, including trunk unit and leg unit, the bottom connection of trunk unit
There are four leg units；It is characterized in that：Leg unit includes hip leg section, thigh leg section and shank leg section, trunk unit and hip
Between portion's leg section, between hip leg section and thigh leg section, between thigh leg section and shank leg section respectively by coupling half axis connection, hip
Hip joint roll linear hydraulic actuator is connected between portion's leg section and trunk unit, is connected between thigh leg section and hip leg section
There is thigh pitching linear hydraulic actuator, shank pitching linear hydraulic actuator is connected between shank leg section and thigh leg section.
2. the quadruped robot mechanism of primary topology according to claim 1, it is characterized in that：The trunk unit is adopted
With lead frame structure, ensure to effectively reduce construction weight on the premise of structural strength, add internal installing space.
3. the quadruped robot mechanism of primary topology according to claim 1, it is characterized in that：The trunk unit leads to
Cross bridge to be connected with hip leg section, hip joint roll linear hydraulic actuator is connected between bridge and hip leg section.
4. the quadruped robot mechanism of primary topology according to claim 3, it is characterized in that：Four leg lists
In member, one bridge of anterior two legs portion units shared, rear portion two legs portion one bridge of units shared.
5. the quadruped robot mechanism of primary topology according to claim 1, it is characterized in that：The hip leg section bag
Hip joint external connection frame and inner panel are included, inner panel is connected to hip joint external connection inframe.
6. the quadruped robot mechanism of primary topology according to claim 1, it is characterized in that：The hip joint roll
The cylinder body and piston of linear hydraulic actuator are hinged on hip leg section and trunk unit by connecting shaft respectively.
7. the quadruped robot mechanism of primary topology according to claim 1, it is characterized in that：The thigh pitching is straight
The piston cylinder and cylinder body of line hydraulic actuator are respectively hinged on thigh leg section and inner panel by connecting shaft.
8. the quadruped robot mechanism of primary topology according to claim 1, it is characterized in that：The shank leg section bag
Shank transition leg section and shank bottom leg section are included, shank bottom leg section is fixedly connected on shank transition leg section.
9. the quadruped robot mechanism of primary topology according to claim 1, it is characterized in that：The shank pitching is straight
Line hydraulic actuator is respectively hinged on thigh leg section and shank transition leg section by connecting shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720533339.7U CN206704341U (en) | 2017-05-15 | 2017-05-15 | A kind of quadruped robot mechanism of primary topology |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720533339.7U CN206704341U (en) | 2017-05-15 | 2017-05-15 | A kind of quadruped robot mechanism of primary topology |
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| CN206704341U true CN206704341U (en) | 2017-12-05 |
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| CN201720533339.7U Expired - Fee Related CN206704341U (en) | 2017-05-15 | 2017-05-15 | A kind of quadruped robot mechanism of primary topology |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106976494A (en) * | 2017-05-15 | 2017-07-25 | 山东大学 | A kind of quadruped robot mechanism of primary topology |
| CN113479274A (en) * | 2021-08-19 | 2021-10-08 | 安徽理工大学 | Hydraulic foot type robot single-leg mechanism with passive flexible knee joint |
-
2017
- 2017-05-15 CN CN201720533339.7U patent/CN206704341U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106976494A (en) * | 2017-05-15 | 2017-07-25 | 山东大学 | A kind of quadruped robot mechanism of primary topology |
| CN106976494B (en) * | 2017-05-15 | 2023-03-03 | 山东大学 | Four-footed robot mechanism with variable topological structure |
| CN113479274A (en) * | 2021-08-19 | 2021-10-08 | 安徽理工大学 | Hydraulic foot type robot single-leg mechanism with passive flexible knee joint |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171205 |
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| CF01 | Termination of patent right due to non-payment of annual fee |