CN207550352U - A kind of independent suspension mechanism for quadruped robot - Google Patents

Abstract

The utility model discloses a kind of independent suspension mechanisms for quadruped robot, including double transverse arm mechanisms and spring damping mechanism, double transverse arm mechanisms include Top Crossbeam, lower cross arm, stent, upper connector, lower connector, it is rotatablely connected between Top Crossbeam right end and upper connector left end by hinge bar on first, it is rotatablely connected between the lower cross arm right end and lower connector left end by first time hinge bar, the stent is vertical to be rotatably arranged between upper connector right end and lower connector right end, hinge bar on first, the axis of first time hinge bar extends along vertical side, hinge bar on second, second time hinge bar, upper rotary shaft, the axis of Shaft extends along the longitudinal direction；Spring damping mechanism includes damper and spring, and damper is by a floor installation on lower cross arm, and spring pocket is mounted in damper periphery.The utility model has the following advantages compared with prior art：It ensure that the stability characteristic (quality) of quadruped robot rack in moving process.

Description

A kind of independent suspension mechanism for quadruped robot

Technical field

The utility model is related to robotic technology field more particularly to a kind of independent suspensions for quadruped robot Mechanism.

Background technology

In recent years, scientific and technical progress has pushed the development of mobile robot, and more and more quadruped robots are by people Apply in daily life and industrial production.For uneven road surface and robot load it is bigger in the case of, it is existing Robot shows to make the problems such as drive system load increases suddenly, feedback control system is computationally intensive since inertia is larger Through being difficult to using suitable active regulation scheme.Therefore people are to improving quadruped robot under uneven environment and loading larger The stability moved during situation, ride comfort etc. propose new requirement.

It is well known that the suspension effect of automobile is to transmit power and the power torsion acted between wheel and vehicle frame, and buffer The impact force of vehicle frame or vehicle body is transmitted to by uneven road surface, and the thus caused vibration that decays, wherein based on elastic characteristic and damping The passive suspension passively responded by dynamic excitation of characteristic is widely used.

Existing quadruped robot generally realizes movement buffering using the leg mechanism with compliance or foot mechanism.China Patent CN104386157A, a kind of quadruped robot with flexible joint, it is characterised in that the robot includes rack and four Pedipulator；Pedipulator is connected to rack both sides by outer pendulum joint.Four pedipulators use the symmetrical junction of interior knee elbow formula Structure；Every pedipulator is made of successively outer pendulum joint, hip joint frame, hip joint, thigh, knee joint, shank and foot.The hip closes Section includes the mutually isostructural flexible joint main body with active flexible with knee joint, and knee joint and hip joint are closed respectively by hip Motor and the driving of knee joint motor are saved, hip joint frame is L-type.The utility model mainly utilizes the flexible joint with active flexible Play the role of bumper and absorbing shock.Control mode is complicated, and when complicated ground moves, robot frame still can be by larger Impact.

Utility model content

The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of independence for quadruped robot Suspension fork mechanism, to ensure the stability characteristic (quality) of quadruped robot rack in moving process.

The utility model is achieved through the following technical solutions：

A kind of independent suspension mechanism for quadruped robot, the quadruped robot include rack and are set to rack four Four machinery foots at angle, the independent suspension mechanism are set between rack and mechanical foot, and the independent suspension mechanism includes double Transverse arm mechanism and spring damping mechanism,

Double transverse arm mechanisms include Top Crossbeam, lower cross arm, stent, upper connector, lower connector, the Top Crossbeam, under Transverse arm in being arranged in parallel up and down, by hinge bar rotation connection on first between the Top Crossbeam right end and upper connector left end, It is rotatablely connected between the lower cross arm right end and lower connector left end by first time hinge bar, the stent is vertically provided at Between connector right end and lower connector right end, the pedestal upper end is rotatablely connected by upper rotary shaft and upper connector, described Pedestal lower end is rotatablely connected by Shaft and lower connector, and the stent is hinged with the hip joint of corresponding machinery foot, The Top Crossbeam left end is rotatablely connected by hinge bar on second and frame side wall, the lower cross arm left end by second time hingedly Bar and frame side wall are rotatablely connected, the vertical side's extension in axis edge of hinge bar, first time hinge bar on described first, and described second Upper hinge bar, second time hinge bar, upper rotary shaft, Shaft axis extend along the longitudinal direction；

The spring damping mechanism is mounted on lower cross arm, and the spring damping mechanism includes damper and spring, described Damper is by a floor installation on lower cross arm, and the damper can upwards stretch in vertical direction, the upper end of damper Stretch out and touch the bottom face of rack upwards out of Top Crossbeam cavity, the spring pocket is mounted in damper periphery, the bullet Spring upper end is limited by being set to the upper limit plate on damper top, lower end by the lower limiting board that is set on the base into Row limiting.

Further, hinge bar on described first, first time hinge bar, hinge bar on second, on second time hinge bar Torsional spring is installed.

Further, the connecting portion of the Top Crossbeam left and right ends, the connecting portion of the upper connector left end, the lower horizontal stroke The connecting portion of arm left and right ends, the lower connector left end connecting portion be respectively the U-shaped connecting plate of shape of taking the shape of the letter U.

The utility model has the following advantages compared with prior art：

A kind of independent suspension mechanism for quadruped robot provided by the utility model, spring damping mechanism are fixed on On the lower cross arm of double transverse arm mechanisms, with the carrying of spring and damping characteristics, the energy-absorbing of damper ensures to move with energy characteristic is dissipated In the process in robot frame and rack trunk stability；Its double transverse arm mechanism plays the rack and machinery of connection robot The effect of foot is provided with torsional spring on corresponding hinge bar, reduces in robot moving process due to the rugged change of landform Changing influences the impact that core component in robot trunk generates.The utility model ensure that quadruped robot in moving process The stability characteristic (quality) of robot trunk, and simple in structure, significant effect.

Description of the drawings

Fig. 1 is the dimensional structure diagram of the utility model.

Fig. 2 is that four independent suspension mechanisms of the utility model are mounted on the structure diagram on quadruped robot.

Fig. 3 is that the single independent suspension mechanism of the utility model is mounted on the structure diagram on quadruped robot.

Fig. 4 is the lateral view of Fig. 3.

Fig. 5 be the stent of the utility model by power vertically downward when structure diagram.

Fig. 6 be the stent of the utility model by horizontal parallel force when structure diagram.

Figure label：1 damper, 2 springs, 3 Top Crossbeams, hinge bar on 4 first, torsional spring on 5 first, 6 upper connectors, 7 Rotary shaft, 8 stents, 9 rotary shafts, 10 times connectors, 11 first time torsional spring, 12 first time hinge bar, 13 lower cross arms, under 14 second Torsional spring, 15 second time hinge bar, hinge bar on 16 second, torsional spring on 17 second, 18 thighs, leg driving point in 19,20 knee joints, Leg in 21,22 pedestals, 23 metatarsal bars, 24 ankle-joints, 25 hip joints, 26 thighs driving point, 27 racks, 28 machinery foots, 29U shapes connect Fishplate bar.

Specific embodiment

Elaborate below to the embodiment of the utility model, the present embodiment using technical solutions of the utility model before It puts and is implemented, give detailed embodiment and specific operating process, but the scope of protection of the utility model is unlimited In following embodiments.

Referring to Fig. 1 to Fig. 6, present embodiment discloses a kind of independent suspension mechanism for quadruped robot, four-footed machines People includes rack 27 and is set to four machinery foots 28 of 27 4 jiaos of rack, and every machinery foot 28 is by thigh 18, middle leg 21, metatarsal Bar 23 hingedly forms successively, and 18 top of thigh is set there are one hip joint 25, and the upper end of thigh 18 drives point 26, thigh 18 for thigh Knee joint 20 is formed with the hinge joint of middle leg 21, the top of middle leg 21 is the hinge of middle leg driving point 19, middle leg 21 and metatarsal bar 23 Contact forms ankle-joint 24.

Independent suspension mechanism is set between rack 27 and machinery foot 28, and independent suspension mechanism includes double transverse arm mechanisms and bullet Spring damping mechanism,

Double transverse arm mechanisms include Top Crossbeam 3, lower cross arm 13, stent 8, upper connector 6, lower connector 10, Top Crossbeam 3, under Transverse arm 13 is rotatablely connected between 6 left end of 3 right end of Top Crossbeam and upper connector by hinge bar 4 on first in being arranged in parallel up and down, It is rotatablely connected between 13 right end of lower cross arm and lower 10 left end of connector by first time hinge bar 12, stent 8 is vertically provided at Between 6 right end of connector and lower 10 right end of connector, 8 upper end of stent is rotatablely connected by upper rotary shaft 7 with upper connector 6, branch 8 lower end of frame is rotatablely connected by Shaft 9 and lower connector 10, and stent 8 is hinged with the hip joint of corresponding machinery foot 28, 3 left end of Top Crossbeam is rotatablely connected by hinge bar 16 on second and 27 side wall of rack, 13 left end of lower cross arm by second time hingedly Bar 15 and 27 side wall of rack are rotatablely connected, wherein, the connecting portion of 3 left and right ends of Top Crossbeam, the connecting portion of 6 left end of upper connector, The connecting portion of 13 left and right ends of lower cross arm, the connecting portion of 10 left end of lower connector are respectively the U-shaped connecting plate 29 of shape of taking the shape of the letter U.

Hinge bar 4 on first, first time hinge bar 12 axis extend along vertical side, on second under hinge bar 16, second Hinge bar 15, upper rotary shaft 7, Shaft 9 axis extend along the longitudinal direction；

Spring damping mechanism is mounted on lower cross arm 13, and spring damping mechanism includes damper 1 and spring 2, and damper 1 is logical A pedestal 22 is crossed on the lower cross arm 13, damper 1 can upwards stretch in vertical direction, and the upper end of damper 1 is from upper horizontal stroke The bottom face of rack 27 is stretched out and touched in the cavity of arm 3 upwards, spring 2 is sleeved on 1 periphery of damper, and 2 upper end of spring leads to Cross be set to 1 top of damper upper limit plate limited, lower end is limited by the lower limiting board being arranged on pedestal 22 Position.

Hinge bar 4 on first, is mounted on hinge bar 16 on first time hinge bar 12, second on second time hinge bar 15 Torsional spring, wherein, torsional spring on first on hinge bar 4 is torsional spring 5 on first, and the torsional spring on first time hinge bar 12 is turned round for first time Spring 11, torsional spring on second on hinge bar 16 are torsional spring 17 on second, and the torsional spring on second time hinge bar 15 is second time torsional spring 14。

During landing, the stent 8 of independent suspension mechanism is acted on mechanical foot 28 by upward power, and lower cross arm 13 can be around It second time hinge bar 15 to be rotated up, spring 2 and damper 1 on lower cross arm 13 will be driven to be compressed " deformation ", Independent suspension mechanism as flexible linking device reduces mechanical foot 28 with ground contact process in rack 27 and rack 27 Trunk vibratory impulse, reduce due to influence of the complicated rugged ground surface environment to 27 roll angle of rack.

Referring to Fig. 5, when hip joint 25 is by the downward power of vertical, stent 8 is acted on by downward force, entire stent 8 It can move down, correspondingly, Top Crossbeam 3 can rotate around hinge bar on second 16 in vertical plane, lower cross arm 13 can be around Second time hinge bar 15 to rotate in vertical plane, at this time due to the presence of torsional spring 17 and second time torsional spring 14 on second, Reversed cushion effect can be provided, the vibration of entire robot upper and lower directions in moving process is reduced, reduce original rigid power Impact.It can also reduce simultaneously due to influence of the complicated rugged ground surface environment to 27 pitch angle of rack.

Referring to Fig. 6, when hip joint 25 is by power after horizontal direction, stent 8 is acted on by the power after horizontal direction, stent 8 drive upper connectors 6 rotate, while stent 8 in the horizontal plane relative to Top Crossbeam 3 around hinge bar 4 on first together Lower connector 10 is driven to rotate in the horizontal plane around first time hinge bar 12 relative to lower cross arm 13, due to turning round on first The presence of spring 5 and first time torsional spring 11 can provide reversed cushion effect, reduce original rigid power impact.It can also reduce simultaneously Due to influence of the complicated rugged ground surface environment to 27 yaw angle of rack.

The above is only the preferred embodiments of the present utility model only, is not intended to limit the utility model, all in this practicality All any modification, equivalent and improvement made within novel spirit and principle etc., should be included in the guarantor of the utility model Within the scope of shield.

Claims (3)

1. a kind of independent suspension mechanism for quadruped robot, the quadruped robot includes rack (27) and is set to rack (27) four machinery foots (28) of quadrangle, the independent suspension mechanism is set between rack (27) and machinery foot (28), special Sign is：The independent suspension mechanism includes double transverse arm mechanisms and spring damping mechanism,

Double transverse arm mechanisms include Top Crossbeam (3), lower cross arm (13), stent (8), upper connector (6), lower connector (10), The Top Crossbeam (3), lower cross arm (13) in being arranged in parallel up and down, between Top Crossbeam (3) right end and upper connector (6) left end It is rotatablely connected by hinge bar (4) on first, passes through first between lower cross arm (13) right end and lower connector (10) left end The rotation connection of lower hinge bar (12), the stent (8) be vertically provided at upper connector (6) right end and lower connector (10) right end it Between, stent (8) upper end is rotatablely connected by upper rotary shaft (7) and upper connector (6), and stent (8) lower end is under Rotary shaft (9) is rotatablely connected with lower connector (10), and the stent (8) is hinged with the hip joint of corresponding machinery foot (28), Top Crossbeam (3) left end is rotatablely connected by hinge bar (16) on second and rack (27) side wall, and the lower cross arm (13) is left End is rotatablely connected by second time hinge bar (15) and rack (27) side wall, hinge bar (4), first time hinge bar on described first (12) axis extends along vertical side, hinge bar (16), second time hinge bar (15), upper rotary shaft (7), backspin on described second The axis of shaft (9) extends along the longitudinal direction；

The spring damping mechanism is mounted on lower cross arm (13), and the spring damping mechanism includes damper (1) and spring (2), for the damper (1) by a pedestal (22) on lower cross arm (13), the damper (1) can be in vertical direction Flexible upwards, the upper end of damper (1) out of Top Crossbeam (3) cavity is stretched out and touches the bottom face of rack (27) upwards, The spring (2) is sleeved on damper (1) periphery, and spring (2) upper end is by being set to the upper limit on damper (1) top Plate is limited, lower end is limited by the lower limiting board being arranged on pedestal (22).

2. a kind of independent suspension mechanism for quadruped robot as described in claim 1, it is characterised in that：On described first Hinge bar (4), first time hinge bar (12), are mounted on torsional spring at hinge bar (16) on second on second time hinge bar (15).

3. a kind of independent suspension mechanism for quadruped robot as claimed in claim 2, it is characterised in that：The Top Crossbeam (3) connection of the connecting portion of left and right ends, the connecting portion of the upper connector (6) left end, the lower cross arm (13) left and right ends Portion, lower connector (10) left end connecting portion be respectively the U-shaped connecting plate (29) of shape of taking the shape of the letter U.