CN105235770A - Two-freedom-degree bionic flexible spinal structure of quadruped robot - Google Patents

Abstract

The invention discloses a two-degree-of-freedom bionic elastic spine structure of a quadruped robot, which includes a front drive, an elastic spine and a rear drive. The mechanism includes a rotating table and a fixed frame, the cable transmission device includes a rope and a wheel, the rear drive is installed on the right side of the front drive through the joint drive, the wheel is installed inside the front drive and the rear drive, and the spring is arranged between the two rotating tables . The invention has reasonable structure, strong versatility, an elastic spine structure that can realize attitude adjustment and automatic righting, adopts a cable transmission device to control the passive movement of the joint transmission device, thereby realizing arbitrary attitude adjustment and automatic righting of the quadruped robot. It can not only be used for the walking posture adjustment of the quadruped robot on the ground, but also can be used for the posture adjustment and automatic straightening of the quadruped robot falling from high altitude, and has a certain buffering effect.

Description

A two-degree-of-freedom bionic elastic spine structure for a quadruped robot

technical field

The invention relates to the technical field of robots, in particular to a two-degree-of-freedom bionic elastic spine structure of a quadruped robot.

Background technique

The walking robot is a kind of intelligent robot, and the common walking robots are mostly applied in bipedal, quadrupedal and hexapodal types. Among them, the quadruped walking robot has a simple and flexible mechanism, strong carrying capacity, and good stability. It has good application prospects in disaster relief, planetary exploration, entertainment, and military affairs. The most representative is BigDog produced by Boston Dynamics. .

At present, most of the research on quadruped robots at home and abroad focuses on the adjustment of walking posture, but there is little research on the posture adjustment of quadruped robots falling from high altitude. For example, robots such as high-altitude rescue quadruped robots need to fall from the air to the ground. In order to ensure the safety and stability of the landing, the robot is required to land in a correct posture. Therefore, for this type of robot, its aerial posture adjustment, Automatic straightening and landing buffer are particularly important. However, in a few studies on quadruped robots falling from high altitudes, most of them use simple rigid components such as universal joints to realize attitude adjustment and automatic rectification. Low, so that the high-altitude robot cannot adjust to the correct posture or it is easy to overturn when landing; in addition, the rigid body cannot provide cushioning when landing, which may easily lead to component damage.

Contents of the invention

The purpose of the present invention is to provide a two-degree-of-freedom bionic elastic spine structure of a quadruped robot with reasonable structure and strong versatility, so as to solve the problems raised in the above-mentioned background technology.

To achieve the above object, the present invention provides the following technical solutions:

A two-degree-of-freedom bionic elastic spine structure of a quadruped robot includes a front drive, an elastic spine, and a rear drive. The elastic spine includes a spring, a cable transmission device, and a joint transmission device superimposed by a plurality of rotation mechanisms. The rotation The mechanism includes a rotating table and a fixed frame. The cable transmission device includes a rope and a wheel. The rear drive is installed on the right side of the front drive through a joint drive. Inside the drive, there are multiple rotating tables and fixed frames, the rotating tables are connected by a fixed frame, the spring is arranged between the two rotating tables, the rope passes through the spring, and one end of the rope is wound on the wheel On the disc, the other end of the rope is affixed to the front drive or the rear drive.

As a further solution of the present invention: each of the front drive and the rear drive is provided with two wheel discs.

As a further solution of the present invention: each of the two rotating tables is provided with four springs.

As a further solution of the present invention: there are four ropes in total, one end of two ropes is respectively wound on the wheel disc in the front drive, the other end is fixedly connected to the rear drive, and one end of the other two ropes is respectively wound On the wheel disc in the rear drive, the other end is fixed on the front drive.

Compared with prior art, the beneficial effect of the present invention is:

The invention has reasonable structure, strong versatility, an elastic spine structure that can realize attitude adjustment and automatic righting, adopts a cable transmission device to control the passive movement of the joint transmission device, thereby realizing arbitrary attitude adjustment and automatic righting of the quadruped robot. It can not only be used for the walking posture adjustment of the quadruped robot on the ground, but also can be used for the posture adjustment and automatic straightening of the quadruped robot falling from high altitude, and has a certain buffering effect.

Description of drawings

Fig. 1 is a structural schematic diagram of the present invention.

Fig. 2 is a structural schematic diagram of the rotation of the elastic spine in the present invention.

Fig. 3 is a schematic diagram of the axis side of the rotating mechanism in the present invention.

detailed description

The technical solution of this patent will be further described in detail below in conjunction with specific embodiments.

Please refer to Figures 1-3, a two-degree-of-freedom bionic elastic spine structure of a quadruped robot, including a front drive 1, an elastic spine and a rear drive 7, the elastic spine includes a spring 4, a cable transmission device and is superimposed by multiple rotating mechanisms The formed joint transmission device, the rotating mechanism includes a rotary table 3 and a fixed frame 5, the cable transmission device includes a rope 2 and a wheel 6, and the rear drive 7 is installed on the right side of the front drive 1 through the joint transmission device, The roulette 6 is provided with a plurality, and the roulette 6 is installed inside the front drive 1 and the rear drive 7, and the rotary table 3 and the fixed frame 5 are provided with a plurality, and the rotary table 3 is connected by the fixed frame 5, so The spring 4 is arranged between the two rotating tables 3. The spring 4 ensures that the rotation angle of each layer is relatively uniform during passive movement, and also plays a certain buffering role. The rope 2 passes through the spring 4, and one end of the rope 2 is wound On the wheel disc 6, the other end of the rope 2 is affixed to the front drive 1 or the rear drive 7.

The front drive 1 and the rear drive 7 are each provided with two wheel discs 6, the two turntables 3 are provided with four springs 4, and the ropes 2 are provided with four, of which two ropes 2 One end is respectively wound on the wheel disc 6 in the front drive 1, and the other end is fixedly connected to the rear drive 7. One end of the other two ropes 2 is respectively wound on the wheel disc 6 in the rear drive 7, and the other end is fixed to the front drive 1. superior.

The joint transmission device is composed of multi-layer rotating mechanisms. The whole device moves passively, and its power is provided by the cable transmission device. The control mechanism of the cable transmission device realizes two degrees of freedom of rolling and pitching; The same roulette 6 and two groups of ropes, two roulettes 6 are respectively arranged in the front drive 1 and the rear drive 7, the two groups of ropes are respectively composed of a pair of ropes, and one end of the four ropes is wound on the roulette 6, and then passed through Through the joint transmission device, the other end is fixedly connected to the front drive 1 or the rear body 7, and each pair of ropes 2 realizes wire take-up and release through the wheel disc 6, so that the control mechanism performs roll and pitch. The two ends of the joint transmission device It is fixedly connected with the front drive 1 and the rear drive 7 respectively, and it is composed of multi-layer rotating mechanisms, and each layer of rotating mechanisms can realize movement in two directions. The spring 4 is arranged between the layers of the joint transmission device. Four springs 4 are arranged between every two layers, and two groups of ropes of the cable transmission device pass through the middle, and each fixed frame 5 is connected to one end of two rotating tables 3 to realize rotation in two directions respectively.

What the present invention adopts is that the cable transmission device controls the passive movement of the joint transmission device so as to realize the arbitrary posture adjustment and automatic straightening of the quadruped robot, that is, the rotation movement of the mechanism is realized through the take-up and release of the rope 2, and the rotation in the other direction is the same as this Similarly, rotation in two directions, that is, roll and pitch, can achieve predetermined attitude adjustment and automatic rectification when moving according to a certain relationship. The number of layers of the rotation mechanism is adjustable. Within a certain range, the more layers , the greater the rotation angle of the mechanism, the higher the control accuracy and the easier it is to realize complex gestures, but as the number of layers increases, the difficulty of control also increases. Because the rotary table 3 at both ends of the joint transmission device is fixedly connected with the front drive 1 and the rear body 7, it is slightly different in structure from the rotary table 3 in the middle.

The invention has reasonable structure, strong versatility, an elastic spine structure that can realize attitude adjustment and automatic righting, adopts a cable transmission device to control the passive movement of the joint transmission device, thereby realizing arbitrary attitude adjustment and automatic righting of the quadruped robot. It can not only be used for the walking posture adjustment of the quadruped robot on the ground, but also can be used for the posture adjustment and automatic straightening of the quadruped robot falling from high altitude, and has a certain buffering effect.

The preferred implementation of this patent has been described in detail above, but this patent is not limited to the above-mentioned implementation. Within the scope of knowledge possessed by those of ordinary skill in the art, various modifications can be made without departing from the purpose of this patent. kind of change.

Claims (4)

1. A two-degree-of-freedom bionic elastic spine structure of a quadruped robot, comprising a front drive (1), an elastic spine and a rear drive (7), characterized in that the elastic spine includes a spring (4), a cable transmission device and a A joint transmission device composed of multiple rotation mechanisms, the rotation mechanism includes a rotation table (3) and a fixed frame (5), the cable transmission device includes a rope (2) and a wheel (6), and the rear drive (7) It is installed on the right side of the front drive (1) through the joint transmission device. There are multiple wheels (6), and the wheels (6) are installed inside the front drive (1) and the rear drive (7). The above-mentioned rotary table (3) and fixed frame (5) are provided with multiple, the rotary table (3) is connected through the fixed frame (5), and the spring (4) is arranged between the two rotary tables (3), The rope (2) passes through the spring (4), one end of the rope (2) is wound on the wheel (6), and the other end of the rope (2) is fixedly connected to the front drive (1) or the rear drive (7). 2 . The two-degree-of-freedom bionic elastic spine structure of a quadruped robot according to claim 1 , wherein two wheels ( 6 ) are respectively provided in the front drive ( 1 ) and the rear drive ( 7 ). 3. The two-degree-of-freedom bionic elastic spine structure of a quadruped robot according to claim 1, characterized in that, each of the two rotating platforms (3) is provided with four springs (4). 4. The two-degree-of-freedom bionic elastic spine structure of a quadruped robot according to claim 1, characterized in that there are four ropes (2) in total, and one end of two ropes (2) is respectively wound on the front On the wheel disc (6) in (1), the other end is fixedly connected on the rear drive (7), and one end of the other two ropes (2) are respectively wound on the wheel disc (6) in the rear drive (7), The other end is fixedly connected to the front drive (1).