CN108297965A - A kind of quadruped robot - Google Patents

Abstract

A kind of quadruped robot, including four pedipulators, rack, the centre-of gravity shift regulating mechanism being set in rack and control system, four pedipulators are set to the bottom of rack, and the centre-of gravity shift regulating mechanism includes that cross section is rectangular institutional framework.Advantageous effect of the present invention：The pedipulator flexibility ratio of robot of the present invention is higher, can independently detect the problems such as simultaneously center-of-gravity regulating deviates, while can independently detect avoidance walking.

Description

A quadruped robot

technical field

The invention relates to the field of robots, in particular to a quadruped robot.

Background technique

Robotics is one of the most active research fields in recent years. According to different movement modes, robots can be divided into wheeled, tracked and footed robots. Compared with wheeled and tracked robots, footed robots have good environmental adaptability and can move in complex environments such as potholes, rocks, grasslands, and rugged mountains, and can help people complete rescue and exploration in dangerous environments Task. In the military, footed robots can not only carry materials on the battlefield, but also carry military reconnaissance and combat equipment to assist soldiers in combat. Therefore, the design and development of legged robots have broad application prospects. However, the mechanical legs of existing robots are often not flexible enough, and the ability to independently adjust the offset of the center of gravity is relatively poor.

Contents of the invention

The technical problem to be solved by the present invention is to provide a quadruped robot, which solves the problems that the robot is not flexible enough and cannot automatically adjust the offset of the center of gravity.

The technical solution adopted by the present invention to solve the above-mentioned technical problems is: a quadruped robot, including four mechanical legs, a frame, a center of gravity offset adjustment mechanism and a control system arranged on the frame, and the four mechanical legs are arranged on At the bottom of the frame, the center of gravity offset adjustment mechanism includes a mechanism frame with a square cross section. The direction of the length of any two sides of the mechanism frame is the X direction, and the direction of the length of the other two sides is the Y direction. The direction perpendicular to the plane where X and Y are located is the Z direction, and the two sides along the X direction of the mechanism frame are respectively provided with the X direction screw rod I and the X direction screw rod II, and the two sides along the Y direction of the mechanism frame are respectively provided with The Y-direction optical axis I and the Y-direction screw, the X-direction screw I, the X-direction screw II, the Y-direction optical axis I, and both ends of the Y-direction screw are fixed by couplings arranged at the four corners of the mechanism frame. Each coupling can slide up and down along the Z-direction side of the mechanism frame where it is located. X-direction screw rod I, X-direction screw rod II, Y-direction optical axis I and Y-direction screw rod are equipped with The slider slides in the track groove. Between the X-direction screw rod I and the X-direction screw rod II, there are Y-direction optical axis II parallel to the Y-direction optical axis I and the Y-direction screw rod. The ends are respectively fixed in the sliders set on the X-direction screw rod I and X-direction screw rod II, and between the Y-direction optical axis I and the Y-direction screw rod are set parallel to the X-direction screw rod I and X-direction screw rod II The X-direction optical axis, the two ends of the X-direction optical axis are respectively fixed in the sliders set on the Y-direction optical axis I and the Y-direction screw, and the intersection of the X-direction optical axis and the Y-direction optical axis II is provided with a coupling Fixed, a counterweight is set on the bottom surface of the coupling, and the intersection of the X-direction screw I and the Y-direction optical axis I is provided with a Z-direction perpendicular to the plane where the X-direction screw I and the Y-direction optical axis I are located. screw.

The control system of the present invention includes an acceleration sensor arranged on the frame, 6 ultrasonic sensors, an X-direction motor respectively arranged at the end of the X-direction screw rod I, the end of the Y-direction screw rod and the end of the Z-direction screw rod, Y direction motor and Z direction motor and controller, wherein 3 ultrasonic sensors are arranged on the front of quadruped robot, and other 3 ultrasonic sensors are arranged on the rear of quadruped robot, described acceleration sensor and 6 ultrasonic sensors are connected with controller respectively connection, the controller is respectively connected with the X-direction motor, the Y-direction motor and the Z-direction motor.

The mechanical leg of the present invention includes a fixed top plate, a hip joint, a thigh, a knee joint, a calf and a foot connected sequentially from top to bottom. It is composed of a ball joint seat, a ball joint and a ball joint connecting piece, and the ball joint seat is arranged at the bottom of the fixed top plate; the thigh is a parallel structure, including a thigh support frame and two electric cylinders, and the thigh support frame is connected to one of the ball joint joints The two electric cylinders are respectively connected with the other two ball hinge connectors. The lower end of the electric cylinder is connected with the thigh support frame through the electric cylinder fixing frame. Rolling motion; the upper end of the knee joint is hinged with the bottom end of the thigh support frame, and the lower end is fixedly connected with the lower leg. The knee joint is provided with a drive mechanism for driving the knee joint movement. The drive mechanism includes a servo motor, a synchronous wheel, and a synchronous belt , a reduction wheel and a planetary reducer, the servo motor is connected with the synchronous wheel arranged on the thigh support frame to drive the rotation of the synchronous wheel, the reduction wheel is arranged at the shaft end of the hinge shaft of the knee joint and the thigh support frame, and the reduction wheel Connected with the planetary reducer, the synchronous belt is set on the synchronous wheel and the reduction wheel, and the servo motor drives the knee joint to move through the synchronous wheel, the synchronous belt, the reduction wheel and the planetary reducer, thereby driving the calf of the mechanical leg to lift and lower; The lower leg is a series structure, the lower leg is connected to the lower end of the knee joint, and a buffer spring and a three-dimensional force sensor are arranged between the lower leg and the knee joint; the foot is fixedly arranged at the lower end of the lower leg.

According to the present invention, the knee joint and the calf are connected through a linear bearing and an internal threaded optical axis, the linear bearing is fixed on the knee joint, one end of the internal threaded optical axis is set in the linear bearing, and the other end passes through the through hole opened on the calf, With the compression deformation and recovery of the buffer spring, the optical axis of the internal thread moves up and down in the linear bearing to match the expansion and contraction of the buffer spring.

The mechanism frame of the present invention is a cuboid made of profiles.

The beneficial effects of the present invention are: the present invention provides a quadruped robot, the mechanical legs of the robot are highly flexible, the thigh adopts a parallel structure, and the telescopic change of the electric cylinder drives the movement of the thigh support frame to realize the pitching motion and lateral movement of the thigh. Rolling motion; the calf adopts a series structure, and the servo motor drives the knee joint to move through the synchronous wheel, synchronous belt, reduction wheel and planetary reducer, thereby driving the calf of the mechanical leg to lift and lower to realize the movement of the mechanical leg; it can be detected and adjusted independently At the same time, it can autonomously detect obstacles and avoid walking.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the present invention;

Fig. 2 is a structural schematic diagram of the center of gravity offset adjustment mechanism of the present invention;

Fig. 3 is a schematic structural view of a single mechanical leg of the present invention;

Fig. 4 is a schematic diagram of the connection structure between the mechanical leg knee joint and the lower leg of the present invention;

Fig. 5 is a schematic flow chart of the robot center of gravity adjustment control method of the present invention;

Fig. 6 is a schematic flow chart of the robot obstacle avoidance walking control method of the present invention.

Marks in the figure: 1. Mechanical leg, 2. Rack, 3. Center of gravity offset adjustment mechanism, 4. Mechanism frame, 5. X-direction screw Ⅰ, 6. X-direction screw Ⅱ, 7. Y-direction optical axis Ⅰ , 8. Screw rod in Y direction, 9. Coupling, 10. Slider, 11. Optical axis II in Y direction, 12. Optical axis in X direction, 13. Screw rod in Z direction, 14. Motor in Z direction, 15. Y Direction motor, 16, X direction motor, 17, counterweight, 1-1, fixed top plate, 1-2, ball hinge seat, 1-3, ball hinge, 1-4, ball hinge connector, 1-5, Electric cylinder, 1-6, thigh support frame, 1-7, electric cylinder fixed frame, 1-8, hinge shaft, 1-9, buffer spring, 1-10, three-dimensional force sensor, 1-11, calf, 1- 12, foot, 1-13, servo motor, 1-14, synchronous wheel, 1-15, synchronous belt, 1-16, reduction wheel, 1-17, planetary reducer, 1-18, knee joint, 1-19 , Linear bearings, 1-20, internal thread optical axis.

Detailed ways

As shown in the figure, a quadruped robot includes four mechanical legs 1, a frame 2, a center of gravity offset adjustment mechanism 3 arranged on the frame 2 and a control system, and the four mechanical legs 1 are arranged on the frame 2 At the bottom, the center of gravity offset adjustment mechanism 3 includes a mechanism frame 4 with a square cross section. The direction of the length of any two sides of the mechanism frame is the X direction, and the direction of the length of the other two sides is the Y direction. , the direction perpendicular to the plane where X and Y are located is the Z direction, the X direction is the direction for adjusting the center of gravity of the robot back and forth, the Y direction is the direction for adjusting the center of gravity of the robot left and right, and the Z direction is the direction for adjusting the center of gravity of the robot up and down; the two along the 4X direction of the mechanism frame X-direction screw rod Ⅰ5 and X-direction screw rod Ⅱ6 are arranged on each side, Y-direction optical axis Ⅰ7 and Y-direction screw rod 8 are respectively arranged on the two sides along the Y direction of the mechanism frame, X-direction screw rod Ⅰ5, X-direction screw rod II6, the optical axis I7 in the Y direction and the two ends of the screw rod 8 in the Y direction are fixed by the couplings 9 arranged at the four corners of the mechanism frame 4, and each coupling 9 can slide up and down along the side of the mechanism frame 4 where it is located in the Z direction , X-direction screw rod I5, X-direction screw rod II6, Y-direction optical axis I7 and Y-direction screw rod 8 are all equipped with sliders 10 that can slide along the track groove set on the mechanism frame 4, and the X-direction screw rod I5 A Y-direction optical axis II11 parallel to the Y-direction optical axis I7 and the Y-direction screw 8 is set between the X-direction screw rod II6, and the two ends of the Y-direction optical axis II11 are respectively fixed on the X-direction screw rod I5 and the X-direction screw rod. In the slider 10 set on the rod II6, an X-direction optical axis 12 parallel to the X-direction screw rod I5 and the X-direction screw rod II6 is set between the Y-direction optical axis I7 and the Y-direction screw rod 8, and the X-direction optical axis The two ends of 12 are respectively fixed in the slider 10 set on the Y direction optical axis I7 and the Y direction screw rod 8, and the intersection of the X direction optical axis 12 and the Y direction optical axis II11 is fixed by a coupling. A counterweight 17 is arranged on the bottom surface of the device, and a Z-direction screw 13 perpendicular to the plane where the X-direction screw I5 and the Y-direction optical axis I7 are located is provided at the intersection of the X-direction screw I5 and the Y-direction optical axis I7;

Further, the control system includes an acceleration sensor arranged on the frame 2, 6 ultrasonic sensors, and an X sensor respectively arranged at the end of the screw rod I5 in the X direction, the end of the screw rod 8 in the Y direction, and the end of the screw rod 13 in the Z direction. Direction motor 16, Y direction motor 15 and Z direction motor 14 and controller, wherein 3 ultrasonic sensors are arranged on the front of quadruped robot, and other 3 ultrasonic sensors are arranged on the rear of quadruped robot, described acceleration sensor and 6 The ultrasonic sensors are respectively connected with the controller, and the controller is respectively connected with the X-direction motor 16 , the Y-direction motor 15 and the Z-direction motor 14 . The ultrasonic sensor is used to detect obstacles directly in front of the robot, in a direction 45 degrees to the left, and in a direction 45 degrees to the right.

Further, the mechanical leg includes a fixed top plate 1-1, a hip joint, a thigh, a knee joint 1-18, a lower leg 1-11 and a spherical foot 1-12 connected sequentially from top to bottom, and the hip joint includes 3 A ball joint assembly, the ball joint assembly is composed of a ball joint seat 1-2, a ball joint 1-3 and a ball joint connector 1-4 connected in sequence, and the ball joint seat 1-2 is arranged on the fixed top plate 1-1 Bottom; the thigh is a parallel structure, including a thigh support frame 1-6 and 2 electric cylinders 1-5, the thigh support frame 1-6 is connected with one of the ball joint connectors, and the 2 electric cylinders 1-5 are connected with another Two ball joints are connected, the lower end of the electric cylinder 1-5 is connected with the thigh support frame 1-6 through the electric cylinder fixing frame 1-7, and the telescopic change of the electric cylinder 1-5 drives the movement of the thigh support frame 1-6 to realize Pitching and rolling motion of the thigh; the upper end of the knee joint 1-18 is hinged with the bottom end of the thigh support frame 1-6, the lower end is fixedly connected with the calf 1-11, and the knee joint 1-18 is provided with a 1-18 The driving mechanism of the movement, the driving mechanism includes a servo motor 1-13, a synchronous wheel 1-14, a synchronous belt 1-15, a reduction wheel 1-16 and a planetary reducer 1-17, and the servo motor 1- 13 is connected with the synchronous wheel 1-14 that is arranged on the thigh support frame 1-6 to drive the rotation of the synchronous wheel 1-14, and the deceleration wheel 1-16 is arranged on the hinge shaft of the knee joint 1-18 and the thigh support frame 1-6 1-8 shaft end, and the reduction wheel 1-16 is connected with the planetary reducer 1-17, the synchronous belt 1-15 is set on the synchronous wheel 1-14 and the reduction wheel 1-16, and the servo motor 1-13 passes through the synchronous The wheel 1-14, the synchronous belt 1-15, the reduction wheel 1-16 and the planetary reducer 1-17 drive the knee joint 1-18 to move, thereby driving the lower leg 1-11 of the mechanical leg to lift and lower; the lower leg 1-11 11 is a series structure, the lower leg 1-11 is connected to the lower end of the knee joint 1-18 and a buffer spring 1-9 and a three-dimensional force sensor 1-10 are arranged between the lower leg 1-11 and the knee joint 1-18; 12 is fixedly arranged on the lower end of the lower leg 1-11.

Further, the knee joint 1-18 is connected to the lower leg 1-11 through a linear bearing 1-19 and an internally threaded optical axis 1-20, the linear bearing 1-19 is fixed on the knee joint 1-18, and the internally threaded optical axis One end of 1-20 is set in the linear bearing 1-19, and the other end passes through the through hole opened on the lower leg 1-11. With the compression deformation and recovery of the buffer spring 1-9, the internal thread optical axis 1-20 is on the linear bearing. 1-9 moves up and down to cooperate with the expansion and contraction of buffer spring 1-9.

Further, the mechanism frame 4 is a cuboid made of profiles.

Further, the thigh support frame 1-6 is in an inverted "U" shape, and the knee joint 1-18 is in a "U" shape.

Working principle and method of the present invention:

Center of gravity offset adjustment method: The acceleration of gravity of the robot is measured by the acceleration sensor, and the acceleration information is transmitted to the controller. The volume controller realizes the force of the center of gravity to the original direction by adjusting the X, Y and Z direction motors, so that the force of the legs can offset the interference of external forces, thereby realizing automatic adjustment.

Obstacle avoidance walking control method: use ultrasonic sensors to detect the distance between the objects in front of the robot, the front left and the front right of the robot, and the controller determines whether the distance is within the set range. If it is within the set range, the controller controls the robot to move to the corresponding direction to walk.

The movement principle of the mechanical leg: the telescopic change of the electric cylinder 1-5 drives the action of the thigh support frame 1-6 to realize the pitching and rolling motion of the thigh; the calf 1-11 adopts a series structure, and the servo motor 1-13 passes through the synchronous wheel -14. The synchronous belt 1-15, the reduction wheel 1-16 and the planetary reducer 1-17 drive the knee joint 1-18 to move, thereby driving the calf 1-11 of the mechanical leg to be lifted and lowered to realize the movement of the mechanical leg.

Claims (4)

1. A quadruped robot, characterized in that it includes four mechanical legs (1), a frame (2), a center-of-gravity offset adjustment mechanism (3) and a control system arranged on the frame (2), the four The mechanical legs (1) are arranged at the bottom of the frame (2), and the center of gravity offset adjustment mechanism (3) includes a mechanism frame (4) with a square cross section, where the length of any two opposite sides of the mechanism frame is The direction is the X direction, and the direction of the length of the other two opposite sides is the Y direction, and the direction perpendicular to the plane where X and Y are located is the Z direction, and the X direction screw rod I is respectively set along the two sides of the X direction of the mechanism frame (4) (5) and the X-direction screw rod II (6), along the two sides of the mechanism frame in the Y-direction are respectively provided with the Y-direction optical axis I (7) and the Y-direction screw rod (8), and the X-direction screw rod I (5) , X-direction screw rod II (6), Y-direction optical axis I (7) and both ends of the Y-direction screw rod (8) are fixed by couplings (9) arranged at the four corners of the mechanism frame (4), each A coupling (9) can slide up and down along the side of the mechanism frame (4) in the Z direction where it is located, the screw rod I (5) in the X direction, the screw rod II (6) in the X direction, the optical axis I (7) in the Y direction and The Y-direction screw rod (8) is equipped with a slider (10) that can slide along the track groove provided on the mechanism frame (4), between the X-direction screw rod I (5) and the X-direction screw rod II (6) There is a Y-direction optical axis II (11) parallel to the Y-direction optical axis I (7) and the Y-direction screw rod (8), and the two ends of the Y-direction optical axis II (11) are respectively fixed on the X-direction screw rod I (5) and the slider (10) set on the X-direction screw rod II (6), between the Y-direction optical axis I (7) and the Y-direction screw rod (8) is set parallel to the X-direction screw rod I (5) and the X-direction optical axis (12) of the X-direction screw rod II (6), and the two ends of the X-direction optical axis (12) are respectively fixed on the Y-direction optical axis I (7) and the Y-direction screw rod (8) In the slider (10) set on the top, a coupling is fixed at the intersection of the X-direction optical axis (12) and the Y-direction optical axis II (11), and a counterweight (17) is arranged on the bottom surface of the coupling ), the intersection of the X-direction screw rod I (5) and the Y-direction optical axis I (7) is provided with a Z-direction screw rod perpendicular to the plane where the X-direction screw rod I (5) and the Y-direction optical axis I (7) are located (13); The control system includes an acceleration sensor set on the frame (2), 6 ultrasonic sensors, respectively set at the end of the X-direction screw rod I (5), the end of the Y-direction screw rod (8) and the Z-direction screw rod (13) The X-direction motor (16), Y-direction motor (15) and Z-direction motor (14) and the controller at the end, among which 3 ultrasonic sensors are set in front of the quadruped robot, and the other 3 ultrasonic sensors are set in At the rear of the quadruped robot, the acceleration sensor and the six ultrasonic sensors are respectively connected to the controller, and the controller is respectively connected to the X direction motor (16), the Y direction motor (15) and the Z direction motor (14). 2. A quadruped robot according to claim 1, characterized in that: said mechanical leg includes a fixed top plate (1-1), a hip joint, a thigh, and a knee joint (1-1) sequentially connected from top to bottom 18), the calf (1-11) and the foot (1-12), the hip joint includes 3 sets of ball joint components, and the ball joint components are sequentially connected by ball joint seats (1-2), ball joints (1 -3) and the ball hinge connector (1-4), the ball hinge seat (1-2) is set at the bottom of the fixed top plate (1-1); the thigh is a parallel structure, including the thigh support frame (1-6 ) and 2 electric cylinders (1-5), the thigh support frame (1-6) is connected with one of the ball joints, and the 2 electric cylinders (1-5) are respectively connected with the other 2 ball joints, electric The lower end of the cylinder (1-5) is connected to the thigh support frame (1-6) through the electric cylinder fixing frame (1-7), and the telescopic change of the electric cylinder (1-5) drives the movement of the thigh support frame (1-6). Realize the pitching motion and rolling motion of the thigh; the upper end of the knee joint (1-18) is hinged with the bottom end of the thigh support frame (1-6), the lower end is fixedly connected with the calf (1-11), and the knee joint (1-18) 18) is provided with a driving mechanism for driving the movement of the knee joint (1-18), and the driving mechanism includes a servo motor (1-13), a synchronous wheel (1-14), a synchronous belt (1-15), and a reduction wheel (1-16) and a planetary reducer (1-17), the servo motor (1-13) is connected with the synchronous wheel (1-14) arranged on the thigh support frame (1-6) to drive the synchronous wheel ( 1-14), the reduction wheel (1-16) is arranged on the shaft end of the hinge shaft (1-8) of the knee joint (1-18) and the thigh support frame (1-6), and the reduction wheel (1- 16) Connect with the planetary reducer (1-17), the synchronous belt (1-15) is sleeved on the synchronous wheel (1-14) and the reduction wheel (1-16), and the servo motor (1-13) passes through the synchronous wheel (1-14), synchronous belt (1-15), reduction wheel (1-16) and planetary reducer (1-17) drive the knee joint (1-18) to move, thereby driving the lower leg of the mechanical leg (1-11 ) is lifted and lowered; the lower leg (1-11) is a series structure, the lower leg (1-11) is connected to the lower end of the knee joint (1-18) and the lower leg (1-11) is connected to the knee joint (1-18 ) are provided with a buffer spring (1-9) and a three-dimensional force sensor (1-10); the foot (1-12) is fixedly arranged at the lower end of the lower leg (1-11). 3. A quadruped robot according to claim 2, characterized in that: the knee joint (1-18) and the lower leg (1-11) are connected by a linear bearing (1-19) and an internally threaded optical axis (1-20) connection, the linear bearing (1-19) is fixed on the knee joint (1-18), one end of the internal threaded optical axis (1-20) is set in the linear bearing (1-19), and the other end passes through the The through hole opened on the lower leg (1-11), along with the compression deformation and recovery of the buffer spring (1-9), the internal thread optical axis (1-20) moves up and down in the linear bearing (1-9) to cooperate with the buffer The expansion and contraction of the spring (1-9). 4. A quadruped robot according to claim 1, characterized in that: the mechanism frame (4) is a cuboid made of profiles.