CN110091936A - Quadruped robot and gait control method based on five-bar mechanism - Google Patents

Abstract

Quadruped robot based on five-bar mechanism, including trunk, leg, swing mechanism and clamping plate mechanism；Trunk is rectangular frame；Four legs are symmetrically mounted on front end two sides and the rear end sides of trunk two-by-two；Swing mechanism is arranged on trunk；Clamping plate mechanism is fixed on swinging frame, and arching trajectory movement is done on perpendicular with the swing of swinging frame.A kind of gait control method applied to the above-mentioned quadruped robot based on five-bar mechanism, including advance gait and rotates in place gait.The invention has the advantages that, leg structure is relatively easy, it is reliable and stable, the connecting rod A in plane five-bar mechanism and connecting rod B rotation are controlled respectively, the deformation of plane five-bar mechanism can be realized, and then it realizes the stepping forward of single leg, step, remain where one is and translate backward etc. and act, then the matched combined of different movements can be realized by four legs the motor functions such as advance, retrogressing, turning and spot turn of quadruped robot.

Description

Quadruped robot and gait control method based on five-link mechanism

technical field

The invention relates to the technical field of legged robots, in particular to a quadruped robot based on a five-link mechanism and a gait control method.

Background technique

With the continuous development of robot technology, the application fields of legged robots are becoming wider and wider. A unique feature that wheeled robots cannot match, legged robots utilize isolated ground supports instead of the continuous ground support required by wheeled robots. Legged robots can walk stably on uneven surfaces or avoid obstacles in a non-contact manner.

However, the structure of the existing legged robot is relatively complicated, and the connection of the transmission mechanism is cumbersome. As a result, its manufacturing cost is relatively high, and the electronic control design is relatively difficult.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the prior art, and provide a quadruped robot based on a five-bar linkage mechanism and a gait control method, which solves the problems of the existing legged robot with a relatively complex structure and cumbersome transmission mechanisms. .

The technical solution of the present invention is: a quadruped robot based on a five-link mechanism, including a torso, legs, a swing mechanism and a splint mechanism;

The torso is a rectangular frame;

The four legs are symmetrically installed on both sides of the front end and the rear end of the torso; the legs include connecting rod A, connecting rod B, connecting rod C, connecting rod D, driving motor A and driving motor B, driving motor A and driving motor B is fixedly installed on the side of the torso and is at the same level. Connecting rod A, connecting rod B, connecting rod C and connecting rod D are sequentially hinged to form a planar five-bar linkage mechanism. Shaft connection, which swings under the drive of drive motor A, and then drives the deformation of the plane five-link mechanism, and the connecting rod B is connected with the crankshaft of drive motor B, which swings under the drive of drive motor B, and then drives the plane five-link mechanism Mechanism deformation;

The swing mechanism is arranged on the torso, and it includes a shaft seat, a worm screw seat, a driving motor C, a rotating shaft, a worm gear, a swing frame and a worm; the shaft seat, the worm screw seat and the driving motor C are all fixedly installed on the trunk; On the shaft seat; the turbine and the swing frame are fixedly installed on the rotating shaft; one end of the worm is movably installed on the worm seat, and the other end is connected with the crankshaft of the drive motor C and meshed with the turbine;

The splint mechanism is fixedly connected on the swing frame, and it moves along the arc track on the vertical plane with the swing of the swing frame.

The further technical solution of the present invention is: the splint mechanism includes a first splint, a second splint, an elastic element, an abutment rod and a revolving pin; Through the through groove, the inner surface of the first splint is provided with a boss for resisting the bar, the front end of the first splint is provided with an iron block, and the front end of the second splint is provided with a magnet corresponding to the iron block at the front end of the first splint , define the opposite side of the first splint and the second splint as their respective inner surfaces, define the opposite sides of the first splint and the second splint as their respective outer surfaces; one end of the elastic element is connected to the inner surface of the first splint, and the other One end is connected to the inner surface of the second splint, and one end of the resisting rod is movably connected to the front end of the second splint through a rotating pin; the splint mechanism can be switched between the open state and the closed state, when the splint mechanism is in the open state , the first splint and the second splint form an included angle of 50-80°, the end of the abutting rod is pressed against the boss on the inner surface of the first splint, and the elastic element is in a stretched state; when the splint mechanism is in a closed state , the first splint is attached to the second splint, the first splint is fixed by the iron block at the front end and the magnet at the front end of the second splint, and the end of the resisting rod passes through the through groove of the first splint.

A further technical proposal of the present invention is: the length ratio between the connecting rod A and the connecting rod B and between the connecting rod C and the connecting rod D is 1:3:3:1.

A further technical solution of the present invention is that the elastic element is a rubber band.

A further technical solution of the present invention is: a buffer rubber block is connected to the hinge of the connecting rod B and the connecting rod C.

The technical solution of the present invention is: a gait control method, which is applied to the above-mentioned quadruped robot based on the five-link mechanism, including forward gait and in-situ rotation gait, and the steps are as follows:

Forward step: 1. Control the right leg at the front of the torso and the left leg at the back of the torso to step forward at the same time; 2. Then control the left leg at the front of the torso and the right leg at the back of the torso to step forward at the same time, driving the torso at the same time Move one step forward, that is, complete one cycle of forward state control;

Rotating gait in place: 1. Control the front left leg of the torso to take a step backward, and the right leg at the back of the torso to take a step forward. The legs are always in contact with the ground and remain motionless; 2. Then control the left leg at the front end of the torso and the right leg at the rear end of the torso to rub against the ground at the same time to return to the state before the step, thus applying a rotating force couple system to the torso ; While the left leg at the front end and the right leg at the rear end are frictionally moving, control the other two legs to alternately move vertically up and down in place, so that the torso can be rotated.

Compared with the prior art, the present invention has the following advantages:

1. The structure of the legs is relatively simple, stable and reliable. Each leg contains a planar five-bar linkage mechanism. The drive motor A and drive motor B control the rotation of the connecting rod A and the connecting rod B in the planar five-bar linkage mechanism respectively. Realize the deformation of the planar five-bar linkage mechanism, and then realize the forward, backward, in situ and translation actions of a single leg, and then realize the forward and backward movement of the quadruped robot through the combination of four legs for different actions , turning and U-turn in place and other sports functions.

2. The torso is equipped with a swing mechanism and a splint mechanism. The swing mechanism can swing within a certain angle to raise or lower the height of the splint mechanism, which brings convenience to users.

3. The splint mechanism is suitable for quickly picking up objects such as plates. The splint mechanism uses the lever as the trigger element in the open state. The user uses the object to be clamped to move the lever so that the end of the lever enters the first position. In the through groove of the splint, the splint mechanism is immediately closed under the action of the elastic element, and becomes the closed state, and the object to be clamped is clamped between the first splint and the second splint, and fast clamping can be realized. , when the splint mechanism is in the closed state, the first splint and the second splint are adsorbed and fixed by the cooperation of the magnet and the iron sheet, so as to ensure a certain clamping force and prevent the object from falling out.

Below in conjunction with figure and embodiment the present invention will be further described.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is a schematic diagram of the connection relationship between the torso, the swing mechanism and the splint mechanism;

Figure 3 is a schematic diagram of the connection relationship between the trunk and the legs;

Fig. 4 is a structural schematic diagram of the splint mechanism.

Detailed ways

Example 1:

As shown in Figure 1-4, a quadruped robot based on a five-bar linkage mechanism includes a torso 1, legs, a swing mechanism and a splint mechanism;

Torso 1 is a rectangular frame.

Two pairs of four legs are symmetrically installed on both sides of the front end and the rear end of the torso 1; The motor B22 is fixedly installed on the side of the trunk 1 and is at the same level. The connecting rod A21, the connecting rod B22, the connecting rod C23 and the connecting rod D24 are sequentially hinged to form a plane five-bar linkage mechanism. The connecting rod A21 and the drive motor A25 connected to the crankshaft, which swings under the drive of the drive motor A25, and then drives the plane five-bar linkage mechanism to deform, and the connecting rod B22 is connected to the crankshaft of the drive motor B26, which swings under the drive of the drive motor B26, and then drives the plane five Deformation of the linkage mechanism.

Swing mechanism is arranged on the trunk 1, and it comprises shaft seat 31, worm screw seat 32, driving motor C33, rotating shaft 34, worm gear 35, swing frame 36 and worm screw 37; On the trunk 1; the two ends of the rotating shaft 34 are movably installed on the shaft seat 31; the turbine 35 and the swing frame 36 are all fixedly installed on the rotating shaft 34; Connected and meshed with the turbine 35. Start the drive motor C33 to rotate the worm screw 37, and then drive the turbine 35 to rotate, and the turbine 35 drives the rotating shaft 34 and the swing frame 36 to rotate synchronously.

The splint mechanism is fixedly connected on the swing frame 36, and it moves along with the swing of the swing frame 36 on a vertical plane in an arc-shaped trajectory. The splint mechanism includes a first splint 41, a second splint 42, an elastic element 43, a rod 44 and a revolving pin 45; Through the through groove 411, the inner surface of the first clamping plate 41 is provided with a boss 412 for resisting the rod, the front end of the first clamping plate 41 is provided with an iron block 413, and the front end of the second clamping plate 42 is provided with the front end of the first clamping plate 41. The magnet 421 corresponding to the iron block 413 defines the opposite side of the first clamping plate 41 and the second clamping plate 42 as the respective inner surface, and defines the opposite side of the first clamping plate 41 and the second clamping plate 42 as the respective outer surface; One end of the element 43 is connected to the inner surface of the first clamping plate 41 , the other end is connected to the inner surface of the second clamping plate 42 , and the resisting rod 44 is movably connected to the front end of the second clamping plate 42 through a rotating pin 45 at one end.

The splint mechanism can be switched between the open state and the closed state. When the splint mechanism is in the open state, the first splint 41 and the second splint 42 form an angle of 50-80°, and the end of the abutting rod 44 abuts against the second splint. On the boss 412 on the inner surface of a splint 41, the elastic element 43 is in a stretched state; when the splint mechanism was in the folded state, the first splint 41 and the second splint 42 were attached, and the first splint 41 passed the iron at the front end. The block 413 is attracted and fixed with the magnet 421 at the front end of the second splint 42 , and the end of the resisting rod 44 passes through the slot 411 of the first splint 41 .

Preferably, the length ratio between the connecting rod A21 and the connecting rod B22 and between the connecting rod C23 and the connecting rod D24 is 1:3:3:1.

Preferably, the elastic element 43 is a rubber band.

Preferably, a buffer rubber block 27 is connected to the hinge of the connecting rod B22 and the connecting rod C23.

Preferably, the torso 1 is provided with a limit frame 11 for limiting the maximum rotation angle of the swing frame 36 .

Briefly describe the gait control method of the present invention: the present invention can realize forward gait and in situ rotation gait, and the control steps are as follows respectively:

Forward step: 1. Control the right leg at the front of the torso and the left leg at the back of the torso to step forward at the same time; 2. Then control the left leg at the front of the torso and the right leg at the back of the torso to step forward at the same time, driving the torso at the same time To move forward by one step is to complete one cycle of forward state control.

Rotating gait in place: 1. Control the front left leg of the torso to take a step backward, and the right leg at the back of the torso to take a step forward. The legs are always in contact with the ground and remain motionless; 2. Then control the left leg at the front end of the torso and the right leg at the rear end of the torso to rub against the ground at the same time to return to the state before the step, thus applying a rotating force couple system to the torso ; While the left leg at the front end and the right leg at the rear end are frictionally moving, control the other two legs to alternately move vertically up and down in place, so that the torso can be rotated.

Turning under the above two gaits only needs to control the inconsistency of the steps taken by the legs on both sides of the trunk, that is, differential steering.

Claims (6)

1. the quadruped robot based on five-bar mechanism, it is characterized in that: including trunk (1), leg, swing mechanism and clamping plate mechanism；

Trunk (1) is rectangular frame；

Four legs are symmetrically mounted on front end two sides and the rear end sides of trunk (1) two-by-two；Leg includes connecting rod A (21), connecting rod B (22), connecting rod C (23), connecting rod D (24), driving motor A (25) and driving motor B (26), driving motor A (21) and driving motor B (22) is fixedly mounted on trunk (1) side edge, and is in same level height, connecting rod A (21), connecting rod B (22), connecting rod C (23) And connecting rod D (24) successively hingedly forms plane five-bar mechanism, connecting rod A (21) is connect with the arbor of driving motor A (25), In the driving lower swing of driving motor A (25), and then drive the deformation of plane five-bar mechanism, connecting rod B (22) and driving motor B (26) arbor connection in the driving lower swing of driving motor B (26), and then drives the deformation of plane five-bar mechanism；

Swing mechanism be arranged on trunk (1) comprising axle bed (31), worm seat (32), driving motor C (33), shaft (34), Turbine (35), swinging frame (36) and worm screw (37)；Axle bed (31), worm seat (32) and driving motor C (33) are fixedly mounted on On trunk (1)；Shaft (34) both ends are movably arranged on axle bed (31)；Turbine (35) and swinging frame (36), which are fixedly mounted on, to be turned On axis (34)；Worm screw (37) one end is movably arranged on worm seat (32), and the other end is connect with the arbor of driving motor C (33), And it is engaged with turbine (35)；

Clamping plate mechanism is fixed on swinging frame (36), and arching trajectory fortune is done on perpendicular with the swing of swinging frame (36) It is dynamic.

2. as described in claim 1 based on the quadruped robot of five-bar mechanism, it is characterized in that: clamping plate mechanism includes the first folder Plate (41), second clamping plate (42), elastic element (43), support rod (44) and ship and resell on another market (45)；First clamping plate (41) and second clamping plate (42) hinged in rear end respectively, first clamping plate (41) is equipped with the through slot (411) passed through for support rod, first clamping plate (41) inner surface It is equipped with the boss (412) for resisting support rod, first clamping plate (41) front end is equipped with iron block (413), second clamping plate (42) front end Equipped with magnet (421) corresponding with iron block (413) of first clamping plate (41) front end, first clamping plate (41) and second clamping plate are defined (42) opposite one side is respective inner surface, and it is respective for defining first clamping plate (41) one side opposite with second clamping plate (42) Outer surface；Elastic element (43) one end is connected on the inner surface of first clamping plate (41), and the other end is connected to second clamping plate (42) Inner surface on, support rod (44) at one end through ship and resell on another market (45) be movably connected in the front ends of second clamping plate (42)；

Clamping plate mechanism can switch between open configuration and closed configuration, when clamping plate mechanism is in open configuration, first clamping plate (41) 50-80 ° of angle is formed with second clamping plate (42), support rod (44) end is against the boss on first clamping plate (41) inner surface (412) on, elastic element (43) is in tensional state；When clamping plate mechanism is in closed configuration, first clamping plate (41) and second Clamping plate (42) fitting, first clamping plate (41) are attracted by the iron block (413) of front end and the magnet (421) of second clamping plate (42) front end Fixed, support rod (44) end is pierced by from the through slot (411) of first clamping plate (41).

3. as claimed in claim 2 based on the quadruped robot of five-bar mechanism, it is characterized in that: connecting rod A (21) and connecting rod B (22) the length ratio between connecting rod C (23) and connecting rod D (24) is 1:3:3:1.

4. as claimed in claim 2 or claim 3 based on the quadruped robot of five-bar mechanism, it is characterized in that: elastic element (43) is Rubber band.

5. as claimed in claim 4 based on the quadruped robot of five-bar mechanism, it is characterized in that: connecting rod B (22) and connecting rod C (23) hinged place is connected with bump rubber (27).

6. a kind of gait control method, applied to the four-footed machine of any of claims 1-5 based on five-bar mechanism Device people, including advance gait and rotate in place gait, characterized in that step difference is as follows:

Advance gait: 1, it controls left side leg on rear side of trunk front end right side leg and trunk and steps forward simultaneously；2, before controlling trunk again Right side leg steps forward simultaneously on rear side of end left side leg and trunk, while trunk being driven to move forward a step pitch, that is, completes to advance One circulation of gait control；

It rotating in place gait: 1, controlling trunk front end left side leg and step a step backward, trunk rear end right side leg steps forward a step, During leg is taken a step on rear side of front end left side leg and right end, two other leg always with ground face contact and remain stationary；2, again Trunk front end left side leg and trunk rear end right side leg while on the ground frictional movement are controlled, to return to the state before taking a step, To be applied with the system of couples of a rotation for trunk；The left side leg and while the right side leg frictional movement of rear end in front end, control Two other leg alternately does the movement that remains where one is to move up and down vertically, trunk can be made to be rotated.