CN116135676A - A biomimetic quadruped robot with a highly explosive spine - Google Patents
A biomimetic quadruped robot with a highly explosive spine Download PDFInfo
- Publication number
- CN116135676A CN116135676A CN202310303281.7A CN202310303281A CN116135676A CN 116135676 A CN116135676 A CN 116135676A CN 202310303281 A CN202310303281 A CN 202310303281A CN 116135676 A CN116135676 A CN 116135676A
- Authority
- CN
- China
- Prior art keywords
- spine
- bionic
- frame
- quadruped robot
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000002360 explosive Substances 0.000 title claims abstract description 12
- 230000003592 biomimetic effect Effects 0.000 title 1
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 47
- 230000033001 locomotion Effects 0.000 claims abstract description 29
- 210000004197 pelvis Anatomy 0.000 claims abstract 7
- 210000000689 upper leg Anatomy 0.000 claims description 27
- 210000002414 leg Anatomy 0.000 claims description 18
- 244000309466 calf Species 0.000 claims description 9
- 230000003287 optical effect Effects 0.000 claims description 4
- 210000003205 muscle Anatomy 0.000 claims 5
- 210000002435 tendon Anatomy 0.000 abstract description 29
- 238000005452 bending Methods 0.000 abstract description 7
- 230000009191 jumping Effects 0.000 abstract description 6
- 241001455214 Acinonyx jubatus Species 0.000 abstract description 4
- 230000008602 contraction Effects 0.000 abstract description 2
- 230000005484 gravity Effects 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 abstract description 2
- 210000003049 pelvic bone Anatomy 0.000 description 9
- 230000006872 improvement Effects 0.000 description 8
- 238000005381 potential energy Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 241000282373 Panthera pardus Species 0.000 description 4
- 241000124008 Mammalia Species 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000005483 Hooke's law Effects 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- DFPOZTRSOAQFIK-UHFFFAOYSA-N S,S-dimethyl-beta-propiothetin Chemical compound C[S+](C)CCC([O-])=O DFPOZTRSOAQFIK-UHFFFAOYSA-N 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
一种具有高爆发脊柱的仿生四足机器人，属于机器人技术领域。具体设计一种具有高爆发脊柱的仿生四足机器人，其包括二自由度并联腿、仿生脊柱、仿生盆骨、连接架、电磁阀、储气仓。仿生脊柱通过气动肌腱的伸缩实现脊柱的弯曲仿生运动。猎豹在运动过程中除了脊柱的弯曲运动，盆骨与脊柱还会产生相对运动增加后腿的爆发力。基于猎豹的运动机理，采用电机+SEA模块模拟猎豹的盆骨，提高四足机器人的运动性能，调整四足机器人的重心，提高机器人的运动稳定性。该发明可实现四足机器人更高的跳跃高度，更快的奔跑速度。
The utility model relates to a bionic quadruped robot with a high explosive spine, which belongs to the technical field of robots. Specifically design a bionic quadruped robot with a high-explosive spine, which includes two-degree-of-freedom parallel legs, a bionic spine, a bionic pelvis, a connecting frame, a solenoid valve, and an air storage chamber. The bionic spine realizes the bending bionic movement of the spine through the expansion and contraction of the pneumatic tendon. In addition to the bending movement of the spine during the cheetah's movement, the pelvis and spine will also produce relative movement to increase the explosive power of the hind legs. Based on the motion mechanism of the cheetah, the motor + SEA module is used to simulate the pelvis of the cheetah to improve the motion performance of the quadruped robot, adjust the center of gravity of the quadruped robot, and improve the motion stability of the robot. The invention can realize a higher jumping height and a faster running speed of the quadruped robot.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a bionic quadruped robot with a high burst spinal column, which simulates the high-speed running motion of a cheetah.
Background
The research of the quadruped robot in the academic world is very deep, and various motion postures of quadruped animals are realized very realistically; with the advent of the intelligent age, more and more departments need the participation of robots, and the application of the robots in the aspects of military reconnaissance, dangerous environment monitoring, equipment maintenance and the like is very wide. In particular, in rough terrain, such as mountains, hills, sand, etc., the conventional wheeled and crawler robots cannot meet the requirements of these places, while the conventional quadruped robots cannot meet the requirements, but the running speed and jumping height cannot reach the motion parameters of quadruped mammals such as leopards. And the motion gesture is very limited. In complicated topography and the abominable place of operational environment, all make current rigidity quadruped robot motion effect and stability hardly satisfy the requirement. The movement performance of the quadruped mammal is obviously improved due to the spine, so that the great effect of the spine on the flexibility and the strong adaptability of the quadruped mammal is fully demonstrated. Therefore, the research on the robot with the high explosive spine quadruped has high value and great application prospect.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects of the prior art and providing the spine quadruped robot with high burst, strong adaptability and high running speed.
In order to solve the technical problems, the invention adopts the following technical scheme.
A bionic quadruped robot with a high burst spinal column comprises a bionic spinal column, four two-degree-of-freedom parallel legs, a gas storage bin, a bionic pelvic bone, a gas transmission pipe, an electromagnetic valve and a connecting frame, wherein the parallel frames of the two-degree-of-freedom parallel legs are connected with the connecting frame through bolts; the U-shaped frame at the front end part of the bionic pelvic bone is connected with the boss type X-shaped frame at the rear end part of the bionic spine; the X-shaped frame at the front end part of the bionic spine and the basin skeleton at the rear end part of the bionic basin bone are respectively connected with the connecting frame through bolts. The gas storage bin and the electromagnetic valve are fixed on the connecting frame. The two-degree-of-freedom parallel leg is of a four-bar structure and comprises a first thigh plate, a second thigh plate, a first shank plate, a second shank plate and an anti-slip pad, wherein the lower end of the first thigh plate is hinged with the upper end of the first shank plate in series through a stopper screw, the lower end of the second thigh plate is hinged with the upper end of the second shank plate in series through a stopper screw, the anti-slip pad is hinged with the second shank in series, and the upper end of the first thigh plate and the upper end of the second thigh plate are hinged on a flange in parallel.
As a further improvement of the invention, the flange plate and the motor output shaft transmit power in a plug-in and jackscrew mode, the motor is connected with the fixing frame through screws, the fixing frame is arranged on the parallel frame, the inner side of the end part is driven by the motor, and the first thigh plate and the second thigh plate respectively drive the first calf plate and the second calf plate to move, so that the movement of the legs in a two-dimensional plane is realized.
As a further improvement of the invention, the bionic spinal column comprises an X-shaped frame, a boss type X-shaped frame, a pneumatic tendon, a main skeleton and a redundant joint, wherein the boss type X-shaped frame is in threaded connection with the air inlet end of the pneumatic tendon; the four pneumatic tendons are arranged symmetrically left and right; the main framework is arranged at the center of the X-shaped frame; the rear end of the pneumatic tendon is connected with the redundant joint; the upper two pneumatic tendons and the lower two pneumatic tendons perform relative movement so as to achieve the bending of the spine.
As a further improvement of the invention, the main framework comprises a spine block, a spring and a buffer spring, and the lower ends of the adjacent spine blocks are connected through an optical axis; two ends of the buffer spring are respectively connected with the rocker arm; the rocker arm is connected to the thin shaft in a jackscrew and direct insertion mode; the outer diameter of the thin shaft is matched with the inner hole at the upper end of the spine block; the springs are connected in the same way as the buffer springs.
As a further improvement of the present invention, it is characterized in that: the bionic pelvic bone comprises a serial elastic driver and a bearing part, and the serial elastic driver is connected with a motor extension shaft; the serial elastic driver shell is arranged on the U-shaped frame; the motor is arranged on the motor frame; the motor frame is fixed on the bearing part.
The invention has the advantages that the parallel leg structure is adopted, and the impact force and the load of the robot are borne by the two motors during jumping, so that the load bearing of the motors is reduced, and the supporting force of the legs is improved, so that the robot can bear larger weight and has longer service time.
When the four-foot robot jumps, the bionic spine is bent by the relative movement of the upper pneumatic tendons and the lower pneumatic tendons, the springs in the main framework are stretched after bending, so that elastic potential energy is stored, the stretching length of the springs is controlled by controlling the stretching length of the pneumatic tendons through controlling the air pressure of the pneumatic tendons, different elastic potential energies can be stored by the springs according to the Hooke's law of the springs, and at the jumping moment, the elastic potential energy stored by the springs is released instantly, so that the elastic potential energy is converted into the potential energy of the final four-foot robot, and the jumping height of the four-foot robot is further improved. In the running process, the elastic potential energy can be converted into kinetic energy, so that the running speed of the quadruped robot is improved.
In addition to the bending motion of the spine during movement, the leopard also produces relative motion between the pelvic bone and the spine which increases the explosive force of the rear legs. Based on the movement mechanism of the leopard, the motor and SEA module is adopted to simulate the pelvic bone of the leopard, so that the movement performance of the quadruped robot is improved. And the gravity center of the four-foot robot can be adjusted, so that the motion stability of the robot is improved.
Drawings
FIG. 1 is a schematic diagram of the three-dimensional structure of a bionic quadruped robot with a high explosive backbone, wherein in the schematic diagram, legs are connected in parallel with 1 and two degrees of freedom; 2. a gas storage bin; 3. a gas pipe; 4. bionic spinal column; 5. bionic pelvic bone; 7. an electromagnetic valve; 8. and a connecting frame.
FIG. 2 is a schematic diagram of the three-dimensional structure of the bionic spine and the bionic pelvic of the invention, wherein the diagram is a 41-type and X-type frame; 43. redundant joints; 44. pneumatic tendons; 45. a main skeleton; 46. a boss type X-shaped frame; 51. a motor; 52. a series elastic driver; 53. a support part; 55. a U-shaped frame; 56. a motor frame.
FIG. 3 is a schematic diagram of a skeleton structure of the present invention, in which 452 is the optical axis; 453. a spinal column block; 456. a spring; 457. a rocker arm; 458. and a buffer spring.
FIG. 4 is a schematic view of a two degree of freedom parallel leg of the present invention, 11, a first thigh plate; 12. a flange plate; 15. a second thigh plate; 18. a parallel rack; 19. plugging a screw; 110. a second lower leg plate; 111. a fixing frame; 112. a motor; 113. an anti-slip pad; 114 a first calf plate.
Detailed Description
The invention is further described below in connection with the drawings and the specific preferred embodiments, but the scope of protection of the invention is not limited thereby.
Examples
A bionic quadruped robot with a high burst spinal column comprises a bionic spinal column, four two-degree-of-freedom parallel legs, a gas storage bin, a bionic pelvic bone, a gas transmission pipe, an electromagnetic valve and a connecting frame, wherein the parallel frames of the two-degree-of-freedom parallel legs are connected with the connecting frame through bolts; the U-shaped frame at the front end part of the bionic pelvic bone is connected with the boss type X-shaped frame at the rear end part of the bionic spine; the X-shaped frame at the front end part of the bionic spine and the basin skeleton at the rear end part of the bionic basin bone are respectively connected with the connecting frame through bolts. The gas storage bin and the electromagnetic valve are fixed on the connecting frame. The two-degree-of-freedom parallel leg is of a four-bar structure and comprises a first thigh plate, a second thigh plate, a first shank plate, a second shank plate and an anti-slip pad, wherein the lower end of the first thigh plate is hinged with the upper end of the first shank plate in series through a stopper screw, the lower end of the second thigh plate is hinged with the upper end of the second shank plate in series through a stopper screw, the anti-slip pad is hinged with the second shank in series, and the upper end of the first thigh plate and the upper end of the second thigh plate are hinged on a flange in parallel.
As a further improvement of the invention, the flange plate and the motor output shaft transmit power in a plug-in and jackscrew mode, the motor is connected with the fixing frame through screws, the fixing frame is arranged on the parallel frame, the inner side of the end part is driven by the motor, and the first thigh plate and the second thigh plate respectively drive the first calf plate and the second calf plate to move, so that the movement of the legs in a two-dimensional plane is realized.
As a further improvement of the invention, the bionic spinal column comprises an X-shaped frame, a boss type X-shaped frame, a pneumatic tendon, a main skeleton and a redundant joint, wherein the boss type X-shaped frame is in threaded connection with the air inlet end of the pneumatic tendon; the four pneumatic tendons are arranged symmetrically left and right; the main framework is arranged at the center of the X-shaped frame; the rear end of the pneumatic tendon is connected with the redundant joint; the upper two pneumatic tendons and the lower two pneumatic tendons perform relative movement so as to achieve the bending of the spine.
As a further improvement of the invention, the main framework comprises a spine block, a spring and a buffer spring, and the lower ends of the adjacent spine blocks are connected through an optical axis; two ends of the buffer spring are respectively connected with the rocker arm; the rocker arm is connected to the thin shaft in a jackscrew and direct insertion mode; the outer diameter of the thin shaft is matched with the inner hole at the upper end of the spine block; the springs are connected in the same way as the buffer springs.
As a further improvement of the present invention, it is characterized in that: the bionic pelvic bone comprises a serial elastic driver and a bearing part, and the serial elastic driver is connected with a motor extension shaft; the serial elastic driver shell is arranged on the U-shaped frame; the motor is arranged on the motor frame; the motor frame is fixed on the bearing part.
By adopting the parallel leg structure, the two motors bear impact force generated during jumping and load of the robot, so that the robot can bear larger weight and has longer service life.
The bionic spine based on pneumatic tendon driving works: first, the two ends of the spine are connected with the front and rear machine bodies of the robot through the connecting frame, in the unpowered state, the upper pneumatic tendons are in a contracted state, the lower pneumatic tendons are in a stretched state, and the spine is in a horizontal state. After the electromagnetic valve is electrified, the lower pneumatic tendon is inflated to cause contraction of the lower pneumatic tendon, the upper pneumatic tendon is deflated to cause elongation of the pneumatic tendon, the spine is bent upwards by the relative movement of the upper pneumatic tendon and the lower pneumatic tendon, the bending angle is about 30 degrees, and at the moment, the spring is stretched to store elastic potential energy. When the four-foot robot jumps, the control signal of the electromagnetic valve is reversed, and the pneumatic tendons perform opposite movement so that the spine is restored to a horizontal state, and the bionic movement for controlling the flexion and extension of the spine is achieved in this way.
Wherein the motors are all M3508 motors of Dajiang corporation.
Wherein the pneumatic tendon is DMSP of Fei Situo.
Alterations, modifications, substitutions and variations of the embodiments herein will be apparent to those of ordinary skill in the art in light of the teachings of the present invention without departing from the spirit and principles of the invention.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310303281.7A CN116135676B (en) | 2023-03-27 | 2023-03-27 | Bionic quadruped robot with high explosive spinal column |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310303281.7A CN116135676B (en) | 2023-03-27 | 2023-03-27 | Bionic quadruped robot with high explosive spinal column |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116135676A true CN116135676A (en) | 2023-05-19 |
| CN116135676B CN116135676B (en) | 2024-07-16 |
Family
ID=86334443
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310303281.7A Active CN116135676B (en) | 2023-03-27 | 2023-03-27 | Bionic quadruped robot with high explosive spinal column |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116135676B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20070070825A (en) * | 2005-12-29 | 2007-07-04 | 성균관대학교산학협력단 | Leg Mechanism of Quadruped Robot |
| CN102673674A (en) * | 2012-06-01 | 2012-09-19 | 浙江大学 | Bionic elastic spine mechanism of quadruped robots |
| CN109398525A (en) * | 2018-10-13 | 2019-03-01 | 东北石油大学 | Flexible quadruped robot |
| CN112171646A (en) * | 2020-10-28 | 2021-01-05 | 西北工业大学深圳研究院 | A flexible spine mechanism and a kangaroo-like jumping robot |
-
2023
- 2023-03-27 CN CN202310303281.7A patent/CN116135676B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20070070825A (en) * | 2005-12-29 | 2007-07-04 | 성균관대학교산학협력단 | Leg Mechanism of Quadruped Robot |
| CN102673674A (en) * | 2012-06-01 | 2012-09-19 | 浙江大学 | Bionic elastic spine mechanism of quadruped robots |
| CN109398525A (en) * | 2018-10-13 | 2019-03-01 | 东北石油大学 | Flexible quadruped robot |
| CN112171646A (en) * | 2020-10-28 | 2021-01-05 | 西北工业大学深圳研究院 | A flexible spine mechanism and a kangaroo-like jumping robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116135676B (en) | 2024-07-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105235766B (en) | A kind of four-leg bionic robot list leg of achievable skip functionality | |
| CN102285390A (en) | Elastically driven walking leg in hybrid connection for walking robot | |
| CN108858120B (en) | Parallel type compliant wheel foot device for wheel foot robot | |
| CN103448828B (en) | A quadruped bionic robot leg mechanism | |
| CN103963867B (en) | Biomimetic mechanical dinosaur | |
| CN102673674B (en) | Bionic elastic spine mechanism of quadruped robots | |
| CN204399319U (en) | The bionical quadruped robot that a kind of pneumatic muscles drives | |
| CN102765341A (en) | Three degree of freedom vibration-reduction vehicle seat suspension mechanism | |
| CN106956247B (en) | Active compliant vertebra of serial-parallel four-foot robot | |
| CN107127740A (en) | Floating system based on pneumatic muscles Yu cylinder series-parallel connection | |
| CN103991489B (en) | The 3DOF leg mechanism that a kind of Pneumatic artificial muscle drives | |
| CN116135676A (en) | A biomimetic quadruped robot with a highly explosive spine | |
| CN202071080U (en) | Pneumatic muscle flexible elbow joint device with buffer spring and flexible shaft sleeve | |
| CN210634666U (en) | Multi-degree-of-freedom light single-leg mechanism | |
| CN208278185U (en) | Caterpillar type robot damping chassis | |
| CN109969284A (en) | Hybrid mechanical leg organization and biped robot | |
| CN103318290A (en) | Similar dual-A-arm suspended robot crotch lateral-deviation damping system | |
| CN209364608U (en) | A Rigid-Flexible Switchable Elastic Actuator | |
| CN203780646U (en) | Mechanical joint and leg structure of bionic mechanical dinosaur | |
| CN117284391A (en) | Single leg structure based on parallel elastic driver | |
| CN108583724A (en) | A kind of bionics mechanical legs with three joints of the autonomous distributed power of easy assembling type band | |
| CN113635992B (en) | Bionic jumping leg driven by double-joint pneumatic artificial muscle | |
| CN206717847U (en) | A kind of quadruped robot active compliance vertebra of serial-parallel mirror | |
| CN117302381A (en) | Bionic quadruped robot for installing high-explosive spinal column | |
| CN110843953A (en) | A parallel robot leg with cushioning and boosting functions |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |