Four-degree-of-freedom active waist joint robot

Abstract

The invention relates to a four-degree-of-freedom active waist joint robot which comprises a waist part, a striding part, a front leg part and a rear leg part, the striding part comprises a front striding part and a rear striding part, the front striding part and the rear striding part are connected through the waist part, the front leg part is installed on the front striding part, and the rear leg part is installed on the rear striding part; the robot is used for achieving four degrees of freedom through mutual cooperation of the waist part, the crossing part, the front leg part and the rear leg part. The waist part, the straddle part, the front leg part and the rear leg part are matched with one another, rotation, swinging and pitching of the waist part are achieved, the waist part has four degrees of freedom, the flexibility in complex terrains and the adaptability to accidental falling are enhanced, and the task execution efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a four-degree-of-freedom active waist joint robot. Background Art

[0002] Most common quadruped bionic robots are based on rigid trunks, which are generally inflexible and cannot adapt to complex terrains. When performing tasks (such as exploration and rescue) in environments that are difficult for humans to reach, the efficiency is very low, and accidents are very likely to cause damage to the robot. Most existing quadruped robots have rigid trunk structures, which have obvious advantages and disadvantages. They have strong carrying capacity and are easy to operate, but the trunk has limited freedom and the lack of flexibility will limit the robot's ability to move in complex terrains to a certain extent. Therefore, the current quadruped robots mainly play a very important role in activities through the spine.

[0003] The utility model patent with publication number CN216830984U discloses a span mechanism and a robot, including: a first leg shell, a second leg shell, a span first motor, a span back connection and a span second motor; the span back connection is used to install the span first motor, the span first motor is transmission-connected to the first leg shell and drives the first leg shell to rotate, one end of the second leg shell is rotationally connected to the first leg shell, and the other end is fixedly installed with the leg mechanism, the span second motor is installed in the first leg shell, the span second motor is rotationally connected to the second leg shell and drives the second leg shell to rotate; although this patent realizes multiple degrees of freedom, it cannot realize multiple degrees of freedom for the waist.

[0004] Therefore, providing a robot whose waist can achieve multiple degrees of freedom rotation is an urgent problem to be solved. Summary of the invention

[0005] The purpose of the present invention is to provide a four-degree-of-freedom active waist joint robot in order to overcome the defects of the above-mentioned prior art.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] According to one aspect of the present invention, there is provided a four-degree-of-freedom active waist joint robot, comprising a waist, a span, a front leg and a rear leg, wherein the span comprises a front span and a rear span, the front span and the rear span are connected via the waist, the front leg is mounted on the front span, and the rear leg is mounted on the rear span;

[0008] The robot realizes four degrees of freedom through the cooperation between the waist, crotch, front legs and rear legs.

[0009] As a preferred technical solution, servo motors are included in the waist, front crotch, rear crotch, front legs and rear legs, and the servo motors are used to provide power.

[0010] As a preferred technical solution, the waist further includes a servo motor turntable, a secondary waist and a U-shaped bracket. The servo motor is installed in the secondary waist, the U-shaped bracket is installed on the secondary waist, the servo motor turntable is installed on the servo motor, and the servo motor turntables on different servo motors are respectively connected to the front crotch and the rear crotch, and the U-shaped brackets of different secondary waists are connected to each other.

[0011] As a preferred technical solution, the U-shaped brackets of different secondary waists are perpendicular to each other.

[0012] As a preferred technical solution, the U-shaped bracket and the secondary waist are movably connected.

[0013] As a preferred technical solution, the front crotch and the rear crotch further include a servo motor connecting part, a torso and a servo motor connecting disc. The servo motor is installed in the servo motor connecting part, and the servo motor connecting disc, the servo motor connecting part and the torso are connected in sequence. The servo motor connecting discs on the front crotch and the rear crotch are respectively connected to the front legs and the rear legs.

[0014] As a preferred technical solution, the front legs and the rear legs further include a thigh connecting block, a connecting rod, a thigh and a calf. The thigh connecting block is installed on the front crotch and the rear crotch. The thigh is connected to the thigh connecting block through a servo motor connecting part. The servo motors are respectively installed in the thigh connecting block and the thigh. The calf is installed on the thigh and is connected to the servo motor on the thigh through a connecting rod.

[0015] As a preferred technical solution, the front legs and the rear legs further include a foot sole and a claw tip. The foot sole is connected to the calf, and the claw tip is installed on the foot sole.

[0016] As a preferred technical solution, the robot further includes a rubber pad, and the rubber pad is installed on the foot sole.

[0017] As a preferred technical solution, the claw tip has two states: extending and retracting.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The waist, crotch, front legs and rear legs of the present invention cooperate with each other to realize the rotation, swaying and pitching of the waist. The waist has four degrees of freedom, which enhances the flexibility in complex terrains and the adaptability to accidental falls, and improves the task execution efficiency.

[0020] 2. The present invention is provided with a plurality of servo motors. The servo motors are installed in various parts of the robot. The servo motors provide power and are used to control the pose of the robot, which is convenient for using complex terrains.

[0021] 3. The servo of the waist of the present invention is installed with a U-shaped bracket. The U-shaped brackets are perpendicular to each other to form a cross structure, and the U-shaped brackets can move, facilitating the waist to swing or pitch.

[0022] 4. The servo of the waist of the present invention is installed with a servo turntable. Different servo turntables are respectively connected to the front hip and the rear hip, facilitating the waist to select with the front hip or the rear hip respectively. Brief Description of the Drawings

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the structure of the waist of the present invention;

[0025] Figure 3 It is a schematic diagram of the structure of the hip of the present invention;

[0026] Figure 4 It is a schematic diagram of the structure of the front leg of the present invention;

[0027] Figure 5 It is a schematic diagram of the structure of the rear leg of the present invention;

[0028] Figure 6 It is a schematic diagram of the rotation of the waist of the present invention;

[0029] Figure 7 It is a simplified structure diagram of the waist of the present invention.

[0030] 1. Servo connection part, 2. Thigh connection block, 3. Servo, 4. Link, 5. Thigh, 6. Calf, 7. Foot, 8. Claw tip, 9. Servo turntable, 10. Sub-waist, 11. U-shaped bracket, 12. Trunk, 13. Servo connection disc, 14. Waist, 15. Hip, 16. Front leg, 17. Rear leg. Detailed Embodiment

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative work shall fall within the protection scope of the present invention.

[0032] Most of the existing quadruped robots have a rigid trunk structure, and the advantages and disadvantages are equally obvious. They have strong bearing capacity and simple operation, but the limited degrees of freedom of the trunk and the lack of flexibility of the body will, to a certain extent, limit the movement ability of the robot on complex terrains. Therefore, the spine currently plays a very important role in the movement of quadruped robots.

[0033] In view of the above problems, the waist joint of the present invention has four degrees of freedom, all of which are controlled by digital high-torque motors. The two middle servos can switch to control the pitch and swing degrees of freedom. By rotating the servos at both ends, the middle-degree-of-freedom joint can be switched between pitch and swing, and the corresponding more efficient mode can be selected according to the characteristics of the terrain in the environment to adapt to different terrain conditions in complex environments. The present invention improves the stability of the robot during movement, enhances its flexibility in complex terrains and its adaptability to accidental falls, and improves the task execution efficiency.

[0034] Embodiment 1

[0035] As Figures 1-7 shown, a four-degree-of-freedom active waist joint robot includes a waist 14, a crotch 15, front legs 16 and rear legs 17. The crotch 15 includes a front crotch and a rear crotch. The front crotch and the rear crotch are connected by the waist 14. The front legs 16 are installed on the front crotch, and the rear legs 17 are installed on the rear crotch;

[0036] The robot realizes four degrees of freedom through the mutual cooperation among the waist 14, the crotch 15, the front legs 16 and the rear legs 17.

[0037] In the waist 14, the front crotch, the rear crotch, the front legs 16 and the rear legs 17, there are servo motors 3, and the servo motors 3 are used to provide power.

[0038] The waist 14 further includes a servo turntable 9, a secondary waist 10 and a U-shaped bracket 11. The servo motor 3 is installed in the secondary waist 10. The U-shaped bracket 11 is installed on the secondary waist 10. The servo turntable 9 is installed on the servo motor 3. The servo turntables 9 on different servo motors 3 are respectively connected to the front crotch and the rear crotch, and the U-shaped brackets 11 of different secondary waists 10 are connected to each other.

[0039] The U-shaped brackets 11 of different secondary waists 10 are perpendicular to each other.

[0040] The U-shaped bracket 11 and the secondary waist 10 are movably connected.

[0041] The front crotch and the rear crotch also include a servo connection part 1, a torso 12 and a servo connection disc 13. The servo motor 3 is installed in the servo connection part 1. The servo connection disc 13, the servo connection part 1 and the torso 12 are connected in sequence. The servo connection discs 13 on the front crotch and the rear crotch are respectively connected to the front legs 16 and the rear legs 17.

[0042] The front legs and the rear legs both further include a thigh connecting block 2, a connecting rod 4, a thigh 5, and a calf 6. The thigh connecting block 2 is installed on the front crotch and the rear crotch. The thigh 5 is connected to the thigh connecting block 2 through a servo connecting part 1. The servos 3 are respectively installed in the thigh connecting block 2 and the thigh 5. The calf 6 is installed on the thigh 5 and is connected to the servo 3 on the thigh 5 through the connecting rod 4.

[0043] In this embodiment, the Kane equation method is characterized by vector mechanics and also includes the characteristics of analytical mechanics. It is a method mainly related to analytical mechanics. We use the KAEN equation method to solve the problems of multi-body dynamic models. This robot mimics a falling cat and proposes a waist and torso structure with 4 degrees of freedom, two flipping degrees of freedom: the waist 14 can rotate around the front crotch and the rear crotch, swaying: the waist 14 can sway left and right, pitching degree of freedom: the waist 14 can move up and down. Both the swaying and pitching are realized through two vertical U-shaped brackets 11, and the U-shaped brackets 11 rotate around the horizontal plane and the vertical plane respectively.

[0044] The present invention is based on the fact that a cat can eliminate torsion by bending its torso when falling in the air and complete a landing righting.

[0045] The present invention designs an embedded structure for installing the servo 3 connecting the torso, enhancing the anti-impact ability of the servo 3. By actively coordinating the movement of the waist joint with the leg structure, the overall center of gravity is changed to improve the smoothness of movement; the front and rear torso angles can also be changed to adapt to the large-inclination ground structure; it can actively right itself when accidentally falling to avoid damage. Based on the design of the active waist joint, this robot can have strong terrain adaptability on complex ground, and the embedded installation method of the servo reduces the part loss caused by impact when accidentally falling.

[0046] The present invention is provided with a plurality of servos 3 to control the pose of the robot. For example, when the front legs move to the left and the rear legs move to the right, due to the special structural design of the waist 14, the robot can complete a complex pose. The design of the active waist joint improves the smoothness of the robot during movement, enhances its flexibility in complex terrains and its adaptability to accidental falls, and improves the task execution efficiency.

[0047] The connection between the thigh 5 and the calf 6 through the connecting rod 4 realizes the forward movement of the robot.

[0048] The front legs and the rear legs both further include a foot sole 7 and a claw tip 8. The foot sole 7 is connected to the calf 6, and the claw tip 8 is installed on the foot sole 7.

[0049] The robot further includes a rubber pad, and the rubber pad is installed on the foot sole 7.

[0050] The claw tip 8 includes two states: extending and retracting.

[0051] In this embodiment, when walking on a smooth road surface or climbing a slope, the cat-like robot is prone to slipping. To improve the gripping ability of the foot end, the present invention proposes a rubber cat's claw structure with an anti-slip foot pad. This structure can provide a certain buffering effect on earthquakes while increasing the friction between the robot's foot end and the ground. The claw tip 8 provides the robot with the ability to grip the ground, enabling the robot to move normally on an inclined road surface. Referring to the bionic principle of the cat's claw, a linkage type spiked claw hook with an anti-slip rubber pad is proposed. The cat's claw structure greatly enhances the adhesion of the robot's foot end on slopes and other complex environments. When passing through a slope or a rough road surface, the effective support area of the foot end is small, and the angle between the sole 7 and the support surface cannot form an effective contact. At this time, the force between the claw tip 8 and the road surface or other terrain grooves can provide effective support force and adhesion for the robot.

[0052] The retractability of the linkage type cat's claw enables it to have two working states. When the environmental conditions are good, the claw tip 8 retracts, which will not affect the normal movement of the robot. When encountering special road surfaces such as climbing a slope, the claw tip 8 extends to enhance the road adhesion.

[0053] As described above, the above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A four-degree-of-freedom active lumbar joint robot, characterized in that, It includes a waist (14), a crotch (15), front legs (16) and rear legs (17). The crotch (15) includes a front crotch and a rear crotch. The front crotch and the rear crotch are connected by the waist (14). The front legs (16) are mounted on the front crotch, and the rear legs (17) are mounted on the rear crotch; The robot realizes four degrees of freedom through the cooperation among the waist (14), the crotch (15), the front legs (16) and the rear legs (17).

2. The four-degree-of-freedom active lumbar joint robot according to claim 1, wherein Servos (3) are included in the waist (14), the front crotch, the rear crotch, the front legs (16) and the rear legs (17), and the servos (3) are used to provide power.

3. The four-degree-of-freedom active lumbar joint robot according to claim 2, characterized in that, The waist (14) further includes a servo turntable (9), a secondary waist (10) and a U-shaped bracket (11). The servo (3) is installed in the secondary waist (10). The U-shaped bracket (11) is installed on the secondary waist (10). The servo turntable (9) is installed on the servo (3). The servo turntables (9) on different servos (3) are respectively connected to the front crotch and the rear crotch, and the U-shaped brackets (11) of different secondary waists (10) are connected to each other.

4. A four-degree-of-freedom active lumbar joint robot according to claim 3, characterized in that, The U-shaped brackets (11) of different secondary waists (10) are perpendicular to each other.

5. The four-degree-of-freedom active lumbar joint robot according to claim 3, characterized in that, The U-shaped bracket (11) is movably connected to the secondary waist (10).

6. The four-degree-of-freedom active lumbar joint robot according to claim 2, wherein, The front crotch and the rear crotch also each include a servo connection part (1), a torso (12) and a servo connection disc (13). The servo (3) is installed in the servo connection part (1). The servo connection disc (13), the servo connection part (1) and the torso (12) are connected in sequence. The servo connection discs (13) on the front crotch and the rear crotch are respectively connected to the front legs (16) and the rear legs (17).

7. The four-degree-of-freedom active lumbar joint robot according to claim 6, characterized in that, The front legs and the rear legs also each include a thigh connection block (2), a connecting rod (4), a thigh (5) and a calf (6). The thigh connection block (2) is mounted on the front crotch and the rear crotch. The thigh (5) is connected to the thigh connection block (2) through the servo connection part (1). The servos (3) are respectively installed in the thigh connection block (2) and the thigh (5). The calf (6) is installed on the thigh (5) and is connected to the servo (3) on the thigh (5) through the connecting rod (4).

8. A four-degree-of-freedom active lumbar joint robot according to claim 7, characterized in that, The front legs and the rear legs also each include a foot sole (7) and a claw tip (8). The foot sole (7) is connected to the calf (6), and the claw tip (8) is installed on the foot sole (7).

9. The four-degree-of-freedom active lumbar joint robot according to claim 8, characterized in that, The robot further includes rubber pads, and the rubber pads are installed on the foot soles (7).

10. A four-degree-of-freedom active lumbar joint robot according to claim 8, characterized in that, The claw tip (8) includes two states: extending and retracting.

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