CN102030049A - Lizard-shaped four-foot robot - Google Patents
Lizard-shaped four-foot robot Download PDFInfo
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- CN102030049A CN102030049A CN 201010569579 CN201010569579A CN102030049A CN 102030049 A CN102030049 A CN 102030049A CN 201010569579 CN201010569579 CN 201010569579 CN 201010569579 A CN201010569579 A CN 201010569579A CN 102030049 A CN102030049 A CN 102030049A
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Abstract
The invention discloses a lizard-shaped four-foot robot. The robot comprises a machine frame (1) and four two-freedom foot devices, wherein each foot device consists of a swinging mechanism and a slewing mechanism. A piston of the swinging mechanism retracts relative to a hydraulic cylinder and drives swinging legs swing back and forth relative to a swinging frame. A motor of the slewing mechanism is fixed on the machine frame to drive the swinging frame to drive the slewing mechanism to rotate 0 to 200 degrees relative to the machine frame. Through the composite motion of the swinging mechanism and the slewing mechanism of each foot device, the circulating motion of lizard feet, namely rotation through side foot raising, swinging by walking forwards, rotation by dropping feet and swinging by pedaling backwards, can be realized. The composite motion of the machine frame and four groups of swinging mechanisms and slewing mechanisms is equivalent to the motion of a lizard. In the lizard-shaped four-foot robot, flexible and complex motion ways, such as walking forwards or backwards, turning left and right, jumping, climbing, turning over the body and the like, can be realized. The lizard-shaped four-foot robot can walk on an irregular pavement, can cross over or jump over a barrier and has high adaptability.
Description
Technical field
The present invention relates to a kind of Robotics field, particularly relate to a kind of lizard formula all fours type robot.
Background technology
Legged type robot is a kind of of mobile robot family, is the relatively more active direction in one in robot research field in recent years.Compare with caterpillar mobile robot with wheeled, though legged type robot structure more complicated, control loaded down with trivial details relatively, but unique advantage is arranged: the legged type robot degree of freedom is many, can realize complexity mode of motion flexibly, and because the strong point in the legged type robot walking process disperses, by judgement and selection to the foothold, can walk on the road surface of irregular, can cross over or skip over an obstacle, comformability is extremely strong.Therefore all have wide practical use in fields such as military surveillance, post-disaster search and rescue, aerospace detection, the inner detection of industrial pipeline, medical science detection, home entertaining, bionics.Bionical quadruped robot is with a relative desirable research object that simply becomes legged type robot of its structure and control method, and countries in the world are paid much attention to legged type robot device people's research, development and used for many years.Its research progressively is transferred to practical application from experimental investigation, its gordian technique has merged the multidisciplinary and new and high technology that forms such as robotics, cybernetics, theory of mechanisms, information and sensing technology, artificial intelligence, bionics, become the developing direction of current robot research, in national economy and national security, play an important role, and have great strategic importance.
So far people have developed multiple quadruped robot.The quadruped robot " towser " that U.S. Boston Dynamics company in 2005 is septic yanks' research and design specially can be climbed up and over 35 degree slopes, carries the weight of 150kg, row scooter 7000m/h.The development machines people Quadlator II of Tokyo Institute of Technology in 2003, control architecture adopts embedded system, and has carried out merchandizing in the mode that product student's federation closes.The 4 sufficient walking robots towards the household safe purposes of two kinds of models that Tmsuk and Sanyo Electric are succeeded in developing.Qidong, Qingdao in 2004 electronic machine equipment Co., Ltd development BIO-12 four-footed reptile robot has 12 degree of freedom, single leg 4DOF.Tsing-Hua University developed a kind of quadruped robot in 2003, utilized controlling models, realized different shape, gait, gait conversion, uphill/downhill, obstacle detouring, turning etc.High application " a kind of adjustable four-leg bionic robot motion structure " patent of invention that waits of the Zheng Hao of Tsing-Hua University in 2006 is characterized in that thigh and shank drive it along joint shaft swing separately by separately actuating device respectively.By adjusting multinomial construction parameter and kinematic parameter, make robot present multiple bionical physique structure.Intelligent " a kind of traveling gear of the four feet walking robot " utility model patent that waits application of the Wang Li of Shanghai Normal University in 2009 is symmetrical arranged a cover two sufficient driven units respectively at the front and rear of frame; Described two sufficient driven units are to be made of the identical walking leg configuration of left-right symmetric.High western pure husband's application " four feet walking robot " patent of invention of Japan in 2007 is characterized in that there are a plurality of degree of freedom in each sufficient mechanism, and health is realized elastic telescopic, lifted motion such as swing relatively.The Sun Qun of Liaocheng University in 2010 etc. apply for " a kind of traveling gear of cam driving control type quadruped robot " patent, utilize cam drive control formula to realize that there are a plurality of degree of freedom motions in each sufficient mechanism.Applications " the hydraulic-driven quadruped robot travel mechanism with barycenter setting device " such as the Rong Xue of Shandong University literary composition in 2010 comprise trunk, movable stand, barycenter setting device and four robot legs.Characteristics are: adopt hydraulic-driven, make robot have bigger heavy burden ability.These legged type robots differ from one another, but up to now, still there is a big difference for the legged type robot locomotor activity of countries in the world research and actual requirement.Because each foot has multiple degree of freedom and a plurality of actuator, must make sufficient mechanism and structure all very complicated in addition.How guaranteeing that legged type robot flexibly under the mode of motion prerequisite, improves locomotor activity in complexity, simplify legged type robot mechanism and structure, is a crucial difficult problem that waits to solve.
Summary of the invention
In order to guarantee that legged type robot flexibly under the mode of motion prerequisite, improves locomotor activity in complexity, simplify legged type robot mechanism and structure, the invention provides a kind of lizard formula quadruped robot.This invention can realize lizard formula quadruped robot move ahead or retreat, about turn, jump, complicated flexibly mode of motion such as climbing, upset health, can on the road surface of irregular, walk, can cross over or skip over an obstacle.
Described lizard formula quadruped robot comprises a frame and four foot units that contain two-freedom, and each foot unit is made up of a swinging gear and swing type mechanism, and swinging gear comprises a swinging kick, a rocker, a piston rod and a hydraulic actuating cylinder.The swinging kick upper end is rotated with rocker one end and is connected, the swinging kick middle part is rotated with piston rod one end and is connected, the swinging kick lower end contacts with ground, the rocker other end connects with the hydraulic actuating cylinder ball pivot, piston rod connects with hydraulic actuating cylinder is coaxial, the relative hydraulic actuating cylinder fore and aft motion of piston rod can drive the reciprocally swinging of the relative rocker of swinging kick.Swing type mechanism comprises a frame, a rocker and an electrical motor.Frame is rotated with rocker and is connected, and frame is captiveed joint with electrical motor, and rocker connects with electrical motor is coaxial, and direct motor drive rocker drive swinging gear is made the 0-200 degree relative to frame and rotated.The compound motion of swinging gear and swing type mechanism can be realized each sufficient motion of lizard.The compound motion of frame and four groups of swinging gear and swing type mechanism can equivalent lizard motion.
The invention has the beneficial effects as follows: the structure of foot unit has been simplified in this invention greatly, utilize hydraulic-driven effectively improved the walking propulsive effort can realize lizard formula quadruped robot move ahead or retreat, about turn, jump, complicated flexibly mode of motion such as climbing, upset health, can on the road surface of irregular, walk, can cross over or skip over an obstacle, comformability is extremely strong.Therefore all have wide practical use in fields such as military surveillance, post-disaster search and rescue, aerospace detection, the inner detection of industrial pipeline, medical science detection, home entertaining, bionics.
Description of drawings
Fig. 1 is the structural representation of lizard formula quadruped robot;
Fig. 2 is the structural representation of rocker.
In Fig. 1,1. frame, i swinging kick of 2-i., i piston rod of 3-i., i hydraulic actuating cylinder of 4-i., i rocker of 5-i., i electrical motor of 6-i., i=1,2,3,4.
The specific embodiment
Embodiment
Fig. 1 is an embodiment disclosed by the invention, and described lizard formula quadruped robot comprises the foot unit that contains two-freedom of a frame 1 and four same structures.Described frame 1 is the rectangle cube structure, has two groups of through holes along its length direction both sides, connects with four foot units respectively.The structure of described four foot units is identical, wherein, first foot unit is made up of first swinging gear and first swing type mechanism, described first swinging gear comprises a swinging kick 2-1, a rocker 5-1, a piston rod 3-1 and a hydraulic actuating cylinder 4-1, wherein, swinging kick 2-1 upper end is rotated with rocker 5-1 one end and is connected, swinging kick 2-1 middle part is rotated with piston rod 3-1 one end and is connected, swinging kick 2-1 lower end contacts with ground, the rocker 5-1 other end connects with hydraulic actuating cylinder 4-1 ball pivot, piston rod 3-1 connects with hydraulic actuating cylinder 4-1 is coaxial, and the relative hydraulic actuating cylinder fore and aft motion of piston rod can drive the reciprocally swinging of the relative rocker 5-1 of swinging kick 2-1.Described first swing type mechanism comprises a frame 1, a rocker 5-1 and an electrical motor 6-1.Frame 1 and rocker 5-1 rotate and connect, and frame 1 is captiveed joint with electrical motor 6-1, and rocker 5-1 connects with electrical motor 6-1 is coaxial, and electrical motor 6-1 driving rocker 5-1 drives first swinging gear and makes the 0-200 degree relative to frame 1 and rotate.Swinging kick 2-1 is the triangular plate structure, and its upper end has two holes, rotates with rocker 5-1 and piston rod 3-1 respectively to connect.
The compound motion of swinging gear and swing type mechanism can be realized each sufficient motion of lizard.The compound motion of frame 1 and four groups of swinging gear and swing type mechanism can equivalent lizard motion.The present invention can realize lizard formula quadruped robot move ahead or retreat, about turn, jump, complicated flexibly mode of motion such as climbing, upset health, can on the road surface of irregular, walk, can cross over or skip over an obstacle.
Claims (2)
1. lizard formula quadruped robot, comprise a frame (1) and four foot units that contain two-freedom that structure is identical, it is characterized in that: described frame (1) is the rectangle cube structure, have two groups of through holes along its length direction both sides, connect with four foot units respectively, described first foot unit is made up of first swinging gear and first swing type mechanism, wherein:
In described first swinging gear, swinging kick (2-1) upper end is rotated with rocker (5-1) end and is connected, swinging kick (2-1) middle part is rotated with piston rod (3-1) end and is connected, swinging kick (2-1) lower end contacts with ground, rocker (5-1) other end connects with hydraulic actuating cylinder (4-1) ball pivot, piston rod (3-1) and coaxial connection of hydraulic actuating cylinder (4-1), piston rod (3-1) is hydraulic actuating cylinder (4-1) fore and aft motion relatively, drives swinging kick (2-1) reciprocally swinging of rocker (5-1) relatively;
In described first swing type mechanism, frame (1) is rotated with rocker (5-1) and is connected, frame (1) is captiveed joint with electrical motor (6-1), rocker (5-1) and coaxial connection of electrical motor (6-1), electrical motor (6-1) drive rocker (5-1) and drive first swinging gear and make the 0-200 degree relative to frame (1) and rotate.
2. lizard formula quadruped robot according to claim 1 is characterized in that: described swinging kick (2-1) is the triangular plate structure, and its upper end has two holes, rotates with rocker (5-1) and piston rod (3-1) respectively to connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105695795A CN102030049B (en) | 2010-12-02 | 2010-12-02 | Lizard-shaped four-foot robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105695795A CN102030049B (en) | 2010-12-02 | 2010-12-02 | Lizard-shaped four-foot robot |
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| Publication Number | Publication Date |
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| CN102030049A true CN102030049A (en) | 2011-04-27 |
| CN102030049B CN102030049B (en) | 2012-06-13 |
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| CN2010105695795A Expired - Fee Related CN102030049B (en) | 2010-12-02 | 2010-12-02 | Lizard-shaped four-foot robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102874397A (en) * | 2012-09-06 | 2013-01-16 | 上海大学 | Lizard-imitated overwater robot |
| CN102913275A (en) * | 2012-11-01 | 2013-02-06 | 金纯� | Search and rescue system based on crawler robots |
| CN103144754A (en) * | 2012-11-22 | 2013-06-12 | 北京航空航天大学 | Bionic water surface moving device |
| CN103318287A (en) * | 2013-05-14 | 2013-09-25 | 北京航空航天大学 | Lizard simulated amphibious robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5957074A (en) * | 1982-09-27 | 1984-04-02 | Agency Of Ind Science & Technol | Three-dimensional moving machine |
| JPS6121868A (en) * | 1984-07-07 | 1986-01-30 | Yoshiyuki Oguri | Walking leg device |
| US5423708A (en) * | 1994-08-15 | 1995-06-13 | Allen; Roger D. | Multi-legged, walking toy robot |
| CN2825410Y (en) * | 2005-09-13 | 2006-10-11 | 北京航空航天大学 | Structure-variable leg-wheeled type robot |
| CN101337494A (en) * | 2008-08-12 | 2009-01-07 | 北京大学 | Amphibious bionics robot |
| CN101774408A (en) * | 2009-01-14 | 2010-07-14 | 林砺宗 | Four-leg bionic walking mechanism |
-
2010
- 2010-12-02 CN CN2010105695795A patent/CN102030049B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5957074A (en) * | 1982-09-27 | 1984-04-02 | Agency Of Ind Science & Technol | Three-dimensional moving machine |
| JPS6121868A (en) * | 1984-07-07 | 1986-01-30 | Yoshiyuki Oguri | Walking leg device |
| US5423708A (en) * | 1994-08-15 | 1995-06-13 | Allen; Roger D. | Multi-legged, walking toy robot |
| CN2825410Y (en) * | 2005-09-13 | 2006-10-11 | 北京航空航天大学 | Structure-variable leg-wheeled type robot |
| CN101337494A (en) * | 2008-08-12 | 2009-01-07 | 北京大学 | Amphibious bionics robot |
| CN101774408A (en) * | 2009-01-14 | 2010-07-14 | 林砺宗 | Four-leg bionic walking mechanism |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102874397A (en) * | 2012-09-06 | 2013-01-16 | 上海大学 | Lizard-imitated overwater robot |
| CN102913275A (en) * | 2012-11-01 | 2013-02-06 | 金纯� | Search and rescue system based on crawler robots |
| CN102913275B (en) * | 2012-11-01 | 2014-09-17 | 金纯� | Search and rescue system based on crawler robots |
| CN103144754A (en) * | 2012-11-22 | 2013-06-12 | 北京航空航天大学 | Bionic water surface moving device |
| CN103318287A (en) * | 2013-05-14 | 2013-09-25 | 北京航空航天大学 | Lizard simulated amphibious robot |
| CN103318287B (en) * | 2013-05-14 | 2016-06-01 | 北京航空航天大学 | Bionical lizard amphibious robot |
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| CN102030049B (en) | 2012-06-13 |
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