CN104118490A - Desert quadruped robot imitating lizard - Google Patents
Desert quadruped robot imitating lizard Download PDFInfo
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- CN104118490A CN104118490A CN201410323843.5A CN201410323843A CN104118490A CN 104118490 A CN104118490 A CN 104118490A CN 201410323843 A CN201410323843 A CN 201410323843A CN 104118490 A CN104118490 A CN 104118490A
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Abstract
The invention provides a desert quadruped robot imitating a lizard. The desert quadruped robot imitating the lizard comprises a robot body, a C-type leg structure and a tail structure, the C-type leg structure comprises 2N C-type legs which are symmetrically arranged on the two sides of the robot body through drive motors respectively, the tail structure has two degrees of freedom through a horizontal swinging steering engine and a vertical swinging steering engine and is arranged in the middle of the rear end of the robot body through the horizontal swinging steering engine, and the drive motors of the C-type legs and the horizontal swinging steering engine and the vertical swinging steering engine of the tail structure are connected with a controller through wires. The desert quadruped robot imitating the lizard can ensure a stable and rapid walking state in the desert environment, and is high in adaptability to the desert environment. Meanwhile, intensity of pressure on sand grains from the legs is reduced, and small sinkage of the robot is ensured. The flexible tail structure not only can keep balance of the robot body in the walking process of the robot, but also can help the robot better escape from danger after the robot sinks into the sand.
Description
Technical field
The present invention relates to a kind of robot of mechanical field, particularly relate to a kind of imitative lizard desert quadruped robot of applicable desert walking.
Background technology
Usually, desert robot is mainly wheeled and two kinds of structure compositions of multiple degree of freedom foot formula.Wheeled construction is mainly to reduce pressure by many wheel systems robot can be moved more flexibly on sand; Foot formula structure, mainly for biological bionical such as desert spider, reaches the object of minimizing pressure by the larger machine " sole " of Level Multiple Degree of Freedom Structures control and sand ground area of contact.
At present, above two kinds of structures have some comparatively significantly shortcomings.Although on the one hand wheeled construction speed, is not suitable for crossing some comparatively complicated landform in desert, run into rugged ground and be just difficult to pass through, and this kind of structure is absorbed in sand and is difficult to therefrom climb out of; On the other hand, multivariant sufficient formula structure speed is relatively slow, and multi-joint energy consumes relatively largely, but multi-joint can complete preferably as the action such as cross some complicated grounds and climb out of from be absorbed in sand.
Therefore, in order to improve the adaptation situation of robot in desert, a lot of novel adaptation desert robot mechanisms are suggested in succession, for example, the roboticist at Canadian McGill University's intelligent machine center in 1999 has designed six biped robots " Li Kesi ", introduce for the first time this concept of C type leg, this robot is by six C type legs, utilize triangle gait can adapt to a variety of landform, and can ensure gait of march, this robot is mainly in mountain region and some marshes, apply to prototype less in desert but desert and so on robot.
In addition, as the georgia ,u.s.a Institute of Technology in 2011 develops " Sha Shangfei " robots of the imitative desert cockroaches of a kind of six foot and lizard, this robot is to be completed in desert and walked by the triangle gait of six C type legs equally, and the soft ground such as the grains of sand much can be better easily crossed in its relative " Li Kesi " weight saving.But be not absorbed in sand and climb out of and carry out design study for robot.
Summary of the invention
The present invention is directed to above shortcomings in prior art, a kind of imitative lizard desert quadruped robot is provided, this imitative lizard desert quadruped robot, can utilize on the one hand the motion of the flexibility guarantees fast and stable in sand of self, can solve preferably robot by the help of additional tail structure on the other hand and be absorbed in the problem climbing out of in sand.
The present invention is achieved by the following technical solutions.
A kind of imitative lizard desert quadruped robot, comprise robot body, C type leg structure and tail structure, described C type leg structure comprises 2N C type leg, wherein N is natural number, 2N C type leg is symmetricly set in respectively the both sides of robot body between two by drive motor, described tail structure is by swinging steering wheel and swing up and down steering wheel and have two degree of freedom, and is arranged at the rear end midway location of robot body by the steering wheel that swings.
Preferably, described in, swing steering wheel with to swing up and down steering wheel sense of motion vertical.
Preferably, also comprise controller, described drive motor, swing steering wheel and controller are arranged at respectively on robot body; Described drive motor, swing steering wheel with swing up and down steering wheel and be connected by wire with controller respectively.
Preferably, described robot body adopts plastic flagstone to make.
Preferably, described C type leg is four, and four C type legs are arranged at respectively four corner positions of robot body.
Preferably, two C type legs that are diagonal angle setting are one group and move together.
Preferably, each C type leg all adopts polyformaldehyde material, and outside is equipped with skid resistant course.
Preferably, the length of the length of described tail structure and robot body is basically identical.
Preferably, described tail structure is provided with acceleration pick-up, and described acceleration pick-up is connected with controller, and controller, by the feedback of acceleration pick-up and then the attitude of adjustment tail structure, makes robot body in traveling process, keep stable.
Preferably, described tail structure comprises fixed part and swing part, and described fixed part is connected to the rear end midway location of robot body by the steering wheel that swings, and described swing part is connected with fixed part by swinging up and down steering wheel.
Preferably, described tail structure also comprises end thin plate, and described end thin plate is arranged at the free end end of swing part by adapter shaft, and under Action of Gravity Field, keeps attitude parallel to the ground.
Compared with prior art, the present invention has following beneficial effect:
1, C type leg of the present invention can adopt some lighter and friction coefficient is larger materials, can effectively prevent the problems such as robot skids on the grains of sand, and meanwhile, C type leg has also ensured gait of march and the obstacle climbing ability of robot in the grains of sand;
2, the drive motor of robot body piggyback controller and the motion of guarantee C type leg, shank is connected with robot body by drive motor, four corner positions that are placed in respectively body, tail structure is placed in the midway location of body rear end, and drive motor is by wire and controller control linkage;
3, tail structure is by being connected with the steering wheel swinging on robot body, and fixed part is connected with swing part by swinging up and down steering wheel, so just can realize the double freedom motion of tail structure.The end of tail structure connects a relatively roomy light end thin plate, contributes to tail support ground to reduce pressure.
4, the present invention has ensured speed and the stability that imitative lizard desert quadruped robot is advanced in desert, and the tail structure stretching out can solve better robot and is absorbed in the problem climbing out of in sand.
Brief description of the drawings
By reading the detailed description of non-limiting example being done with reference to the following drawings, it is more obvious that other features, objects and advantages of the present invention will become:
Fig. 1 is integral structure schematic diagram of the present invention;
Fig. 2 is tail structure close-up schematic view;
Fig. 3 is lateral plan of the present invention;
Fig. 4 is birds-eye view of the present invention;
Fig. 5 be the present invention while walking one group of leg lift attitude schematic diagram;
Fig. 6 be the present invention while walking another group leg lift attitude schematic diagram;
Fig. 7 is that after the present invention is absorbed in sand, tail structure is assisted action schematic diagram;
Fig. 8 is that apparatus of the present invention are absorbed in C type leg and tail structure concerted action schematic diagram after sand;
Fig. 9 is the attitude schematic diagram that the present invention aloft glides while landing;
Figure 10 is that the present invention runs into obstacle action schematic diagram;
Figure 11 is the action schematic diagram of throwing over barrier of the present invention;
Figure 12 is the action schematic diagram after throwing over barrier of the present invention;
Figure 13 is the view after overturning of the present invention;
Figure 14 is that the present invention relies on the tail structure the first attitude schematic diagram ajusted that acts synergistically on the slope;
Figure 15 is that the present invention relies on the tail structure the second attitude schematic diagram ajusted that acts synergistically on the slope;
Figure 16 is the view of contacting to earth after the present invention successfully ajusts on the slope;
In figure: 1 is robot body, 2 is C type leg, and 3 is tail structure, and 301 is fixed part, and 302 is swing part, and 303 is end thin plate.
Detailed description of the invention
Below embodiments of the invention are elaborated: the present embodiment is implemented under taking technical solution of the present invention as prerequisite, provided detailed embodiment and concrete operating process.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.
Please refer to Fig. 1 to Figure 16.
The present embodiment provides a kind of imitative lizard desert quadruped robot, comprise robot body, C type leg structure and tail structure, described C type leg structure comprises 2N C type leg, wherein N is natural number, 2N C type leg is respectively by one group and be symmetricly set in the both sides of robot body between two of drive motor, described tail structure is by swinging steering wheel and swing up and down steering wheel and have two degree of freedom, and is arranged at the rear end midway location of robot body by the steering wheel that swings; The drive motor of described C type leg and tail structure swing steering wheel with swing up and down steering wheel and be connected by wire with controller respectively.
Further, described in, swing steering wheel with to swing up and down steering wheel sense of motion vertical.
Further, described robot body adopts plastic flagstone to make, and described drive motor, swing steering wheel and controller are arranged at respectively on robot body.
Further, described C type leg is four, and four C type legs are arranged at respectively four corner positions of robot body.
Further, two C type legs that are diagonal angle setting are one group and move together.
Further, each C type leg all adopts polyformaldehyde material, and outside is equipped with skid resistant course.
Further, the length of the length of described tail structure and robot body is basically identical.
Further, described tail structure is provided with acceleration pick-up, and described acceleration pick-up is connected with controller, and controller, by the feedback of acceleration pick-up and then the attitude of adjustment tail structure, makes robot body in traveling process, keep stable.
Further, described tail structure comprises fixed part and swing part, and described fixed part is connected to the rear end midway location of robot body by the steering wheel that swings, and described swing part is connected with fixed part by swinging up and down steering wheel.
Further, described tail structure also comprises end thin plate, and described end thin plate is arranged at the free end end of swing part by adapter shaft, and under Action of Gravity Field, keeps attitude parallel to the ground.
Below in conjunction with accompanying drawing, the present embodiment is further described.
As shown in Figure 1, the present embodiment comprises: robot body, is connecting four C type legs and the tail structure with double freedom.Wherein C type leg is connected with drive motor projecting shaft by fixture; Tail structure by the vertical steering wheels of two sense of motions realize with robot body be connected and double freedom moves.
C type leg, by consistency and elasticity all relatively outstanding light material polyformaldehyde form, have certain hardness to ensure can support the weight of whole car body and not produce too much deformation, in the way that contributes to keep advancing, hold position; Also there is certain elasticity, make shank be not easy to fracture, ensure robot endurance simultaneously.
As shown in Figure 2, front and back two segment trailer structures, i.e. fixed part and swing part, the steering wheel that swings up and down by medium position connects, the swing part of tail structure can be moved up and down, and fixed part is connected with robot body, and completes sway by the steering wheel that swings.The end of tail structure connects the sheetmetal of a comparatively roomy and thinner thickness, it is end thin plate, on sheetmetal, drawing an axle is connected with the end of swing part, this adapter shaft is not fixed, only play the effect that tangles tail structure, by gravity can make sheetmetal all the time with ground keeping parallelism.
As shown in Figure 3, lateral plan when robot is static, generally tail structure all keeps attitude parallel to the ground, to balance and holding position while ensureing that robot is advanced are made to timely adjustment.
As shown in Figure 4, birds-eye view when robot is static, can see that tail structure is the same with robot body elementary length, according to bionical research, this length ratio is relatively applicable to the effect of performance afterbody and makes tail structure structure can not affect biological proper motion because of long.
Shown in Fig. 5 and Fig. 6 be robot normal straight-ahead operation time gait show, as shown in Figure 5, the C type leg at mutual diagonal angle is one group and moves together: when right front and left back leg lifts, two other leg supports ground, so two legs support robots the overbalance now tail structure of robot ensure robot balance in the process of walking by steering wheel turning clockwise, thereby avoid robot to topple over.Shown in Fig. 6, right front and left back is one group, and after this group leg lands, other one group of leg starts to rotate, and now tail structure continues to play to the left side motion effect keeping one's balance.Motion can realize robot craspedodrome repeatedly by that analogy.
As shown in Figure 7 and Figure 8, shown in robot be absorbed in after sand, by the effect of tail structure can make robot more fast speed be out of danger.When robot front end is absorbed in sand, the swing part of tail structure can up-and-down movement by middle part steering wheel swing downwards until support ground, now four legs of robot rotate backward in turn, swing part continues to lower support, after a mobile segment distance, swing part upwards swings back level attitude, and C type leg continues to keep reversion action.So repeating motion can help robot successfully to get rid of poverty from the sand being absorbed in.
Below, in conjunction with above-mentioned tail structure basic function and structure, the use of several tail structure specific functions is described.
As shown in Figure 9, robot becomes the state that is inclined upwardly.The attitude that this figure is robot tail structure lands to robot as need to be glided a segment distance aloft time plays the effect of adjustment.In robot glide process, the afterbody swing that upwards has a certain degree, the result of this action can make the head of robot upwards lift, can realize by this method robot landing time, back leg first lands, this kind of mode meets the mode that normally lands of natural biology, avoid with the first kiss the earth of head simultaneously, dropped to minimum by landing the degree of damage that the antagonistic force that produces brings robot.
In addition robot can also can complete better the obstacle that some are got over more greatly by the help of tail structure and crosses.As shown in Figure 10,11 and 12, description be the process that robot is crossed a cuboid obstacle.Figure 10 robot level walking runs into the larger cuboid obstacle in front one, now robot tail structure comparatively upwards lifts fast, the application force producing can make robot head lift equally, and now two forelegs have rotated the action that rides over obstacle upper surface, as Figure 11.Tail structure, to lower swing, contacts with ground subsequently, plays the effect of support, slowly lift latter half vehicle body, foreleg rotates forward simultaneously, drags machine person and moves forward, until back leg steps on obstacle, then recovers normal craspedodrome gait, swing back horizontality simultaneously.By whole process described above, robot can complete crossing larger-size different obstacle.
Is after unexpected overturning appears in robot as shown in Figure 13,14,15 and 16, utilizes slope to complete to ajust the process of car body.
Wherein as shown in figure 13, the state after robot overturning.Now robot still can normally be worked, and leg type becomes by positive C type before the type of falling C.Experimental results show that by forefathers the type of falling C leg is not suitable for moving in desert Environment than C type leg, can cause the robot efficiency of advancing obviously to decline.
So after overturning, the temporary transient type of the falling C leg that utilizes walks on, find a larger slope of place's degree of dip, move to car body is horizontally placed on to the position on slope, tail structure is to along slope, direction upwards swings, two legs in higher position rotates and lifts simultaneously, until become the position of 90 degree in horizontal surface, and as shown in figure 14.
As Figure 15, now, robot afterbody swings towards the direction of slope, the main body of robot is outwards promoted, the two legs tie tail of robot in lower position rotates simultaneously, makes separation inclined-plane, robot bottom close, and robot body becomes large with leaning angle that inclined-plane becomes.In the time that angle acquires a certain degree, robot can be turned on one's side downwards along slope under the effect of gravity.
Because robot leg is all put and horizontal surface vertical angle before, inevitable flat vertical with ramped surfaces behind rollover contact slope, position when afterbody is got back to normal walking simultaneously, robot is ajusted and is got back to the attitude of advancing normally.
More than to utilizing the slope oneself such as sand dune in desert to ajust the explanation of process after robot overturning.
In the present embodiment:
Robot body, by light and have the plastic flagstone of some strength to make, is connected with tail structure with C type leg by motor.Tail structure has double freedom, and then completes omnibearing movable.
Robot body connects four C type legs and a tail structure, and four legs and tail structure are all to drive independent control.
C type leg outer side adds the skid resistant course of last layer rubber-like product matter, can prevent that leg from skidding.
The attitude that tail structure can be adjusted tail structure by the feedback of acceleration pick-up makes robot in traveling process, keep stable, reaches the object that reduces overturning probability.
Tail structure can complete an action to rear support, and the power by this kind of support therefrom climbs out of after helping robot to be absorbed in sand.
What tail structure end connected is, and one comparatively roomy but thin slice that quality is light can effectively reduce the pressure of tail structure to desert in the time needing supporting role.
Tail structure can help robot in desert, to complete obstacle detouring, the function such as after overturning, ajusts.
Tail structure can play and help robot to adjust to the land effect of undermined minimum attitude of back leg while carrying out gliding action as need.
Tail structure and C type leg have cooperated.
The present embodiment can ensure comparatively stable and fast speed walking states in desert Environment, stronger to desert Environment adaptive faculty.Reduce the pressure of leg to the grains of sand simultaneously, ensured the less sinkage of robot.Tail structure not only plays the effect that keeps balance in robot traveling process flexibly, also can help in addition robot to be absorbed in after sand out of danger better.
Above specific embodiments of the invention are described.It will be appreciated that, the present invention is not limited to above-mentioned specific implementations, and those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (10)
1. an imitative lizard desert quadruped robot, it is characterized in that, comprise robot body, C type leg structure and tail structure, described C type leg structure comprises 2N C type leg, wherein N is natural number, 2N C type leg is symmetricly set in respectively the both sides of robot body by drive motor, described tail structure is by swinging steering wheel and swing up and down steering wheel and have double freedom, and is arranged at the rear end midway location of robot body by the steering wheel that swings.
2. imitative lizard according to claim 1 desert quadruped robot, is characterized in that, also comprises controller, and described drive motor, swing steering wheel and controller are arranged at respectively on robot body; Described drive motor, steering wheel and swing up and down steering wheel and be connected by wire with controller respectively swings.
3. imitative lizard according to claim 1 and 2 desert quadruped robot, is characterized in that, described in swing steering wheel with to swing up and down steering wheel sense of motion vertical.
4. imitative lizard according to claim 1 and 2 desert quadruped robot, is characterized in that, the length of the length of described tail structure and robot body is basically identical.
5. imitative lizard according to claim 1 and 2 desert quadruped robot, is characterized in that, described C type leg is four, and four C type legs are arranged at respectively four corner positions of robot body.
6. imitative lizard according to claim 5 desert quadruped robot, is characterized in that, two C type legs that are diagonal angle setting are one group and move together.
7. imitative lizard according to claim 1 and 2 desert quadruped robot, is characterized in that, each C type leg all adopts polyformaldehyde material, and outside is equipped with skid resistant course.
8. imitative lizard according to claim 1 and 2 desert quadruped robot, it is characterized in that, described tail structure comprises fixed part and swing part, described fixed part is connected to the rear end midway location of robot body by the steering wheel that swings, described swing part is connected with fixed part by swinging up and down steering wheel.
9. imitative lizard according to claim 8 desert quadruped robot, it is characterized in that, described tail structure also comprises end thin plate, and described end thin plate is arranged at the free end end of swing part by adapter shaft, and under Action of Gravity Field, keeps attitude parallel to the ground.
10. imitative lizard according to claim 9 desert quadruped robot, it is characterized in that, described tail structure is provided with acceleration pick-up, described acceleration pick-up is connected with controller, controller, by the feedback of acceleration pick-up and then the attitude of adjustment tail structure, makes robot body in traveling process, keep stable.
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| CN105523097A (en) * | 2015-12-23 | 2016-04-27 | 北京工业大学 | Leg structure of bionic skidproof robot |
| CN106042979A (en) * | 2016-05-27 | 2016-10-26 | 浙江农林大学 | Bionic multi-joint electric remote control tractor applicable to hills and mountains |
| CN106864618A (en) * | 2017-04-07 | 2017-06-20 | 重庆大学 | Wheel leg type walking mechanism |
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| CN106347519B (en) * | 2016-11-13 | 2018-07-27 | 吉林大学 | A kind of adaptive sand ground bionic mechanical foot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104527992A (en) * | 2014-12-12 | 2015-04-22 | 重庆大学 | Balance mechanism for star surface exploration robot |
| CN104627263A (en) * | 2014-12-12 | 2015-05-20 | 重庆大学 | Bionic jumping robot |
| CN104724200A (en) * | 2015-03-13 | 2015-06-24 | 上海交通大学 | Robot leg structure |
| CN104787138A (en) * | 2015-04-01 | 2015-07-22 | 上海交通大学 | Desert quadruped robot |
| CN104802875A (en) * | 2015-04-15 | 2015-07-29 | 上海交通大学 | Six-legged bionic crawling robot |
| CN105523097A (en) * | 2015-12-23 | 2016-04-27 | 北京工业大学 | Leg structure of bionic skidproof robot |
| CN105523097B (en) * | 2015-12-23 | 2018-02-09 | 北京工业大学 | A kind of bionical anti-skidding robot leg structure |
| CN106042979A (en) * | 2016-05-27 | 2016-10-26 | 浙江农林大学 | Bionic multi-joint electric remote control tractor applicable to hills and mountains |
| CN106042979B (en) * | 2016-05-27 | 2018-01-02 | 浙江农林大学 | The bionical multi-joint electric remote control tractor of hilly and mountainous land |
| CN106864618A (en) * | 2017-04-07 | 2017-06-20 | 重庆大学 | Wheel leg type walking mechanism |
| CN106864618B (en) * | 2017-04-07 | 2019-07-26 | 重庆大学 | Wheel leg type walking mechanism |
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