CN114179932A - Multi-legged robot based on flexible bending structure - Google Patents
Multi-legged robot based on flexible bending structure Download PDFInfo
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- CN114179932A CN114179932A CN202111650748.2A CN202111650748A CN114179932A CN 114179932 A CN114179932 A CN 114179932A CN 202111650748 A CN202111650748 A CN 202111650748A CN 114179932 A CN114179932 A CN 114179932A
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- 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
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Abstract
The invention discloses a multi-legged robot based on a flexible bending structure, which comprises at least two legs, wherein each leg comprises a flexible bending structure; the flexible bending structure comprises a soft body trunk formed by sequentially and alternately connecting a plurality of hard outer frames and a plurality of soft silica gel substrates; a connecting member for connecting each foot; each sole part is provided with a steering engine, and the upper part of the steering wheel in the circumferential direction of the steering wheel is pasted with a sticker; the robot also comprises a control module, and the control module realizes the bending of the flexible bending module as required by controlling the running states of a first speed reducing motor and a second speed reducing motor of the flexible bending structure; the control module realizes the contact of the sticker with the ground as required by controlling the rotation of the rudder disc. When the robot climbs, the front foot and the rear foot alternately land or lift. The invention adopts the bionic marine organism advancing mode, and improves the advancing stability of the multi-legged robot on different road conditions. Meanwhile, the multi-legged robot has a large load.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a multi-legged robot based on a flexible bending structure.
Background
Modern robots are broadly divided into industrial robots and mobile robots, the advent of which reduces space-to-robot constraints. The mobile robot in different environments adopts various mobile hair mechanisms, and most of the mobile robots adopt click driving wheels and tracks. With the development progress, people realize that the mode of driving wheels and tracks by the motor has higher dependence on road conditions and is difficult to pass on rough roads, and research scientists find that the leg movement mode of mammals is simulated by bionics so as to realize normal passing under different road conditions. Taking a four-legged robot as an example, in the 60 th 20 th century, research work on the four-legged walking robot began to start. With the research and application of computer technology and robot control technology, the development of the four-legged robot is now in a wide-spread stage by the 80 s of the 20 th century. Frank and McGhee, the first four-legged walking robot in the world, was made in 1977, but only exhibits a fixed form of motion. The most representative four-footed walking robot in the 20 th century, 80 and 90 s, is the TITAN series developed by Shigeo Hirose laboratories, japan. In 2003, the robot Tekken-TV having the appearance of a pet dog was successfully developed by Hakken et al, Kimura, university of Japan. The four-footed robot most representative at present is Big Dog developed by the U.S. Bostdynamics laboratory. The research work of the domestic quadruped robot is started from the 20 th century and the 80 th era, and research institutions which obtain certain achievements include Shanghai transportation university, Qinghua university, Harbin industry university and the like. The four-foot walking robot is a mechatronic system and relates to mechanisms, gait, control and the like, and a mechanical mechanism is the basis of the whole system. The leg mechanism design is critical in the design of the machine body. At present, leg mechanisms of the developed four-legged walking robot mainly comprise a pantograph mechanism, a four-bar linkage mechanism, a parallel rod mechanism, a multi-joint series mechanism and a buffer type virtual spring leg mechanism. While four-footed robots have several typical gait patterns: crawling, diagonal jogging, hoof sliding, jumping, fixed-point rotation, steering and the like. The control system of the complex four-footed walking robot is a nonlinear multi-input and multi-output unstable system, and has time-varying and intermittent dynamics. The parallel mechanism can realize multidirectional movement, and has strong load capacity, so the parallel mechanism has a good application prospect, but the control system is complex. In addition, the buffer type virtual spring leg mechanism containing the elastic element changes rigid connection into flexible connection by using the elastic element, and reduces the impact and the vibration generated by the impact when the robot walks dynamically.
The problems encountered in the practical application process of the quadruped robot, such as insufficient adjusting capability under different road conditions, and the poor cruising capability caused by the contradiction of energy and volume quality, and the deviation of the robot from the correct posture in the forward process due to the delay and the insufficiency of the driving force and the error of the robot. Researchers at home and abroad mainly solve the problems structurally by adopting a foot end flexible mechanism, implementing robot power, performing position hybrid control and the like, but the structure is more complicated and the cost is increased.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and/or disadvantages and to provide at least the advantages described hereinafter.
The invention aims to provide a multi-legged robot based on a flexible bending structure, the robot utilizes a speed reducing motor to provide power for bending advancing, utilizes a glue paste to provide ground friction force, utilizes a steering engine to periodically change the position of the glue paste and adjust the rotating speed of the motor to realize advancing, and the moving mode of the robot refers to the moving mode of marine organisms.
It is still another object of the present invention to provide a crawling method of a multi-legged robot based on a flexible bending structure.
To achieve these objects and other advantages in accordance with the purpose of the invention, there is provided a multi-legged robot based on a flexible bending structure, including,
at least two feet, each foot comprising a flexible flexure mechanism; the flexible bending structure comprises a soft body trunk formed by sequentially and alternately connecting a plurality of hard outer frames and a plurality of soft silica gel matrixes, the front end and the rear end of the soft body trunk are both the soft silica gel matrixes, the outer side of each soft silica gel matrix is fixedly connected with a speed reduction motor fixing part, and a first speed reduction motor and a second speed reduction motor are respectively and fixedly connected with the soft silica gel matrixes at the front end and the rear end of the soft body trunk; the first gear motor is connected with the gear motor fixing part on the side surface of the second gear motor through a first connecting rope, and the second gear motor is connected with the gear motor fixing part on the side surface of the first gear motor through a second connecting rope;
the first speed reduction motor and the second speed reduction motor are both provided with a winder, the first connecting rope is wound on the winder of the first speed reduction motor, the second connecting rope is wound on the winder of the second speed reduction motor, and the winding directions of the first connecting rope and the second connecting rope on the winder are the same;
the connecting members are used for connecting each foot, the feet are divided into two parts of a front foot and a rear foot, and the two parts are distributed at the front end and the rear end of the connecting members along the advancing direction of the multi-foot robot; each sole is provided with a steering engine, and the upper part of the steering wheel in the circumferential direction of the steering wheel is adhered with a sticker;
the robot also comprises a control module, and the control module realizes the bending of the flexible bending module as required by controlling the running states of a first speed reducing motor and a second speed reducing motor of the flexible bending structure; the control module controls the rudder disc to rotate so as to enable the sticker to be in contact with the ground as required.
Preferably, the multi-legged robot can be any one of two-legged, three-legged, four-legged, six-legged, eight-legged, ten-legged, and twelve-legged robots.
Preferably, the flexible bending structure is connected with the connecting member in a snap-in type connection.
The invention also provides a biped robot based on the flexible bending structure, which comprises: two feet, each foot comprising a flexible flexure mechanism; a connecting member for connecting each foot; the front foot and the rear foot each comprise one foot and are distributed at the front end and the rear end of the connecting member along the advancing direction of the biped robot.
The invention also provides a three-legged robot based on the flexible bending structure, which comprises: three legs, each leg comprising a flexible flexure mechanism; a connecting member for connecting each foot; the front foot comprises two feet, and the rear foot comprises one foot and is distributed at the front end and the rear end of the connecting component along the advancing direction of the three-legged robot.
The invention also provides a quadruped robot based on the flexible bending structure, which comprises: four feet, each foot comprising a flexible flexure mechanism; a connecting member for connecting each foot; the front foot comprises two feet, and the rear foot also comprises two feet which are distributed at the front end and the rear end of the connecting component along the advancing direction of the quadruped robot.
The object of the present invention can be further achieved by a crawling method of a multi-legged robot based on a flexible bending structure, comprising the following specific steps,
step one, the control module controls the steering wheel of the foot sole of the front foot to rotate, so that the rubber patch on the steering wheel is in contact with the ground, a large friction force is generated, the front foot is basically static, the control module controls the steering wheel of the foot sole of the rear foot to rotate, the rubber patch on the steering wheel is not in contact with the ground, and the rubber patch can normally move;
step two, the control module controls a first speed reducing motor and a second speed reducing motor of the flexible bending structures of the front foot and the rear foot to be started, the first connecting rope is stretched, the second connecting rope is tightened, the flexible bending modules of the front foot and the rear foot are bent, the front foot is static, and the rear foot moves forwards due to the bending of the flexible bending modules;
thirdly, the control module controls the steering wheel of the forefoot sole to rotate, so that the adhesive sticker on the steering wheel is not in contact with the ground and can normally move; the control module controls the steering wheel of the foot sole of the rear foot to rotate, so that the rubber paste on the steering wheel is contacted with the ground, and a large friction force is generated, so that the rear foot is basically static;
fourthly, the control module controls a first speed reducing motor and a second speed reducing motor of the flexible bending structures of the front foot and the rear foot to be started, the first connecting rope is tightened, the second connecting rope is stretched, the flexible bending modules of the front foot and the rear foot are restored to the straightening state, and the front foot moves forwards due to the fact that the flexible bending modules of the front foot and the rear foot are restored to the straightening state; the hindfoot remains stationary;
and repeating the first step to the fourth step to realize the sequential static and movement of the front foot and the rear foot and finish the continuous advancing of the robot.
The invention at least comprises the following beneficial effects: the invention adopts the bionic marine organism advancing mode, and improves the advancing stability of the multi-legged robot on different road conditions. Meanwhile, the multi-legged robot has a large load, and can be matched with a series of sensors such as a camera and recording equipment to complete investigation and exploration operations.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a schematic diagram of a flexible flexure mechanism according to an embodiment of the invention;
fig. 2 is a schematic structural diagram of a quadruped robot in one embodiment of the present invention.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1 and 2, a quadruped robot based on a flexible bending structure comprises four feet 6-1, 6-2, 8-1 and 8-2, wherein each foot comprises a flexible bending structure; the flexible bending structure comprises a soft body trunk 1 formed by sequentially and alternately connecting a plurality of hard outer frames 1-1 and a plurality of soft silica gel matrixes 1-2, wherein the front end and the rear end of the soft body trunk 1 are the soft silica gel matrixes 1-2, the outer sides of the soft silica gel matrixes 1-2 are fixedly connected with speed reduction motor fixing parts, the left side and the right side of a first speed reduction motor 2 are respectively provided with the speed reduction motor fixing parts 2-1 and 2-2, the left side and the right side of a second speed reduction motor 3 are respectively provided with the speed reduction motor fixing parts 3-1 and 3-2, and the first speed reduction motor 2 and the second speed reduction motor 3 are respectively and fixedly connected with the soft silica gel matrixes 1-2 at the front end and the rear end of the soft body trunk 1; the first gear motor 2 is connected with the gear motor fixing part 3-1 on the side surface of the second gear motor 3 through a first connecting rope 4, and the second gear motor 3 is connected with the gear motor fixing part 2-2 on the side surface of the first gear motor 2 through a second connecting rope 5;
the first speed reduction motor 2 and the second speed reduction motor 3 are both provided with a winder, the first connecting rope 4 is wound on the first speed reduction motor winder 2-3, the second connecting rope 5 is wound on the second speed reduction motor winder 3-3, the winding direction of the first connecting rope 4 on the first speed reduction motor winder 2-3 is the same as the winding direction of the second connecting rope 5 on the second speed reduction motor winder 3-3, for example, the first connecting rope 4 is wound on the first speed reduction motor winder 2-3 anticlockwise, and the second connecting rope 5 is also wound on the second speed reduction motor winder 3-3 anticlockwise; the first connecting rope 4 is wound clockwise on the first gear motor winder 2-3, and the second connecting rope 5 is also wound clockwise on the second gear motor winder 3-3.
A connecting member 7, the connecting member 7 is used for connecting four feet 6-1, 6-2, 8-1, 8-2; the front foot comprises two feet 6-1 and 6-2, and the rear foot also comprises two feet 8-1 and 8-2 which are distributed at the front end and the rear end of the connecting component 7 along the advancing direction of the quadruped robot. Each sole part is provided with a steering engine 9, and the upper part of the steering wheel in the circumferential direction of the steering wheel is adhered with a sticker 10;
the robot also comprises a control module, and the control module realizes the bending of the flexible bending module as required by controlling the running states of the first speed reducing motor 2 and the second speed reducing motor 3 of the flexible bending structure; the control module controls the rudder disc to rotate so as to enable the sticker to be in contact with the ground as required.
In the technical scheme, the crawling method of the quadruped robot based on the flexible bending structure comprises the following specific steps:
firstly, the control module controls the steering wheel of the soles of the front feet 6-1 and 6-2 to rotate, so that the rubber paste 10 on the steering wheel is contacted with the ground to generate a large friction force, the front feet 6-1 and 6-2 are basically static, the control module controls the steering wheel of the soles of the rear feet 8-1 and 8-2 to rotate, and the rubber paste 10 on the steering wheel is not contacted with the ground and can normally move;
step two, the control module controls the first speed reducing motor 2 and the second speed reducing motor 3 of the flexible bending structures of the front feet 6-1 and 6-2 and the rear feet 8-1 and 8-2 to be started, the first connecting rope 4 is stretched, the second connecting rope 5 is tightened, the flexible bending modules of the front feet 6-1 and 6-2 and the rear feet 8-1 and 8-2 are bent, the front feet 6-1 and 6-2 are static, and the rear feet 8-1 and 8-2 move forwards due to the bending of the flexible bending modules;
thirdly, the control module controls the steering wheel of the soles of the front feet 6-1 and 6-2 to rotate, so that the adhesive sticker 10 on the steering wheel is not in contact with the ground and can normally move; the control module controls the rotation of the steering wheel of the soles of the rear feet 8-1 and 8-2 to realize that the sticker 10 on the steering wheel is in contact with the ground to generate larger friction force so that the rear feet 8-1 and 8-2 are basically static;
fourthly, the control module controls the first speed reducing motor 2 and the second speed reducing motor 3 of the flexible bending structures of the front feet 6-1 and 6-2 and the rear feet 8-1 and 8-2 to be started, the first connecting rope 4 is tightened, the second connecting rope 5 is stretched, the flexible bending modules of the front feet 6-1 and 6-2 and the rear feet 8-1 and 8-2 are restored to the straightening state, and the front feet 6-1 and 6-2 move forwards due to the restoration of the flexible bending modules to the straightening state; the hind feet 8-1, 8-2 remain stationary;
and repeating the first step to the fourth step to realize the sequential static and movement of the front feet 6-1 and 6-2 and the rear feet 8-1 and 8-2 and finish the continuous advancing of the robot.
In another example, the multi-legged robot can be any one of a two-legged, three-legged, six-legged, eight-legged, ten-legged, twelve-legged robot. Also, this manner is merely an illustration of a preferred example, but not limited thereto. In the implementation of the invention, the mode can be implemented according to the requirements of users.
One implementation manner of the connecting member 7 in the above scheme is as follows: the flexible bending structure is connected with the connecting component 7 in a snap-in connection structure. The adoption of the scheme enables the connection to be more flexible.
One implementation manner of the biped robot based on the flexible bending structure in the above scheme is as follows: two feet, each foot comprising a flexible flexure mechanism;
a connecting member for connecting each foot; the front foot and the rear foot each comprise one foot and are distributed at the front end and the rear end of the connecting member along the advancing direction of the biped robot.
One implementation manner of the flexible bending structure-based three-legged robot in the above scheme is as follows: three legs, each leg comprising a flexible flexure mechanism;
a connecting member for connecting each foot; the front foot comprises two feet, and the rear foot comprises one foot and is distributed at the front end and the rear end of the connecting component along the advancing direction of the three-legged robot.
The number of apparatuses and the scale of the process described herein are intended to simplify the description of the present invention. Applications, modifications and variations of the present invention will be apparent to those skilled in the art.
As mentioned above, the invention adopts the bionic marine organism advancing mode, and improves the advancing stability of the multi-legged robot on different road conditions. Meanwhile, the multi-legged robot has a large load, and can be matched with a series of sensors such as a camera and recording equipment to complete investigation and exploration operations.
While embodiments of the invention have been disclosed above, it is not intended to be limited to the uses set forth in the specification and examples. It can be applied to all kinds of fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. It is therefore intended that the invention not be limited to the exact details and illustrations described and illustrated herein, but fall within the scope of the appended claims and equivalents thereof.
Claims (7)
1. A multi-legged robot based on a flexible bending structure is characterized by comprising,
at least two feet, each foot comprising a flexible flexure mechanism; the flexible bending structure comprises a soft body trunk formed by sequentially and alternately connecting a plurality of hard outer frames and a plurality of soft silica gel matrixes, the front end and the rear end of the soft body trunk are both the soft silica gel matrixes, the outer side of each soft silica gel matrix is fixedly connected with a speed reduction motor fixing part, and a first speed reduction motor and a second speed reduction motor are respectively and fixedly connected with the soft silica gel matrixes at the front end and the rear end of the soft body trunk; the first gear motor is connected with the gear motor fixing part on the side surface of the second gear motor through a first connecting rope, and the second gear motor is connected with the gear motor fixing part on the side surface of the first gear motor through a second connecting rope;
the first speed reduction motor and the second speed reduction motor are both provided with a winder, the first connecting rope is wound on the winder of the first speed reduction motor, the second connecting rope is wound on the winder of the second speed reduction motor, and the winding directions of the first connecting rope and the second connecting rope on the winder are the same;
the connecting members are used for connecting each foot, the feet are divided into two parts of a front foot and a rear foot, and the two parts are distributed at the front end and the rear end of the connecting members along the advancing direction of the multi-foot robot; each sole is provided with a steering engine, and the upper part of the steering wheel in the circumferential direction of the steering wheel is adhered with a sticker;
the robot also comprises a control module, and the control module realizes the bending of the flexible bending module as required by controlling the running states of a first speed reducing motor and a second speed reducing motor of the flexible bending structure; the control module controls the rudder disc to rotate so as to enable the sticker to be in contact with the ground as required.
2. The multi-legged robot based on a flexible bending structure according to claim 1, characterized in that the multi-legged robot can be any one of a two-legged, three-legged, four-legged, six-legged, eight-legged, ten-legged, and twelve-legged robot.
3. The multi-legged robot based on flexible bending structure according to claim 1, characterized in that the flexible bending structure is connected with the connecting member in a snap-in connection structure.
4. A biped robot based on a flexible bending structure is characterized by comprising,
two feet, each foot comprising a flexible flexure mechanism;
a connecting member for connecting each foot; the front foot and the rear foot each comprise one foot and are distributed at the front end and the rear end of the connecting member along the advancing direction of the biped robot.
5. A three-legged robot based on a flexible bending structure, comprising:
three legs, each leg comprising a flexible flexure mechanism;
a connecting member for connecting each foot; the front foot comprises two feet, and the rear foot comprises one foot and is distributed at the front end and the rear end of the connecting component along the advancing direction of the three-legged robot.
6. A quadruped robot based on a flexible bending structure, which is characterized by comprising:
four feet, each foot comprising a flexible flexure mechanism;
a connecting member for connecting each foot; the front foot comprises two feet, and the rear foot also comprises two feet which are distributed at the front end and the rear end of the connecting component along the advancing direction of the quadruped robot.
7. A crawling method of the multi-legged robot based on flexible bending structure as claimed in any one of claims 1 to 6, comprising the following specific steps,
step one, the control module controls the steering wheel of the foot sole of the front foot to rotate, so that the rubber patch on the steering wheel is in contact with the ground, a large friction force is generated, the front foot is basically static, the control module controls the steering wheel of the foot sole of the rear foot to rotate, the rubber patch on the steering wheel is not in contact with the ground, and the rubber patch can normally move;
step two, the control module controls a first speed reducing motor and a second speed reducing motor of the flexible bending structures of the front foot and the rear foot to be started, the first connecting rope is stretched, the second connecting rope is tightened, the flexible bending modules of the front foot and the rear foot are bent, the front foot is static, and the rear foot moves forwards due to the bending of the flexible bending modules;
thirdly, the control module controls the steering wheel of the forefoot sole to rotate, so that the adhesive sticker on the steering wheel is not in contact with the ground and can normally move; the control module controls the steering wheel of the foot sole of the rear foot to rotate, so that the rubber paste on the steering wheel is contacted with the ground, and a large friction force is generated, so that the rear foot is basically static;
fourthly, the control module controls a first speed reducing motor and a second speed reducing motor of the flexible bending structures of the front foot and the rear foot to be started, the first connecting rope is tightened, the second connecting rope is stretched, the flexible bending modules of the front foot and the rear foot are restored to the straightening state, and the front foot moves forwards due to the fact that the flexible bending modules of the front foot and the rear foot are restored to the straightening state; the hindfoot remains stationary;
and repeating the first step to the fourth step to realize the sequential static and movement of the front foot and the rear foot and finish the continuous advancing of the robot.
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