CN102107685A - Six-foot robot with eccentric wheel legs - Google Patents
Six-foot robot with eccentric wheel legs Download PDFInfo
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Abstract
The invention provides a six-foot robot with eccentric wheel legs, which uses eccentric wheel structures as legs, wherein a machine body structure is symmetrically designed and is flat, long and narrow. The robot comprises a machine body frame, eccentric wheels, a motor, a power source, a photoelectric encoder, a control circuit and a remote controller. The robot can overcome power consumption and severe oscillation of a conventional leg structure, and ensure the function integrity of moving forwards and backwards as well as steering leftwards and rightwards. The robot is strong in ground surface adaptability; the relatively wide eccentric wheel legs are suitable for even rigid ground surface, and are also capable of walking on the ground surfaces such as lawn, sandy beach, broken stone and the like; and the robot is strong in barrier detouring capability and is capable of easily detouring a barrier that is slightly lower than the machine body.
Description
Technical field
The invention belongs to the mobile robot field, be specifically related to the traveling gear of multi-foot robot, particularly six sufficient mobile robots.
Background technology
Multi-foot robot is the important branch in mobile robot field, traveling gear and the gait of the bionical Hexapoda insect of six biped robots wherein, with its powerful landform comformability, redundancy structure and the gait planning method that reaches its maturity, become the primary study object in mobile robot field.Developed countries such as U.S., day, moral just begin the research and development of large scale investment six biped robots from the eighties of last century the eighties.So far, six biped robots have been successfully applied to a plurality of fields such as celestial body detecting, land mine are explosive, habitata, fire-fighting rescue.Along with further developing of material science, control theory and embedded technology, the research of six biped robots also has very wide prospect with application.
Existing six biped robots can be divided into single driving and individual drive from drive configuration.Adopt the robot institute of single drive mode dynamic, drive the action of six legs by the drive mechanism of complexity simultaneously only from a motor.The advantage of this mode is that fuselage is light, and control circuit is simple, and cost is low; Shortcoming is mechanism's complexity, and step is single, and poor controllability has weakened this powerful advantage of six biped robot landform comformabilitys greatly.Every the leg of robot that adopts the individual drive mode is controlled the harmonious gait of finishing of each leg by controller and is moved by at least one motor independent drive.The advantage of this mode is the controllability height, and is flexible good, guaranteed the landform comformability and the redundancy of robot; Shortcoming is the cost height, control circuit complexity, fuselage heaviness.But along with the appearance of new material, small size, high-performance motor and the high-capacity battery of high density occur, and airframe structure also can adopt materials such as the lighter alloy of quality, resin, and heavy this shortcoming of fuselage improves.
Summary of the invention
The objective of the invention is to provide the six sufficient mobile robots that a kind of mechanism is succinct, face of land comformability is good, obstacle climbing ability is strong.
Eccentric wheel leg six biped robots that the present invention proposes are made of hand-held remote controller and robot body; Described robot body comprises fuselage ring, walking leg, motor, power supply, photoelectric encoder and control circuit.
Described motor, power supply and control circuit are fixedly mounted in the fuselage ring.Adopt the eccentric wheel structure form, be installed on the output shaft of motor, and the symmetrical left and right sides that is positioned at fuselage ring, forming three groups, the corresponding eccentric wheel of motor adopts the individual drive mode.
Described fuselage ring the same side eccentric wheel that is positioned at is staggeredly arranged about the position between the adjacent eccentric wheel, can avoid mutual interference like this, reduces the volume of robot.Describedly eccentricly take turns widely, can increase the contact surface with the flexible face of land, improve face of land comformability in the 10mm-15mm scope.Described fuselage ring integral body is flat sleeve configuration, makes it more stable.
Described power supply is connected with motor by power lead, and control circuit is connected with motor by control line.Corresponding each eccentric wheel of photoelectric encoder respectively is provided with one, its signal output wire joint control circuit.Control circuit and hand-held remote controller carry out communication by infrared signal.
Described control circuit is made up of MCU and peripheral circuit, driving circuit, infrared communication acceptor circuit.Described photoelectric encoder is totally 6 covers, and structure is all the same, all code-disc, infrared receiving/transmission pipe and amplification change-over circuit is made of.
Described remote controller is hand-held by the operating personal of these eccentric wheel leg six biped robots, and each function key and directionkeys are all around arranged above, and by infrared signal and the communication of robot own.
The present invention has following characteristics:
1, adopt the walking leg structure of eccentric wheel type, can cushion traditional leg structure and directly jump to the power consumption vibration that maximum load is brought by zero load, also can guarantee simultaneously robot advance, retreat, about turn to functional completeness.
2, the fuselage agent structure is flat sleeve configuration, and the airframe structure symmetry rollover takes place also can walk good stability.
3, eccentric wheel is positioned at about the employing of the same side and is in staggered distribution, and has guaranteed can not bump between each leg, and robot ambulation adopts bionical triangle gait; The robot fuselage ring adopts symmetrical structure and is flat long and narrow build,
4, robot adopts the individual drive mode, but the step pitch of dynamic adjustments robot and speed.
5, adopting the eccentric wheel leg of broad, increase and contact to earth area to adapt to the flexibility face of land and the rubble class face of land, not only be fit to the smooth hard face of land, can both walk in the faces of land such as meadow, sandy beach, rubble.
6, increase distance between the adjacent eccentric wheel leg of the homonymy axle center by being flat long and narrow body frame design,, thereby improve the speed of travel and obstacle climbing ability so that larger sized eccentric wheel leg is installed.
7, modular design, physical construction and each circuit module independent design adopt standard interface, convenient expansion and replacement.
8, each leg of robot adopts the individual drive mode, and controllability is good, dynamically adjusts the step pitch and the speed of robot in the time of can moving.
9, motor output shaft directly links to each other with leg, has simplified transmission device, has improved reliability.
Description of drawings
Fig. 1 is the integral structure figure of eccentric wheel leg six biped robots;
Fig. 2 is robot fuselage base arrangement figure;
Fig. 3 is a robot leg structure explosive view;
Fig. 4 is the robot circuit block diagram;
Fig. 5 is the robot control flow chart.
The specific embodiment
Referring to Fig. 1, Fig. 2 and Fig. 3, eccentric wheel leg six biped robots that the present invention proposes comprise fuselage ring, eccentric wheel 15, motor 9, power supply 19, photoelectric encoder 21, control circuit and remote controller 28.Eccentric wheel 15 is installed on the fuselage ring both sides for the walking leg; Motor, power supply 19, control circuit all are installed on fuselage ring inside; Remote controller 28 separates with robot body and is hand-held by robot manipulation person.
Wherein: the structure of described fuselage ring optimum is as follows: it is made up of top board 2, base plate 1 and 6 connecting panels 10, and integral body is flat sleeve configuration, and so both expendable weight had good stability again.Top board 2 is the same with the structure of base plate 1, is oblong, and both sides are uniform-distribution with 6 grooves 11, the installation site of respectively corresponding 6 eccentric wheel 15.Two grooves 11 in the middle of wherein being positioned at outwards protrude, and this projection 12 is wider than the width of eccentric wheel 15, so that stagger about the position between adjacent other two eccentric wheel 15 before and after the same side, do not bump.On each groove 11 inwall 2 tapped bore 13 are arranged all so that connect connecting panel 10.6 connecting panels 10 are connected and fixed top board 2 and base plate 1 by embedding groove 11, make the fuselage ring journey rectangular-shaped.All there is 1 macropore at each connecting panel 10 center, and 2 minor thread holes are arranged near the macropore, and these 3 holes are used for fixing motor 9 and photoelectric encoder 21.
Described eccentric wheel 3 has 6, and structure is all the same, is evenly distributed on the fuselage ring both sides, and is corresponding with the position of 6 grooves 11.The axle center of eccentric wheel 15 is positioned near the inside circumference, a through hole is arranged so that link to each other with 9 in motor on the axle center.Eccentric wheel 15 has the width of 10mm-15mm to adapt to flexibility ground.Hollow out with expendable weight in eccentric wheel 15 circles.
Described motor 9 has 6, has drop-gear box, and structure is all the same, is evenly distributed on 6 connecting panel 10 inboards of fuselage ring.The axle of motor 9 passes the macropore at corresponding connecting panel 10 centers and pierces into hole on the axle center of corresponding eccentric wheel 15, links to each other with eccentric wheel 15.Motor 9 is fixed on the fuselage ring by two 2 minor thread holes of connecting panel 10 centers.Gap between motor 9 and top board 2, the base plate 1 is with foam-filled, so that motor 9 is fixed and buffering vibrations.
Referring to Fig. 3, described photoelectric encoder 21 totally 6 covers, and structure is all the same, all by code-disc 17, infrared receiving/transmission to managing 16 and amplify change-over circuit 26 and form.6 code-discs 17 are separately fixed on 6 eccentric wheel 15 inboards, rotate with eccentric wheel 15.All there is a hole at every code-disc 17 centers, and concentric on size with the hole on the eccentric wheel 15, motor shaft 14 also can pass this hole.6 infrared receiving/transmissions are separately fixed on the outside of 6 connecting panels 10 managing 16, and are relative with code-disc 17 positions separately.Infrared receiving/transmission connects and amplifies change-over circuit 26 managing 16 signal wire (SW), amplifies change-over circuit 26 and converts the infrared signal that receives the output of to standard TTL electric signal.
Referring to Fig. 4, described control circuit is made up of MCU and peripheral circuit 18, driving circuit 20, infrared communication acceptor circuit 22.Described power supply 19 is made up of power supply adaptor 23, electric wire and mu balanced circuit 24.Power supply adaptor 23 exchanges 220V and is converted to the output of 12V direct current.Mu balanced circuit 24 part output 12V direct currents are for drive motor 9, and part output 5V uses for control circuit.
Described remote controller 28 is hand-held by the operating personal of these eccentric wheel leg six biped robots, and each function key and directionkeys are all around arranged above, and by infrared signal and the communication of robot own.
Described MCU and peripheral circuit 18 are connected with the amplification change-over circuit 26 of photoelectric encoder 21, the signal of photoelectric encoder 21 are discerned and are counted, to detect each eccentric wheel 15 state of living in; MCU and peripheral circuit 18 are connected with infrared communication acceptor circuit 22 again, infrared communication acceptor circuit 22 communicates with hand-held remote controller 28, the signal that receives is sent to MCU and peripheral circuit 18 after carrying out filtering, modulation, decoding, described MCU and peripheral circuit 18 connect driving circuit 20, the signal of 18 pairs of infrared communication acceptor circuits of MCU and peripheral circuit 22 input instructs identification, and carry out and this instructs cooresponding control program, each road control signal is exported to driving circuit 20, go to control motor 9 work by driving circuit 20.
Eccentric wheel leg six biped robots of the present invention have 6 kinds of manner of execution: reset, advance, retreat, flicker to, flicker to stop.6 each and every one eccentric wheel 15 of robot will be divided into two groups, and the front foot 3 in left side, metapedes 5 are divided into one group with the mesopodium 7 on the right, and the front foot 8 on the right, metapedes 6 are divided into one group with the mesopodium 4 on the left side.All there is one group of robot body that lands and support any time in the walking process, and another group is then stepped out forward.
The every row of robot all legs that make a move all can turn over a week.This cycle is divided into two stages to be controlled: leg built on stilts aloft revolving process is called the idle running stage, and the rotating speed of leg around its axle center is ω in this stage
0, i.e. motor 9 speeds without load.Leg kiss the earth drive machines people is called the driving stage at the walking stage, and the rotating speed of leg around its axle center is ω, ω and ω in this stage
0Satisfy relation:
Turning over angle is θ.
The driving stage is divided into general state, touchdown point state and liftoff point state again, the touchdown point state be leg just kiss the earth be about to enter the state of driving during the stage, the liftoff point state is that leg is about to built on stilts and enters the state of idle running during the stage.Two groups of eccentric two stages hocket mutually, final drive machines people walking.
Wherein θ is directly proportional with step pitch, speed, is inversely proportional to obstacle climbing ability.The scope of θ is [π/6,5 π/6], the speed of travel and obstacle climbing ability that the size of adjusting the θ angle promptly can control robot.
Automatically enter reset operation after robot brings into operation, whether reset operation will be tested each functional component working properly, and will be positioned over ground-surface robot arbitrarily and support, and each parts is in the readiness wait control signal.
After receiving progress signal, control circuit operation advancing algorithm routine, robot is walked forward, up to receiving other control signal.The algorithm routine that advances is as follows:
Initial condition: the front foot 3 in left side, metapedes 5 are in its touchdown point state with the mesopodium 7 on the right, and the front foot 8 on the right, metapedes 6 are in its liftoff point state with the mesopodium 4 on the left side.
The first step is provided with direction and speed: the front foot 3 on the left of being provided with, the motor of metapedes 5 clockwise rotate with the speed of ω, and mesopodium 7 motors on the right rotate counterclockwise with the speed of ω.Front foot 8 on the right of being provided with simultaneously, the motor of metapedes 6 are with ω
0Speed rotate counterclockwise, the motor of the mesopodium 4 on the left side is with ω
0Speed clockwise rotate.
In second step, the detection position: whether the front foot 3, the metapedes 5 that detect the left side arrive its liftoff point state with the motor of the mesopodium 7 on the right, if arrive then stop cooresponding motor immediately.Whether the front foot 8, the metapedes 6 that detect the right simultaneously arrive its touchdown point state with the motor of the mesopodium 4 on the left side, if arrive then stop cooresponding motor immediately.
In the 3rd step, direction and speed are set: the front foot 3 on the left of being provided with, the motor of metapedes 5 are with ω
0Speed clockwise rotate, the motor of the mesopodium 7 on the right is with ω
0Speed rotate counterclockwise, the motor that front foot 8, the metapedes 6 on the right are set simultaneously rotates counterclockwise with the speed of ω, the motor of the mesopodium 4 on the left side clockwise rotates with the speed of ω.
In the 4th step, the detection position: whether the front foot 3, the metapedes 5 that detect the left side arrive its touchdown point state with the motor of the mesopodium 7 on the right, if arrive then stop cooresponding motor immediately.Whether the front foot 8, the metapedes 6 that detect the right simultaneously arrive its liftoff point state with the motor of the mesopodium 4 on the left side, if arrive then stop cooresponding motor immediately.
The 5th step judged whether to receive new control signal, if, then stop to carry out the algorithm that advances, otherwise, turn back to the first step.
After receiving backing signal, control circuit operation backward algorithm program, robot is regression backward, up to receiving other control signal.The backward algorithm program is similar to the algorithm routine that advances, and different places is that each motor is opposite with hand of rotation in the algorithm that advances.
After receiving left direction signal, control circuit operation left steering algorithm routine, the robot flicker to, up to receiving other control signal, the left steering algorithm routine is as follows:
Initial condition: the front foot 3 in left side, metapedes 5 are in its touchdown point state with the mesopodium 7 on the right, and the front foot 8 on the right, metapedes 6 are in its liftoff point state with the mesopodium 4 on the left side.
The first step is provided with direction and speed: the motor of the mesopodium 7 on the front foot 3 on the left of being provided with, metapedes 5 and the right clockwise rotates with the speed of ω.The motor of the mesopodium 4 on the front foot 8 on the right of being provided with simultaneously, metapedes 6 and the left side clockwise rotates with the speed of ω 0.
In second step, the detection position: whether the front foot 3, the metapedes 5 that detect the left side arrive its liftoff point state with the motor of the mesopodium 7 on the right, if arrive then stop cooresponding motor immediately.Whether the front foot 8, the metapedes 6 that detect the right simultaneously arrive its touchdown point state with the motor of the mesopodium 4 on the left side, if arrive then stop cooresponding motor immediately.
In the 3rd step, direction and speed are set: the motor of the mesopodium 7 on the front foot 3 on the left of being provided with, metapedes 5 and the right clockwise rotates with the speed of ω 0.The motor of the mesopodium 4 on the front foot 8 on the right of being provided with simultaneously, metapedes 6 and the left side clockwise rotates with the speed of ω.
In the 4th step, the detection position: whether the front foot 3, the metapedes 5 that detect the left side arrive its touchdown point state with the motor of the mesopodium 7 on the right, if arrive then stop cooresponding motor immediately.Whether the front foot 8, the metapedes 6 that detect the right simultaneously arrive its liftoff point state with the motor of the mesopodium 4 on the left side, if arrive then stop cooresponding motor immediately.
The 5th step judged whether to receive new control signal, if, then stop to carry out the left steering algorithm, otherwise, turn back to the first step.
After receiving the right steering signal, control circuit operation right steering algorithm routine, the robot flicker to, up to receiving other control signal.The right steering algorithm routine is similar to the left steering algorithm routine, and different places is that each motor is opposite with hand of rotation in the left steering algorithm.
After receiving danger signal, control circuit operation shutdown procedure: cancel the drive control signal that each road connects with driving circuit (20), cut off motor drive power supply.
Claims (7)
1. eccentric wheel leg six biped robots, it is made of hand-held remote controller (28) and robot body; It is characterized in that: described robot body comprises fuselage ring, walking leg, motor (9), power supply (19), photoelectric encoder (21) and control circuit;
Described motor (9), power supply (19) and control circuit are fixedly mounted in the fuselage ring; Described walking leg has six, adopts eccentric wheel (3) version, be installed on the output shaft of motor (9), and the symmetrical left and right sides that is positioned at fuselage ring, forming three groups, the corresponding eccentric wheel (15) of a motor (9) adopts the individual drive mode;
Described power supply (19) is connected with motor (9) by power lead, and control circuit is connected with motor (9) by control line;
Corresponding each eccentric wheel of described photoelectric encoder (21) (15) respectively is provided with one, its signal output wire joint control circuit;
Described control circuit and hand-held remote controller (28) carry out communication by infrared signal;
Described six eccentric wheel (15) are divided into two groups, an eccentric wheel of the forward and backward eccentric wheel in left side and the centre on right side is divided into one group, an eccentric wheel of the forward and backward eccentric wheel on right side and the centre on right side is divided into one group, all have one group of eccentric wheel (15) to land and support robot body by any time in the control circuit control walking process, another group eccentric wheel (15) is then stepped out forward.
2. eccentric wheel leg six biped robots according to claim 1 is characterized in that: the described fuselage ring the same side eccentric wheel (15) that is positioned at is staggeredly arranged about the position between the adjacent eccentric wheel (15).
3. eccentric wheel leg six biped robots according to claim 1 is characterized in that: the wheel of described eccentric wheel (15) is wide at 10mm-15mm.
4. eccentric wheel leg six biped robots according to claim 1 is characterized in that: described fuselage ring integral body is flat sleeve configuration.
5. according to each described eccentric wheel leg six biped robots of claim 1-4, it is characterized in that: described photoelectric encoder (21) is made up of pipe (16) and amplification change-over circuit (26) code-disc (17), infrared receiving/transmission; Described code-disc (17) is separately fixed at the inboard of eccentric wheel (15), rotate with eccentric wheel (3), infrared receiving/transmission is separately fixed on the fuselage ring pipe (16), relative with code-disc (17) position separately, infrared receiving/transmission connects amplification change-over circuit (26) to the signal wire (SW) of pipe (16), amplifies change-over circuit (26) and converts the infrared signal that receives the output of to standard TTL electric signal.
6. according to each described eccentric wheel leg six biped robots of claim 1-4, it is characterized in that: described control circuit comprises MCU and peripheral circuit (18), driving circuit (20), infrared communication acceptor circuit (22); Described MCU and peripheral circuit (18) are connected with the amplification change-over circuit (26) of photoelectric encoder (21), the signal of photoelectric encoder (21) are discerned and are counted, to detect each eccentric wheel (15) state of living in; MCU and peripheral circuit (18) are connected with infrared communication acceptor circuit (22) again, infrared communication acceptor circuit (22) communicates with hand-held remote controller (28), with the signal that receives through carrying out filtering, modulation, be sent to MCU and peripheral circuit (18) after the decoding, described MCU and peripheral circuit (18) connect driving circuit (20), MCU and peripheral circuit (18) instruct identification to the signal of infrared communication acceptor circuit (22) input, and carry out and this instructs cooresponding control program, each road control signal is exported to driving circuit (20), go to control motor (9) work by driving circuit (20).
7. according to each described eccentric wheel leg six biped robots of claim 1-4, it is characterized in that: described eccentric wheel leg six biped robots have six kinds of manner of execution: reset, advance, retreat, flicker to, flicker to stop; The every row of robot all legs that make a move all can turn over a week, and this cycle is divided into two stages controls: leg built on stilts aloft revolving process is called the idle running stage, and the rotating speed of leg around its axle center is ω in this stage
0, i.e. slip speed of the motor; Leg kiss the earth drive machines people is called the driving stage at the walking stage, and the rotating speed of leg around its axle center is ω, ω and ω in this stage
0Satisfy relation:
Turning over angle is θ, and the scope of θ is [π/6,5 π/6];
The driving stage is divided into general state, touchdown point state and liftoff point state again, the touchdown point state be leg just kiss the earth be about to enter the state of driving during the stage, the liftoff point state is that leg is about to built on stilts and enters the state of idle running during the stage, two groups of eccentric two stages hocket mutually, final drive machines people walking.
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| CN102490803A (en) * | 2011-12-02 | 2012-06-13 | 西南大学 | Wheel-type linked barrier-crossing traveling mechanism |
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| CN102582711A (en) * | 2012-03-20 | 2012-07-18 | 西南大学 | Body and linkage mechanism alternately-switched obstacle-surmounting traveling system |
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| CN103465787A (en) * | 2013-09-25 | 2013-12-25 | 西南大学 | Intrinsically safe robot motion platform |
| CN103465787B (en) * | 2013-09-25 | 2016-05-18 | 西南大学 | Essential safe type robot movement platform |
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| CN104118489A (en) * | 2014-08-14 | 2014-10-29 | 中煤科工集团重庆研究院有限公司 | Mining intrinsic safety detection robot based on eccentric wheel and leg type combination |
| CN104149873B (en) * | 2014-08-14 | 2016-03-16 | 中煤科工集团重庆研究院有限公司 | Portable mining intrinsic safety rescue detection robot |
| CN104149873A (en) * | 2014-08-14 | 2014-11-19 | 中煤科工集团重庆研究院有限公司 | Portable mining intrinsic safety rescue detection robot |
| CN104477826B (en) * | 2014-10-30 | 2017-11-10 | 中建二局第二建筑工程有限公司 | Remote controlled moving workbench |
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| CN104670355A (en) * | 2015-03-20 | 2015-06-03 | 西南大学 | Double-eccentric circle obstacle crossing assembly with variable eccentric distance and wheel-leg robot |
| CN104773221A (en) * | 2015-04-03 | 2015-07-15 | 西南大学 | Two-dimensional linkage obstacle-crossing walking mechanism |
| CN106080829A (en) * | 2016-06-25 | 2016-11-09 | 李玉婷 | A kind of Hexapod Robot |
| CN107097870A (en) * | 2017-03-29 | 2017-08-29 | 西南大学 | A kind of asymmetry triped gait walking mobile robot |
| CN107097870B (en) * | 2017-03-29 | 2019-04-30 | 西南大学 | A kind of asymmetry triped gait walking mobile robot |
| CN111839921A (en) * | 2020-08-04 | 2020-10-30 | 哈尔滨工业大学 | Offset planet wheel module |
| WO2023226389A1 (en) * | 2022-05-24 | 2023-11-30 | 浙大城市学院 | Eccentric hemisphere wheel-type self-adaptive robot |
| GB2624942A (en) * | 2022-05-24 | 2024-06-05 | Univ Zhejiang City College | Eccentric hemisphere wheel-type self-adaptive robot |
| CN115071852A (en) * | 2022-05-27 | 2022-09-20 | 王�琦 | Connecting rod wheel compound motion mechanism |
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