CN102910219B - Differential guiding device for leg of multi-legged robot - Google Patents
Differential guiding device for leg of multi-legged robot Download PDFInfo
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- CN102910219B CN102910219B CN201210424885.9A CN201210424885A CN102910219B CN 102910219 B CN102910219 B CN 102910219B CN 201210424885 A CN201210424885 A CN 201210424885A CN 102910219 B CN102910219 B CN 102910219B
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Abstract
The invention relates to a differential guiding device for a leg of a multi-legged robot, and the device comprises a flexible leg, a rigid guiding post, a spring, an electromagnet and an end cover, wherein the top of the flexible leg is connected with the end cover; the rigid guiding post, the spring and the electromagnet are arranged in the flexible leg from the bottom up in sequence; lugs are arranged on the side face of the rigid guiding post; cross slots protruding from the lugs are fixed on a rack at the leg of the robot; the spring is connected with the rigid guiding post; the electromagnet is connected with a control circuit by a wire; when the robot is required to turn, the control circuit controls the electromagnet in the leg of the robot on the side to be powered on; an adsorption force is generated by the electromagnet to absorb the rigid guiding post to ascend; at the moment, the lower part of the flexible leg touches the ground; the flexible leg performs flexural deformation; and the effective length of the leg is reduced, so that an advancing step length of the leg is reduced, and a turning action is accomplished. Compared with the prior art, the differential guiding device has the advantages of compact structure, quickness in adjustment, good ground adaptivity and the like; turning of the legged robot can be realized; and the walking performance can be improved effectively.
Description
Technical field
The invention belongs to bio-robot field, relate in particular to the differential guide piece of a kind of multi-foot robot shank.
Background technology
The dexterity action that bio-robot has has great help for the mankind's production and scientific research activity, and bio-robot becomes an important directions in current robot research field.
Multi-foot robot is as the important component part of bio-robot, and it has agility, alerting ability and the powerful adaptive ability under complex-terrain.With respect to wheeled or caterpillar type robot, legged type robot has better exercise performance exceeding in the massif of earth top 50% and marsh.Foot mechanism, as the component part of legged type robot, has extremely important impact to the performance of robot.
Calendar year 2001, University of Michigan develops a kind of novel multi-foot robots that drive more, and every leg all arranges a driving.When turning, drive and change gait by the motor carrying on every leg, realize and turning.Many drivings realize turning needs more motors, has increased fuselage weight, and capacity usage ratio is not high, is unfavorable for motion agility.Realize the turning of single driving multi-foot robot is also one of focus of robot research concern always.2010, University of California Berkeley developed single driving multi-foot robot, shape of leg in foot embedding marmem changes walking process, and then change step-length, realize and turning.But marmem needs current flow heats, the existence of time of heat makes the shank deformation process time longer, can not realize rapid turning.Domestic scholars has also been developed all kinds of legged type robots.2002, the six sufficient microrobots that Shanghai Communications University proposes, still can not realize turning function and walking stability is not strong.
Summary of the invention
Object of the present invention be exactly provide a kind of compact conformation in order to overcome the defect that above-mentioned prior art exists, adjust rapidly, single differential guide piece of multi-foot robot shank that drives that ground adaptivity is good, it can be realized the turning of legged type robot and effectively improve the walking performance in rough terrain.
Object of the present invention can be achieved through the following technical solutions:
The differential guide piece of a kind of multi-foot robot shank, this device comprises flexible leg, rigidity guide pillar, spring, electromagnet and end cap, described flexible leg is hollow structure, the top of flexible leg is connected with end cap by screw, the top of flexible leg offers cross recess, the inside of flexible leg is provided with rigidity guide pillar from down to up successively, spring and electromagnet, the side of described rigidity guide pillar is provided with hanger, hanger stretches out cross recess and is fixed in robot leg frame, described spring is connected with rigidity guide pillar, described electromagnet is connected with control circuit by electric wire, the hand-held remote controller of control circuit and robot carries out communication by infrared signal, the electromagnetic force of the current control electromagnet of adjusting control circuit, thereby change the stretched length of spring, change the height of rigidity guide pillar in the flexible leg of multi-foot robot shank with this, change the rigidity of flexible leg bottom,
In the time that robot need to turn to, the electromagnet energising of this side robot leg of control circuit control, electromagnet after energising produces adsorption affinity, attract rigidity guide pillar to rise along cross recess, now contact to earth in flexible leg bottom, and flexible leg produces flexural deformation, and shank effective length is shortened, thereby the step-length that this leg is advanced reduces, produce the behavior that turns to.
The bottom of described flexible leg is the flexible position of being made up of semi-solid preparation glass fibre flexible material, and flexible leg contacts with ground, can play the effect of buffering, damping to the impact from ground, vibrations, improves robot ambulation stability.
The top of described flexible leg is provided with stepped hole, and described electromagnet is located in stepped hole.
The surrounding of described rigidity guide pillar is provided with cross page, and described hanger is located on cross page, coordinates with cross recessed on flexible leg by cross page, and the movement to rigidity guide pillar in flexible leg plays guiding, stabilization.
Described rigidity guide pillar is made up of carbon steel.
Described electromagnet is cylindrical electromagnet, the controlled circuit control of magnetic force of electromagnet.
When multi-foot robot straight line moving, do not need to change the rigidity of shank, therefore electromagnet is all in "on" position not, and flexible leg bottom and rigidity guide pillar land simultaneously, and now many leg rigidity are identical.Multi-foot robot is kept straight on forward according to triangle gait.Because the part of contacting to earth is for flexible leg, even walk on rugged road surface, robot still has good stability.
Multi-foot robot can turn to left and right both direction.When multi-foot robot need left-handed turning to time, the electromagnet energising of control circuit control left legportion, electromagnet produces adsorption affinity, attracts rigidity guide pillar to rise along cross recess, now contact to earth in the flexible position of left legportion flexible leg the latter half.Due to the strong effect of the flexible portion contacting to earth and ground, shank integral rigidity reduces, and causes flexible portion to produce flexural deformation, and then reduces the step-length that left side leg advances, and produces left-hand rotation behavior.
When multi-foot robot need right-hand turning to time, the electromagnet energising of control circuit control leg portion, electromagnet produces adsorption affinity, attracts rigidity guide pillar to rise along cross recess, now the flexible portion of leg portion flexible leg the latter half contacts to earth.Due to the strong effect of the flexible portion contacting to earth and ground, shank integral rigidity reduces, and causes flexible portion to produce flexural deformation, and then reduces the step-length that right side leg is advanced, and produces right-hand rotation behavior.
According to road surface situation, the radius size turning to is controlled.When Turning radius is large, the received current of control circuit control electromagnet is larger, and electromagnet produces larger suction, therefore rigidity guide pillar climb is larger, and the flexible portion length contacting with ground is longer, makes the stiffness degradation of whole piece leg larger, be out of shape more remarkable, Turning radius thereby larger.
After the divertical motion needing finishes, control circuit can be controlled the received current that disconnects electromagnet, and rigidity guide pillar returns to the state while energising under the elastic force effect of spring, and multi-foot robot can continue straight line moving.
Compared with prior art, the present invention has the following advantages and beneficial effect:
(1) the present invention, by adopting the differential guide piece of multi-foot robot shank, has realized single driving multi-foot robot and has turned and improve terrain self-adaptive.
(2) device of the present invention adopts electromagnet and physical construction guiding rigidity guide pillar to stretch, and causes that shank integral rigidity changes, and causes that both sides step-length differs, and realizes guiding requirement.
(3) electromagnet is connected with control circuit, and capable of regulating magnetic force size changes rigidity guide pillar upward stroke, can make the length of Coupled Rigid-flexible part meet necessary requirement.
(4) flexible leg bottom adopts semi-solid preparation glass fibre flexible material, in the process of walking, can play the effect of damping, buffering.
(5) control process of the present invention is simple, and compact overall structure has alleviated shank weight, and adopts flexible body kiss the earth, improves fuselage walking stability.
Due to above feature, the present invention can be applied in the multi-foot robot using under complex-terrain, such as the legged type robot using in disaster search and rescue, exploration and military affairs.
Brief description of the drawings
Fig. 1 is the present invention and robot leg frame connecting structure schematic diagram;
Fig. 2 is main TV structure schematic diagram of the present invention;
Fig. 3 is plan structure schematic diagram of the present invention;
Fig. 4 is decomposition texture schematic diagram of the present invention.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Embodiment
The differential guide piece of a kind of multi-foot robot shank, structure as shown in Figure 1 to 4, this device comprises flexible leg 1, rigidity guide pillar 2, spring 3, electromagnet 4 and end cap 5, flexible leg 1 is hollow structure, the top of flexible leg 1 is connected with end cap 5 by screw 6, the top of flexible leg 1 is provided with cross recess, the bottom of flexible leg 1 is flexible position, the inside of flexible leg 1 is provided with rigidity guide pillar 2 from down to up successively, spring 3 and electromagnet 4, the side of rigidity guide pillar 2 is provided with hanger 21, hanger 21 stretches out cross recess and is fixed in robot leg frame, spring 3 is connected with rigidity guide pillar 2, electromagnet 4 is connected with control circuit by electric wire, the hand-held remote controller of control circuit and robot carries out communication by infrared signal, the electromagnetic force of the current control electromagnet 4 of adjusting control circuit, thereby change the stretched length of spring 3, change the height of rigidity guide pillar 2 in the flexible leg 1 of multi-foot robot shank with this, change the rigidity of flexible leg 1 bottom.
The bottom of flexible leg 1 is the flexible position of being made up of semi-solid preparation glass fibre flexible material, flexible leg 1 contacts with ground, can play the effect of buffering, damping to the impact from ground, vibrations, improve robot ambulation stability, the top of flexible leg 1 is provided with stepped hole 11, and electromagnet 4 is located in stepped hole 11.The surrounding of rigidity guide pillar 2 is provided with cross page, and hanger 21 is located on cross page, coordinates with cross recessed on flexible leg 1 by cross page, and the movement to rigidity guide pillar 2 in flexible leg 1 plays guiding, stabilization.Rigidity guide pillar 2 is made up of carbon steel.Electromagnet 4 is cylindrical electromagnet, the controlled circuit control of magnetic force of electromagnet 4.
In the time that robot need to turn to, the electromagnet 4 of this side robot leg of control circuit control is switched on, electromagnet 4 after energising produces adsorption affinity, attract rigidity guide pillar 2 to rise along cross recess, now contact to earth in flexible leg 1 bottom, and the flexible position of flexible leg 1 produces flexural deformation, and shank effective length is shortened, thereby the step-length that this leg is advanced reduces, produce the behavior that turns to.
When multi-foot robot straight line moving, do not need to change the rigidity of shank, therefore electromagnet is all in "on" position not, and flexible leg 1 bottom and rigidity guide pillar 2 land simultaneously, and now many leg rigidity are identical.Multi-foot robot is kept straight on forward according to triangle gait.Because the part of contacting to earth is for flexible leg 1, even walk on rugged road surface, robot still has good stability.
Multi-foot robot can turn to left and right both direction.When multi-foot robot need left-handed turning to time, the electromagnet 4 of control circuit control left legportion is switched on, electromagnet 4 produces adsorption affinity, attracts rigidity guide pillar 2 to rise along cross recess, now contact to earth in the flexible position of left legportion flexible leg 1 the latter half.Due to the strong effect of the flexible portion contacting to earth and ground, shank integral rigidity reduces, and causes flexible portion to produce flexural deformation, and then reduces the step-length that left side leg advances, and produces left-hand rotation behavior.
When multi-foot robot need right-hand turning to time, the electromagnet 4 of control circuit control leg portion is switched on, electromagnet 4 produces adsorption affinity, attracts rigidity guide pillar 2 to rise along cross recess, now the flexible portion of leg portion flexible leg 1 the latter half contacts to earth.Due to the strong effect of the flexible portion contacting to earth and ground, shank integral rigidity reduces, and causes flexible portion to produce flexural deformation, and then reduces the step-length that right side leg is advanced, and produces right-hand rotation behavior.
According to road surface situation, the radius size turning to is controlled.When Turning radius is large, the received current of control circuit control electromagnet 4 is larger, and electromagnet 4 produces larger suction, therefore rigidity guide pillar 2 climbs are larger, and the flexible portion length contacting with ground is longer, make the stiffness degradation of whole piece leg larger, be out of shape more remarkable, Turning radius thereby larger.
After the divertical motion needing finishes, control circuit can be controlled the received current that disconnects electromagnet 4, and rigidity guide pillar 2 returns to the state while energising under the elastic force effect of spring 3, and multi-foot robot can continue straight line moving.
Claims (6)
1. the differential guide piece of multi-foot robot shank, it is characterized in that, this device comprises flexible leg (1), rigidity guide pillar (2), spring (3), electromagnet (4) and end cap (5), described flexible leg (1) is hollow structure, the top of flexible leg (1) is connected with end cap (5), the top of flexible leg (1) offers cross recess, the inside of flexible leg (1) is provided with rigidity guide pillar (2) from down to up successively, spring (3) and electromagnet (4), the side of described rigidity guide pillar (2) is provided with hanger (21), hanger (21) stretches out cross recess and is fixed in robot leg frame, described spring (3) is connected with rigidity guide pillar (2), described electromagnet (4) is connected with control circuit by electric wire, the hand-held remote controller of control circuit and robot carries out communication by infrared signal,
In the time that robot need to turn to the left or to the right, electromagnet (4) energising of control circuit control left side or leg portion, electromagnet (4) after energising produces adsorption affinity, attract rigidity guide pillar (2) to rise along cross recess, now contact to earth in flexible leg (1) bottom, and flexible leg (1) produces flexural deformation, and shank effective length is shortened, thereby the step-length that left side or right side leg are advanced reduces, produce the behavior that turns to.
2. the differential guide piece of a kind of multi-foot robot shank according to claim 1, is characterized in that, the bottom of described flexible leg (1) is the flexible position of being made up of semi-solid preparation glass fibre flexible material.
3. the differential guide piece of a kind of multi-foot robot shank according to claim 1, it is characterized in that, the top of described flexible leg (1) is provided with stepped hole (11), and described electromagnet (4) is located in stepped hole (11).
4. the differential guide piece of a kind of multi-foot robot shank according to claim 1, it is characterized in that, the surrounding of described rigidity guide pillar (2) is provided with cross page, described hanger (21) is located on cross page, cross page matches with the upper cross recess of flexible leg (1), and the movement to rigidity guide pillar (2) in flexible leg (1) plays guiding, stabilization.
5. the differential guide piece of a kind of multi-foot robot shank according to claim 1, is characterized in that, described rigidity guide pillar (2) is made up of carbon steel.
6. the differential guide piece of a kind of multi-foot robot shank according to claim 1, is characterized in that, described electromagnet (4) is cylindrical electromagnet, the controlled circuit control of magnetic force of electromagnet (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210424885.9A CN102910219B (en) | 2012-10-30 | 2012-10-30 | Differential guiding device for leg of multi-legged robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210424885.9A CN102910219B (en) | 2012-10-30 | 2012-10-30 | Differential guiding device for leg of multi-legged robot |
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| Publication Number | Publication Date |
|---|---|
| CN102910219A CN102910219A (en) | 2013-02-06 |
| CN102910219B true CN102910219B (en) | 2014-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210424885.9A Expired - Fee Related CN102910219B (en) | 2012-10-30 | 2012-10-30 | Differential guiding device for leg of multi-legged robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112607059B (en) * | 2020-12-04 | 2022-11-08 | 清华大学 | Form-variable rigidity-variable asteroid hopping robot |
| CN115447691B (en) * | 2022-09-01 | 2023-06-02 | 南京信息工程大学 | Foot end mechanism with variable rigidity |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2686971Y (en) * | 2004-04-08 | 2005-03-23 | 辽宁工程技术大学 | Cam-changing three joint mechanical leg |
| CN201128445Y (en) * | 2007-10-29 | 2008-10-08 | 何胜权 | Four-foot running mechanism |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60104474A (en) * | 1983-11-09 | 1985-06-08 | Nippon Kokan Kk <Nkk> | Walking device |
| JP3691434B2 (en) * | 2001-12-25 | 2005-09-07 | 本田技研工業株式会社 | Landing shock absorber for legged mobile robot |
| JP4274181B2 (en) * | 2006-01-12 | 2009-06-03 | トヨタ自動車株式会社 | Legged robot |
| JP4458049B2 (en) * | 2006-03-01 | 2010-04-28 | トヨタ自動車株式会社 | Legged robot |
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- 2012-10-30 CN CN201210424885.9A patent/CN102910219B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2686971Y (en) * | 2004-04-08 | 2005-03-23 | 辽宁工程技术大学 | Cam-changing three joint mechanical leg |
| CN201128445Y (en) * | 2007-10-29 | 2008-10-08 | 何胜权 | Four-foot running mechanism |
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| CN102910219A (en) | 2013-02-06 |
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Granted publication date: 20141210 Termination date: 20171030 |