CN104118490B - Imitative lizard desert quadruped robot - Google Patents
Imitative lizard desert quadruped robot Download PDFInfo
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- CN104118490B CN104118490B CN201410323843.5A CN201410323843A CN104118490B CN 104118490 B CN104118490 B CN 104118490B CN 201410323843 A CN201410323843 A CN 201410323843A CN 104118490 B CN104118490 B CN 104118490B
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Abstract
The invention provides a kind of imitative lizard desert quadruped robot, including robot body, c-type leg structure and tail structure, c-type leg structure includes 2N c-type leg, 2N c-type leg is respectively by the both sides driving motor to be symmetricly set in robot body, tail structure is by swinging steering wheel and swing up and down steering wheel and have two frees degree, and is arranged at the centre position, rear end of robot body by the steering wheel that swings；The steering wheel and swing up and down steering wheel and be connected by wire with controller respectively of swinging driving motor and tail structure of c-type leg.The present invention can ensure relatively stable and quick walking states in desert Environment, stronger to desert Environment adaptive faculty.Reduce the leg pressure to the grains of sand, it is ensured that the sinkage that robot is less simultaneously.Tail structure not only acts as the effect of balance in robot traveling process that keeps flexibly, the most out of danger after robot can also be helped in addition to be absorbed in sand.
Description
Technical field
The present invention relates to a kind of robot of mechanical field, the imitative lizard particularly relating to the walking of a kind of applicable desert is husky
Unconcerned quadruped robot.
Background technology
Usually, desert robot is mainly wheeled and two kinds of structure compositions of multiple degrees of freedom foot formula.Wheeled construction is main
It is to reduce pressure by many wheel systems to allow the robot to move on sand more flexibly；Foot formula structure is main
For biological bionical, by the machine " pin that Level Multiple Degree of Freedom Structures control and sand ground contact area are bigger such as desert spider
The palm " reach to reduce the purpose of pressure.
At present, both the above structure has some more significantly shortcomings.Although on the one hand wheeled construction speed,
But be not suitable for crossing the landform that in desert, some are complex, run into rugged ground and be just difficult to pass through, and this kind of knot
Incriminate by foul means and sand is difficult to therefrom climb out of；On the other hand, multivariant sufficient formula structure speed is relatively slow and many
Joint energy ezpenditure is relatively large, but multi-joint can preferably complete as crossed some complicated grounds and from being absorbed in sand
Son the action such as climb out of.
Therefore, in order to improve robot adaptation situation in desert, the most novel adaptation desert robot
Mechanism is suggested in succession, such as, and roboticist's design at Canadian McGill University's intelligence machine center in 1999
Having gone out Hexapod Robot " Li Kesi ", introduced this concept of c-type leg for the first time, this robot passes through six C
Type leg, utilizes triped gait to be adapted to a variety of landform, and ensure that gait of march, this robot master
If in mountain region and some marshes, apply to less in desert but the prototype of desert etc robot.
It addition, imitate " the sand of desert cockroaches and lizard as the georgia ,U.S.A Institute of Technology in 2011 develops a kind of six foots
On fly " robot, this robot completes to walk in desert again by the triped gait of six c-type legs, and
And its relatively " Li Kesi " weight saving much can the most easily cross the soft ground such as the grains of sand.But do not have
Have to be absorbed in sand for robot climbing out of and be designed research.
Summary of the invention
The present invention is directed to above-mentioned deficiency present in prior art, it is provided that a kind of imitative lizard desert quadruped robot,
This imitative lizard desert quadruped robot, on the one hand can utilize the flexibility of self to ensure the fortune of fast and stable in sand
Dynamic, on the other hand can preferably solve robot by the help of additional tail structure and be absorbed in asking of climbing out of in sand
Topic.
The present invention is achieved by the following technical solutions.
A kind of imitative lizard desert quadruped robot, including robot body, c-type leg structure and tail structure, institute
Stating c-type leg structure and include 2N c-type leg, wherein N is natural number, and 2N c-type leg is respectively by driving motor
Being symmetricly set in the both sides of robot body two-by-two, described tail structure is by swinging steering wheel and swinging up and down rudder
Facility have two frees degree, and are arranged at the centre position, rear end of robot body by the steering wheel that swings.
Preferably, it is vertical with swinging up and down the steering wheel direction of motion to swing steering wheel described in.
Preferably, also include controller, described driving motor, swing steering wheel and controller is respectively arranged at
On robot body；Described driving motor, swing steering wheel and swing up and down steering wheel respectively with controller by leading
Line connects.
Preferably, described robot body uses plastic plate to make.
Preferably, described c-type leg is four, and four c-type legs are respectively arranged at four drift angle positions of robot body
Put.
Preferably, two the c-type legs arranged in diagonal angle are one group and move together.
Preferably, each c-type leg all uses polyformaldehyde material, and outside is equipped with skid resistant course.
Preferably, the length of described tail structure is basically identical with the length of robot body.
Preferably, described tail structure is provided with acceleration transducer, and described acceleration transducer is connected with controller,
Controller passes through the feedback of acceleration transducer and then adjusts the attitude of tail structure, makes robot body during advancing
Keep stable.
Preferably, described tail structure includes standing part and swing part, and described standing part is by the steering wheel that swings
Being connected to the centre position, rear end of robot body, described swing part is by swinging up and down steering wheel and fixed part split-phase
Connect.
Preferably, described tail structure also includes that end thin plate, described end thin plate are arranged at swing by connecting shaft
The free end end of part, and keep attitude parallel to the ground under gravity.
Compared with prior art, there is advantages that
1, the c-type leg of the present invention can use some lighter and that coefficient of friction is bigger materials, it is possible to has
Effect prevents robot problem such as skidding on the grains of sand, and meanwhile, c-type leg also ensure that robot traveling in the grains of sand
Speed and obstacle climbing ability；
2, robot body piggyback controller and the driving motor of guarantee c-type leg motion, leg is by driving electricity
Machine is connected with robot body, is respectively placed in four corner positions of body, and tail structure is then placed in body rear end
Centre position, drives motor to control to be connected with controller by wire；
3, tail structure is by being connected with the steering wheel swung on robot body, and standing part passes through
Swing up and down steering wheel to be connected with swing part, this makes it possible to realize the double freedom motion of tail structure.Afterbody is tied
The end of structure connects one piece of light end thin plate the most roomy, contributes to tail support ground and reduces pressure.
4, this invention ensures that speed and stability that imitative lizard desert quadruped robot advances in desert, and
And the tail structure stretched out can preferably solve robot and be absorbed in the problem climbed out of in sand.
Accompanying drawing explanation
The detailed description made non-limiting example with reference to the following drawings by reading, other of the present invention is special
Levy, purpose and advantage will become more apparent upon:
Fig. 1 is overall structure schematic diagram of the present invention；
Fig. 2 is tail structure close-up schematic view；
Fig. 3 is side view of the present invention；
Fig. 4 is top view of the present invention；
Fig. 5 be the present invention when walking one group of leg lift attitude schematic diagram；
Fig. 6 be the present invention when walking another group leg lift attitude schematic diagram；
Fig. 7 is that the present invention is absorbed in tail structure assistance action schematic diagram after sand；
Fig. 8 is that apparatus of the present invention are absorbed in c-type leg and tail structure co-operating schematic diagram after sand；
Fig. 9 is that the present invention aloft glides attitude schematic diagram when landing；
Figure 10 is that the present invention runs into barrier 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 the first attitude schematic diagram that the present invention relies on that tail structure synergy is ajusted on the slope；
Figure 15 is the second attitude schematic diagram that the present invention relies on that tail structure synergy is ajusted on the slope；
Figure 16 is the view contacted to earth after the present invention the most successfully ajusts；
In figure: 1 is robot body, 2 is c-type leg, and 3 is tail structure, and 301 is standing part, and 302 are
Swing part, 303 is end thin plate.
Detailed description of the invention
Below embodiments of the invention are elaborated: the present embodiment carries out reality under premised on technical solution of the present invention
Execute, give detailed embodiment and concrete operating process.It should be pointed out that, the ordinary skill people to this area
For Yuan, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement, these broadly fall into this
Bright protection domain.
Please refer to Fig. 1 to Figure 16.
Present embodiments provide a kind of imitative lizard desert quadruped robot, including robot body, c-type leg structure with
And tail structure, described c-type leg structure includes 2N c-type leg, and wherein N is natural number, and 2N c-type leg divides
Not by driving one group and be symmetricly set in the both sides of robot body two-by-two of motor, described tail structure passes through left and right
Swing steering engine and swing up and down steering wheel there are two frees degree, and it is arranged at robot body by the steering wheel that swings
Centre position, rear end；The driving motor of described c-type leg and swinging steering wheel and swinging up and down of tail structure
Steering wheel is connected by wire with controller respectively.
Further, it is vertical with swinging up and down the steering wheel direction of motion to swing steering wheel described in.
Further, described robot body uses plastic plate to make, described driving motor, swing steering wheel with
And controller is respectively arranged on robot body.
Further, described c-type leg is four, and four c-type legs are respectively arranged at four drift angles of robot body
Position.
Further, two the c-type legs arranged in diagonal angle are one group and move together.
Further, each c-type leg all uses polyformaldehyde material, and outside is equipped with skid resistant course.
Further, the length of described tail structure is basically identical with the length of robot body.
Further, described tail structure is provided with acceleration transducer, and described acceleration transducer is connected with controller
Connecing, controller passes through the feedback of acceleration transducer and then adjusts the attitude of tail structure, makes robot body advance
During keep stable.
Further, described tail structure includes standing part and swing part, and described standing part is by swinging
Steering wheel is connected to the centre position, rear end of robot body, and described swing part is by swinging up and down steering wheel and fixed part
Split-phase connects.
Further, described tail structure also includes that end thin plate, described end thin plate are arranged at pendulum by connecting shaft
The free end end of dynamic part, and keep attitude parallel to the ground under gravity.
Below in conjunction with the accompanying drawings the present embodiment is further described.
As it is shown in figure 1, the present embodiment includes: robot body, it is connected to four c-type legs and there is double freedom
Tail structure.Wherein c-type leg is connected with driving motor projecting shaft by fixture；Tail structure passes through two fortune
Move the vertical steering wheel in direction and realize the connection with robot body and double freedom motion.
C-type leg, the lightweight material polyformaldehyde the most outstanding by consistency and elasticity forms, and has certain hardness to ensure
The weight of whole car body can be supported and do not produce too much deformation, help to maintain in traveling way and hold position；With
Time also there is certain elasticity so that leg is not easy to fracture, it is ensured that robot endurance.
As in figure 2 it is shown, front and back two segment trailer structures, i.e. standing part and swing part, upper and lower by medium position
Swing steering engine connects so that the swing part of tail structure can move up and down, and standing part and robot body are even
Connect, and complete to move left and right by the steering wheel that swings.The end of tail structure connects an and thickness the most roomy
Relatively thin sheet metal, i.e. end thin plate, sheet metal is drawn an axle and is connected with the end of swing part, this connection
Axle is not fixed, and functions only as tangling the effect of tail structure, by gravity so that sheet metal all the time with ground
Keeping parallelism.
As it is shown on figure 3, side view when robot is static, generally tail structure all keeps parallel to the ground
Attitude, in order to balance with ensure that robot holds position when advancing and make in time adjustment.
As shown in Figure 4, top view when robot is static, it can be seen that tail structure and robot body are the longest
As degree, according to bionics fiber, this length ratio is relatively suitable for playing the effect of afterbody and tail structure being tied
Structure will not affect biological proper motion because of long.
Shown in Fig. 5 and Fig. 6 is that gait during robot normal straight-ahead operation is shown, as it is shown in figure 5, mutual diagonal angle
C-type leg is one group and moves together: before right and when left back leg lifts, and two other leg supports ground, and two legs support machine
Device people and uneven thus now the tail structure of robot turned right by steering wheel and ensure that robot is in walking
During balance, thus avoid robot to topple over.Shown in Fig. 6, the right side is front and left back is one group, when this group leg
Behind ground, another set leg starts to rotate, and now to the left side, motion continues to play the work kept one's balance tail structure
With.Motion can realize robot craspedodrome the most repeatedly.
As shown in Figure 7 and Figure 8, after shown robot is absorbed in sand, by the effect of tail structure so that machine
Device people be more quickly out of danger.When robot front end is absorbed in sand, and the swing part of tail structure passes through middle part
The steering wheel swung downward that can move up and down is until supporting ground, and now four legs of robot rotate backward in turn, pendulum
Dynamic part continues to support downwards, and after a mobile segment distance, swing part upwards swings back horizontal level, and c-type leg continues
Keep reversion action.So repeating motion then 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 entered
Row explanation.
As it is shown in figure 9, robot becomes the state that is inclined upwardly.This figure be robot if desired for aloft glide one section away from
From time tail structure attitude that robot is landed play the effect of adjustment.During robot glides, afterbody is upwards
Have a certain degree swing, and the result of this action can make the head of robot be lifted up, and by this method can
Enough realizing back leg when robot lands first to land, this kind of mode meets the mode that normally lands of natural biology, keeps away simultaneously
Exempt from first to contact with head ground, dropped to landing the reaction force extent of damage that robot is brought produced
Little.
In addition robot can preferably can also be completed some relatively big obstacles more by the help of tail structure
Thing is crossed.Such as Figure 10, shown in 11 and 12, description is the robot process of crossing a cuboid barrier.
Figure 10 robot level walking runs into the cuboid barrier that front one is bigger, and now robot tail structure is more
Quickly being lifted up, the active force of generation is so that robot head lifts equally, and now two forelegs have rotated
Become to ride over the action of barrier upper surface, such as Figure 11.Tail structure swung downward subsequently, contacts with ground, rises
To the effect supported, slowly lifting latter half vehicle body, foreleg rotates forward simultaneously, drags machine person forward
Mobile, until back leg is stepped on barrier, then gait of recovering to keep straight on normally, swing back level simultaneously.Pass through
Whole process described above, robot can complete to cross larger-size different barrier.
Is, after unexpected overturning occurs in robot, to utilize slope to complete to ajust as shown in Figure 13,14,15 and 16
The process of car body.
The most as shown in figure 13, the state after robot overturning.Now robot still can normally work, leg type
C-type is become down by positive c-type before.Test the proof leg of falling c-type by forefathers and be not suitable for motion compared to c-type leg
In desert Environment, robot traveling efficiency can be caused to be decreased obviously.
So after Fan Cheing, temporarily utilizing the leg of falling c-type to walk on, finding the slope that gradient at is bigger, fortune
Moving the position being horizontally placed on slope by car body, tail structure swings to along the direction ramped up, and is simultaneously in
The two legs of higher position rotates and lifts, until becoming the position of 90 degree in horizontal plane, as shown in figure 14.
Such as Figure 15, now, robot afterbody swings towards the direction of slope, the main body of robot is pushed out,
Robot is in the two legs tie tail rotation of lower position simultaneously, makes separation inclined-plane, robot bottom close, machine
Device human agent and Suo Cheng inclination angle, inclined-plane become big.When angle reaches to a certain degree, robot can be in the effect of gravity
Under turn on one's side downwards along slope.
Because robot leg is all put and horizontal plane angle before, inevitable and slope table behind rollover contact slope
Face is flat vertical, and position when afterbody returns to normally walk simultaneously, robot ajusts the attitude that returns to advance normally.
It is above 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 plate of some strength to make, is connected with c-type leg and tail structure 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 independence
Control.
C-type leg outer side adds the skid resistant course of last layer rubber like material, is possible to prevent leg to skid.
Tail structure can adjust the attitude of tail structure by the feedback of acceleration transducer and robot is being advanced
During keep stable, reach to reduce the purpose of overturning probability.
Tail structure can complete an action to rear support, after the power supported by this kind helps robot to be absorbed in sand
Therefrom climb out of.
What tail structure end connected is one the most roomy but the thin slice of light quality, can have when needs supporting role
Effect reduces the tail structure pressure to desert.
Tail structure can help robot to complete obstacle detouring in desert, the function such as ajusts after overturning.
Tail structure can play help robot and land undermined minimum appearance as carried out being adjusted to during gliding action back leg
The effect of state.
Tail structure and c-type leg have cooperated.
The present embodiment can ensure relatively stable and quick walking states in desert Environment, fits desert Environment
Stress is stronger.Reduce the leg pressure to the grains of sand, it is ensured that the sinkage that robot is less simultaneously.Afterbody knot flexibly
Structure not only acts as and keeps the effect of balance in robot traveling process, and robot can also be helped in addition to be absorbed in sand
After son the most out of danger.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in
Stating particular implementation, those skilled in the art can make various deformation or amendment within the scope of the claims,
This has no effect on the flesh and blood of the present invention.
Claims (8)
1. an imitative lizard desert quadruped robot, it is characterised in that include robot body, c-type leg structure with
And tail structure, described c-type leg structure includes 2N c-type leg, and wherein N is natural number, and 2N c-type leg divides
By driving motor not to be symmetricly set in the both sides of robot body, described tail structure by swing steering wheel and
Swing up and down steering wheel and there is double freedom, and be arranged at the rear end interposition of robot body by the steering wheel that swings
Put；
Described tail structure includes that standing part and swing part, described standing part are connected to machine by the steering wheel that swings
The centre position, rear end of device people's body, described swing part is connected with standing part by swinging up and down steering wheel；
Described tail structure also includes end thin plate, and described end thin plate is arranged at oneself of swing part by connecting shaft
By end end, and keep attitude parallel to the ground under gravity.
Imitative lizard desert the most according to claim 1 quadruped robot, it is characterised in that also include controlling
Device, described driving motor, swings steering wheel and controller is respectively arranged on robot body；Described driving
Motor, swung steering wheel and swing up and down steering wheel and be connected by wire with controller respectively.
Imitative lizard desert the most according to claim 1 and 2 quadruped robot, it is characterised in that a described left side
Right swing steering engine is vertical with swinging up and down the steering wheel direction of motion.
Imitative lizard desert the most according to claim 1 and 2 quadruped robot, it is characterised in that described tail
The length of portion's structure is basically identical with the length of robot body.
Imitative lizard desert the most according to claim 1 and 2 quadruped robot, it is characterised in that described C
Type leg is four, and four c-type legs are respectively arranged at four corner positions of robot body.
Imitative lizard desert the most according to claim 5 quadruped robot, it is characterised in that arrange in diagonal angle
Two c-type legs be one group and move together.
Imitative lizard desert the most according to claim 1 and 2 quadruped robot, it is characterised in that each C
Type leg all uses polyformaldehyde material, and outside is equipped with skid resistant course.
Imitative lizard desert the most according to claim 1 quadruped robot, it is characterised in that described afterbody is tied
Structure is provided with acceleration transducer, and described acceleration transducer is connected with controller, and controller passes through acceleration sensing
The feedback of device and then the attitude of adjustment tail structure, make robot body keep stable during advancing.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106347519A (en) * | 2016-11-13 | 2017-01-25 | 吉林大学 | Self-adaption sand land biomimetic mechanical foot |
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| CN104627263B (en) * | 2014-12-12 | 2018-01-02 | 重庆大学 | Bionic kangaroo-hopping robot |
| CN104527992B (en) * | 2014-12-12 | 2016-10-05 | 重庆大学 | Balanced controls for star face sniffing robot |
| CN104724200B (en) * | 2015-03-13 | 2017-11-14 | 上海交通大学 | A kind of robot leg structure |
| CN104787138B (en) * | 2015-04-01 | 2017-06-09 | 上海交通大学 | A kind of desert quadruped robot |
| CN104802875A (en) * | 2015-04-15 | 2015-07-29 | 上海交通大学 | Six-legged bionic crawling robot |
| CN105523097B (en) * | 2015-12-23 | 2018-02-09 | 北京工业大学 | A kind of bionical anti-skidding robot leg structure |
| 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 |
| CN106864618B (en) * | 2017-04-07 | 2019-07-26 | 重庆大学 | Wheel leg type walking mechanism |
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| EP2384264A4 (en) * | 2008-12-09 | 2014-03-19 | Reconrobotics Inc | Two-wheeled robot with enhanced climbing features |
| CN201777321U (en) * | 2010-06-02 | 2011-03-30 | 南京航空航天大学 | Gecko-imitated robot mechanical structure and robot thereof |
| CN102874397A (en) * | 2012-09-06 | 2013-01-16 | 上海大学 | Lizard-imitated overwater robot |
| CN202987323U (en) * | 2013-03-18 | 2013-06-12 | 哈尔滨市三和佳美科技发展有限公司 | Amphibious inspection robot |
| CN103241303A (en) * | 2013-05-13 | 2013-08-14 | 东南大学 | Wheel leg type mobile robot with flexible trunk |
| CN203332259U (en) * | 2013-07-17 | 2013-12-11 | 山东科技大学 | Obstacle crossing robotic explorer |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106347519A (en) * | 2016-11-13 | 2017-01-25 | 吉林大学 | Self-adaption sand land biomimetic mechanical foot |
| 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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