CN104787138A - Desert quadruped robot - Google Patents

Desert quadruped robot Download PDF

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Publication number
CN104787138A
CN104787138A CN201510152651.7A CN201510152651A CN104787138A CN 104787138 A CN104787138 A CN 104787138A CN 201510152651 A CN201510152651 A CN 201510152651A CN 104787138 A CN104787138 A CN 104787138A
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China
Prior art keywords
robot
shape leg
leg
shape
desert
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CN201510152651.7A
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CN104787138B (en
Inventor
王贺升
陈卫东
桂博文
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Shanghai Jiao Tong University
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Shanghai Jiao Tong University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/032Vehicles 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

Abstract

The invention provides a desert quadruped robot. The desert quadruped robot comprises a robot front body and robot back body, a leg portion structure, a supporting structure, a connecting mechanism, a computer control system and a power supply system, wherein the leg portion structure is composed of a server motor, an actuator, a position sensor and C-shaped legs. The robot adopts flexible steel wires and carbon fiber materials as the connecting mechanism of the front body and back body. The C-shaped leg structures are symmetrically installed at the front, back, left and right positions of the robot. The desert quadruped robot can walk rapidly and stably under unknown environments like a rugged roadway. The adoption of the flexible connecting mechanism increases the flexibility of the robot under the condition that the structural strength is also considered, and the adaptive capacity for complex environment is improved.

Description

A kind of desert quadruped robot
Technical field
The present invention relates to mobile robot technology field, refer more particularly to a kind of be adapted at complex road surface environment under the desert quadruped robot of walking.
Background technology
Foot formula mobile robot is one of focus of bio-robot area research.The domestic and international research for legged type robot at present, mainly concentrate on robot foot section structure, control method strategy, to aspects such as the adaptations of varying environment.Domestic and international many research institutions devise different types of legged type robot for complex environments such as desert, rubble, rough ground, meadows, achieve certain progress and achievement.
All in all, existing each has something to recommend him for the legged type robot scheme under complex road surface environment, but also have certain problem and blemish to exist, the adaptive capacity of robot to environment has much room for improvement.In existing robot, some is comparatively heavy, and be limited to power of motor and battery durable ability, the drive torque of robot is limited, is difficult to avoid the situations such as depression under the environment such as desert.Some robot driver elements are only single motor, rely on mechanical mechanism transmission to realize organizing operation more, cannot accomplish the accurate control to robot ambulation attitude, and robot ambulation gait are single, poor to different road surfaces comformability.
Summary of the invention
For above-mentioned deficiency of the prior art, the invention provides that a kind of structural strength is high, attitude is flexible, walking stability is good, the desert quadruped robot stronger to complex environment adaptive capacity.
The present invention is achieved by the following technical solutions:
A kind of desert quadruped robot, comprising: robot body, leg structure, computer control system and electric power system; Wherein:
Described computer control system and electric power system are wrapped in robot body respectively;
Described leg structure comprises four C shape leg structures, four C shape leg structures are symmetricly set in the both sides of robot body between two, four C shape leg structures are followed successively by a C shape leg structure, the 2nd C shape leg structure, the 3rd C shape leg structure and the 4th C shape leg structure according to sequence counter-clockwise from robot body upper left side, a described C shape leg structure and the 3rd C shape leg structure form first pair of C shape leg structure, and the 2nd C shape leg structure and the 4th C shape leg structure form second pair of C shape leg structure; When first pair of C shape leg structure is suspended in aerial as swinging phase time, second pair of C shape leg structure is stood on the ground as supporting phase, alternately switches, realize robot body and steadily creep between supporting mutually and swinging mutually;
Described four C shape leg structures are connected with electric power system with computer control system respectively, and by supporting between control realization two pairs of C shape leg structures of computer control system mutually and swinging alternately switching of phase.
Preferably, each C shape leg structure includes C shape leg, actuator, servomotor, position transduser and gear cluster; Wherein:
Described actuator is connected with servomotor with computer control system, electric power system respectively, and described servomotor is connected with C shape leg by drive tab; Computer control system by control and drive system, and then controls the motion of driven by servomotor C shape leg;
It is the gear of 1: 1 that described gear cluster comprises two reduction ratios, and the velocity information of C shape leg end is passed to position transduser by gear by described C shape leg;
Described position transduser is connected with actuator.
Preferably, described robot body comprises presoma, back body and bindiny mechanism, is connected to form an entirety between described presoma and back body by bindiny mechanism;
Described presoma and back body are respectively equipped with a supporting construction, and described supporting construction traverses presoma or back body; Described four C shape leg structures are connected to the end of supporting construction;
Described bindiny mechanism comprises flexible steel wire and carbon fiber block, and one end of described flexible steel wire is connected to carbon fiber block, and the other end of described flexible steel wire is connected with supporting construction respectively; Described flexible steel wire realizes the freedom of motion of robot body precursor and back body.
Preferably, described flexible steel wire totally eight, eight flexible steel wire mean allocation are in the two ends of carbon fiber block.
Preferably, the outer wrap of described robot body has carbon fiber skin.
Preferably, described electric power system comprises two pieces of supplying cells, and two pieces of supplying cells are wrapped in precursor and back body inside respectively, are connected between two pieces of supplying cells by junction circuit.
Preferably, described computer control system comprises industrial computer and interconnection network; Wherein, described industrial computer is connected to form control loop by interconnection network and actuator.
The present invention compared with prior art, has following beneficial effect:
1. desert quadruped robot adopts four servomotors and four actuators, and by the location information of computer control system collection every bar C shape leg, the every bar C shape leg of independent control, ensure that the particularity of robot leg position control.Independently superpower servomotor provides high moment of torsion, ensure that the get rid of poverty ability of robot under complex environment.
2. be connected by lightweight, high strength bindiny mechanism between the precursor of desert quadruped robot and back body, improve the alerting ability of robot.
3, the C shape leg structure of desert quadruped robot ensure that stability and the obstacle climbing ability of robot ambulation.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is robot overall schematic;
Fig. 2 is robot body structural representation;
Fig. 3 is robot leg structural representation;
Fig. 4 is robot ambulation schematic diagram.
In figure:
1 is precursor, and 2 is back body, and 3 is servomotor, and 4 is actuator, and 5 is position transduser, and 6 is C shape leg, and 7 is flexible steel wire, and 8 is carbon fiber block
Detailed description of the invention
Below embodiments of the invention are elaborated: the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.
Embodiment
Present embodiments provide a kind of desert quadruped robot, comprising: robot body, leg structure, computer control system and electric power system; Wherein:
Described computer control system and electric power system are wrapped in robot body respectively;
Described leg structure comprises four C shape leg structures, four C shape leg structures are symmetricly set in the both sides of robot body between two, four C shape leg structures are followed successively by a C shape leg structure, the 2nd C shape leg structure, the 3rd C shape leg structure and the 4th C shape leg structure according to sequence counter-clockwise from robot body upper left side, a described C shape leg structure and the 3rd C shape leg structure form first pair of C shape leg structure, and the 2nd C shape leg structure and the 4th C shape leg structure form second pair of C shape leg structure; When first pair of C shape leg structure is suspended in aerial as swinging phase time, second pair of C shape leg structure is stood on the ground as supporting phase, alternately switches, realize robot body and steadily creep between supporting mutually and swinging mutually;
Described four C shape leg structures are connected with electric power system with computer control system respectively, and by supporting between control realization two pairs of C shape leg structures of computer control system mutually and swinging alternately switching of phase.
Further, each C shape leg structure includes C shape leg, actuator, servomotor, position transduser and gear cluster; Wherein:
Described actuator is connected with servomotor with computer control system, electric power system respectively, and described servomotor is connected with C shape leg by drive tab; Computer control system by control and drive system, and then controls the motion of driven by servomotor C shape leg;
It is the gear of 1: 1 that described gear cluster comprises two reduction ratios, and the velocity information of C shape leg end is passed to position transduser by gear by described C shape leg;
Described position transduser is connected with actuator.
Further, described robot body comprises presoma, back body and bindiny mechanism, is connected to form an entirety between described presoma and back body by bindiny mechanism;
Described presoma and back body are respectively equipped with a supporting construction, and described supporting construction traverses presoma or back body; Described four C shape leg structures are connected to the end of supporting construction;
Described bindiny mechanism comprises flexible steel wire and carbon fiber block, and one end of described flexible steel wire is connected to carbon fiber block, and the other end of described flexible steel wire is connected with supporting construction respectively; Described flexible steel wire realizes the freedom of motion of robot body precursor and back body.
Further, described flexible steel wire totally eight, eight flexible steel wire mean allocation are in the two ends of carbon fiber block.
Further, the outer wrap of described robot body has carbon fiber skin.
Further, described electric power system comprises two pieces of supplying cells, and two pieces of supplying cells are wrapped in precursor and back body inside respectively, are connected between two pieces of supplying cells by junction circuit.
Further, described computer control system comprises industrial computer and interconnection network; Wherein, described industrial computer is connected to form control loop by interconnection network and actuator.
Further, above-mentioned flexible steel wire is also soft steel wire.
Elaborate below in conjunction with the embodiment of accompanying drawing to the present embodiment:
The desert quadruped robot that the present embodiment provides, comprises robot precursor 1, back body 2, leg structure, supporting construction, bindiny mechanism, computer control system, electric power system.Wherein, leg structure is made up of servomotor 3, actuator 4, position transduser 5, C shape leg 6.This robot have employed flexible steel wire 7 and carbon fiber block 8 bindiny mechanism as front and back body.Be installed on to C shape leg symmetrical configuration robot four positions all around.
Further, described robot body is wrapped with the lightweight shell be made up of carbon fiber board.
Further, four C shape legs atmosphere two groups diagonally, the C shape leg often in group moves simultaneously and stops.
Further, described supporting construction is fixed in the drive tab of leg structure, and bottom is connected with robot body base plate.
Further, before and after described supporting construction, two parts respectively have two cross bars, traverse in about body.
Further, described bindiny mechanism comprises the carbon fiber block at flexible steel wire and middle part.Wherein, before and after robot, body is respectively connected with four flexible steel wires by the cross bar of supporting construction.Totally eight flexible steel wires and carbon fiber block are fixedly linked in front and back.
Further, described bindiny mechanism has certain flexibility, and before and after during the somatic movement of driven by motor robot, two parts all have freedom of motion, can free motion within the specific limits.
During robot crawling, four-footed is numbered with 1-4 from upper left C type leg successively according to the order of conter clockwise.Wherein, leg 1 and 3 is one group, and leg 2 and 4 is another group.As shown in Figure 4, outstanding skyborne leg is called swing phase, stand on ground one group of leg and is called support phase.Often organize leg alternately to switch mutually and between swinging mutually in support, so ensure that robot is steadily creeped.
In the present embodiment:
Described department of computer science electric power system of unifying is wrapped in robot body.
Described leg structure comprises servomotor, actuator, position transduser, C shape leg.
In described leg structure, C shape leg has 4, is installed on four positions all around of robot body symmetrically.
The bindiny mechanism stated have employed flexible steel wire, connects the carbon fiber block in the middle part of robot.Bindiny mechanism couples together formation entirety body before and after robot.
Described electric power system is made up of two pieces of batteries and junction circuit, and two pieces of batteries are installed on front and back body respectively, are wrapped in inside.
It is the gear of 1: 1 that described leg structure comprises two reduction ratios, by gear, the velocity information of C shape leg end is passed to photoelectric encoder.
Described computer control system is made up of industrial computer, and industrial computer is connected to form control loop by the actuator installed in netting twine and robot body.Each actuator is connected with position transduser with battery, motor.
The desert quadruped robot that the present embodiment provides, fast, stably can walk under the circumstances not knowns such as rough ground; Adopting flexible linking device to add the alerting ability of robot when taking into account structural strength, improve the adaptive capacity to complex environment.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.

Claims (7)

1. a desert quadruped robot, is characterized in that, comprising: robot body, leg structure, computer control system and electric power system; Wherein:
Described computer control system and electric power system are wrapped in robot body respectively;
Described leg structure comprises four C shape leg structures, four C shape leg structures are symmetricly set in the both sides of robot body between two, four C shape leg structures are followed successively by a C shape leg structure, the 2nd C shape leg structure, the 3rd C shape leg structure and the 4th C shape leg structure according to sequence counter-clockwise from robot body upper left side, a described C shape leg structure and the 3rd C shape leg structure form first pair of C shape leg structure, and the 2nd C shape leg structure and the 4th C shape leg structure form second pair of C shape leg structure; When first pair of C shape leg structure is suspended in aerial as swinging phase time, second pair of C shape leg structure is stood on the ground as supporting phase, alternately switches, realize robot body and steadily creep between supporting mutually and swinging mutually;
Described four C shape leg structures are connected with electric power system with computer control system respectively, and by supporting between control realization two pairs of C shape leg structures of computer control system mutually and swinging alternately switching of phase.
2. desert according to claim 1 quadruped robot, is characterized in that, each C shape leg structure includes C shape leg, actuator, servomotor, position transduser and gear cluster; Wherein:
Described actuator is connected with servomotor with computer control system, electric power system respectively, and described servomotor is connected with C shape leg by drive tab; Computer control system by control and drive system, and then controls the motion of driven by servomotor C shape leg;
It is the gear of 1: 1 that described gear cluster comprises two reduction ratios, and the velocity information of C shape leg end is passed to position transduser by gear by described C shape leg;
Described position transduser is connected with actuator.
3. desert according to claim 1 quadruped robot, is characterized in that, described robot body comprises presoma, back body and bindiny mechanism, is connected to form an entirety between described presoma and back body by bindiny mechanism;
Described presoma and back body are respectively equipped with a supporting construction, and described supporting construction traverses presoma or back body; Described four C shape leg structures are connected to the end of supporting construction;
Described bindiny mechanism comprises flexible steel wire and carbon fiber block, and one end of described flexible steel wire is connected to carbon fiber block, and the other end of described flexible steel wire is connected with supporting construction respectively; Described flexible steel wire realizes the freedom of motion of robot body precursor and back body.
4. desert according to claim 3 quadruped robot, is characterized in that, described flexible steel wire totally eight, eight flexible steel wire mean allocation are in the two ends of carbon fiber block.
5. desert according to claim 3 quadruped robot, is characterized in that, the outer wrap of described robot body has carbon fiber skin.
6. desert according to claim 3 quadruped robot, is characterized in that, described electric power system comprises two pieces of supplying cells, and two pieces of supplying cells are wrapped in precursor and back body inside respectively, are connected between two pieces of supplying cells by junction circuit.
7. desert according to claim 2 quadruped robot, is characterized in that, described computer control system comprises industrial computer and interconnection network; Wherein, described industrial computer is connected to form control loop by interconnection network and actuator.
CN201510152651.7A 2015-04-01 2015-04-01 A kind of desert quadruped robot Active CN104787138B (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105644649A (en) * 2015-12-23 2016-06-08 北京工业大学 Leg and foot structure of bionic robot of changed structure
CN110294042A (en) * 2019-05-17 2019-10-01 北京建筑大学 A kind of multi-locomotion mode running gear
CN111221332A (en) * 2020-01-09 2020-06-02 重庆大学 H-shaped hexapod robot and walking control method thereof

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001310278A (en) * 2000-04-26 2001-11-06 Rikogaku Shinkokai Quadruped walking robot
WO2002011956A1 (en) * 2000-08-04 2002-02-14 Robottec Co., Ltd. Multiple-legged walking apparatus
CN102343950A (en) * 2011-07-13 2012-02-08 北京交通大学 Pliant four-footed robot with flexible waist and elastic legs
CN103241303A (en) * 2013-05-13 2013-08-14 东南大学 Wheel leg type mobile robot with flexible trunk
CN103661667A (en) * 2013-12-11 2014-03-26 北京航空航天大学 Smart quadruped robot with flexible waist
CN104118490A (en) * 2014-07-08 2014-10-29 上海交通大学 Desert quadruped robot imitating lizard

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001310278A (en) * 2000-04-26 2001-11-06 Rikogaku Shinkokai Quadruped walking robot
WO2002011956A1 (en) * 2000-08-04 2002-02-14 Robottec Co., Ltd. Multiple-legged walking apparatus
CN102343950A (en) * 2011-07-13 2012-02-08 北京交通大学 Pliant four-footed robot with flexible waist and elastic legs
CN103241303A (en) * 2013-05-13 2013-08-14 东南大学 Wheel leg type mobile robot with flexible trunk
CN103661667A (en) * 2013-12-11 2014-03-26 北京航空航天大学 Smart quadruped robot with flexible waist
CN104118490A (en) * 2014-07-08 2014-10-29 上海交通大学 Desert quadruped robot imitating lizard

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105644649A (en) * 2015-12-23 2016-06-08 北京工业大学 Leg and foot structure of bionic robot of changed structure
CN105644649B (en) * 2015-12-23 2019-12-27 北京工业大学 Leg and foot structure of variable-structure bionic robot
CN110294042A (en) * 2019-05-17 2019-10-01 北京建筑大学 A kind of multi-locomotion mode running gear
CN111221332A (en) * 2020-01-09 2020-06-02 重庆大学 H-shaped hexapod robot and walking control method thereof

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