CN104787138B - A kind of desert quadruped robot - Google Patents
A kind of desert quadruped robot Download PDFInfo
- Publication number
- CN104787138B CN104787138B CN201510152651.7A CN201510152651A CN104787138B CN 104787138 B CN104787138 B CN 104787138B CN 201510152651 A CN201510152651 A CN 201510152651A CN 104787138 B CN104787138 B CN 104787138B
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- shaped leg
- robot
- leg structure
- desert
- shaped
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 26
- 239000010959 steel Substances 0.000 claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 238000010276 construction Methods 0.000 claims abstract description 16
- 239000002243 precursor Substances 0.000 claims description 20
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 18
- 239000004917 carbon fiber Substances 0.000 claims description 18
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 18
- 230000005611 electricity Effects 0.000 claims 1
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 abstract 1
- 229910052799 carbon Inorganic materials 0.000 abstract 1
- 239000000835 fiber Substances 0.000 abstract 1
- 239000000463 material Substances 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000392 somatic effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention provides a kind of desert quadruped robot, including body, leg structure, supporting construction, bindiny mechanism, computer control system, electric power system before and after robot.Wherein, leg structure is made up of servomotor, driver, position sensor, C-shaped leg.The robot employs the bindiny mechanism of flexible steel wire and carbon fibre material as front and rear body.C-shaped leg symmetrical configuration it is installed on robot four positions all around.The robot that the present invention is provided can quickly and stably walk under the circumstances not knowns such as rough ground.The flexibility of robot is increased in the case where structural strength is taken into account using flexible linking device, the adaptability to complex environment is improve.
Description
Technical field
The present invention relates to mobile robot technology field, more particularly to a kind of it is adapted to what is walked under complex road surface environment
Desert quadruped robot.
Background technology
Sufficient formula mobile robot is one of focus of bio-robot area research.It is directed to legged type robot both at home and abroad at present
Research, be concentrated mainly on robot foot section structure, control method strategy, to aspects such as the adaptations of varying environment.Permitted both at home and abroad
Many research institutions devise different types of legged type robot for complex environments such as desert, rubble, rough ground, meadows, take
Obtained certain progress and achievement.
All in all, the legged type robot scheme under the existing environment for complex road surface is each has something to recommend him, but also has certain
Problem exists with defect, and robot has much room for improvement to the adaptability of environment.In existing robot, some are more heavy, receive
It is limited to power of motor and battery durable ability, the driving moment of robot is limited, and depression etc. is difficult to avoid that under the environment such as desert
Situation.The robotically-driven unit having is only single motor, realizes multigroup operation by mechanical mechanism transmission, it is impossible to accomplish to machine
The precise control of device walking, and robot ambulation gait is single, it is poor to different road surface adaptability.
The content of the invention
For above-mentioned deficiency of the prior art, the invention provides a kind of structural strength is high, attitude flexibly, walking stabilization
Property desert quadruped robot good, stronger to complex environment adaptability.
The present invention is achieved by the following technical solutions：
A kind of desert quadruped robot, including：Robot body, leg structure, computer control system and power supply system
System；Wherein：
The computer control system and electric power system are wrapped in robot body respectively；
The leg structure includes four C-shaped leg structures, and four C-shaped leg structures are symmetricly set in robot body two-by-two
Both sides, four C-shaped leg structures are followed successively by the first C-shaped leg structure, according to sequence counter-clockwise since robot body upper left side
Two C-shaped leg structures, the 3rd C-shaped leg structure and the 4th C-shaped leg structure, the first C-shaped leg structure and the 3rd C-shaped leg structure are formed
First pair of C-shaped leg structure, the second C-shaped leg structure and the 4th C-shaped leg structure form second pair of C-shaped leg structure；When first pair of C-shaped leg
Structure is hanged during on the fly as swing phase, and second pair of C-shaped leg structure is stood on the ground as support phase, support phase and swing phase
Between alternately switch, realize that robot body is steadily creeped；
Four C-shaped legs structure is connected with computer control system and electric power system respectively, and by computer control
Alternating switching of the control realization two of system processed to support phase and swing phase between C-shaped leg structure.
Preferably, each C-shaped leg structure includes C-shaped leg, driver, servomotor, position sensor and gear train；
Wherein：
The driver is connected with computer control system, electric power system and servomotor respectively, the servomotor
It is connected with C-shaped leg by drive tab；Computer control system controls servomotor to drive C-shaped by controlling driver
Leg is moved；
The gear train includes the gear that two speed reducing ratio are 1: 1, and the C-shaped leg passes through gear by the speed of C-shaped leg end
Degree information transmission is to position sensor；
The position sensor is connected with driver.
Preferably, the robot body includes precursor, back body and bindiny mechanism, the precursor and back body
Between connect to form an entirety by bindiny mechanism；
The precursor and back body are respectively equipped with a supporting construction, and the supporting construction traverses precursor or rear quarters
Body；Four C-shapeds leg structure is connected to the end of supporting construction；
The bindiny mechanism includes flexible steel wire and carbon fiber block, and one end of the flexible steel wire is connected to carbon fiber block,
The other end of the flexible steel wire is connected with supporting construction respectively.The flexible steel wire realizes robot body precursor with after
The freedom of motion of body.
Preferably, the flexible steel wire totally eight, eight flexible steel wire mean allocations are in the two ends of carbon fiber block.
Preferably, the outer wrap of the robot body has carbon fiber skin.
Preferably, the electric power system includes two pieces of supplying cells, two pieces of supplying cells be wrapped in respectively precursor and after
Inside body, connected by connecting circuit between two pieces of supplying cells.
Preferably, the computer control system includes industrial computer and connection network；Wherein, the industrial computer is by connecting
Network is connect to be connected to form control loop with driver.
The present invention compared with prior art, has the advantages that：
1. desert quadruped robot uses four servomotors and four drivers, and every is gathered by computer control system
The positional information of C-shaped leg, every C-shaped leg of independent control, it is ensured that the accuracy of robot leg position control.
Independent high power servomotor provides high torque, it is ensured that get rid of poverty ability of the robot under complex environment.
2. it is connected by lightweight, high intensity bindiny mechanism between the precursor and back body of desert quadruped robot, is improved
The flexibility of robot.
3rd, the C-shaped leg structure of desert quadruped robot ensure that the stability and obstacle climbing ability of robot ambulation.
Brief description of the drawings
The detailed description made to non-limiting example with reference to the following drawings by reading, further feature of the invention,
Objects and advantages will become more apparent upon：
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 driver, and 5 is position sensor, and 6 is C-shaped leg, and 7 are
Flexible steel wire, 8 is carbon fiber block
Specific embodiment
Embodiments of the invention are elaborated below：The present embodiment is carried out under premised on technical solution of the present invention
Implement, give detailed implementation method and specific operating process.It should be pointed out that to one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Shield scope.
Embodiment
A kind of desert quadruped robot is present embodiments provided, including：Robot body, leg structure, computer controls
System and electric power system；Wherein：
The computer control system and electric power system are wrapped in robot body respectively；
The leg structure includes four C-shaped leg structures, and four C-shaped leg structures are symmetricly set in robot body two-by-two
Both sides, four C-shaped leg structures are followed successively by the first C-shaped leg structure, according to sequence counter-clockwise since robot body upper left side
Two C-shaped leg structures, the 3rd C-shaped leg structure and the 4th C-shaped leg structure, the first C-shaped leg structure and the 3rd C-shaped leg structure are formed
First pair of C-shaped leg structure, the second C-shaped leg structure and the 4th C-shaped leg structure form second pair of C-shaped leg structure；When first pair of C-shaped leg
Structure is hanged during on the fly as swing phase, and second pair of C-shaped leg structure is stood on the ground as support phase, support phase and swing phase
Between alternately switch, realize that robot body is steadily creeped；
Four C-shaped legs structure is connected with computer control system and electric power system respectively, and by computer control
Alternating switching of the control realization two of system processed to support phase and swing phase between C-shaped leg structure.
Further, each C-shaped leg structure includes C-shaped leg, driver, servomotor, position sensor and gear
Group；Wherein：
The driver is connected with computer control system, electric power system and servomotor respectively, the servomotor
It is connected with C-shaped leg by drive tab；Computer control system controls servomotor to drive C-shaped by controlling driver
Leg is moved；
The gear train includes the gear that two speed reducing ratio are 1: 1, and the C-shaped leg passes through gear by the speed of C-shaped leg end
Degree information transmission is to position sensor；
The position sensor is connected with driver.
Further, the robot body includes precursor, back body and bindiny mechanism, the precursor and rear quarters
Connect to form an entirety by bindiny mechanism between body；
The precursor and back body are respectively equipped with a supporting construction, and the supporting construction traverses precursor or rear quarters
Body；Four C-shapeds leg structure is connected to the end of supporting construction；
The bindiny mechanism includes flexible steel wire and carbon fiber block, and one end of the flexible steel wire is connected to carbon fiber block,
The other end of the flexible steel wire is connected with supporting construction respectively；The flexible steel wire realizes robot body precursor with after
The freedom of motion of body.
Further, the flexible steel wire totally eight, eight flexible steel wire mean allocations are in the two ends of carbon fiber block.
Further, the outer wrap of the robot body has carbon fiber skin.
Further, the electric power system includes two pieces of supplying cells, two pieces of supplying cells be wrapped in respectively precursor and
Inside back body, connected by connecting circuit between two pieces of supplying cells.
Further, the computer control system includes industrial computer and connection network；Wherein, the industrial computer passes through
Connection network is connected to form control loop with driver.
Further, above-mentioned flexible steel wire is also soft steel wire.
The implementation method to the present embodiment elaborates below in conjunction with the accompanying drawings：
The desert quadruped robot that the present embodiment is provided, including robot precursor 1, back body 2, leg structure, support
Structure, bindiny mechanism, computer control system, electric power system.Wherein, leg structure is passed by servomotor 3, driver 4, position
Sensor 5, C-shaped leg 6 are constituted.The robot employs the bindiny mechanism of flexible steel wire 7 and carbon fiber block 8 as front and rear body.C-shaped
Leg symmetrical configuration it is installed on robot four positions all around.
Further, described robot body is wrapped with the lightweight shell being made up of carbon fiber board.
Further, four C-shaped legs diagonally two groups of atmosphere, the C-shaped leg in every group is moved and stopped simultaneously.
Further, described supporting construction is fixed in the drive tab of leg structure, bottom and robot body base plate
It is connected.
Further, two parts respectively have two cross bars before and after described supporting construction, traverse in body or so.
Further, described bindiny mechanism includes the carbon fiber block at flexible steel wire and middle part.Wherein, body before and after robot
Body is respectively connected by the cross bar of supporting construction with four flexible steel wires.Front and rear totally eight flexible steel wires and carbon fiber block fixing phase
Even.
Further, described bindiny mechanism has certain flexibility, front and rear two during motor belt motor mobile robot somatic movement
Part is respectively provided with freedom of motion, can free movement within the specific limits.
During robot crawling, four-footed is numbered with 1-4 successively according to order counterclockwise since upper left c-type leg.Its
In, leg 1 and 3 is one group, and leg 2 and 4 is another group.As shown in figure 4, hanging skyborne leg is referred to as swing phase, stand on the ground
One group of leg be referred to as support phase.Every group of leg alternately switches between support phase and swing phase, so ensures that robot steadily creeps.
In the present embodiment：
Described computer system and electric power system is wrapped in robot body.
Described leg structure includes servomotor, driver, position sensor, C-shaped leg.
In described leg structure, C-shaped leg has 4, is symmetrically installed on four positions all around of robot body.
The bindiny mechanism for stating employs flexible steel wire, the carbon fiber block in the middle part of connection robot.Bindiny mechanism is robot
Front and rear body couples together to form an entirety.
Described electric power system is made up of two pieces of batteries and connection circuit, and two pieces of batteries are respectively arranged in front and rear body, bag
It is wrapped in inside.
Described leg structure comprising two speed reducing ratio for 1: 1 gear, by gear by the velocity information of C-shaped leg end
Pass to photoelectric encoder.
Described computer control system is made up of industrial computer, and industrial computer is by the interior drive installed of netting twine and robot body
Dynamic device connects to form control loop.Each driver is connected with battery, motor and position sensor.
The desert quadruped robot that the present embodiment is provided, can quickly and stably walk under the circumstances not knowns such as rough ground；
The flexibility of robot is increased in the case where structural strength is taken into account using flexible linking device, is improve to complex environment
Adaptability.
Specific embodiment of the invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can within the scope of the claims make various deformations or amendments, this not shadow
Sound substance of the invention.
Claims (6)
1. a kind of desert quadruped robot, it is characterised in that including：Robot body, leg structure, computer control system with
And electric power system；Wherein：
The computer control system and electric power system are wrapped in robot body respectively；
The leg structure includes four C-shaped leg structures, and four C-shaped leg structures are symmetricly set in the two of robot body two-by-two
Side, four C-shaped leg structures are followed successively by the first C-shaped leg structure, the 2nd C according to sequence counter-clockwise since robot body upper left side
Shape leg structure, the 3rd C-shaped leg structure and the 4th C-shaped leg structure, the first C-shaped leg structure and the 3rd C-shaped leg structure form the
A pair of C-shaped leg structures, the second C-shaped leg structure and the 4th C-shaped leg structure form second pair of C-shaped leg structure；When first pair of C-shaped leg knot
Structure it is outstanding on the fly as swing phase when, the second pair of C-shaped leg structure is stood on the ground as support phase, support phase and swing phase it
Between alternately switch, realize that robot body is steadily creeped；
Four C-shaped legs structure is connected with computer control system and electric power system respectively, and by computer controls system
Alternating switching of the control realization two of system to support phase and swing phase between C-shaped leg structure；
Each C-shaped leg structure includes C-shaped leg, driver, servomotor, position sensor and gear train；Wherein：
The driver is connected with computer control system, electric power system and servomotor respectively, and the servomotor passes through
Drive tab is connected with C-shaped leg；Computer control system controls servomotor to drive C-shaped leg fortune by controlling driver
It is dynamic；
The gear train includes the gear that two speed reducing ratio are 1: 1, and the C-shaped leg is believed the speed of C-shaped leg end by gear
Breath passes to position sensor；
The position sensor is connected with driver.
2. desert quadruped robot according to claim 1, it is characterised in that the robot body include precursor,
Back body and bindiny mechanism, connect to form an entirety between the precursor and back body by bindiny mechanism；
The precursor and back body are respectively equipped with a supporting construction, and the supporting construction traverses precursor or back body；Institute
State the end that four C-shaped leg structures are connected to supporting construction；
The bindiny mechanism includes flexible steel wire and carbon fiber block, and one end of the flexible steel wire is connected to carbon fiber block, described
The other end of flexible steel wire is connected with supporting construction respectively.
3. desert quadruped robot according to claim 2, it is characterised in that the flexible steel wire totally eight, eight soft
Property steel wire mean allocation is in the two ends of carbon fiber block.
4. desert quadruped robot according to claim 2, it is characterised in that the outer wrap of the robot body has
Carbon fiber skin.
5. desert quadruped robot according to claim 2, it is characterised in that the electric power system includes two blocks of power supply electricity
Pond, two pieces of supplying cells are wrapped in inside precursor and back body respectively, are connected by connecting circuit between two pieces of supplying cells.
6. desert quadruped robot according to claim 1, it is characterised in that the computer control system includes industry control
Machine and connection network；Wherein, the industrial computer is connected to form control loop by connecting network with driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510152651.7A CN104787138B (en) | 2015-04-01 | 2015-04-01 | A kind of desert quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510152651.7A CN104787138B (en) | 2015-04-01 | 2015-04-01 | A kind of desert quadruped robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104787138A CN104787138A (en) | 2015-07-22 |
| CN104787138B true CN104787138B (en) | 2017-06-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510152651.7A Expired - Fee Related CN104787138B (en) | 2015-04-01 | 2015-04-01 | A kind of desert quadruped robot |
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| Country | Link |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105644649B (en) * | 2015-12-23 | 2019-12-27 | 北京工业大学 | Leg and foot structure of variable-structure bionic robot |
| CN107839774A (en) * | 2017-11-14 | 2018-03-27 | 华电电力科学研究院 | A kind of flexible separate type climbs wall flaw detection robot and its application method |
| CN110294042B (en) * | 2019-05-17 | 2021-03-02 | 北京建筑大学 | Multi-movement-mode walking device |
| CN110962958A (en) * | 2019-12-10 | 2020-04-07 | 胡钢墩 | Crescent wheel leg for robot, bionic robot and motion control method of bionic robot |
| CN111221332A (en) * | 2020-01-09 | 2020-06-02 | 重庆大学 | H-shaped hexapod robot and walking control method thereof |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001310278A (en) * | 2000-04-26 | 2001-11-06 | Rikogaku Shinkokai | Quadruped walking robot |
| KR20020011709A (en) * | 2000-08-04 | 2002-02-09 | 김동훈 | multiple-legged walking apparatus |
| CN102343950B (en) * | 2011-07-13 | 2013-04-24 | 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 |
| CN103661667B (en) * | 2013-12-11 | 2015-11-18 | 北京航空航天大学 | A kind of dexterous type quadruped robot with flexible waist |
| CN104118490B (en) * | 2014-07-08 | 2016-09-07 | 上海交通大学 | Imitative lizard desert quadruped robot |
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2015
- 2015-04-01 CN CN201510152651.7A patent/CN104787138B/en not_active Expired - Fee Related
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| CN104787138A (en) | 2015-07-22 |
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Granted publication date: 20170609 |