CN105438312A - Automatic walking robot - Google Patents
Automatic walking robot Download PDFInfo
- Publication number
- CN105438312A CN105438312A CN201510956235.2A CN201510956235A CN105438312A CN 105438312 A CN105438312 A CN 105438312A CN 201510956235 A CN201510956235 A CN 201510956235A CN 105438312 A CN105438312 A CN 105438312A
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- Prior art keywords
- walking robot
- knee joint
- automatic walking
- joint
- robot
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- 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
Disclosed is an automatic walking robot. The automatic walking robot comprises a hip joint, walking legs, a driving device and an electronic control device. The hip joint comprises an outer tube and an inner tube. The inner tube is rotationally arranged in the outer tube in a sleeved mode through installation of a bearing, and any end of the inner tube protrudes out of the outer tube. Two or more walking legs are arranged, and the outer tube and the inner tube are each provided with at least one walking leg. The driving device is used for rotating the outer tube to achieve relative motion of the walking legs on the outer tube and the walking legs on the inner tube. The electronic control device comprises a master control circuit located on the hip joint and branch circuits connected with the master control circuit. The master control circuit is used for controlling the driving device. The branch circuits are distributed on the walking legs and used for controlling, measuring and sensing the motion and data of the automatic walking robot. The automatic walking robot can walk automatically and linearly. A modular structure is adopted for overall design, and each module completes the independent function. Sensors are independent and adjustable in sensitivity and can adapt to various environments and light conditions. The electronic circuits are simple, reliable, stable in work and low in cost.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of automatic walking robot.
Background technology
Apart from the appearance of the first in the world robot in 1962, robot has been passed by the developing history of four more than ten years.Four during the last ten years, and robot develops into intelligent robot by industrial robot, successfully one of new and high technology becoming 21 century, and its areal of research is wide, relates to subject many, mainly contains multiple fields such as machinery, electronics, biology, sensor, driving and control.
Nowadays, robot ambulation mode can be divided into wheeled, legged, crawler type, creeping-type, creeping motion type five clock altogether, and wherein environment-adapting ability is stronger, and consume energy lower, more anthropoid walking robot is the frontier nature research of robot field always.
2005, to be received by the researchist An Dilu instrument of Cornell Univ USA and his colleague develops walking robot " ramber ", compared with early stage walking robot, it has the anthropoid pin of class and the energy consumed is less, in Cornell University gymnasium, he has broken the walking record of robot with the distance of 14.3 miles (being roughly equal to 23 kilometers), but " ramber " appears to the stiff metal monster of a kind of both legs.
Therefore, for overcoming the above problems, need a kind of movable walking robot flexibly.
Summary of the invention
The object of the invention is to propose one can automatically walk, save energy and the robot of flexible movements.
For reaching this object, the present invention by the following technical solutions:
A kind of automatic walking robot, comprises hip joint, walking leg, actuating device and electronic control package;
Described hip joint comprises urceolus and inner core, and described inner core is sheathed in described urceolus by the installation of bearing is rotating, and the either end of described inner core protrudes from described urceolus; Described walking leg is provided with and is no less than 2, and described urceolus and described inner core are at least provided with a described walking leg respectively; Described actuating device, for rotating described urceolus, realizes the relative motion of walking leg separately on described urceolus and described inner core;
Described electronic control package comprises the governor circuit being positioned at described hip joint and the derived circuit being connected to described governor circuit, described governor circuit is for controlling described actuating device, described derived circuit is distributed in described walking leg, and described derived circuit is for controlling, measuring and the action of automatic walking robot described in sensing and data.
Further, described walking leg comprises thigh, knee joint, shank and pin joint, one end correspondence of described thigh is connected to described inner core or described urceolus, and the other end of described thigh is hinged with described shank by described knee joint, and the other end of described shank is hinged with described pin joint.
Further, described actuating device is built in described inner core, and is connected by transmission cylinder and be transmitted in described urceolus.
Further, described knee joint comprises electromagnet, positioning plate and suction iron; Described electromagnet is installed on described thigh one end near described shank; Described positioning plate is installed on described shank one end near described thigh; Described suction iron is installed on also can be attracting with described electromagnet on described positioning plate.
Further, described knee joint also comprises knee joint hinge and knee joint hinge seat, and described thigh and described shank are by being arranged on together with the knee joint hinge on knee joint hinge seat.
Further, described pin joint comprises U-shaped sheet metal component, pin joint contiguous block and pin joint encoders adapter plate; Described pin joint contiguous block connects described shank and described U-shaped sheet metal component; Described pin joint encoders adapter plate is installed on described U-shaped sheet metal component.
Further, described actuating device is connected to described transmission cylinder by retarder and torque sensor successively; Between the motor of described actuating device and described retarder, support ring is installed; Connected by sliding cross coupling between described retarder and described torque sensor.
Further, the knee joint coder be installed on described knee joint is also comprised; Described knee joint coder is fixed on coder adapter plate.
Further, coder, position transduser and microswitch is also comprised; Described coder to be installed on described pin joint and to be fixed on pin joint encoders adapter plate; Described position transduser is installed on described U-shaped sheet metal component side; Described microswitch is installed on the bottom of described U-shaped sheet metal component; Described position transduser is connected with the input end of the derived circuit be distributed on described pin joint, feeds back pin and the floor angulation of described automatic walking robot.
Further, described thigh and described shank are hollow tubular body.
Beneficial effect of the present invention is: the present invention can walk by automatic linear, unit design adopts modular construction, each module completes standalone feature, allow different knee module and pin module are installed, transducer sensitivity Independent adjustable, various environment and illumination condition can be adapted to, electronic circuit is simple and reliable, stable working, with low cost.
Accompanying drawing explanation
Fig. 1 ~ Fig. 3 is structural representation of the present invention;
Fig. 4 is the section-drawing of A-A in Fig. 1;
Fig. 5 is the enlarged drawing at B place in Fig. 2;
Fig. 6 is the enlarged drawing at C place in Fig. 3;
Fig. 7 is the action schematic diagram of the present invention when walking.
Wherein: 1 is hip joint; 2 is knee joint; 3 is pin joint; 4 is thigh; 5 is shank; 1-1 is urceolus; 1-2 is inner core; 1-3 is transmission cylinder; 1-4 is sliding cross coupling; 1-5 is deep groove ball bearing; 1-6 is motor; 1-7 is retarder; 1-8 is torque sensor; 1-9 is support ring; ; 2-1 is electromagnet; 2-2 is positioning plate; 2-3 is for inhaling iron; 2-4 is knee joint coder adapter plate; 2-5 is knee joint coder; 2-6 is knee joint hinge; 2-7 is knee joint hinge seat; 3-1 is U-shaped sheet metal component; 3-2 is pin joint contiguous block; 3-3 is pin joint encoders adapter plate; 3-4 is position transduser; 3-5 is coder.
Detailed description of the invention
Technical scheme of the present invention is further illustrated by detailed description of the invention below in conjunction with accompanying drawing.
A kind of automatic walking robot, comprises hip joint 1, walking leg, actuating device and electronic control package;
Described hip joint comprises urceolus 1-1 and inner core 1-2, and described inner core 1-2 is sheathed in described urceolus 1-1 by the installation of bearing is rotating, and the either end of described inner core 1-2 protrudes from described urceolus 1-1; Described walking leg is provided with and is no less than 2, and described urceolus 1-1 and described inner core 1-2 is at least provided with a described walking leg respectively; Described actuating device, for rotating described urceolus 1-1, realizes the relative motion of walking leg separately on described urceolus 1-1 and described inner core 1-2;
Described electronic control package comprises the governor circuit being positioned at described hip joint 1 and the derived circuit being connected to described governor circuit, described governor circuit is for controlling described actuating device, described derived circuit is distributed in described walking leg, and described derived circuit is for controlling, measuring and the action of automatic walking robot described in sensing and data.
Described automatic walking robot is provided with two or more walking leg, ensure that the stable leg of horizontal direction is driven by single actuating device, automatic linear walking can be completed, unit design adopts distributed network structure design and Modular Structure Design, governor circuit is made up of 11 pieces of micro controller systems, and be connected to same bus, using as central process unit with walking governor circuit.
More excellent, the micro controller system plate of composition governor circuit is equipped with AtmelATmega8RISC controller, controller is as bus, can from all derived circuits obtaining information send a command to all joints of robot, complete robotary (all angles, on off state, consumption of power and torque) can also be sent to main frame to record data.
More excellent, described actuating device is servomotor, servomotor in conjunction with amplidyne generator with the running of drive machines people, affiliated servomotor is by the Single-chip Controlling identical with governor circuit, and be connected with TWI bus, amplifier adopts the design of half-bridge sequence drivers, safety monitoring, TEMP, automatic fusing, reduce noise signal spike function and current limit function to be provided by micro controller system, a central relay can be used for PTO Power Take Off, and diode, amplidyne generator plate interface, cond and little buffer network are arranged on the output shaft of motor.Micro controller system has self setting value and yield value, performs obtaining in TWI bus marco loop of task.
The company of being interconnected of each joint circuit card uses TWI bus (two-wire interface is also referred to as " Philip I2 bus "), and only all for robot joints just can be connected on the master controller of governor circuit by four TWI lines.Therefore, each module completes standalone feature, and transducer sensitivity Independent adjustable can adapt to various environment and illumination condition, and electronic circuit is simple and reliable, stable working, with low cost.
Further, described walking leg comprises thigh 4, knee joint 2, shank 5 and pin joint 3, one end correspondence of described thigh 4 is connected to described inner core 1-2 or described urceolus 1-1, the other end of described thigh 4 is hinged with described shank 5 by described knee joint 2, and the other end of described shank 5 is hinged with described pin joint 3.
As shown in Figures 1 to 3, the present invention imitates organization of human body and designs, and action is more flexible, except the walking of energy autostable, can also save energy.
Further, described actuating device is built in described inner core 1-2, and is connected by transmission cylinder 1-3 and be transmitted in described urceolus 1-1.
The mouth that described actuating device is connected to governor circuit moves with drive machines people.
Preferably, the machine design of hip joint 1 is: urceolus 1-1 length is 30 cm diameters is 9 centimetres, and inner core 1-2 length is 50 cm diameters is 6 centimetres, and transmission cylinder 1-3 length is 17.5 cm diameters is 8 centimetres.
Further, described knee joint 2 comprises electromagnet 2-1, positioning plate 2-2 and inhales iron 2-3; Described electromagnet 2-1 is installed on described thigh 4 one end near described shank 5; Described positioning plate 2-2 is installed on described shank 5 one end near described thigh 4; Described suction iron 2-3 is installed on also can be attracting with described electromagnet 2-1 on described positioning plate 2-2.
As shown in Figure 5, this robot knee joint 2 mainly contains a self-locking mechanism to limit the elevation angle of robot thigh, when actuating device band mobile robot thigh lifts to certain position, the shank being subject to inertia and effect of magnetic influence can lift followed by thigh, and when lifting to certain altitude and angle, positioning plate 2-2 limits the motion of shank, inhale iron 2-3 and electromagnet 2-1 attracting, electromagnet 2-1 power-off, actuating device decommissions, and the forward foot in a step falls with inertia and gravity.
Further, described knee joint 2 also comprises knee joint hinge 2-6 and knee joint hinge seat 2-7, described thigh 4 and described shank 5 hinged by the knee joint hinge 2-6 be arranged on knee joint hinge seat 2-7.
As shown in Figure 5, described thigh 4 and described shank 5 are limited on direct of travel and rotate by hinge, to realize the straight line moving of robot.
Further, described pin joint 3 comprises U-shaped sheet metal component 3-1, pin joint contiguous block 3-2 and pin joint encoders adapter plate 3-3; Described pin joint contiguous block 3-2 connects described shank 5 and described U-shaped sheet metal component 3-1; Described pin joint encoders adapter plate 3-3 is installed on described U-shaped sheet metal component 3-1.
As shown in Figure 6, described pin joint 3 is joints comparatively flexibly in robot, and its sole uses U-shaped sheet metal component 3-1, and the impact of this shape on walking behavior drops to minimum.The described pin joint 3 of this robot guarantees that robot can normal forward; the position transduser 3-4 being loaded on ankle place measures and record pin and floor angulation; the microswitch of bottom will be touched when the forward foot in a step is landed to start actuating device; the information of position transduser 3-4 is imported governor circuit into thus is made rear foot lifting; center of gravity moves forward, and robot advances.
Preferably, the foot bottom of robot can cover the comparatively coarse material of one deck to improve the skid resistance of robot, prevents robot from " slipping ".
Further, described actuating device is connected to described transmission cylinder 1-3 by retarder 1-7 and torque sensor 1-8 successively; Between the motor 1-6 of described actuating device and described retarder 1-7, support ring 1-9 is installed; Connected by sliding cross coupling 1-4 between described retarder 1-7 and described torque sensor 1-8.
Described torque sensor 1-8 is connected motor shaft with sliding cross coupling 1-4, is delivered to thigh by torque from actr, is connected to total control circuit both this together with motor 1-6, realizes the straight-line motion of automatic walking robot.For making the transmission of robot more stable, the situation that speed is sometimes fast and sometimes slow can not be caused, present invention also adds retarder 1-7.For filling the gap between actuating device and retarder 1-7, support ring 1-9 is installed between the two.
Further, the knee joint coder 2-5 be installed on described knee joint 2 is also comprised; Described knee joint coder 2-5 is fixed on coder adapter plate 2-4.
Be positioned at the derived circuit of knee joint 2, connected by TWI bus, micro controller system plate interface end connects knee joint coder 2-5 to control the self-locking mechanism of described knee joint 2.
Further, coder 3-5, position transduser 3-4 and microswitch is also comprised; Described coder 3-5 to be installed on described pin joint 3 and to be fixed on pin joint encoders adapter plate 3-3; Described position transduser 3-4 is installed on described U-shaped sheet metal component 3-1 side; Described microswitch is installed on the bottom of described U-shaped sheet metal component 3-1; Described position transduser 3-4 is connected with the input end of the derived circuit be distributed on described pin joint 3, feeds back pin and the floor angulation of described automatic walking robot.
The interface card being positioned at pin joint 3 is mainly connected with coder 3-5, position transduser 3-4 and microswitch, to measure and to record pin and floor angulation.Position transduser 3-4 is connected with control circuit input end.Pin thigh motion in motor 1-6 operates and drives, shank throws away with inertia, and electromagnet 2-1 adsorbs, electromagnet 2-1 power-off, motor 1-6 stops, and shank lands, and touches microswitch, position transduser 3-4 feedback information, control circuit accepts feedback command, and motor 1-6 operates again, outer pin thigh motion.
Further, described thigh 4 and described shank 5 are hollow tubular body.
Preferably, described thigh 4 and the described shank 5 of robot are made up of rectangle hollow aluminum pipe, wherein thigh length 37 centimetres, and leg length 41 centimetres is close with the mankind.Aluminum pipe has best known rigidity and hollow object weight ratio, and hollow structure can allow robot have enough installing spaces to comprise motor, electronic component and wire, and avoids them to be wound around.The described thigh 4 of robot connects described hip joint 1 and described knee joint 2, described shank 5 connects described knee joint 2 and described pin joint 3, often locate joint to come simply to load and unload by four screws, therefore can realize modularization, thus carry out the replacement of different knees or pin module.
As shown in Figure 7, robot ambulation mode is as follows:
Preferably, when described thigh 4 and described shank 5 are 4, described thigh 4, described knee joint 2, described shank 5 and described pin joint 3 constitute 4 legs, and outer two legs is outer pin, and inner two legs is interior pin.
When robot in a state of nature, two outer pin are the rear foot, and interior pin is the forward foot in a step, less touch with the ground before the rear foot contacts to earth, Push switch starter motor, and the forward foot in a step falls with gravity, robot start walking;
Four pin contact to earth, start the microswitch bottom described pin joint 3, motor 1-6 starts to rotate, described position transduser 3-4 takes measurement of an angle " before and after differentiating pin ", coder 3-5 record position, input governor circuit, the motor 1-6 being positioned at governor circuit mouth drives inner core 1-2 to rotate, the lifting of outer pin thigh, center of gravity moves forward;
Now motor 1-6 operates, the outer pin thigh of robot lifting, and shank gets rid of forward with inertia, to certain altitude and angle;
The outer pin thigh of robot and shank are lifted to and limit position, and namely electromagnet 2-1 touches the suction iron 2-3 on described positioning plate 2-2, electromagnet 2-1 power-off, and motor 1-6 decommissions, and outer pin lands with gravity, and center of gravity moves forward;
Now robot four pin contacts to earth, and two interior pin are the rear foot, and outer pin is the forward foot in a step, and the microswitch bottom described pin joint 3 touches, motor 1-6 runs, and position transduser 3-4 works, coder 3-5 record position, motor 1-6 drives urceolus 1-1 to rotate, the lifting of interior pin thigh, and center of gravity moves forward;
Now motor 1-6 operates, pin thigh in robot lifting, and shank gets rid of forward with inertia, to certain altitude and angle;
In robot, pin thigh and shank are lifted to and limit position, and namely electromagnet 2-1 touches the suction iron 2-3 on described positioning plate 2-2, electromagnet 2-1 power-off, and motor 1-6 decommissions, and outer pin lands with gravity, and center of gravity moves forward; The motion of walking robot circulates with this.
Above content is only preferred embodiment of the present invention, and for those of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, this description should not be construed as limitation of the present invention.
Claims (10)
1. an automatic walking robot, is characterized in that, comprises hip joint, walking leg, actuating device and electronic control package;
Described hip joint comprises urceolus and inner core, and described inner core is sheathed in described urceolus by the installation of bearing is rotating, and the either end of described inner core protrudes from described urceolus; Described walking leg is provided with and is no less than 2, and described urceolus and described inner core are at least provided with a described walking leg respectively; Described actuating device, for rotating described urceolus, realizes the relative motion of walking leg separately on described urceolus and described inner core;
Described electronic control package comprises the governor circuit being positioned at described hip joint and the derived circuit being connected to described governor circuit, described governor circuit is for controlling described actuating device, described derived circuit is distributed in described walking leg, and described derived circuit is for controlling, measuring and the action of automatic walking robot described in sensing and data.
2. automatic walking robot as claimed in claim 1, it is characterized in that, described walking leg comprises thigh, knee joint, shank and pin joint, one end correspondence of described thigh is connected to described inner core or described urceolus, the other end of described thigh is hinged with described shank by described knee joint, and the other end of described shank is hinged with described pin joint.
3. automatic walking robot as claimed in claim 1, it is characterized in that, described actuating device is built in described inner core, and is connected by transmission cylinder and be transmitted in described urceolus.
4. automatic walking robot as claimed in claim 2, it is characterized in that, described knee joint comprises electromagnet, positioning plate and suction iron; Described electromagnet is installed on described thigh one end near described shank; Described positioning plate is installed on described shank one end near described thigh; Described suction iron is installed on also can be attracting with described electromagnet on described positioning plate.
5. automatic walking robot as claimed in claim 4, it is characterized in that, described knee joint also comprises knee joint hinge and knee joint hinge seat, and described thigh and described shank are by being arranged on together with the knee joint hinge on knee joint hinge seat.
6. automatic walking robot as claimed in claim 2, it is characterized in that, described pin joint comprises U-shaped sheet metal component, pin joint contiguous block and pin joint encoders adapter plate; Described pin joint contiguous block connects described shank and described U-shaped sheet metal component; Described pin joint encoders adapter plate is installed on described U-shaped sheet metal component.
7. automatic walking robot as claimed in claim 3, it is characterized in that, described actuating device is connected to described transmission cylinder by retarder and torque sensor successively; Between the motor of described actuating device and described retarder, support ring is installed; Connected by sliding cross coupling between described retarder and described torque sensor.
8. automatic walking robot as claimed in claim 2, is characterized in that, also comprise the knee joint coder be installed on described knee joint; Described knee joint coder is fixed on coder adapter plate.
9. automatic walking robot as claimed in claim 6, is characterized in that, also comprise coder, position transduser and microswitch; Described coder to be installed on described pin joint and to be fixed on pin joint encoders adapter plate; Described position transduser is installed on described U-shaped sheet metal component side; Described microswitch is installed on the bottom of described U-shaped sheet metal component; Described position transduser is connected with the input end of the derived circuit be distributed on described pin joint, feeds back pin and the floor angulation of described automatic walking robot.
10. automatic walking robot as claimed in claim 1, it is characterized in that, described thigh and described shank are hollow tubular body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510956235.2A CN105438312A (en) | 2015-12-17 | 2015-12-17 | Automatic walking robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510956235.2A CN105438312A (en) | 2015-12-17 | 2015-12-17 | Automatic walking robot |
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| CN105438312A true CN105438312A (en) | 2016-03-30 |
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| CN201510956235.2A Pending CN105438312A (en) | 2015-12-17 | 2015-12-17 | Automatic walking robot |
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| CN108317337A (en) * | 2018-02-21 | 2018-07-24 | 南京管科智能科技有限公司 | A kind of underwater robot driving drum |
| CN109625116A (en) * | 2018-12-18 | 2019-04-16 | 江汉大学 | Can kneebend semi-passive walking robot and control method |
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Application publication date: 20160330 |