CN1054579C - Five feet walking carrier with comprehensive moving function - Google Patents
Five feet walking carrier with comprehensive moving function Download PDFInfo
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- CN1054579C CN1054579C CN97104103A CN97104103A CN1054579C CN 1054579 C CN1054579 C CN 1054579C CN 97104103 A CN97104103 A CN 97104103A CN 97104103 A CN97104103 A CN 97104103A CN 1054579 C CN1054579 C CN 1054579C
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Abstract
The present invention relates to a five-foot walking carrier with a comprehensive moving function, which belongs to the field of a robot. The five-foot walking carrier is composed of a vehicle body, five legs, five feet and a control system, wherein the vehicle body is composed of a front body, a left wing body, a right wing body and a tail body. The front body, the left wing body and the right wing body are respectively provided with a leg, the tail body is provided with two legs, and the lower part of each leg is respectively provided with a foot. The control system is arranged in the vehicle body, the legs on the front body and the tail body are respectively provided with three joints of a rotation joint, a hip joint and a knee joint in sequence, and the legs on the left wing body and the right wing body only have two joints of a hip joint and a knee joint. The lower ends of the legs on the tail body are provided with driven feet, the lower ends of the legs on the font body, the left wing body and the right wing body are provided with driving feet with a grasping function realized by a grasping mechanism.
Description
The present invention relates to a kind of five sufficient walking carriers, belong to the Robotics field with comprehensive locomotive function.
In a lot of operating environments, some dangerous deletrious need of work movable machine people replace the mankind to finish, the move mode that this robotlike adopts usually has wheeled, crawler type and leg formula, wherein wheeled and crawler type travel mechanism is suitable for more smooth, on continuous ground, move, leg formula mechanism not only is suitable for the ground walking, can also leaping over obstacles and trench, discrete space such as chin and truss landform, and the destruction that environment is caused is less, so leg formula move mode has significant preceence aspect adaptive capacity to environment, the carrier that moves with this leg formula manner of walking has wide practical use.
At present, relevant both at home and abroad leg formula mobile vehicle is mainly developed at concrete, mono-operating environment, and wherein major part only is fit to ground running, also has the custom-designed type of minority can be at the row that swashes of wall continuously.For the mobile vehicle that can adapt to certain comprehensive non-structure operating environment, domestic and international research relates to very few.Complicated structural environment is broadly divided into general ground surface or terrain and comprises the inclined-plane of heavy grade, wall, truss, structure landform on the spatial sense such as step, wherein truss structure is the operating environment that a kind of mankind often face, Study of traveling mechanism under this operating environment at home and abroad nearly all is blank, do not have more to realize that the mobile vehicle of climbing the truss function comes out, particularly having general ground concurrently moves and can climb truss, and can independently carry out the transition to truss from the ground mobile status and climb the multi-functional sufficient formula mobile vehicle and the relevant research of state report is not more arranged, to be that robot carries out AUTONOMOUS TASK in many applied environments necessary but have this locomotivity.
For the static-stability walking of leg formula travel mechanism, even number bar leg is adopted in traditional walking machine design, and is symmetrically distributed, and this is the inspiration that people are subjected to the walking manner of nature animal, bionical designing directly perceived.In fact the walking of animal not only relies on the cycle alternation motion of each leg, and the matching coordinative that also depends on the degree of freedom at positions such as body vertebra, cervical vertebra to a great extent moves, particularly in unconventional walking, creep or during climbing exercise, show particularly significantly.Therefore, when imitation animal walking mechanism is carried out the walking machine design, can not be simply bionical from carry out in form, should take all factors into consideration the influence of the motor function of each several part and carry out function bionics.Present walking machine generally has even number bar leg, and car body is symmetrically distributed relatively, and every leg has three degree of freedom, and car body is a rigid construction.This walking machine is in static-stability walking or when climbing, and for want of necessary car body is coordinated degree of freedom, makes to can not get necessary motor coordination when asymmetric supporting figure or climb the gripping state, thereby has influenced its travelling performance.
September 12 nineteen ninety-five, Te Kaiping 7-237154 technological document discloses a kind of walking robot mobile and carrying that is used for, have five legs, one or more joints are set on every leg, comprise rotary joint and linear joint, wherein realize stable support with three legs at least, available other one finishes the operation of supporting beyond the car body to two legs, robot is taked the static-stability walking manner in motion process, use the turning joint of leg root to realize turning to, can on uneven grounds such as slope, step, keep the horizontal attitude of car body in conjunction with linear joint.The static-stability performance of this walking robot be better than other one, two, three, the four-leg walking robot, on structure, weight, energy consumption and volume, be better than six leg walking machine device people, for concavo-convex fluctuating, and the working environment that is unsuitable for continuous ground motion has comformability preferably.But this joint of robot is more, complex structure, and control is difficult.
The objective of the invention is to develop a kind of five sufficient walking carriers that merge comprehensive locomotive functions such as ground running, truss climbing and autonomous transition from the ground running state to the state of climbing based on function bionics, and simple and reasonable, the function that easy realization requires.
The present invention's five sufficient walking carriers are by car body, five legs, and five foots and control system four parts are formed.Car body is made up of precursor, left and right wing body, urosome, on precursor and the left and right wing body one leg is set respectively, and two legs are set on urosome.The bottom of every leg is provided with a foot, and control system is arranged in the car body.Leg on precursor and urosome respectively has three joints, is followed successively by the turning joint, hip joint and knee joint.Leg on left and right wing body has only hip joint and two joints of knee joint.The lower end of the leg on urosome is provided with by action spot, can be used as ground running and is supported on the cross bar, and its cross bar support function is realized by the arc groove at sufficient rear portion.Leg lower end on precursor and left and right wing body is provided with the active foot of grip function, can be used as ground running, but grasping cross bar again, its grip function is realized by grasping mechanism, grasping mechanism is made up of the roller that three axis are parallel to each other, one of them roller is annotated and can upper and lowerly be moved, and realizes grasping or release function.Movable roller is realized upper and lower moving by motor-driven one screw mandrel slide block mechanism.
For realizing that bigger sufficient end can reach the space, satisfy the requirement of multiple climbing attitude, kneed drive motor is arranged in the thigh, and the grasping motor is arranged in the vola.
Illustrate that accompanying drawing is as follows:
Fig. 1 is the complete machine structure scheme drawing of walking carrier of the present invention.
Fig. 2 is the body construction scheme drawing of walking carrier of the present invention.
Fig. 3 is arranged on the leg structural representation on the precursor.
Fig. 4 is arranged on the leg structural representation on the urosome.
Fig. 5 is arranged on the leg structural representation on the left and right wing body.
Fig. 6 is the turning articulation structure scheme drawing of walking carrier of the present invention.
Fig. 7 is the hip joint structural representation of walking carrier of the present invention.
Fig. 8 is the knee joint structure scheme drawing of walking carrier of the present invention.
Fig. 9 is the active foot structural representation of walking carrier of the present invention.
Figure 10 be walking carrier of the present invention by the action spot structural representation.
Figure 11 is the control system structured flowchart.
Figure 12 is the scheme drawing of the present invention in the walking of typical ground static-stability.
Figure 13 is the transient process scheme drawing that the present invention climbs from the ground running to the truss.
Figure 14 is the scheme drawing that the present invention climbs the truss motion.
Figure 15 is a flow chart.
Accompanying drawings embodiment is as follows:
Fig. 1 is the present invention's five sufficient walking carrier complete machine structure scheme drawings, and wherein 1 is ladder, and 3,5,8,10,12 is five walking legs; 2,6,7,9,13 is five foots; The 11st, control system, the 4th, car body.
Fig. 2 is the body construction scheme drawing, wherein, the 14th, precursor; The 15th, the right flank body; The 16th, left wing's body; The 17th, urosome; The 18th, upper and lower substrate.Precursor 14, right flank body 15, left wing's body 16 and urosome 17 are linked in one with upper and lower substrate 18, and the car body longitudinal axis is left-right symmetric relatively, and purpose is to make walking carrier when walking or climbing, can obtain strained condition and stability preferably.Precursor 14, right flank body 15, left wing's body 16, urosome 13 two ends are respectively for settling 8,5,10,3 among Fig. 1,12 5 legs.The distance of wing body and urosome constitutes the effective length of walking carrier.Less car body effective length guarantees the smooth transition from the ground running state to the state of climbing.
Fig. 3 is for being arranged on the structural representation of the leg 8 on the precursor among Fig. 1, and this leg contains turning joint 19,21 3 joints of hip joint 20 and knee joint, and be connected on the car body by turning joint 19, foot 22 be an active sufficient structure (as Fig. 9).
Fig. 4 is for being arranged on the structural representation of the leg on the urosome among Fig. 1, and this kind leg contains turning joint 23,25 3 joints of hip joint 24 and knee joint, and be connected on the car body by turning joint 23, foot 26 is by action spot structure (as Figure 10).
Fig. 5 is for being arranged on the structural representation of the leg on the left and right wing body among Fig. 1, this kind leg only contains hip joint 27 and 28 two joints of knee joint, and the joint of not turning, whole leg directly is fixed on the car body by hip joint 27, and foot 29 is an active sufficient structure (as Fig. 9).
Fig. 3, Fig. 4, each leg shown in Figure 5 are built-in motor formula joint type structure, promptly insert in the thigh 20 in the drive motor of knee joint 21,25,28, and initiatively the drive motor of foot 22,29 is built in the shank 31.The all similar mammiferous leg version of the structure of these legs has big alerting ability, and can realize that bigger sufficient end can reach the space, has avoided the interference of leg and leg, leg and truss, can satisfy the requirement of climbing attitude arbitrarily.
Fig. 6 is a turning articulation structure scheme drawing, and wherein 32 is hip joints, the 33rd, and transmission gear is right, and the 34th, joint rotating shaft, the 35th, joint detector, the 36th, drive motor, the 37th, gear reducer.
Fig. 7 is the hip joint structural representation, and wherein 38 is transmission gears, the 39th, and joint rotating shaft, the 40th, joint detector, the 41st, joint drive motor, the 42nd, thigh.In the hip joint structure, drive motor 41 relatively rotates around joint turning cylinder 39 through first-stage worm gear and secondary gear reducer driving joint rotating shaft 39 drive thighs 42.Joint detector 40 is positioned at the axle head of joint turning cylinder 39, in order to status informations such as the turned position that detects hip joint and velocities of rotation.
Fig. 8 is the knee joint structure scheme drawing, wherein, the 43rd, drive motor, the 44th, thigh, the 45th, retarder, the 46th, knee joint detector, the 47th, joint turning cylinder, the 48th, shank.In the knee joint structure, drive motor 43 drives 47 rotations of joint turning cylinder 47 drive shanks 48 utmost point opposing connection joint turning cylinders through first-stage worm gear and secondary gear reducer 45.Drive motor 43 is built in the thigh 44.Joint detector 46 is positioned at the axle head of joint turning cylinder 47, in order to detect status informations such as knee joint rotation position and velocity of rotation.
Fig. 9 is a sufficient structural representation initiatively, wherein, the 49th, coupler, the 50th, leading screw, the 51st, slide block, the 52nd, guide rail, the 53rd, movable nylon roller, the 54th, drive motor, the 55th, side group plate, the 56th, fixing nylon roller, the 57th, arc nylon block, the 58th, Rubber washer.This sufficient structure is with grip function, so be called initiatively sufficient structure.Its grip function is realized by grasping mechanism.Grasping mechanism is made up of the nylon roller 53,56 that three axis are parallel to each other, and wherein movable nylon roller 53 is linked on the slide block 51.Drive motor 54 drives leading screw 50 through coupler 49 and rotates, and leading screw 50 drives slide block 51 and moves up and down along guide rail 52,53 motions of slide block 51 drive activity nylon rollers, thus finish grip function.Guide rail 52 has accurate guiding and carrying dual-use function.Leading screw 50 is floated by coupler 49 with motor shaft and connects, so that the loading of foot end is on the leg rather than on motor shaft.Vola portion is an arc nylon block 57, covers elastomeric material Rubber washer 58 outward.The vola design of circular arc can make leg keep less height of the carbody to change when rotating around ground, and with ground the excellent contact state is arranged.The effect of the elastomeric layer Rubber washer 58 that covers outward is the foot end impulsive forces when reducing to walk and increases friction force, prevents that the foot end from sliding.
Figure 10 is by the action spot structural representation, wherein, the 59th, side group plate, the 60th, Rubber washer, the 61st, arc nylon block.This sufficient structure does not have initiatively grip function, but can passive support on the truss cross bar, so be called by the action spot structure.It is with initiatively foot is similar in shape, and inside does not contain grasping mechanism.Arc nylon block 57 among the effect of arc nylon block 61 and Rubber washer 60 and Fig. 9 is identical with the effect of Rubber washer 58.
In the control system structured flowchart shown in Figure 11, adopted the control structure of classification distributed type.Acting as of planning cooperation layer: carry out systems programming and man-machine information interaction; Gait is selected and planning; Receive the status information of coming with processing servocontrol layer feedback; Generate joint servo control instruction etc.Servocontrol layer computing machine accepted the control command that the Coordination calculation machine is sent, each joint on the leg is controlled, the motion that realization is planned feeds back to the cooperation layer computing machine to the perception information of each joint detector and sufficient end sensor simultaneously, next step control command is done to revise and compensate.Communication Layer is centralized management and distributed mailbox Processing Structure, realizes the data interaction communication of planning cooperation layer computing machine and servocontrol layer computing machine.The sensor-based system of object layer carries out online detection to joint motions state and sufficient end in contact or grasping state etc.
Figure 12 is the scheme drawings of the present invention's five sufficient walking carriers in the walking of typical ground static-stability.A figure is the scheme drawing of level ground static-stability walking in the drawings, and b figure is the scheme drawing of ground, slope static-stability walking, and c figure is the scheme drawing of static-stability chin campaign, and d figure is the scheme drawing of ground, hills static-stability walking.
Figure 13 is the transient process scheme drawing that the present invention's five sufficient walking carriers are climbed from the ground running to the truss.A figure-1 figure is respectively each transition condition scheme drawing.Its transient process is actual to be that several basic exercises such as swinging kick, propelling car body, adjustment car body attitude combine.With the leg band that Fig. 1 demarcates, detailed process is: after carrying out car body initial state adjustment, swinging kick 8 grasping are to cross bar, to scheming a state; Swinging kick 5 grasping are to cross bar, to scheming the b state: swinging kick 10 grasping are to cross bar, to scheming the c state; Unclamp leg 8 and lift, carry out the adjustment of car body attitude, as figure d state; Swinging kick 8 grasping are put 5 leg grasping to last single order cross bar, to scheming the e state to last single order cross bar; Swinging kick 10 grasping are to last single order cross bar; Unclamp leg 8 and lift, carry out the adjustment of car body attitude, as figure g state; Swinging kick 8 grasping are put 5 leg grasping to going up on the single order cross bar, to scheming the h state to going up on the single order cross bar again again; Swinging kick 10 grasping are to going up on the single order cross bar again, lead leg 3 to stride, to scheming the i state; Swinging kick 12 strides, and unclamps leg 8 and lifts, and carries out the adjustment of car body attitude, as figure j state; Swinging kick 8 grasping are put 5 leg grasping to going up on the single order cross bar, to scheming the k state to going up on the single order cross bar again again; Swinging kick 10 grasping are to going up on the single order cross bar again, lead leg 3 to support on the cross bar, lead leg 12 to support on the cross bar, to scheming the l state; Thereby finish the transition of from the ground running to the truss, climbing.
Figure 14 is the scheme drawing that the present invention climbs the truss motion.Figure a-figure d is respectively each and climbs view.With the leg band that Fig. 1 demarcates, from figure a state, its climbing is: carry out the adjustment of car body attitude, to scheming the b state; Conversion leg 5, leg 10 grasping are changed leg 3 grasping to last single order cross bar, again to scheming the c state to last single order cross bar; Change leg 12 grasping again to last single order cross bar, carry out the adjustment of car body attitude, to scheming the d state; Move down according to this sequential loop, realize climbing the motion of truss.
Figure 15 is a flow chart.
The present invention has following effect:
1. stronger comprehensive locomotive function and many landform applicability. The present invention has flexibly ground running merit Can, truss and step climb function, ground creep state and the state of climbing autonomous fade function, cross over barrier Hinder and the trench function, can be used as the mobile vehicle of realizing in factory automation or the field operation environment, be used for object Carrying or mobile the detection.
2. travelling performance preferably, the present invention overcome existing walking machine in walking or when climbing because supporting figure Or climb the asymmetric relatively poor travelling performance that causes of gripping state, and realized the more static-stability walking step The attitude kind has stronger anti-de-stabilise, faster walking speed and preferably flexibility.
Claims (2)
1. five sufficient walking carriers with comprehensive locomotive function, contain car body, article five, leg and control system, it is characterized in that: car body is by precursor, a left side, the right flank body, urosome is formed, on a precursor and a left side, one leg respectively is set on the right flank body, two legs are set on urosome, the bottom of every leg is provided with a foot, control system is arranged in the car body, leg on precursor and urosome respectively has three joints, be followed successively by the turning joint, hip joint and knee joint, on a left side, leg on the right flank body has only hip joint and two joints of knee joint, the lower end of the leg on urosome is provided with by action spot, on a precursor and a left side, leg lower end on the right flank body is provided with the active foot of grip function, and its grip function is realized by grasping mechanism, grasping mechanism is made up of the roller that three axis are parallel to each other, one of them roller annotate can more than, move down, realize grasping or release function, movable roller is realized by motor-driven one screw mandrel slide block mechanism, move down.
2. five sufficient walking carriers with comprehensive locomotive function according to claim 1, it is characterized in that: kneed drive motor is arranged in the thigh, and the grasping motor is arranged in the vola.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN97104103A CN1054579C (en) | 1997-04-18 | 1997-04-18 | Five feet walking carrier with comprehensive moving function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN97104103A CN1054579C (en) | 1997-04-18 | 1997-04-18 | Five feet walking carrier with comprehensive moving function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1164491A CN1164491A (en) | 1997-11-12 |
| CN1054579C true CN1054579C (en) | 2000-07-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN97104103A Expired - Fee Related CN1054579C (en) | 1997-04-18 | 1997-04-18 | Five feet walking carrier with comprehensive moving function |
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| Country | Link |
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| CN (1) | CN1054579C (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8657042B2 (en) | 2010-10-04 | 2014-02-25 | China Industries Limited | Walking machine |
| CN106741286B (en) * | 2017-01-12 | 2024-04-05 | 南京理工大学 | Five-foot bionic robot mechanism |
| CN107738702B (en) * | 2017-10-13 | 2019-10-22 | 中国农业大学 | Furnace tube outer wall walking mechanism with guiding and obstacle crossing function |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4594071A (en) * | 1985-02-08 | 1986-06-10 | Marvin Glass & Associates | Composite toy vehicle assembly |
| JPS6478987A (en) * | 1987-09-18 | 1989-03-24 | Mitsubishi Heavy Ind Ltd | Leg drive control method for moving robot with legs |
| JPH02131884A (en) * | 1988-11-10 | 1990-05-21 | Toshiba Corp | Work robot |
| JPH04101791A (en) * | 1990-08-13 | 1992-04-03 | Mitsubishi Heavy Ind Ltd | Control method for creeping movement of leg type moving robot |
| JPH07237154A (en) * | 1994-03-01 | 1995-09-12 | Yasusato Honda | Leg walking robot |
-
1997
- 1997-04-18 CN CN97104103A patent/CN1054579C/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4594071A (en) * | 1985-02-08 | 1986-06-10 | Marvin Glass & Associates | Composite toy vehicle assembly |
| JPS6478987A (en) * | 1987-09-18 | 1989-03-24 | Mitsubishi Heavy Ind Ltd | Leg drive control method for moving robot with legs |
| JPH02131884A (en) * | 1988-11-10 | 1990-05-21 | Toshiba Corp | Work robot |
| JPH04101791A (en) * | 1990-08-13 | 1992-04-03 | Mitsubishi Heavy Ind Ltd | Control method for creeping movement of leg type moving robot |
| JPH07237154A (en) * | 1994-03-01 | 1995-09-12 | Yasusato Honda | Leg walking robot |
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| Publication number | Publication date |
|---|---|
| CN1164491A (en) | 1997-11-12 |
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