CN105644649B - Leg and foot structure of variable-structure bionic robot - Google Patents

Leg and foot structure of variable-structure bionic robot Download PDF

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Publication number
CN105644649B
CN105644649B CN201510977506.2A CN201510977506A CN105644649B CN 105644649 B CN105644649 B CN 105644649B CN 201510977506 A CN201510977506 A CN 201510977506A CN 105644649 B CN105644649 B CN 105644649B
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bionic
robot
foot
leg
connecting piece
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CN105644649A (en
Inventor
朱晓庆
李�诚
阮晓钢
林佳
陈志刚
肖尧
柴洁
陈岩
刘冰
伊朝阳
张超
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Beijing University of Technology
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Beijing University of Technology
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
    • B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
    • 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

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a leg and foot structure of a variable-structure bionic robot, which comprises a power output connecting piece, a bionic leg, an angle-adjustable fixed connecting piece and a bionic foot, wherein the power output connecting piece is connected with the bionic leg; the power output connecting piece is arranged at the top of the bionic leg and connected with the power supply device of the robot; the bottom of the bionic leg is connected with the bionic foot through a fixed connecting piece with an adjustable angle, and the angle position of the bionic leg and the bionic foot can be freely adjusted. The water-land conversion device has the advantages of simple structure, strong land adaptability, stable operation in water and high speed, and can continuously and stably work in water and land conversion media.

Description

Leg and foot structure of variable-structure bionic robot
Technical Field
The invention relates to a mechanical structure of a robot, in particular to a leg structure of a bionic robot.
Background
The common leg structures of the robot mainly comprise a wheel type robot and a multi-degree-of-freedom foot type robot, the wheel type robot has the advantages of simple structure, high movement speed, high efficiency and easiness in control, the ground which can be passed by the wheel type robot is continuous, but the passing areas of a plurality of grounds in the natural environment are discrete and discontinuous, the multi-degree-of-freedom foot type robot can pass through the discrete and discontinuous rugged ground by planning the foot drop point aiming at the ground environment, the walking speed of the robot is reduced while the foot drop point is planned, and the multi-degree-of-freedom foot type robot is obviously not suitable for occasions with higher speed requirements. In order to enhance the ability of the robot to adapt to various environments, a plurality of novel robot leg structures are proposed, the most typical example is a novel robot 'Rhex' designed by a robot expert at the intelligent machine center of the university of magel, canada, 1999, with six semicircular legs, the concept of the semicircular legs is introduced for the first time, and the structure not only has the advantages of simple structure, high movement speed, high efficiency and easy control like wheel-type legs, but also can smoothly pass through discontinuous discrete terrains in most natural world.
The reason that the adaptability of the semi-circular wheel leg type robot to the land is strong can be attributed to the special semi-circular leg structure and the fact that the semi-circular leg structure has only one rotation degree of freedom during movement, and in order to further widen the application range of the semi-circular leg type robot, the invention provides a variable structure bionic robot leg structure. Referring to fig. 1, when the bionic legs and the bionic feet are in a vertical relationship, in order to adapt to a land walking form, the motion posture of the robot is consistent with the motion posture of the semi-circle wheel leg type robot on the land; referring to fig. 6, when the bionic legs and the bionic feet are approximately on the same straight line, in order to adapt to the diving movement posture, the leg and foot structure of the robot continuously swings up and down with the power output shaft as the circle center, and the bionic feet play the role of flippers and push the robot to move forwards. The leg and foot structure of the bionic robot with the variable structure has the advantages of strong adaptability to the land, stable operation in water and high speed, and can continuously and stably work in water and land transformation media.
The invention of the semicircular leg for diving movement is not found for the prior patent retrieval, and the significance of the invention is confirmed through the above analysis.
Disclosure of Invention
The invention aims to provide a robot leg and foot structure which has strong adaptability to land and can be used for diving movement, and continuous and stable operation in land and water transformation media is realized.
The conception is as follows: ducks live in water or on land and have strong diving ability. The feet of the duck are also called as flippers through observation, the legs and the feet are connected through joints, when the duck is walking on land, the legs and the feet are approximately in a vertical relation, when the duck dives in water, the legs and the feet are approximately in a line, and the duck is provided with forward propelling force by means of the continuous swinging of the legs and the flippers, so that the duck can move rapidly in the water. The invention provides a leg and foot structure of a variable-structure bionic robot, which obtains inspiration from nature, adopts a natural application method, adopts an engineering bionic technology and a similarity principle, and is characterized in that a bionic foot is connected with a bionic leg through a fixed connecting piece with an adjustable angle, and the bionic foot is connected with the bionic leg through a fixed connecting piece with an adjustable angle. Referring to fig. 1, when the bionic legs and the bionic feet are in a vertical relationship, in order to adapt to a land walking form, the motion posture of the robot is consistent with the motion posture of the semi-circle wheel leg type robot on the land; referring to fig. 6, when the bionic legs and the bionic feet are approximately on the same straight line, in order to adapt to the diving movement posture, the leg and foot structure of the robot continuously swings up and down with the power output shaft as the circle center, and the bionic feet play the role of flippers and push the robot to move forwards. The leg and foot structure of the bionic robot with the variable structure has the advantages of strong adaptability to the land, stable operation in water and high speed, and can continuously and stably work in water and land transformation media.
The technical scheme adopted by the invention is that referring to fig. 1, the leg and foot structure of the bionic robot with the variable structure is characterized by comprising a power output connecting piece (1), a bionic leg (2), a fixed connecting piece (3) with an adjustable angle and a bionic foot (4); wherein, the power output connecting piece (1) is arranged at the top of the bionic leg (2), and the power output connecting piece (1) is connected with a power supply device of the robot; the bottom of the bionic leg (2) is connected with the bionic foot (4) through a fixed connecting piece (3) with an adjustable angle, and the angle positions of the bionic leg (2) and the bionic foot (4) can be freely adjusted.
The bionic foot (4) is of a gradually-changed arc-shaped structure, and the cross section of the arc-shaped structure is gradually changed.
The angle-adjustable fixed connecting piece (3) is of a hinge or pin structure.
The bionic foot (4) is divided into two sections of gradually-changed arc-shaped structures which are connected with each other through embedded clamping grooves, and when the bionic foot (4) works, the two sections of gradually-changed arc-shaped structures are unfolded to form a rigid integrated structure; when the bionic foot (4) does not work, the two sections of gradually changed arc structures are contracted, so that the storage space is saved.
The invention has the following beneficial effects: the water-land conversion device has the advantages of simple structure, strong land adaptability, stable operation in water and high speed, and can continuously and stably work in water and land conversion media.
Drawings
FIG. 1 is a schematic diagram of leg and foot structures of a bionic robot with a variable structure.
FIG. 2 is a schematic illustration of an output power coupling.
Figure 3 is a schematic view of a biomimetic leg.
FIG. 4 is a schematic view of an adjustable angle fixed connection.
FIG. 5 is a schematic view of a biomimetic foot.
Fig. 6 is a schematic diagram of a hexapod robot suitable for land walking.
Figure 7 is a schematic diagram of a hexapod robot adapted to advance through water.
Fig. 8 is a schematic diagram of a hexapod robot suitable for retropulsion in water.
In the figure: 1. the robot comprises a power output connecting piece, 2 main body legs, 3 fixed connecting pieces with adjustable angles, 4 bionic feet, 5 robot main bodies and 6 robot power output shafts.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
As shown in fig. 1, a leg and foot structure of a variable structure bionic robot is characterized by comprising a power output connecting piece (1), a bionic leg (2), a fixed connecting piece (3) with an adjustable angle and a bionic foot (4), wherein: the power output connecting piece (1) is connected with the power supply device of the robot and the bionic leg (2); the bionic leg (2) is connected with the bionic foot (4) through the fixed connecting piece (3) with the adjustable angle, so that the angle relation between the bionic leg (2) and the bionic foot (4) is adjustable.
Fig. 3 shows the bionic leg (2), which is required to be processed by the bionic leg with low density and high strength. The shape of the artificial duck leg is similar to a cylinder.
Fig. 4 shows an angle-adjustable fixing connector (3) which is required to adjust the angle between the bionic leg (2) and the bionic foot (4) through a motor, and the motor has a waterproof function.
Fig. 5 is a bionic foot (4) which is of an arc-shaped structure and is shaped like a duck web imitating a duck foot.
For a clearer and more vivid understanding of the present invention, a hexapod robot is taken as an example, and two modes are applied to the robot, and refer to fig. 7 and 8:
as shown in fig. 7, the robot main body (5) is provided with six bionic legs (2) which are uniformly and symmetrically distributed, the bionic legs (2) are driven by a robot power output shaft (6), and the power output connecting piece (1), the bionic legs (2), the fixed connecting piece (3) with the adjustable angle, the bionic feet (4), the robot main body (5) and the robot power output shaft (6) jointly form a hexapod robot structure; in order to adapt to the shape of land walking, the bionic legs (2) and the bionic feet (4) are in a vertical relation, each leg only has one rotational degree of freedom, and the robot walks on different shapes by adjusting the gait. When the robot transits from land to water, the angle of the bionic leg (2) and the angle of the bionic foot (4) are changed by the fixed connecting piece (3) with adjustable angle under the drive of the motor, and when the bionic leg and the bionic foot are approximately on the same straight line, in order to adapt to the diving moving posture, referring to fig. 6, the leg and foot structure of the robot uses the power output shaft (6) of the robot as an axis to continuously swing up and down in water to generate forward thrust.
Finally, it is to be noted that: the above embodiments are only for illustrating the invention and not for limiting the technical solutions described in the invention, therefore, although the present specification has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that the present invention can be modified or replaced with equivalents, and all technical solutions and modifications thereof without departing from the spirit and scope of the invention should be covered by the claims of the present invention.

Claims (1)

1. The utility model provides a leg and foot structure of variable structure bionic robot which characterized in that: the structure comprises a power output connecting piece (1), a bionic leg (2), a fixed connecting piece (3) with an adjustable angle and a bionic foot (4); wherein, the power output connecting piece (1) is arranged at the top of the bionic leg (2), and the power output connecting piece (1) is connected with a power supply device of the robot; the bottom of the bionic leg (2) is connected with the bionic foot (4) through a fixed connecting piece (3) with an adjustable angle, and the angle positions of the bionic leg (2) and the bionic foot (4) can be freely adjusted;
the bionic foot (4) is of a gradually-changed arc-shaped structure, and the cross section of the arc-shaped structure is gradually changed;
the angle-adjustable fixed connecting piece (3) is of a hinge or pin shaft structure;
the bionic foot (4) is divided into two sections of gradually-changed arc-shaped structures which are connected with each other through embedded clamping grooves, and when the bionic foot (4) works, the two sections of gradually-changed arc-shaped structures are unfolded to form a rigid integrated structure; when the bionic foot (4) does not work, the two sections of gradually changed arc structures shrink inwards, so that the storage space is saved;
the robot comprises a robot main body (5), six bionic legs (2) which are uniformly and symmetrically distributed, wherein the bionic legs (2) are driven by a robot power output shaft (6), and a hexapod robot structure is formed by a power output connecting piece (1), the bionic legs (2), an angle-adjustable fixed connecting piece (3), a bionic foot (4), the robot main body (5) and the robot power output shaft (6); in order to adapt to the land walking form, the bionic legs (2) and the bionic feet (4) are in a vertical relation, each leg only has one rotational degree of freedom, the robot can walk on different forms by adjusting gait, when the robot transits from the land to the water, the angle of the bionic legs (2) and the bionic feet (4) is changed by the fixed connecting piece (3) with adjustable angle under the driving of the motor, and when the bionic legs and the bionic feet are approximately on the same straight line, in order to adapt to the diving moving posture, the leg and foot structure of the robot uses the power output shaft (6) of the robot as the axis to continuously swing up and down in the water to generate forward thrust.
CN201510977506.2A 2015-12-23 2015-12-23 Leg and foot structure of variable-structure bionic robot Active CN105644649B (en)

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Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109677503A (en) * 2019-03-05 2019-04-26 长沙紫宸科技开发有限公司 A kind of Multifunctional foot for polypody bio-robot
CN113306352B (en) * 2021-07-08 2022-09-09 山东大学 Multi-terrain adaptive amphibious six-foot belt waist multifunctional robot

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101337494A (en) * 2008-08-12 2009-01-07 北京大学 Amphibious bionics robot
CN102795069A (en) * 2012-08-03 2012-11-28 南京航空航天大学 Moving method for hybrid-driven jellyfish-simulating amphibious robot
CN104787138A (en) * 2015-04-01 2015-07-22 上海交通大学 Desert quadruped robot

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8157032B2 (en) * 2010-04-06 2012-04-17 Robotex Inc. Robotic system and method of use

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101337494A (en) * 2008-08-12 2009-01-07 北京大学 Amphibious bionics robot
CN102795069A (en) * 2012-08-03 2012-11-28 南京航空航天大学 Moving method for hybrid-driven jellyfish-simulating amphibious robot
CN104787138A (en) * 2015-04-01 2015-07-22 上海交通大学 Desert quadruped robot

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