CN109278886A - A kind of four-part form omnidirectional, which creeps, rolls quadruped robot - Google Patents
A kind of four-part form omnidirectional, which creeps, rolls quadruped robot Download PDFInfo
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- CN109278886A CN109278886A CN201811159205.9A CN201811159205A CN109278886A CN 109278886 A CN109278886 A CN 109278886A CN 201811159205 A CN201811159205 A CN 201811159205A CN 109278886 A CN109278886 A CN 109278886A
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- Prior art keywords
- shank
- thigh
- robot
- trunk
- leg
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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
-
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of four-part form omnidirectional, which creeps, rolls quadruped robot, including trunk, the identical leg of four structures and electric control part, and trunk is the rectangular box of body centre, and two sides are equipped with fixation hole, for connecting with leg；Leg is divided into thigh and shank；Thigh is the part for connecting the first segment circular arc of trunk, and the both ends of thigh are equipped with steering engine, connects trunk and shank as joint；Shank is the part of the connection thigh with circular arc outer rim；The thickness of shank is divided into three sections, and one section of most thin corresponding arc angle of sufficient end, that is, shank thickness is 30 degree, and most thick one section is installed the minimum thickness limited by steering engine, and corresponding arc angle is 20 degree, and centre is chamfered transition section；When ensure that robot harvest circular configuration, the opening and closing movement of thigh will not be interfered with ipsilateral leg；Servo driving thigh and shank deflect movement, and robot can deform cylindrical state；Electric control part are as follows: single-chip microcontroller, steering engine and its mating driving plate, six axle sensors.
Description
Technical field
The present invention designs a kind of thigh and shank is all the quadruped robot of circular arc type structure, and in particular to one kind can roll
The dynamic quadruped robot that can be creeped again, belongs to robotic technology field.
Background technique
One kind is disclosed in patent of invention CN102728066A can roll quadruped robot, which has circular arc shape
Multistage trunk structure, make to generate yaw motion between each component by controlling servo motor after being deformed into round structure, it is real
Existing robot is longitudinally rolled along body.But the robot realizes circular appearance, is increased in crawling exercises on trunk not
Necessary part.Because geometry defect, robot can not achieve transversal translation and creep, practicability is poor.
Summary of the invention
The purpose of the present invention is to provide a kind of with rolling advancement function and the quadruped robot of ability of preferably creeping.
In order to achieve the above object, a kind of four-part form omnidirectional of the present invention creeps and rolls quadruped robot, including trunk, four structures
Identical leg and electric control part, it is characterised in that:
The trunk is the rectangular box of body centre, and two sides are equipped with fixation hole, for connecting with leg；
The leg is divided into thigh and shank；The material selection nylon material of four legs can be generated with 3d printing type；
The thigh is the part for connecting the first segment circular arc of trunk, and the both ends of thigh are equipped with steering engine, connect as joint
Trunk and shank；
The shank is the part of the connection thigh with circular arc outer rim；The thickness of shank is divided into three sections, sufficient end, that is, shank
One section of most thin corresponding arc angle of thickness is 30 degree, and most thick one section is installed the minimum thickness limited by steering engine, corresponding
Arc angle be 20 degree, it is intermediate for chamfered transition section；When such design ensure that robot harvest circular configuration, thigh
Opening and closing movement will not be interfered with ipsilateral leg；
The thigh and shank outer rim constitute semicircle；Servo driving thigh and shank deflect movement, and robot can
Deform cylindrical state；
In terms of robot rolling condition structural side view, the outer rim of thigh and shank may make up a half circular arc,
It connection shank distal point and connects the rotation axis of steering engine of trunk and thigh in side view to project the point structure to be formed into a line
Section, just past the center of circle of semicircle, the perpendicular bisector of this line segment also just past connection thigh and with the steering engine of shank
Subpoint of the rotation axis in side view；This is also achieved that the lenth ratio of thigh and shank is 1；
Electric control part are as follows: Aduino mega2560 single-chip microcontroller, zx361 steering engine and its mating driving plate, six axis of JY-61 pass
Sensor.
A kind of four-part form omnidirectional of the present invention, which creeps, rolls every leg of quadruped robot equipped with 3 servo driving joints rotations,
Rotary shaft intersection close to first and second steering engine of trunk is vertical, and second mutually equal with the rotary shaft of third steering engine
Row, ipsilateral two legs can be closed into circle by deformation；By the opening and closing campaign of leg, robot is rolled, mobile speed
Degree is greatly improved；
The direction for providing robotic station's straight line where long side immediately is the forward/backward direction of robot, has circular shape
Leg opening direction be direction of advance；Front and back leg and right side front and back leg can respective harvest complete circles on the left of robot；Trunk
On sensor can detect trunk pitch attitude, then judgement be that thigh or shank are touched with ground；When shank lands
Shank opening and closing can be driven to complete to roll, thigh opening and closing can be driven to complete to roll when thigh lands, it is final real
The rolling of existing robot.
The present invention compared with the existing technology the advantages of: a kind of four-part form omnidirectional, which creeps, rolls the achievable omnidirectional of quadruped robot
Creep and, rolling movement adaptability is good, and the terrain adaptability creeped is good, and structure is simple.
Detailed description of the invention
Fig. 1 is state stereoscopic schematic diagram of creeping of the invention.
Fig. 2 is status architecture main view of creeping of the invention.
Fig. 3 is status architecture side view of creeping of the invention.
Fig. 4 is rolling condition stereoscopic schematic diagram of the invention.
Fig. 5 is rolling condition structural front view of the invention.
Fig. 6 is rolling condition structural side view of the invention.
Figure label: 1. trunks, 2. thighs, 3. shanks.
Specific embodiment
Referring to Fig. 1, Fig. 2, Fig. 3, a kind of four-part form omnidirectional of the present invention, which creeps, rolls quadruped robot, by trunk 1, thigh 2,
Shank 3 forms；Wherein thigh 2 is connected with shank 3, and the structure of four legs is identical.Thigh 2 and 3 outer rim of shank are arc-shaped.Even
Connecing the steering engine at thigh 2, shank 3 and trunk 1 can deflect movement.
In the state of Four-feet creeping, the rotary motion of the steering engine among shank 3 and thigh 2 can allow shank to generate foot-up
Or movement of stopping over, the rotary motion of the steering engine at thigh 2 and trunk 1 can allow shank to generate sliding forward or backward, the two
In conjunction with the crawling exercises that can be completed forward or backward.Steering engine rotation at trunk 1 can allow thigh 2 and shank 3 simultaneously to body
Body left or right side is mobile, and the transverse direction that robot can be realized with foot-up or the movement cooperation stopped over is creeped, and then realizes machine
The omnidirectional of people creeps.
Referring to Fig. 4, Fig. 5, Fig. 6, the present invention by Four-feet creeping status transition to rolling condition when, can first by four legs receive to
Semicircle and perpendicular to the ground standing state.The steering engine in trunk 1 is rotated further by by the left back leg receipts parallel with right rear leg extremely
The lower half circle for wrapping up trunk, while rotating left front leg and right front leg, by two legs receive to package trunk the other half, complete deformation
At the movement of cylinder.
Robot in cylinder state utilize detection of the gyroscope to trunk attitude angle, it can be determined that robot which
Partial leg lands, and drives corresponding steering engine accordingly, completes the opening and closing movement of circular arc to realize the rolling movement of robot.It is left
The differential of right side steering engine is opened and closed the divertical motion of achievable robot.
Robot in cylinder state wants to be converted back into the state of creeping equally will be using gyroscope to trunk attitude angle
Detection, when judging that the left back leg of robot and right rear leg land, robot can issue instruction, allow the steering engine angle of four legs
It is returned to the posture creeped and stood still simultaneously, state conversion can be realized in robot.
Claims (10)
1. a kind of four-part form omnidirectional, which creeps, rolls quadruped robot, including trunk, the identical leg of four structures and electric control part,
It is characterized in that:
The trunk is the rectangular box of body centre, and two sides are equipped with fixation hole, for connecting with leg；
The leg is divided into thigh and shank；
The thigh is the part for connecting the first segment circular arc of trunk, and the both ends of thigh are equipped with steering engine, connects trunk as joint
And shank；
The shank is the part of the connection thigh with circular arc outer rim；The thickness of shank is divided into three sections, sufficient end, that is, shank thickness
One section of most thin corresponding arc angle is 30 degree, and most thick one section is installed the minimum thickness limited, corresponding circle by steering engine
Arc angle is 20 degree, and centre is chamfered transition section；When ensure that robot harvest circular configuration, the opening and closing campaign of thigh will not be with
Ipsilateral leg interferes；
The thigh and shank outer rim constitute semicircle；Servo driving thigh and shank deflect movement, and robot can deform
Cylindrical state；
Electric control part are as follows: single-chip microcontroller, steering engine and its mating driving plate, six axle sensors.
2. a kind of four-part form omnidirectional according to claim 1, which creeps, rolls quadruped robot, it is characterised in that: thigh and small
The rotation axis that the outer rim of leg constitutes the steering engine of a half circular arc, connection shank distal point and connection trunk and thigh exists
Side view projects the point to be formed and constitutes a line segment, and just past the center of circle of semicircle, the perpendicular bisector of this line segment is also lucky
By connection thigh and with the rotation axis of the steering engine of shank side view subpoint；Realize the length ratio of thigh and shank
Value is 1.
3. a kind of four-part form omnidirectional according to claim 1 or 2, which creeps, rolls quadruped robot, it is characterised in that: every
For leg equipped with 3 servo driving joint rotations, the rotary shaft intersection close to first and second steering engine of trunk is vertical, and second
Parallel to each other with the rotary shaft of third steering engine, ipsilateral two legs are closed into circle by deformation.
4. a kind of four-part form omnidirectional according to claim 3, which creeps, rolls quadruped robot, it is characterised in that: regulation machine
The direction of straight line where long side is the forward/backward direction of robot when people stands, and the opening direction of the leg with circular shape is
Direction of advance；The respective harvest complete circle of leg before and after front and back leg and right side on the left of robot；Sensor on trunk detects trunk
Pitch attitude, then judgement be that thigh or shank are touched with ground；Shank opening and closing is driven to complete when shank lands
It rolls, thigh opening and closing is driven to complete to roll when thigh lands, the final rolling for realizing robot.
5. a kind of four-part form omnidirectional according to claim 3, which creeps, rolls quadruped robot, it is characterised in that: climbed in four-footed
In the state of row, the rotary motion of the steering engine among shank and thigh allows shank to generate foot-up or stop over movement, thigh and trunk
The rotary motion of the steering engine at place allows shank to generate sliding forward or backward, and the two combines the fortune of creeping completed forward or backward
It is dynamic；Steering engine rotation at trunk makes thigh and shank mobile to left side of body or right side simultaneously, matches with foot-up or the movement stopped over
It closes and realizes that the transverse direction of robot is creeped, realize that the omnidirectional of robot creeps.
6. a kind of four-part form omnidirectional according to claim 3, which creeps, rolls quadruped robot, it is characterised in that: climbed by four-footed
When row status transition is to rolling condition, first four legs are received to semicircle and perpendicular to the ground standing state；It is rotated further by and is in
The lower half circle of the left back leg receipts parallel with right rear leg to package trunk is rotated left front leg and right front leg by the steering engine of trunk,
By two legs receive to package trunk the other half, complete to be deformed into the movement of cylinder.
7. a kind of four-part form omnidirectional according to claim 3, which creeps, rolls quadruped robot, it is characterised in that: be in cylinder
The robot of state utilizes detection of the gyroscope to trunk attitude angle, judges that the leg of which part of robot lands, accordingly
Corresponding steering engine is driven, completes the opening and closing movement of circular arc to realize the rolling movement of robot；The differential of left and right sides steering engine is opened and closed
Complete the divertical motion of robot.
8. a kind of four-part form omnidirectional according to claim 3, which creeps, rolls quadruped robot, it is characterised in that: be in cylinder
The robot of state wants to be converted back into the state of creeping equally will be using detection of the gyroscope to trunk attitude angle, when judging machine
When the left back leg of device people and right rear leg land, robot can issue instruction, allow the steering engine angle while being returned to of four legs to creep quiet
The posture only stood, robot, that is, realization state conversion.
9. a kind of four-part form omnidirectional according to claim 3, which creeps, rolls quadruped robot, it is characterised in that: four legs
Material selection nylon material is generated with 3d printing type.
10. a kind of four-part form omnidirectional according to claim 3, which creeps, rolls quadruped robot, it is characterised in that: single-chip microcontroller
Model Aduino mega2560, the model zx361 of steering engine, the model JY-61 of six axle sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811159205.9A CN109278886A (en) | 2018-09-30 | 2018-09-30 | A kind of four-part form omnidirectional, which creeps, rolls quadruped robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811159205.9A CN109278886A (en) | 2018-09-30 | 2018-09-30 | A kind of four-part form omnidirectional, which creeps, rolls quadruped robot |
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| CN109278886A true CN109278886A (en) | 2019-01-29 |
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| CN201811159205.9A Pending CN109278886A (en) | 2018-09-30 | 2018-09-30 | A kind of four-part form omnidirectional, which creeps, rolls quadruped robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109774816A (en) * | 2019-03-10 | 2019-05-21 | 浙江工业大学 | It is a kind of to collect fixed, pivot stud function wheel leg type hexapod robot |
| CN110561460A (en) * | 2019-09-28 | 2019-12-13 | 闽江师范高等专科学校 | Flea robot and control method thereof |
| CN111086570A (en) * | 2020-02-03 | 2020-05-01 | 北京交通大学 | Tetrahedral wheel type robot |
| CN112277551A (en) * | 2020-10-28 | 2021-01-29 | 北京航空航天大学 | Variable structure multi-mode mobile robot |
| CN112572628A (en) * | 2020-12-22 | 2021-03-30 | 中国科学院合肥物质科学研究院 | Bionic multi-mode crawling, rolling, attaching and bouncing robot coping with complex environment |
| CN113371090A (en) * | 2021-06-17 | 2021-09-10 | 北京交通大学 | Four-foot wheel type deformable all-directional mobile robot and control method thereof |
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| CN107253497A (en) * | 2016-12-02 | 2017-10-17 | 北京空间飞行器总体设计部 | A kind of leg arm merges quadruped robot |
| CN107284543A (en) * | 2017-06-28 | 2017-10-24 | 青岛港湾职业技术学院 | A kind of compound motion mechanical ball |
| CN107416063A (en) * | 2017-04-06 | 2017-12-01 | 西安电子科技大学 | A kind of achievable spherical Hexapod Robot for rolling, walking |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109774816A (en) * | 2019-03-10 | 2019-05-21 | 浙江工业大学 | It is a kind of to collect fixed, pivot stud function wheel leg type hexapod robot |
| CN109774816B (en) * | 2019-03-10 | 2024-04-02 | 浙江工业大学 | Wheel leg type six-foot robot integrating fixed and in-situ steering functions |
| CN110561460A (en) * | 2019-09-28 | 2019-12-13 | 闽江师范高等专科学校 | Flea robot and control method thereof |
| CN111086570A (en) * | 2020-02-03 | 2020-05-01 | 北京交通大学 | Tetrahedral wheel type robot |
| CN111086570B (en) * | 2020-02-03 | 2022-02-01 | 北京交通大学 | Tetrahedral wheel type robot |
| CN112277551A (en) * | 2020-10-28 | 2021-01-29 | 北京航空航天大学 | Variable structure multi-mode mobile robot |
| CN112277551B (en) * | 2020-10-28 | 2022-04-15 | 北京航空航天大学 | Variable structure multi-mode mobile robot |
| CN112572628A (en) * | 2020-12-22 | 2021-03-30 | 中国科学院合肥物质科学研究院 | Bionic multi-mode crawling, rolling, attaching and bouncing robot coping with complex environment |
| CN112572628B (en) * | 2020-12-22 | 2022-03-11 | 中国科学院合肥物质科学研究院 | Bionic multi-mode crawling, rolling, attaching and bouncing robot coping with complex environment |
| CN113371090A (en) * | 2021-06-17 | 2021-09-10 | 北京交通大学 | Four-foot wheel type deformable all-directional mobile robot and control method thereof |
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Application publication date: 20190129 |