CN109334798A - Robot and its movement techniques of dwelling of dry adhesion hook four-wheel foot paddle driving more - Google Patents
Robot and its movement techniques of dwelling of dry adhesion hook four-wheel foot paddle driving more Download PDFInfo
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- CN109334798A CN109334798A CN201811066729.3A CN201811066729A CN109334798A CN 109334798 A CN109334798 A CN 109334798A CN 201811066729 A CN201811066729 A CN 201811066729A CN 109334798 A CN109334798 A CN 109334798A
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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
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- 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
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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
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Abstract
A kind of dwell robot and its movement techniques of the driving of dry adhesion hook four-wheel foot paddle, belong to robot field more.Its body main body includes forefoot support frame (3), N number of concatenated body Z axis steering engine, metapedes support frame (18)；Neck structure includes head Y-axis steering engine (2) and camera (1)；Tail structure includes: tail X axis steering engine (26), the U-shaped connector of tail X axis steering engine (27), M concatenated tail Z axis steering engines, tail fin (31)；Sufficient structure is made of foot Y-axis steering engine, supporting block, support wheel, the sufficient paddle of wheel.The robot is able to satisfy the non-structural landform water surface-land surface under natural environment and adaptively requires, dry adhesion progress heavy grade metope can be used on smooth surface simultaneously to creep, simultaneously can be used on a rough surface hook carry out heavy grade metope creep, can be used as the full landform under natural environment more dwell cross-country mobile platform dry adhesion hook four-wheel foot paddle driving robot and its movement techniques of dwelling more.
Description
Technical field
The invention belongs to robot technology application fields, and in particular to a kind of dwelling of dry adhesion hook four-wheel foot paddle driving more
Robot and its bionic movement are dwelt mobile platform more mainly as the full landform under natural environment.
Background technique
The robot for adapting to various land and water complex environments is one of the project in current robot research field forward position the most, it
Integrate the multiple subjects such as machinery, electronics, computer, material, sensor, control technology and artificial intelligence, reflects one
The intelligence of country and automation research are horizontal, while the also important symbol as a national high-tech strength, each prosperity state
Family puts into huge fund in the field in succession and conducts a research.
Legged type robot can be realized complicated ground climbing, and adjustable front and back end height position moves the mode combined,
The mountain environment movement needs for meeting more heavy grade enhance the adaptability of mountain environment movement, but legged type robot row simultaneously
It is low into speed, because center of gravity reason easily cause movement it is unstable.Wheeled robot is more suitable for flat road surface, and can move at a high speed
It is dynamic, but be easy to skid, unstable, obstacle climbing ability, landform adaptability are poor.The robot of paddle driving may be implemented to move in the water surface
It is dynamic, but be not suitable for complicated ground movement.Freely swimming in water may be implemented in the bio-robot of simulation fish tail fin driving method
It is dynamic, but moved on unsuitable complicated ground.How the advantages of various robot, is concentrated, make up the disadvantage is that one instantly
Research hotspot.Study the Nature biological nature, it has been found that crocodile belongs to amphibian, can be realized in water with body and tail
Travelling, while can be creeped on the coast with four limbs；Gecko with dry adhesion locomitivity belongs to reptiles, it can be achieved that in complexity
Ground and metope are freely creeped, and in conjunction with the bionical object advantage of the two, in a kind of water of Bionic Design, land, metope dwell more
Bio-robot, will be with important research significance and engineering value.
More famous wheel foot formula combination robot inside and outside comparator, wherein by The University of
" the X-RHex that the research institutions such as Michigan, McGill University, University of California develop
Lite " is a robot (https: //www.grasp.upenn.edu/projects/x-rhex- taken turns and combined enough
Lite-xrl), it can be jumped with biped, four-footed jump, six foot jumps, can be with vertical jump in succession.Pass through different dancing modes
Achieve the effect that different, such as jump groove, climbs parapet or 180 ° of jumps are turned over, even in rocky ground movement,
The leg for loading onto paddle can also move about in water.The RISE robot of Boston power uses hook driving method in conjunction with leg,
It is a kind of robot of vertical crawling, which has unguiculus to can be convenient its firm grip on rough earth
(Saunders A, Goldman D I, Full R J, et al. The rise climbing robot:body and
Leg design [C] Georgia Institute of Technology, 2006).Beijing Institute of Technology's specialized robot
The novel segmental appendage robot (http://www.liuti.cn/News/117741.html) of scientific and technical innovation team design, use
The combination driving method of leg and wheel has certain stair climbing ability.The ant lunar rover of Southeast China University is a bionical wheel
Legged mobile robot (http://news.longhoo.net/index/content/2016-04/23/content_
28380.html), using distributed sensing control system, there is certain obstacle climbing ability, can go in the environment such as mountainous region, ice-snow field
It walks, there is well adapting to property.The imitative wall of Hefei Institutes of Physical Science, Chinese Academy of Sciences advanced manufacturing technology Research Institute
The compound climbing robot of tiger wheel foot, using adherency, crawler belt and sufficient driving method, realize the creeping of hydraulically smooth surface (http: //
Mil.huanqiu.com/china/2013-09/4341264.html).
The robots functions such as single wheel foot, sufficient hook, adherency crawler belt are limited, and with the wheel foot paddle with dry adhesion and hook
Driving dwell robot and its bionic movement mode had not been reported more, also do not carry out research.
Summary of the invention
The purpose of the present invention is to provide a kind of cross-country slope climbing movement function in land with higher, meet under natural environment
The non-structural landform water surface-land surface adaptively requires, while dry adhesion can be used on smooth surface and carry out heavy grade metope
It creeps, while hook progress heavy grade metope can be used on a rough surface and creep, the full landform that can be used as under natural environment is more
Robot and its movement techniques of dwelling that the dry adhesion hook four-wheel foot paddle of cross-country mobile platform of dwelling drives more.
A kind of robots of dwelling of dry adhesion hook four-wheel foot paddle driving more, it is characterised in that: including body main structure,
Neck structure, four foot structures；It further include battery, control circuit board.The body main structure is successively wrapped from front to back
Forefoot support frame, N number of body Z axis steering engine, metapedes support frame being sequentially connected in series are included, wherein 3≤N≤6；Wherein from front to back first
A body Z axis steering engine is known as the first body Z axis steering engine, the last one body Z axis steering engine is known as N body Z axis steering engine；Wherein body
Pass through the U-shaped connector connection of steering engine, the output shaft of the body Z axis steering engine of the rear end and rear of U-shaped connector between body Z axis steering engine
Mutually fixed, the front end of U-shaped connector is mutually fixed with the body Z axis steering engine body in front；The wherein rear end of forefoot support frame and the
The output shaft of body Z axis steering engine is mutually fixed；Wherein the front end of metapedes support frame is mutually fixed with N body Z axis steering engine body.
The neck structure includes head Y-axis steering engine and camera；The wherein output shaft and front foot of head Y-axis steering engine
The front end of support frame is mutually fixed, and camera is fixed on head Y-axis steering engine body.
The tail structure successively includes: tail X axis steering engine, the U-shaped connector of tail X axis steering engine, M from front to back
Tail Z axis steering engine, the tail fin being sequentially connected in series, wherein 2≤M≤4；；Wherein first tail Z axis steering engine is known as first from front to back
Tail Z axis steering engine, the last one tail Z axis steering engine are known as M tail Z axis steering engine；Wherein pass through steering engine between tail Z axis steering engine
U-shaped connector connection, the output shaft of the tail Z axis steering engine of the rear end and rear of U-shaped connector is mutually fixed, before U-shaped connector
It holds and is mutually fixed with the tail Z axis steering engine body in front；Tail X axis steering engine rotary output and metapedes support frame rear end are along X-axis
Fixed, the tail X axis steering engine other end is fixed with the U-shaped connector of tail X axis steering engine；The rotation of first tail Z axis steering engine is defeated
Outlet is fixed with the U-shaped connector of tail X axis steering engine along Z axis, and wherein tail fin is mutually fixed with M tail Z axis steering engine body.
The foot structure is made of foot Y-axis steering engine, supporting block, support wheel, the sufficient paddle of wheel；The center for wherein taking turns sufficient paddle is fixed
It is installed on the rotary output of foot Y-axis steering engine, foot Y-axis steering engine is fixed on the end of forefoot support frame or metapedes support frame,
Supporting block is fixed on the lower end of corresponding support frame, and support wheel is installed on supporting block along Y-direction with pin connection type.
The robots of dwelling of the described dry adhesion hook four-wheel foot paddle driving more, it is characterised in that: during above-mentioned wheel foot paddle includes
Heart wheel further includes 3-5 paddle arm being uniformly installed on around centre wheel；Blade, other side hold-down hook are installed in paddle arm end, side
Dry adhesion material is installed in pawl, blade outside.
The movement technique of the robots of dwelling of the dry adhesion hook four-wheel foot paddle driving more, it is characterised in that: pass through tail
Fin successively realize in the horizontal direction it is right-in-left motion mode realizes bio-robot mould in conjunction with reciprocation cycle motion control
Quasi- tail fin is swung back and forth horizontally, pushes water flow, to tail fin travelling mode before realizing；In the horizontal direction successively by tail fin and body
The motion mode for realizing left and right reciprocally swinging, may be implemented bionic machine human simulation tail fin and body levels reciprocally swinging, push
Water flow, to overall flexibility travelling mode before realizing；Successively realized by tail fin in vertical direction-in-under motion mode, knot
Reciprocation cycle motion control is closed, realizes the vertically reciprocating swing of bionic machine human simulation tail fin, pushes water flow, realizes tail fin trip up and down
Flowing mode；By the horizontal reciprocating swing mode of tail fin vertically reciprocating swing and body, realize that bio-robot advances in water
And up and down motion controls direction in conjunction with the continuous rotation movement adjustment left and right thrust for taking turns sufficient paddle with this；Take turns the hook structure of sufficient paddle
Complicated rough surface motion is adapted to, dry adhesion material structure adapts to smooth surface movement, and support wheel adapts to the quick fortune in plane
It is dynamic.The sufficient paddle 4 wheel driven structure of the wheel of 3-5 piece blade can be bio-robot and adapt to complicated terrestrial environment, have superior cross-country
Performance.
The present invention has the following advantages compared with prior art:
1, the present invention can be realized dwell more robot in water, rugged land, coarse or smooth metope movement, have
Superior locomitivity of dwelling, environmental suitability strong more.
2, it is convenient that structure of the invention is simple, motion principle is clear, movement is realized.
3, the dry adhesion material in the present invention can Shi Duoqi robot in smooth and minimum coefficient of friction surface (such as glass
Glass) on more stable slope climbing movement.
4, the present invention in using hook mode can Shi Duoqi robot on the high surface of coefficient of friction (such as rock)
More stable slope climbing movement.
5, clever structure of the invention, small in size, light-weight, easy to process, economically feasible can be the water under natural environment
The cross-country mobile platform of face-full landform of land-metope provides solution.
The robots of dwelling of the dry adhesion hook four-wheel foot paddle driving more, it is characterised in that: on the left of body main structure
The sufficient paddle of wheel and right side wheel foot paddle it is axially symmetric along body；The near front wheel foot paddle is identical with left rear wheel foot paddle structure；Off-front wheel foot
Paddle is identical with off hind wheel foot paddle structure.Symmetrical structure design, structure is simple, motion principle is clear, is conducive to robots of dwelling more
Motion stabilization.
The robots of dwelling of the dry adhesion hook four-wheel foot paddle driving, it is characterised in that: the supporting block is installed on more
Forefoot support frame lower end is fixed pulley supporting block, and being installed on metapedes support frame lower end is universal wheel supporting block.The structure is suitable
It is moved for level ground, using preceding to fixed pulley and backward Universal wheel structure, cooperating body to twist can be achieved smooth horizontal plane
On fast and effective movement.
The robots of dwelling of the dry adhesion hook four-wheel foot paddle driving more, it is characterised in that: above-mentioned N=4, M=2.The ginseng
Table structure meet body it is flexible on the basis of, reduce motion control difficulty, better meet the various bionical fortune of robot of dwelling more
Dynamic model formula.
Detailed description of the invention
Fig. 1 is a kind of robot overall patterns of dwelling of dry adhesion hook four-wheel foot paddle driving of the present invention more；
Fig. 2 is a kind of robot decomposition diagrams of dwelling of dry adhesion hook four-wheel foot paddle driving of the present invention more；
Fig. 3 is a kind of right-hand wheel foot paddle decomposition diagram of the robots of dwelling of dry adhesion hook four-wheel foot paddle driving of the present invention more；
Fig. 4 is a kind of left side wheels foot paddle decomposition diagram of the robots of dwelling of dry adhesion hook four-wheel foot paddle driving of the present invention more；
Fig. 5 is that horizontal swinging movement shows to the right more for a kind of tail fin of the robots of dwelling of dry adhesion hook four-wheel foot paddle driving of the present invention
It is intended to；
Fig. 6 is that a kind of tail fin by-level pendulum motion of the robots of dwelling of dry adhesion hook four-wheel foot paddle driving of the present invention is shown more
It is intended to；
Fig. 7 is that horizontal swinging movement shows to the left more for a kind of tail fin of the robots of dwelling of dry adhesion hook four-wheel foot paddle driving of the present invention
It is intended to；
Fig. 8 is the present invention a kind of tail fin and body levels swing state of the robots of dwelling of dry adhesion hook four-wheel foot paddle driving more
1 movement schematic diagram；
Fig. 9 is the present invention a kind of tail fin and body levels swing state of the robots of dwelling of dry adhesion hook four-wheel foot paddle driving more
2 movement schematic diagrames；
Figure 10 is that a kind of tail fin vertical oscillation of the robots of dwelling of dry adhesion hook four-wheel foot paddle driving of the present invention moves upwards more
Schematic diagram；
Figure 11 is a kind of tail fin vertical oscillation intermediary movements of the robots of dwelling of dry adhesion hook four-wheel foot paddle driving of the present invention more
Schematic diagram；
Figure 12 is that a kind of tail fin vertical oscillation of the robots of dwelling of dry adhesion hook four-wheel foot paddle driving of the present invention moves downward more
Schematic diagram；
Figure 13 is a kind of body of robots of dwelling of dry adhesion hook four-wheel foot paddle driving of the present invention and the horizontal vertical of tail fin more
Swing compound motion schematic diagram；
Label title in Fig. 1-13: 1, camera；2, head Y-axis steering engine；3, forefoot support frame；4, the near front wheel Y-axis steering engine；
5, off-front wheel Y-axis steering engine；6, the near front wheel supporting block；7, off-front wheel supporting block；8, left front support wheel；9, right anterior branch support wheel；10,
Battery；11, body Z axis is to the first steering engine；12, body Z axis is to the U-shaped connector of the first steering engine；13, body Z axis is to the second steering engine；
14, body Z axis is to the U-shaped connector of the second steering engine；15, body Z axis is to third steering engine；16, body Z axis is to the U-shaped company of third steering engine
Fitting；17, body Z axis is to the 4th steering engine；18, metapedes support frame；19, left rear wheel Y-axis steering engine；20, off hind wheel Y-axis rudder
Machine；21, left back universal wheel supporting block；22, universal wheel supporting block behind the right side；23, left back support wheel；24, right rear support wheel；25, it controls
Circuit board processed；26, tail X axis steering engine；27, the U-shaped connector of tail X axis steering engine；28, tail Z axis is to the first steering engine；29,
Tail Z axis is to the U-shaped connector of the first steering engine；30, tail Z axis is to the second steering engine；31, tail fin；32, right-hand wheel foot paddle；33, right side
Take turns sufficient paddle hook；34, right-hand wheel foot paddle dry adhesion material；35, left side wheels foot paddle；36, left side wheels foot paddle hook；37, left side wheels
Sufficient paddle dry adhesion material；L1, the near front wheel foot paddle；L2, left rear wheel foot paddle；R1, off-front wheel foot paddle；R2, off hind wheel foot paddle.Wherein X,
Y, Z is corresponding three-dimensional space coordinates.
Specific embodiment
Invention is further described in detail in the following with reference to the drawings and specific embodiments:
In conjunction with Fig. 1-13, the present embodiment is dwell robot and its bionic movements of a kind of dry adhesion hook four-wheel foot paddle driving more,
Including camera 1, head Y-axis steering engine 2, forefoot support frame 3, the near front wheel Y-axis steering engine 4, off-front wheel Y-axis steering engine 5, left front
Supporting block 6, off-front wheel supporting block 7, left front support wheel 8, right anterior branch support wheel 9, battery 10, body Z axis are taken turns to the first steering engine 11, body
Body Z axis to the U-shaped connector 12 of the first steering engine, body Z axis to the second steering engine 13, body Z axis to the U-shaped connector 14 of the second steering engine,
Body Z axis is supported to third steering engine 15, body Z axis to the U-shaped connector 16 of third steering engine, body Z axis to the 4th steering engine 17, metapedes
Universal wheel supporting block behind frame 18, left rear wheel Y-axis steering engine 19, off hind wheel Y-axis steering engine 20, left back universal wheel supporting block 21, the right side
22, left back support wheel 23, right rear support wheel 24, control circuit board 25, tail X axis steering engine 26, the U-shaped company of tail X axis steering engine
Fitting 27, tail Z axis to the first steering engine 28, tail Z axis to the U-shaped connector 29 of the first steering engine, tail Z axis to the second steering engine 30,
Tail fin 31, right-hand wheel foot paddle 32, right-hand wheel foot paddle hook 33, right-hand wheel foot paddle dry adhesion material 34, left side wheels foot paddle 35, left side
Take turns sufficient paddle hook 36, left side wheels foot paddle dry adhesion material 37, the near front wheel foot paddle L1, left rear wheel foot paddle L2, off-front wheel foot paddle R1, the right side
Rear-wheel foot paddle R2.
Fig. 2 is wherein combined, the present embodiment is a kind of robots and its bionical of dwelling of dry adhesion hook four-wheel foot paddle driving more
Movement, including camera 1, head Y-axis steering engine 2, forefoot support frame 3, the near front wheel Y-axis steering engine 4, off-front wheel Y-axis steering engine
5, the near front wheel foot paddle L1 and off-front wheel foot paddle R1.The rotary output of head Y-axis steering engine 2 and 3 front end of forefoot support frame are along Y-axis
Fixed, camera 1 is fixed on head Y-axis steering engine 2 along X-axis；4 rotary output of the near front wheel Y-axis steering engine and the near front wheel foot
The center paddle L1 is fixedly connected, and 5 rotary output of off-front wheel Y-axis steering engine is fixedly connected with the center off-front wheel foot paddle R1；The near front wheel Y
Axial steering engine 4 is fixed on the left upper end of forefoot support frame 3, off-front wheel Y-axis steering engine 5 is fixed on the upper right side of forefoot support frame 3.
Fig. 2 is wherein combined, the present embodiment is a kind of robots and its bionical of dwelling of dry adhesion hook four-wheel foot paddle driving more
Movement, including the near front wheel supporting block 6, off-front wheel supporting block 7, left front support wheel 8, right anterior branch support wheel 9, battery 10.The near front wheel branch
Bracer 6 is connect with left front support wheel 8 along Y-direction pin, and off-front wheel supporting block 7 is connect with right anterior branch support wheel 9 along Y-direction pin；It is left front
Wheel supporting block 6 is fixed on the lower-left end of forefoot support frame 3, and off-front wheel supporting block 7 is fixed on the bottom righthand side of forefoot support frame 3；Electricity
Pond 10 is fixed on right above forefoot support frame 3.
Fig. 2 is wherein combined, the present embodiment is a kind of robots and its bionical of dwelling of dry adhesion hook four-wheel foot paddle driving more
Movement, including body Z axis is to the first steering engine 11, body Z axis to the U-shaped connector 12 of the first steering engine, body Z axis to the second steering engine
13, body Z axis is to the U-shaped connector 14 of the second steering engine, body Z axis to third steering engine 15, body Z axis to the U-shaped connection of third steering engine
Part 16, body Z axis are to the 4th steering engine 17.Body Z axis is to 11 rotary output of the first steering engine and 3 rear end of forefoot support frame along Z axis
Fixed, the other end and body Z axis of body Z axis to the first steering engine 11 are fixed to the U-shaped connector 12 of the first steering engine；Body Z axis to
Second steering engine, 13 rotary output is fixed to the U-shaped connector 12 of the first steering engine along Z axis with body Z axis, and body Z axis is to the second steering engine
13 other end and body Z axis is fixed to the U-shaped connector 14 of the second steering engine；Body Z axis is to 15 rotary output of third steering engine and Z
The axial U-shaped connector 14 of second steering engine is fixed along Z axis, the other end from body Z axis to third steering engine 15 and body Z axis to third rudder
The U-shaped connector 16 of machine is fixed；Body Z axis is to 17 rotary output of the 4th steering engine and body Z axis to the U-shaped connector 16 of third steering engine
It is fixed along Z axis, body Z axis is fixed on 18 front end of metapedes support frame to 17 other end of the 4th steering engine.
Fig. 2 is wherein combined, the present embodiment is a kind of robots and its bionical of dwelling of dry adhesion hook four-wheel foot paddle driving more
Movement, including metapedes support frame 18, left rear wheel Y-axis steering engine 19, off hind wheel Y-axis steering engine 20, left back universal wheel supporting block 21,
Behind the right side behind universal wheel supporting block 22, left back support wheel 23, right rear support wheel 24, control circuit board 25, left rear wheel foot paddle L2 and the right side
Take turns sufficient paddle R2.19 rotary output of left rear wheel Y-axis steering engine is fixedly connected with the center left rear wheel foot paddle L2, off hind wheel Y-axis rudder
20 rotary output of machine is fixedly connected with the center off hind wheel foot paddle R2；Left rear wheel Y-axis steering engine 19 is fixed on metapedes support frame 18
Left upper end, off hind wheel Y-axis steering engine 20 be fixed on the upper right side of metapedes support frame 18.Left back universal wheel supporting block 21 with it is left back
Support wheel 23 is connected along Y-direction pin, and universal wheel supporting block 22 is connect with right rear support wheel 24 along Y-direction pin behind the right side；It is left back universal
Wheel supporting block 21 is fixed on the lower-left end of metapedes support frame 18, and universal wheel supporting block 22 is fixed on the right side of metapedes support frame 18 behind the right side
Lower end；Control circuit board 25 is fixed on right above metapedes support frame 18.
Fig. 2 is wherein combined, the present embodiment is a kind of robots and its bionical of dwelling of dry adhesion hook four-wheel foot paddle driving more
Movement, including the U-shaped connector 27 of tail X axis steering engine 26, tail X axis steering engine, tail Z axis are to the first steering engine 28, tail Z axis
To the U-shaped connector 29 of the first steering engine, tail Z axis to the second steering engine 30, tail fin 31.26 rotary output of tail X axis steering engine with
18 rear end of metapedes support frame is fixed along X-axis, and 26 other end of tail X axis steering engine and the U-shaped connector 27 of tail X axis steering engine are solid
It is fixed；Tail Z axis is fixed to 28 rotary output of the first steering engine and the U-shaped connector 27 of tail X axis steering engine along Z axis, tail Z axis to
First steering engine, 28 other end and tail Z axis are fixed to the U-shaped connector 29 of the first steering engine；Tail Z axis rotates defeated to the second steering engine 30
Outlet is fixed to the U-shaped connector 29 of the first steering engine along Z axis with tail Z axis, and tail Z axis is fixed to the second steering engine 30 and tail fin 31.
Fig. 2, Fig. 3 and Fig. 4 are wherein combined, the present embodiment is a kind of robots of dwelling of dry adhesion hook four-wheel foot paddle driving more
And its bionic movement, including right-hand wheel foot paddle 32, right-hand wheel foot paddle hook 33, right-hand wheel foot paddle dry adhesion material 34, left side wheels
Before sufficient paddle 35, left side wheels foot paddle hook 36, left side wheels foot paddle dry adhesion material 37, the near front wheel foot paddle L1, left rear wheel foot paddle L2, the right side
Take turns sufficient paddle R1, off hind wheel foot paddle R2.The near front wheel foot paddle L1 is identical with left rear wheel foot paddle L2 structure；Off-front wheel foot paddle R1 and off hind wheel
Sufficient paddle R2 structure is identical.
Fig. 3 is wherein combined, the present embodiment is a kind of robots and its bionical of dwelling of dry adhesion hook four-wheel foot paddle driving more
Movement, including right-hand wheel foot paddle 32, right-hand wheel foot paddle hook 33, right-hand wheel foot paddle dry adhesion material 34.Right-hand wheel foot paddle 32 has
There are equally distributed 3 paddles, the side of each paddle and right-hand wheel foot paddle hook 33 are fixed, each blade top and right-hand wheel foot paddle
Dry adhesion material 34 is fixed, forms off-front wheel foot paddle R1 with this.
Fig. 4 is wherein combined, the present embodiment is a kind of robots and its bionical of dwelling of dry adhesion hook four-wheel foot paddle driving more
Movement, including left side wheels foot paddle 35, left side wheels foot paddle hook 36, left side wheels foot paddle dry adhesion material 37.Left side wheels foot paddle 35 has
There are equally distributed 3 paddles, the side of each paddle and left side wheels foot paddle hook 36 are fixed, each blade top and left side wheels foot paddle
Dry adhesion material 37 is fixed, forms the near front wheel foot paddle L1 with this.
Fig. 5, Fig. 6 and Fig. 7 are wherein combined, the present embodiment is a kind of robots of dwelling of dry adhesion hook four-wheel foot paddle driving more
And its bionic movement, wherein successively realized in the horizontal direction by tail fin it is right-in-left motion mode, transported in conjunction with reciprocation cycle
Control is moved, bionic machine human simulation tail fin may be implemented and swing back and forth horizontally, pushes water flow, to tail fin travelling mode before realizing.
Wherein combine Fig. 8 and Fig. 9, the present embodiment be a kind of dry adhesion hook four-wheel foot paddle driving dwell robot and its
Bionic movement may be implemented wherein successively realizing the motion mode of left and right reciprocally swinging in the horizontal direction by tail fin and body
Bionic machine human simulation tail fin and body levels reciprocally swinging push water flow, to overall flexibility travelling mode before realizing.
Figure 10, Figure 11 and Figure 12 are wherein combined, the present embodiment is a kind of machines of dwelling of dry adhesion hook four-wheel foot paddle driving more
Device people and its bionic movement, wherein successively realized by tail fin in vertical direction-in-under motion mode, in conjunction with back and forth following
The vertically reciprocating swing of bionic machine human simulation tail fin may be implemented in ring motion control, pushes water flow, realizes tail fin travelling side up and down
Formula.
Figure 13 is wherein combined, the present embodiment is a kind of robots and its bionical of dwelling of dry adhesion hook four-wheel foot paddle driving more
Movement, wherein by the vertically reciprocating swing of tail fin with the horizontal reciprocating swing mode of body, it can be achieved that bio-robot in water
Advance and move up and down, in conjunction with the continuous rotation movement adjustment left and right thrust for taking turns sufficient paddle, direction is controlled with this.Take turns the hook of sufficient paddle
Structure can realize that complicated rough surface, dry adhesion material structure are adapted to smooth surface, and the support wheel of bottom four may be implemented in
Quick movement in plane, the sufficient paddle 4 wheel driven structure of the wheel of three pieces blade can be bio-robot and adapt to complicated terrestrial environment,
With superior cross-country ability.
Claims (5)
1. a kind of robots of dwelling of dry adhesion hook four-wheel foot paddle driving more, it is characterised in that:
Including body main structure, neck structure, four foot structures；It further include battery (10), control circuit board (25)；
Above-mentioned body main structure from front to back successively include forefoot support frame (3), N number of body Z axis steering engine being sequentially connected in series, after
Sufficient support frame (18), wherein 3≤N≤6；Wherein first body Z axis steering engine is known as the first body Z axis steering engine from front to back, most
The latter body Z axis steering engine is known as N body Z axis steering engine；Wherein connected between body Z axis steering engine by the U-shaped connector of steering engine,
The rear end of U-shaped connector and the output shaft of the body Z axis steering engine at rear are mutually fixed, the front end of U-shaped connector and the body Z in front
Axis steering engine body is mutually fixed；Wherein the rear end of forefoot support frame 3 and the output shaft of the first body Z axis steering engine are mutually fixed；After wherein
The front end of sufficient support frame (18) is mutually fixed with 17 body of N body Z axis steering engine；
Above-mentioned neck structure includes head Y-axis steering engine (2) and camera (1)；The wherein output shaft of head Y-axis steering engine (2)
It is mutually fixed with the front end of forefoot support frame (3), camera (1) is fixed on head Y-axis steering engine (2) body；
Above-mentioned tail structure successively includes: tail X axis steering engine (26), the U-shaped connector of tail X axis steering engine from front to back
(27), M tail Z axis steering engine, the tail fins (31) being sequentially connected in series, wherein 2≤M≤4；；Wherein first tail Z axis from front to back
Steering engine is known as the first tail Z axis steering engine, the last one tail Z axis steering engine is known as M tail Z axis steering engine；Wherein tail Z axis steering engine
Between by steering engine U-shaped connector connection, the output shaft of the tail Z axis steering engine of the rear end and rear of U-shaped connector is mutually fixed, U
The front end of type connector and the tail Z axis steering engine body in front are mutually fixed；Tail X axis steering engine (26) rotary output and metapedes
Support frame (18) rear end is fixed along X-axis, and tail X axis steering engine (26) other end and the U-shaped connector of tail X axis steering engine (27) are solid
It is fixed；The rotary output of first tail Z axis steering engine is fixed with the U-shaped connector of tail X axis steering engine (27) along Z axis, wherein tail fin
It is mutually fixed with M tail Z axis steering engine body；
Above-mentioned foot structure is made of foot Y-axis steering engine, supporting block, support wheel, the sufficient paddle of wheel；The center for wherein taking turns sufficient paddle is fixedly mounted
In the rotary output of foot Y-axis steering engine, foot Y-axis steering engine is fixed on the end of forefoot support frame or metapedes support frame, support
Block is fixed on the lower end of corresponding support frame, and support wheel is installed on supporting block along Y-direction with pin connection type；
Above-mentioned wheel foot paddle includes centre wheel, further includes 3-5 paddle arm being uniformly installed on around centre wheel；Paddle arm end, side
Blade is installed, the other side installs hook, installs dry adhesion material on the outside of blade.
2. the robots of dwelling of dry adhesion hook four-wheel foot paddle driving according to claim 1 more, it is characterised in that:
The sufficient paddle of the wheel, it is characterised in that: the wheel foot paddle of the sufficient paddle of wheel and right side on the left of body main structure is axially right along body
Claim；The near front wheel foot paddle is identical with left rear wheel foot paddle structure；Off-front wheel foot paddle is identical with off hind wheel foot paddle structure.
3. the robots of dwelling of dry adhesion hook four-wheel foot paddle driving according to claim 1 more, it is characterised in that:
The supporting block, being installed on forefoot support frame lower end is fixed pulley supporting block, is installed on metapedes support frame lower end and is
Universal wheel supporting block.
4. the robots of dwelling of dry adhesion hook four-wheel foot paddle driving according to claim 1 more, it is characterised in that:
Above-mentioned N=4, M=2.
5. the movement technique of the robots of dwelling of dry adhesion hook four-wheel foot paddle driving according to claim 1, feature more
It is:
Successively realized in the horizontal direction by tail fin (31) it is right-in-left motion mode, it is real in conjunction with reciprocation cycle motion control
Existing bionic machine human simulation tail fin is swung back and forth horizontally, pushes water flow, to tail fin travelling mode before realizing；
The motion mode for successively realizing left and right reciprocally swinging in the horizontal direction by tail fin and body, may be implemented bio-robot
Tail fin and body levels reciprocally swinging are simulated, water flow is pushed, to overall flexibility travelling mode before realizing；
Successively realized by tail fin in vertical direction-in-under motion mode realized imitative in conjunction with reciprocation cycle motion control
The raw vertically reciprocating swing of robot simulation's tail fin, pushes water flow, realizes tail fin travelling mode up and down；
By the vertically reciprocating swing of tail fin and the horizontal reciprocating swing mode of body, realize bio-robot advance in water and on
Lower movement controls direction in conjunction with the continuous rotation movement adjustment left and right thrust for taking turns sufficient paddle with this；
The hook Structure adaptation complexity rough surface motion of sufficient paddle is taken turns, dry adhesion material structure adapts to smooth surface movement, support
Wheel adapts to the quick movement in plane.
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| CN112429105A (en) * | 2020-11-16 | 2021-03-02 | 江苏大学 | Rigid-flexible coupling bionic anti-sinking energy-saving buffering walking wheel |
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