CN110466643A - A kind of penguin bio-robot and traveling method - Google Patents
A kind of penguin bio-robot and traveling method Download PDFInfo
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- CN110466643A CN110466643A CN201910705976.1A CN201910705976A CN110466643A CN 110466643 A CN110466643 A CN 110466643A CN 201910705976 A CN201910705976 A CN 201910705976A CN 110466643 A CN110466643 A CN 110466643A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention discloses a kind of penguin bio-robots to be made of shell dress, trunk dress, leg portion dress and wing portion dress；Wherein, each leg portion is equipped with 2 freedom degrees, each wing portion dress also has 2 freedom degrees, entire leg portion dress and wing portion dress are mounted on trunk, under hip joint motor and retarder driving, leg portion dress can be around electrical axis, that is, Z axis rotation, under ankle-joint motor and retarder driving, and sole can be around electrical axis, that is, X-axis rotation；In the case where Y-axis drives servo driving, wing can be around steering engine axis, that is, Y-axis rotation；In the case where X-axis drives servo driving, wing can be around steering engine axis, that is, X-axis rotation；While two Y, X-axis line steering engines under cooperation driving, the movement of penguin wing can be simulated.
Description
Technical field
The invention belongs to robotic technology fields, more specifically, are related to a kind of penguin bio-robot and walking side
Method.
Background technique
Existing penguin bio-robot is divided into two major classes, watches humanoid robot and practical humanoid robot.
Ornamental humanoid robot relies primarily on shape and attracts crowd, manufactures a penguin shell using thermosetting plastics, paints
Pigment can be very true to nature, and bionical effect is good, but the disadvantage is that: it has a single function, excessively values the entity of penguin, some functionality
Element can not configure, and lack the interactivity between people, thus the penguin robot of ornamental type can only as a model or
Person is that ornament uses.
Practical penguin bio-robot, the damage of robot entirety caused by penguin bio-robot is toppled in order to prevent
It is bad, wheel chassis driving design is used, is equivalent to and is equipped with one on a lorry and possesses all kinds of sensors
Human-computer interaction module.Practical penguin bio-robot has very powerful function, there is also the shortcomings that be: penguin cannot be embodied
The bionical feature of bio-robot excessively takes a fancy to function, and the planning of entire robot is all based on components, rather than according to enterprise
The entity size of goose is designed.And for penguin is bionical, most important be exactly the bionical gait of penguin in fact, this
It is particularly important a technical essential and technological difficulties.But present functional form bio-robot is driven by four-wheel
It moves to take action, true to nature cannot realize the gait for imitating penguin.
Patent CN106313064B provides a kind of penguin bio-robot, including trunk component, arm component, foot
Component and head assembly, the trunk component include trunk support frame, the foot's drive shaft being installed on trunk support frame, power supply
And driving motor and the chassis assembly for being installed on trunk support frame bottom；Foot's component includes upper end by crank and foot
The foot support arm that portion's drive shaft is flexibly connected, the lower end of the foot support arm are equipped with foot support plate, on the trunk support frame
Located lateral bar is installed, the end of the located lateral bar is placed in the vertical chute of the foot support arm, foot support arm by
When foot's drive shaft and crank drive, the upper end of foot support arm is circle around the track of foot's drive shaft turns, under
The track at end is elliptical orbit.The penguin bio-robot can simulate the walking step state of penguin, and bionical effect is good, make robot
It can be applied to the practical welcome in scene, practicability is high.
Although it is so wheel type mobile that its its essence, which is appointed, however, patent CN106313064B can swing forward movement, without
It is real legged walking.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of penguin bio-robots, in control motor
While quantity, the walking of penguin bio-robot step is driven by motor.
For achieving the above object, a kind of penguin bio-robot of the present invention characterized by comprising shell dress,
Trunk dress, leg portion dress, wing portion dress；
The shell dress, can be made into various cartoons or true penguin shape, two rotational motions filled by wing portion
Cooperation, the movement of simulation penguin wing true to nature；
The trunk dress, including trunk bracket, control unit, battery, encoder, control node plate and mounting bracket；
Wherein, control unit, battery, encoder, control node plate all pass through mounting bracket fixed on trunk bracket；Encoder effect
To feed back articulation angle, so that controller judges leg posture, hip joint, ankle-joint respectively perceive a volume by encoder
Code device.Control unit is fixed to trunk bracket by bracket support, and battery is fixed on trunk bracket by two C-shaped supports
There are 2 freedom degrees in the leg portion dress, including two legs portion, each leg；Every leg includes: hip joint electricity
Machine and retarder, thigh, ankle-joint motor and retarder, ankle, sole, hip joint encoder component and ankle-joint coding
Device；
Wherein, hip joint motor and retarder include: hip joint motor, hip joint motor reducer connecting flange and hip again
Joint speed reducer；Hip joint motor is fixed on hip joint motor reducer connecting flange by screw, and hip joint retarder is logical
The other side that screw is fixed to hip joint motor reducer connecting flange is crossed, hip joint motor and retarder portion dress are formed with this；
Ankle-joint motor and retarder include: ankle-joint motor, ankle-joint motor reducer connecting flange and ankle-joint again
Retarder；Ankle-joint motor is fixed on ankle-joint motor reducer connecting flange by screw, and ankle-joint retarder passes through spiral shell
Nail is fixed to the other side of ankle-joint motor reducer connecting flange, forms ankle-joint motor and retarder portion dress with this；
Thigh includes: hip joint connecting plate for electric motor, thigh foreboard, articulation hole screw, thigh back plate, thigh side plate, ankle again
Knuckle support, ankle-joint bearing, ankle-joint encoder bracket and ankle-joint connect motor screw in succession；
Hip joint motor and retarder are fixed on trunk bracket by screw, hip joint connecting plate for electric motor by screw with
The retarder output end of hip joint motor and retarder is fixedly connected, and thigh foreboard, thigh back plate are fixed by articulation hole screw
Onto hip joint connecting plate for electric motor, two thigh side plates are fixed to thigh foreboard by screw, thigh back plate two sides form one
Rectangular configuration, to increase leg rigidity；
Ankle-joint motor is fixed on motor reducer connecting flange by screw, and retarder is fixed to motor by screw
The retarder other side, an ankle are fixed on retarder by screw, another ankle is fixed to decelerating through motor by screw
On device connecting flange, two ankles are fixed in the locating slot of sole by screw；Connect fixed to ankle-joint motor reducer
The ankle of acting flange is fixed by screw and ankle-joint bracket；The inner ring of ankle-joint bearing fits tightly on ankle-joint bracket
On cylinder step, the outer ring of ankle-joint bearing is fitted tightly in the cylindrical hole of thigh back plate, and ankle-joint encoder bracket passes through spiral shell
Nail is fixed to thigh back plate, and ankle-joint encoder is fixed on ankle-joint encoder bracket by screw；In the other side, ankle-joint
The output flange of retarder is fixed by screw and thigh foreboard；
Entire leg portion dress is mounted on after trunk loads by screw, in the case where hip joint motor and retarder drive, leg
Portion, portion dress can be around electrical axis, that is, Z axis rotation, and under ankle-joint motor and retarder driving, sole can be around electrical axis
I.e. X-axis rotates；
Wing portion dress, including two wings, left and right sides wing structure is identical, is in mirror-image arrangement, and each wing
There are 2 freedom degrees；Wing mounting bracket, Y-axis driving steering engine bracket, Y-axis driving steering engine, Y-axis drive steering engine output flange, Y
The first rotary shaft of axis, Y-axis rotating shaft bearing, the second rotary shaft of Y-axis, X-axis motor mounting rack, X-axis driving steering engine, X-axis driving
Steering engine output flange, wing connector and wing；
Wing mounting bracket is fixed on trunk bracket by screw, and Y-axis drives steering engine bracket to be fixed to wing by screw
Wing mounting bracket, Y-axis drive steering engine to be fixed to Y-axis by screw and drive steering engine bracket, and Y-axis drives steering engine output flange and Y
Axis drives steering engine output end to be connected, and Y-axis driving steering engine output flange is fixed by screw and the first rotary shaft of Y-axis, Y-axis first
Rotary shaft is connected and fixed by screw and the axial direction of the second rotary shaft of Y-axis, in axial compression Y-axis rotating shaft bearing, Y-axis rotary shaft
Bearing inner race and Y first axle rotary shaft, Y-axis the second rotary shaft close-fitting, outer ring and wing mounting bracket close-fitting；
X-axis motor mounting rack is fixed in the second rotary shaft of Y-axis by screw, and X-axis driving steering engine is fixed by screw
Onto X-axis motor mounting rack, X-axis drives steering engine output flange to be fixed to the output end that X-axis drives steering engine, wing connector
Steering engine output flange is driven fixed to X-axis, wing is fixed to wing connector by screw；
Entire wing portion dress is mounted on after trunk loads by screw, and under Y-axis driving servo driving, wing can be around
Steering engine axis, that is, Y-axis rotation；In the case where X-axis drives servo driving, wing can be around steering engine axis, that is, X-axis rotation；In Y, X-axis line two
While a steering engine under cooperation driving, the movement of penguin wing can be simulated.
The present invention also provides the traveling methods of penguin bio-robot, which comprises the following steps:
(1), both legs are stood, and biped is supported
It initializes penguin bio-robot both legs to stand, the sole and ground face contact of left and right leg；
(2), biped is supported, ankle arthrosis cooperation in left and right is swerved the weight to left side
The ankle-joint motor and retarder of supporting leg drive its sole rotate so that sole always with ground face contact,
Take a step the ankle-joint motor of leg and retarder drive its sole to rotate, make the outer edge and ground face contact of its sole, it is left,
Under ankle-joint motor and the retarder cooperation of right leg, penguin bio-robot center of gravity pushes adjustable brace to；
(3), biped is supported, ankle arthrosis cooperation in left and right is swerved the weight to left side, center of gravity enters left foot supporting surface critical surface
Projection of the center of gravity of penguin bio-robot on ground will enter in the sole region of supporting leg, and penguin is bionical
Robot, which will enter, to stand with one foot to the knee the stage；
(4), left foot is supported, center of gravity is located in left foot supporting surface
Ankle-joint motor and the retarder driving of supporting leg continue to rotate, and the ankle-joint motor and retarder for leg of taking a step do not turn
Dynamic, the center of gravity of penguin bio-robot is in the sole plate suqare that the projection on ground has entered adjustable brace, penguin bio-robot
Into the stage of standing with one foot to the knee；
(5), left foot is supported, center of gravity is located in left foot supporting surface, and right crus of diaphragm ankle-joint returns just
Take a step leg ankle-joint motor and retarder rotation, drive its sole to make sole and ground keeping parallelism；
(6), left foot is supported, center of gravity is located in left foot supporting surface, and left foot knee joint is swingable, drives center of gravity forward
Hip joint motor and retarder the driving trunk of supporting leg and the leg portion for leg of taking a step fill rotation, so that center of gravity moves forward
Or it moves back；
(7), take a step leg landing
Leg take a step according to step (1)~(6) inverse process, carries out repetitive operation, leg landing of taking a step is realized, to complete to look forward to
The walking process of goose bio-robot.
Goal of the invention of the invention is achieved in that
A kind of penguin bio-robot of the present invention is made of shell dress, trunk dress, leg portion dress and wing portion dress；Its
In, each leg portion is equipped with 2 freedom degrees, and each wing portion dress also has 2 freedom degrees, entire leg portion dress and wing portion dress peace
On trunk, under hip joint motor and retarder driving, leg portion dress can be closed around electrical axis, that is, Z axis rotation in ankle
It saves under motor and retarder driving, sole can be around electrical axis, that is, X-axis rotation；In the case where Y-axis drives servo driving, wing can
Around steering engine axis, that is, Y-axis rotation；In the case where X-axis drives servo driving, wing can be around steering engine axis, that is, X-axis rotation；In Y, X-axis
While two steering engines of line under cooperation driving, the movement of penguin wing can be simulated.
Meanwhile a kind of penguin bio-robot of the present invention also has the advantages that
(1), the present invention and the fundamental difference of patent CN106313064B are patent CN106313064B using wheeled
It is mobile, and the present invention walks using step；
(2), the present invention is that the walking of penguin bio-robot is driven by four motors, greatly reduces penguin bionic machine
Motor needed for people reduces costs and controls difficulty.
Detailed description of the invention
Fig. 1 is a kind of a kind of specific embodiment architecture diagram of penguin bio-robot of the present invention；
Fig. 2 is leg portion dress schematic diagram；
Fig. 3 is leg portion assembling structure figure；
Fig. 4 is wing portion assembling structure figure；
Fig. 5 is Y-axis rotary spacing figure；
Fig. 6 is the Model Abstraction schematic diagram of penguin bio-robot；
Fig. 7 is penguin bio-robot both legs standing schematic diagram；
Fig. 8 is that swerving the weight for penguin bio-robot does not enter left foot supporting surface schematic diagram；
Fig. 9 is that penguin bio-robot is swerved the weight into left foot supporting surface critical surface schematic diagram；
Figure 10 is the schematic diagram in left foot supporting surface of swerving the weight of penguin bio-robot；
Figure 11 is that penguin bio-robot is swerved the weight in left foot supporting surface, and right crus of diaphragm ankle-joint returns positive signal
Figure；
Figure 12 is that penguin bio-robot is swerved the weight in left foot supporting surface, and left foot knee joint swings and drives weight
Heart schematic diagram forward.
Specific embodiment
A specific embodiment of the invention is described with reference to the accompanying drawing, preferably so as to those skilled in the art
Understand the present invention.Requiring particular attention is that in the following description, when known function and the detailed description of design perhaps
When can desalinate main contents of the invention, these descriptions will be ignored herein.
Embodiment
Fig. 1 is a kind of a kind of specific embodiment architecture diagram of penguin bio-robot of the present invention.
In the present embodiment, as shown in Figure 1, a kind of penguin bio-robot of the present invention, comprising: shell dress, trunk
Dress, leg portion dress, wing portion dress；
Wherein, shell fills, and can be made into various cartoons or true penguin shape, two rotational motions filled by wing portion
Cooperation, the movement of simulation penguin wing true to nature；
As shown in Figure 1,2- trunk fills, including 2.1 trunk brackets, and 2.2 control units, 2.3 batteries, 2.4 encoders,
2.5 control node plates, 2.6 mounting brackets；
Wherein, two 1 leg portion dresses, are mounted on 2.1 trunk brackets by screw, and two 3 wing portions dresses are also by spiral shell
Nail is fixed on 2.1 trunk brackets, and 2.2 control units, 2.3 batteries, 2.4 encoders, 2.5 control node plates all pass through 2.6 peaces
Bracket is filled to be fixed on 2.1 trunk brackets.Encoder is for feeding back articulation angle, so that control unit judges leg appearance
State, control penguin bio-robot walking.
There are 2 freedom degrees in 1 leg portion dress, including two legs portion, each leg；As shown in Fig. 2, every leg includes:
1.1 hip joint motors and retarder, 1.2 thighs, 1.3 ankle-joint motors and retarder, 1.4 ankles, 1.5 soles, 1.6 hips close
Save encoder component and 1.7 ankle-joint encoders；
Wherein, 1.1 hip joint motors and retarder, 1.3 ankle-joint motors and retarder have identical structure；
1.1 hip joint motors and retarder include: that hip joint motor, hip joint motor reducer connecting flange and hip close again
Save retarder；Hip joint motor is fixed on hip joint motor reducer connecting flange by screw, and hip joint retarder passes through
Screw is fixed to the other side of hip joint motor reducer connecting flange, forms hip joint motor and retarder portion dress with this；
1.3 ankle-joint motors and retarder include: 1.3.1 ankle-joint motor, the connection of 1.3.2 ankle-joint motor reducer again
Flange and 1.3.3 ankle-joint retarder；1.3.1 ankle-joint motor is connected by screw fixed to 1.3.2 ankle-joint motor reducer
On acting flange, 1.3.3 ankle-joint retarder is fixed to the another of 1.3.2 ankle-joint motor reducer connecting flange by screw
Side forms 1.3 ankle-joint motors and retarder portion dress with this；
1.2 thighs include: again 1.2.1 hip joint connecting plate for electric motor, 1.2.2 thigh foreboard, 1.2.3 articulation hole screw,
1.2.4 thigh back plate, 1.2.5 thigh side plate, 1.2.6 ankle-joint bracket, 1.2.7 ankle-joint bearing, 1.2.8 ankle-joint encoder
Bracket, 1.2.9 ankle-joint connect motor screw in succession；
As shown in figure 3, penguin bio-robot is by two motors (1.1 hip joint motors and retarder, 1.3 ankle-joints electricity
Machine and retarder) driving, and by two joint encoders (1.6 hip joint encoder components, 1.7 ankle-joint encoders) to two
The angle in joint is fed back.Its leg structure specifically:
1.1 hip joint motors and retarder are fixed on 2.1 trunk brackets by screw, the connection of 1.2.1 hip joint motor
Plate is fixedly connected by screw with the retarder output end of 1.1 hip joint motors and retarder, and 1.2.2 thigh foreboard, 1.2.4 are big
Leg back plate is fixed on 1.2.1 hip joint connecting plate for electric motor by 1.2.3 articulation hole screw fixing screws, two 1.2.5 thighs
Side plate is fixed to 1.2.2 thigh foreboard by screw, the thigh back plate two sides 1.2.4 form a rectangular configuration, to increase leg
Rigidity；
1.3.1 ankle-joint motor is fixed on 1.3.2 motor reducer connecting flange by screw, and 1.3.3 retarder is logical
Screw is crossed fixed to the 1.3.2 motor reducer other side, 1.4 ankles are fixed on retarder by screw, another 1.4
Ankle is fixed on 1.3.2 motor reducer connecting flange by screw, and two 1.4 ankles are fixed to 1.5 soles by screw
In the 1.5.1 locating slot of plate；1.4 ankles fixed to 1.3.2 motor reducer connecting flange pass through screw and 1.2.6 ankle-joint
Bracket is fixed, and 1.2.7 bearing inner race fits tightly on the cylinder step on 1.2.6 ankle-joint bracket, 1.2.7 bearing outer ring close-fitting
In the cylindrical hole for closing 1.2.4 thigh back plate, 1.2.8 ankle-joint encoder bracket is fixed to 1.2.4 thigh back plate by screw,
1.7 ankle-joint encoders are fixed on 1.2.8 ankle-joint encoder bracket by screw.In the other side, 1.3.3 retarder is defeated
Flange is fixed by screw and 1.2.2 thigh foreboard out.
Entire leg portion dress is mounted on after trunk loads by screw, in the case where hip joint motor and retarder drive, leg
Portion, portion dress can be around electrical axis, that is, Z axis rotation, and under ankle-joint motor and retarder driving, sole can be around electrical axis
I.e. X-axis rotates；
3 wing portions dress, including two wings, left and right sides wing structure is identical, is in mirror-image arrangement, and each wing has 2
A freedom degree；
As shown in figure 4, every wing includes: 3.1 wing mounting brackets, 3.2Y axis driving steering engine bracket, the drive of 3.3Y axis
Dynamic steering engine, 3.4Y axis drive steering engine output flange, the first rotary shaft of 3.5Y axis, 3.6Y axis rotating shaft bearing, 3.7Y axis second
Rotary shaft, 3.8X spindle motor mounting bracket, 3.9X axis driving steering engine, 3.10X axis driving steering engine output flange, 3.11 wings connect
Fitting, 3.12 wings and 3.13 stop screws；
As shown in figure 4, wing portion assembling structure specifically: 3.1 wing mounting brackets are fixed to 2.1 trunk brackets by screw
On, 3.2Y axis drives steering engine bracket to be fixed to 3.1 wing mounting brackets by screw, and 3.3Y axis driving steering engine is fixed by screw
Steering engine bracket is driven to 3.2Y axis, 3.4Y axis drives steering engine output flange and 3.3Y axis driving steering engine output end to be connected, 3.4Y
Axis driving steering engine output flange fixed by screw and the first rotary shaft of 3.5Y axis, the first rotary shaft of 3.5Y axis pass through screw and
The axial direction of the second rotary shaft of 3.7Y axis is connected and fixed, in axial compression 3.6Y axis rotating shaft bearing, 3.6Y axis rotating shaft bearing
Inner ring and the first rotary shaft of 3.5Y axis, 3.7Y axis the second rotary shaft close-fitting, outer ring and 3.1 wing mounting bracket close-fittings.
3.8X spindle motor mounting bracket is fixed in the second rotary shaft of 3.7Y axis by screw, and 3.9X axis driving steering engine passes through
Screw is fixed in 3.8X spindle motor mounting bracket, and 3.10X axis drives steering engine output flange to be fixed to 3.9X axis and drives steering engine
Output end, 3.11 wing connectors are fixed to 3.10X axis and drive steering engine output flange, and 3.12 wings are fixed to by screw
3.11 wing connector.Left and right sides wing structure is identical, mirror-image arrangement.
In the present embodiment, as shown in figure 5, being provided with 3.7.2 limiting slot in the second rotary shaft of 3.7Y axis, 3.7.2 limit
3.7.1 screw hole is provided in slot, 3.7.2 limiting slot cooperates with 3.13 stop screws limits Y-axis rotation angle, simulates
Penguin range of motion.
Entire wing portion dress is mounted on after trunk loads by screw, and under Y-axis driving servo driving, wing can be around
Steering engine axis, that is, Y-axis rotation；In the case where X-axis drives servo driving, wing can be around steering engine axis, that is, X-axis rotation；In Y, X-axis line two
While a steering engine under cooperation driving, the movement of penguin wing can be simulated.
We carry out Model Abstraction to penguin bio-robot below, as shown in fig. 6, the model after being abstracted is combined, to enterprise
The walking process of goose bio-robot is specifically described, comprising the following steps:
(1), both legs are stood, and biped is supported
As shown in fig. 7, initialization penguin bio-robot both legs are stood, the sole and ground face contact of left and right leg；
(2), biped is supported, ankle arthrosis cooperation in left and right is swerved the weight to left side (center of gravity does not enter left foot supporting surface)
In the present embodiment, the left leg in Fig. 8 is supporting leg, and right leg is leg of taking a step；The ankle-joint motor of supporting leg and subtract
Fast device drives its sole to rotate, so that sole, always with ground face contact, the ankle-joint motor and retarder for leg of taking a step drive
The rotation of its sole makes the outer edge and ground face contact of its sole, cooperates in the ankle-joint motor and retarder of left and right leg
Under, penguin bio-robot center of gravity pushes adjustable brace to；
(3), biped is supported, ankle arthrosis cooperation in left and right is swerved the weight to left side, center of gravity enters left foot supporting surface critical surface
Projection of the center of gravity of penguin bio-robot on ground will enter the sole region of supporting leg (the left leg of Fig. 9)
Interior, penguin bio-robot, which will enter, stands with one foot to the knee the stage；
(4), left foot is supported, center of gravity is located in left foot supporting surface
Ankle-joint motor and the retarder driving of supporting leg (the left leg of Figure 10) continue to rotate, leg of taking a step (the right leg of Figure 10)
Ankle-joint motor and retarder do not rotate, projection of the center of gravity of penguin bio-robot on ground has entered the sole of adjustable brace
In plate suqare, penguin bio-robot, which enters, stands with one foot to the knee the stage；
(5), left foot is supported, center of gravity is located in left foot supporting surface, and right crus of diaphragm ankle-joint returns just
Take a step leg (the right leg of Figure 11) ankle-joint motor and retarder rotation, drive its sole make sole and ground
Face keeping parallelism；
(6), left foot is supported, center of gravity is located in left foot supporting surface, and left foot knee joint is swingable, drives center of gravity forward
Hip joint motor and retarder the driving trunk and leg of taking a step (the right leg of Figure 12) of supporting leg (the left leg of Figure 12)
Leg portion dress rotation, so that center of gravity is moved forward or moved back；
(7), take a step leg landing
Leg (the right leg of Figure 12) take a step according still further to step (1)~(6) inverse process, carries out repetitive operation, realizes leg of taking a step
Landing, to complete the walking process of penguin bio-robot.
Although the illustrative specific embodiment of the present invention is described above, in order to the technology of the art
Personnel understand the present invention, it should be apparent that the present invention is not limited to the range of specific embodiment, to the common skill of the art
For art personnel, if various change the attached claims limit and determine the spirit and scope of the present invention in, these
Variation is it will be apparent that all utilize the innovation and creation of present inventive concept in the column of protection.
Claims (3)
1. a kind of penguin bio-robot characterized by comprising shell dress, trunk dress, leg portion dress, wing portion dress；
The shell dress, can be made into various cartoons or true penguin shape, with two rotational motions that wing portion fills,
The movement of simulation penguin wing true to nature；
The trunk dress, including trunk bracket, control unit, battery, encoder, control node plate and mounting bracket；Wherein,
Control unit, battery, encoder, control node plate all pass through mounting bracket fixed on trunk bracket；
There are 2 freedom degrees in the leg portion dress, including two legs portion, each leg；Every leg include: hip joint motor and
Retarder, thigh, ankle-joint motor and retarder, ankle, sole, hip joint encoder component and ankle-joint encoder；
Wherein, hip joint motor and retarder include: hip joint motor, hip joint motor reducer connecting flange and hip joint again
Retarder；Hip joint motor is fixed on hip joint motor reducer connecting flange by screw, and hip joint retarder passes through spiral shell
Nail is fixed to the other side of hip joint motor reducer connecting flange, forms hip joint motor and retarder portion dress with this；
Ankle-joint motor and and retarder again include: that ankle-joint motor, ankle-joint motor reducer connecting flange and ankle-joint subtract
Fast device；Ankle-joint motor is fixed on ankle-joint motor reducer connecting flange by screw, and ankle-joint retarder passes through screw
The other side fixed to ankle-joint motor reducer connecting flange forms ankle-joint motor and retarder portion dress with this；
Thigh includes: hip joint connecting plate for electric motor, thigh foreboard, articulation hole screw, thigh back plate, thigh side plate, ankle-joint again
Bracket, ankle-joint bearing, ankle-joint encoder bracket and ankle-joint connect motor screw in succession；
Hip joint motor and retarder are fixed on trunk bracket by screw, and hip joint connecting plate for electric motor is closed by screw and hip
The retarder output end of section motor and retarder is fixedly connected, and thigh foreboard, thigh back plate are fixed to hip by articulation hole screw
On joint motor connecting plate, two thigh side plates are fixed to thigh foreboard by screw, thigh back plate two sides form a rectangle
Structure structure, to increase leg rigidity；
Ankle-joint motor is fixed on motor reducer connecting flange by screw, and retarder is fixed to decelerating through motor by screw
The device other side, an ankle are fixed on retarder by screw, another ankle is connected by screw fixed to motor reducer
On acting flange, two ankles are fixed in the locating slot of sole by screw；Fixed to ankle-joint motor reducer connection method
Blue ankle, is fixed by screw and ankle-joint bracket；The inner ring of ankle-joint bearing fits tightly to the cylinder on ankle-joint bracket
On step, the outer ring of ankle-joint bearing is fitted tightly in the cylindrical hole of thigh back plate, and ankle-joint encoder bracket is solid by screw
Surely thigh back plate is arrived, ankle-joint encoder is fixed on ankle-joint encoder bracket by screw；In the other side, ankle-joint slows down
The output flange of device is fixed by screw and thigh foreboard；
Entire leg portion dress is mounted on after trunk loads by screw, in the case where hip joint motor and retarder drive, leg portion
Dress can be around electrical axis, that is, Z axis rotation, and under ankle-joint motor and retarder driving, sole can be around electrical axis, that is, X
Axis rotation；
The wing portion dress, including two wings, left and right sides wing structure is identical, is in mirror-image arrangement, and each wing has 2
Freedom degree；Wing mounting bracket, Y-axis driving steering engine bracket, Y-axis driving steering engine, Y-axis drive steering engine output flange, Y-axis first
Rotary shaft, Y-axis rotating shaft bearing, the second rotary shaft of Y-axis, X-axis motor mounting rack, X-axis driving steering engine, X-axis driving steering engine are defeated
Ring flange, wing connector and wing out；
Wing mounting bracket is fixed on trunk bracket by screw, and Y-axis drives steering engine bracket to pacify by screw fixed to wing
Bracket is filled, Y-axis drives steering engine to be fixed to Y-axis by screw and drives steering engine bracket, and Y-axis drives steering engine output flange and Y-axis to drive
Dynamic steering engine output end is connected, and Y-axis driving steering engine output flange is fixed by screw and the first rotary shaft of Y-axis, and Y-axis first rotates
Axis is connected and fixed by screw and the axial direction of the second rotary shaft of Y-axis, in axial compression Y-axis rotating shaft bearing, Y-axis rotating shaft bearing
Inner ring and Y first axle rotary shaft, Y-axis the second rotary shaft close-fitting, outer ring and wing mounting bracket close-fitting；
X-axis motor mounting rack is fixed in the second rotary shaft of Y-axis by screw, and X-axis drives steering engine to be fixed to X-axis by screw
On motor mounting rack, X-axis drives steering engine output flange to be fixed to the output end that X-axis drives steering engine, and wing connector is fixed
Steering engine output flange is driven to X-axis, wing is fixed to wing connector by screw；
Entire wing portion dress is mounted on after trunk loads by screw, and under Y-axis driving servo driving, wing can be around steering engine
Axis, that is, Y-axis rotation；In the case where X-axis drives servo driving, wing can be around steering engine axis, that is, X-axis rotation；In two Y, X-axis line rudders
While machine under cooperation driving, the movement of penguin wing can be simulated.
2. a kind of penguin bio-robot according to claim 1, which is characterized in that set in second rotary shaft of Y-axis
It is equipped with limiting slot, is provided with screw hole in limiting slot, by being used cooperatively for limiting slot and stop screw, Y-axis can be rotated
Angle is limited, to simulate penguin range of motion.
3. a kind of traveling method using penguin bio-robot described in claim 1, which is characterized in that including following step
It is rapid:
(1), both legs are stood, and biped is supported
It initializes penguin bio-robot both legs to stand, the sole and ground face contact of left and right leg；
(2), biped is supported, ankle arthrosis cooperation in left and right is swerved the weight to left side
The ankle-joint motor and retarder of supporting leg drive its sole to rotate, so that sole is taken a step always with ground face contact
The ankle-joint motor and retarder of leg drive its sole to rotate, and make the outer edge and ground face contact of its sole, in left and right leg
Ankle-joint motor and retarder cooperation under, penguin bio-robot center of gravity pushes adjustable brace to；
(3), biped is supported, ankle arthrosis cooperation in left and right is swerved the weight to left side, center of gravity enters left foot supporting surface critical surface
Projection of the center of gravity of penguin bio-robot on ground will enter in the sole region of supporting leg, penguin bionic machine
People, which will enter, to stand with one foot to the knee the stage；
(4), left foot is supported, center of gravity is located in left foot supporting surface
Ankle-joint motor and the retarder driving of supporting leg continue to rotate, and the ankle-joint motor and retarder for leg of taking a step do not rotate,
In the sole plate suqare that the projection on ground has entered adjustable brace, penguin bio-robot enters the center of gravity of penguin bio-robot
It stands with one foot to the knee the stage；
(5), left foot is supported, center of gravity is located in left foot supporting surface, and right crus of diaphragm ankle-joint returns just
Take a step leg ankle-joint motor and retarder rotation, drive its sole to make sole and ground keeping parallelism；
(6), left foot is supported, center of gravity is located in left foot supporting surface, and left foot knee joint is swingable, drives center of gravity forward
Supporting leg hip joint motor and retarder driving trunk and leg of taking a step leg portion fill rotation so that center of gravity Forward or after
It moves；
(7), take a step leg landing
Leg take a step according to step (1)~(6) inverse process, carries out repetitive operation, realizes leg landing of taking a step, so that it is imitative to complete penguin
The walking process of raw robot.
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