CN110466643B - Penguin bionic robot and walking method - Google Patents
Penguin bionic robot and walking method Download PDFInfo
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- CN110466643B CN110466643B CN201910705976.1A CN201910705976A CN110466643B CN 110466643 B CN110466643 B CN 110466643B CN 201910705976 A CN201910705976 A CN 201910705976A CN 110466643 B CN110466643 B CN 110466643B
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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
The invention discloses a penguin bionic robot which consists of a shell part, a trunk part, a leg part and a wing part; each leg part is provided with 2 degrees of freedom, each wing part is also provided with 2 degrees of freedom, the whole leg part and the wing parts are arranged on the trunk, the leg parts can rotate around the axis of the motor, namely the Z axis, under the drive of the hip joint motor and the speed reducer, and the sole plate can rotate around the axis of the motor, namely the X axis, under the drive of the ankle joint motor and the speed reducer; under the drive of the Y-axis drive steering engine, the wings can rotate around the axis of the steering engine, namely the Y-axis; under the drive of the X-axis drive steering engine, the wings can rotate around the axis of the steering engine, namely the X-axis; under the simultaneous cooperation drive of two steering engines of Y, X axis, can simulate the motion of penguin wing.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a penguin bionic robot and a walking method.
Background
The existing penguin bionic robots are divided into two categories, namely ornamental robots and practical robots.
The ornamental robot mainly attracts people by means of the appearance, a penguin shell is manufactured by using thermosetting plastics, the painting is vivid, the bionic effect is good, and the defects are as follows: the function is single, the penguin entity is too emphatic, some functional elements cannot be configured, and the interactivity with people is lacked, so that the ornamental penguin robot can only be used as a model or an ornament.
The practical penguin bionic robot adopts a four-wheel chassis driving design in order to prevent the integral damage of the robot caused by the falling of the penguin bionic robot, and is equivalent to a man-machine interaction module with various sensors carried on a truck. The practical penguin bionic robot has very powerful functions and also has the following defects: the bionic characteristics of the penguin bionic robot cannot be reflected, the function of the penguin bionic robot is too good, and the whole robot is planned based on parts instead of being designed according to the physical size of the penguin. In addition, for the bionic penguin, the most important is the bionic gait of the penguin, which is an extremely important technical point and a technical difficulty. However, the existing functional bionic robot acts through four-wheel drive, and the gait of penguin cannot be realistically simulated.
Patent CN106313064B provides a penguin bionic robot, which comprises a trunk assembly, arm assemblies, foot assemblies and a head assembly, wherein the trunk assembly comprises a trunk support frame, a foot drive shaft, a power supply and a drive motor, which are arranged on the trunk support frame, and a chassis assembly arranged at the bottom of the trunk support frame; foot's subassembly includes the foot support arm of upper end with the help of crank and foot drive shaft swing joint, the foot backup pad is installed to the lower extreme of foot support arm, install the transverse positioning pole on the truck support frame, the tip of transverse positioning pole is arranged in the vertical spout of foot support arm, when the foot support arm is driven by foot drive shaft and crank, the upper end of foot support arm round foot drive shaft pivoted orbit is circular, and the orbit of its lower extreme is oval orbit. The penguin bionic robot can simulate walking gait of penguins, is good in bionic effect, can be applied to actual guests on site, and is high in practicability.
However, patent CN106313064B can swing forward, but it is wheel-type rather than real leg-type walking.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a penguin bionic robot, which is driven by a motor to walk along legs while the number of the motors is controlled.
In order to achieve the above object, the present invention provides a bionic penguin robot, comprising: the shell part, the trunk part, the leg part and the wing part are arranged;
the shell part can be made into various cartoon or real penguin shapes, and the two rotary motions of the wing part are matched to vividly simulate the motion of the penguin wing;
the trunk assembly comprises a trunk support, a control unit, a battery, an encoder, a control node board and a mounting support; the control unit, the battery, the encoder and the control node board are all fixed on the trunk support through the mounting support; the encoder is used for feeding back the joint rotation angle so that the controller can judge the leg posture, and the hip joint and the ankle joint respectively sense one encoder through the encoder. The control unit is fixed to the trunk support through the support, and the battery is fixed to the trunk support through the two C-shaped supports
The leg part comprises two leg parts, and each leg part has 2 degrees of freedom; each leg includes: a hip joint motor and reducer, a thigh, an ankle joint motor and reducer, an ankle, a sole plate, a hip joint encoder component and an ankle joint encoder;
wherein, hip joint motor and reduction gear include again: the hip joint motor, the hip joint motor reducer connecting flange and the hip joint reducer are connected; the hip joint motor is fixed on the connecting flange of the hip joint motor reducer through screws, and the hip joint reducer is fixed on the other side of the connecting flange of the hip joint motor reducer through screws, so that the hip joint motor and the reducer are assembled;
ankle joint motor and reduction gear include again: the ankle joint motor, the ankle joint motor reducer connecting flange and the ankle joint reducer are connected; the ankle joint motor is fixed on the ankle joint motor reducer connecting flange through screws, and the ankle joint reducer is fixed on the other side of the ankle joint motor reducer connecting flange through screws, so that the ankle joint motor and the reducer are assembled;
the thigh in turn comprises: the ankle joint comprises a hip joint motor connecting plate, a thigh front plate, a hinge hole screw, a thigh rear plate, a thigh side plate, an ankle joint support, an ankle joint bearing, an ankle joint encoder support and an ankle joint connecting motor screw;
the hip joint motor and the speed reducer are fixed on the trunk support through screws, a hip joint motor connecting plate is fixedly connected with the output ends of the hip joint motor and the speed reducer of the speed reducer through screws, a thigh front plate and a thigh rear plate are fixed on the hip joint motor connecting plate through hinged hole screws, and two thigh side plates are fixed on two sides of the thigh front plate and the thigh rear plate through screws to form a rectangular structure so as to increase the rigidity of legs;
the ankle joint motor is fixed on a motor reducer connecting flange through screws, the reducer is fixed on the other side of the motor reducer through screws, one ankle is fixed on the reducer through screws, the other ankle is fixed on the motor reducer connecting flange through screws, and the two ankles are fixed in positioning grooves of the sole plate through screws; the ankle fixed to the ankle joint motor reducer connecting flange is fixed with the ankle joint support through a screw; the inner ring of the ankle joint bearing is tightly matched with the cylindrical step on the ankle joint support, the outer ring of the ankle joint bearing is tightly matched with the cylindrical hole of the thigh back plate, the ankle joint encoder support is fixed to the thigh back plate through screws, and the ankle joint encoder is fixed to the ankle joint encoder support through screws; on the other side, an output flange of the ankle joint reducer is fixed with a thigh front plate through a screw;
the whole leg part is arranged on the trunk part through screws, and can rotate around the axis of the motor, namely a Z axis, under the drive of the hip joint motor and the speed reducer, and the sole plate can rotate around the axis of the motor, namely an X axis, under the drive of the ankle joint motor and the speed reducer;
the wing part comprises two wings, the left and right wings have the same structure and are arranged in a mirror image manner, and each wing has 2 degrees of freedom; the wing mounting bracket, the Y-axis driving steering engine, a Y-axis driving steering engine output flange plate, a Y-axis first rotating shaft, a Y-axis rotating shaft bearing, a Y-axis second rotating shaft, the X-axis motor mounting bracket, the X-axis driving steering engine, an X-axis driving steering engine output flange plate, a wing connecting piece and a wing;
the wing mounting bracket is fixed on the trunk bracket through screws, the Y-axis driving steering engine bracket is fixed on the wing mounting bracket through screws, the Y-axis driving steering engine is fixed on the Y-axis driving steering engine bracket through screws, the Y-axis driving steering engine output flange is fixedly connected with the output end of the Y-axis driving steering engine, the Y-axis driving steering engine output flange is fixed with the Y-axis first rotating shaft through screws, the Y-axis first rotating shaft is fixedly connected with the Y-axis second rotating shaft through screws in the axial direction, a Y-axis rotating shaft bearing is pressed in the axial direction, the inner ring of the Y-axis rotating shaft bearing is tightly matched with the Y-axis first rotating shaft and the Y-axis second rotating shaft, and the outer ring of the Y-axis rotating shaft bearing is tightly matched with the wing mounting bracket;
an X-axis motor mounting bracket is fixed to a Y-axis second rotating shaft through screws, an X-axis driving steering engine is fixed to the X-axis motor mounting bracket through screws, an X-axis driving steering engine output flange plate is fixed to the output end of the X-axis driving steering engine, a wing connecting piece is fixed to the X-axis driving steering engine output flange plate, and a wing is fixed to the wing connecting piece through screws;
after the whole wing part is arranged on the body part through screws, the wing can rotate around the axis of the steering engine, namely the Y axis, under the driving of the Y axis driving steering engine; under the drive of the X-axis drive steering engine, the wings can rotate around the axis of the steering engine, namely the X-axis; under the simultaneous cooperation drive of two steering engines of Y, X axis, can simulate the motion of penguin wing.
The invention also provides a walking method of the penguin bionic robot, which is characterized by comprising the following steps:
(1) standing with both legs and supporting with both feet
Initializing two legs of the penguin bionic robot to stand, and enabling foot bottom plates of the left leg and the right leg to be in contact with the ground;
(2) the left ankle joint and the right ankle joint are matched to move the gravity center to the left side
The ankle joint motor and the speed reducer of the supporting leg drive the foot bottom plate to rotate, so that the foot bottom plate is always in contact with the ground, the ankle joint motor and the speed reducer of the walking leg drive the foot bottom plate to rotate, the outer edge of the foot bottom plate is in contact with the ground, and the gravity center of the penguin bionic robot is pushed to the supporting leg under the matching of the ankle joint motor and the speed reducer of the left leg and the right leg;
(3) the left ankle joint and the right ankle joint are matched to move the center of gravity to the left side, and the center of gravity enters the left foot support face interface
The gravity center of the penguin bionic robot is projected on the ground to enter the foot bottom plate area of the supporting leg, and the penguin bionic robot is to enter a single-leg standing stage;
(4) the center of gravity of the left foot support is positioned in the left foot support surface
The ankle joint motor and the speed reducer of the supporting leg are driven to rotate continuously, the ankle joint motor and the speed reducer of the stepping leg do not rotate, the projection of the gravity center of the penguin bionic robot on the ground enters the area of the sole plate of the supporting leg, and the penguin bionic robot enters a single-leg standing stage;
(5) the left foot is supported, the center of gravity is positioned in the left foot supporting surface, and the right foot ankle joint is adjusted
The ankle joint motor and the speed reducer of the stepping leg rotate to drive the foot bottom plate of the stepping leg to keep the foot bottom plate parallel to the ground;
(6) the left foot is supported, the gravity center is positioned in the left foot supporting surface, and the knee joint of the left foot can swing to drive the gravity center to move forwards
The hip joint motor and the speed reducer of the supporting leg drive the trunk and the leg part of the stepping leg to rotate, so that the gravity center moves forwards or backwards;
(7) landing leg
And (4) repeatedly operating the stepping leg according to the reverse process of the steps (1) to (6) to realize landing of the stepping leg, so that the walking process of the penguin bionic robot is completed.
The invention aims to realize the following steps:
the penguin bionic robot consists of a shell part, a trunk part, a leg part and a wing part; each leg part is provided with 2 degrees of freedom, each wing part is also provided with 2 degrees of freedom, the whole leg part and the wing parts are arranged on the trunk, the leg parts can rotate around the axis of the motor, namely the Z axis, under the drive of the hip joint motor and the speed reducer, and the sole plate can rotate around the axis of the motor, namely the X axis, under the drive of the ankle joint motor and the speed reducer; under the drive of the Y-axis drive steering engine, the wings can rotate around the axis of the steering engine, namely the Y-axis; under the drive of the X-axis drive steering engine, the wings can rotate around the axis of the steering engine, namely the X-axis; under the simultaneous cooperation drive of two steering engines of Y, X axis, can simulate the motion of penguin wing.
Meanwhile, the penguin bionic robot provided by the invention also has the following beneficial effects:
(1) the invention is fundamentally different from the patent CN106313064B in that the patent CN106313064B adopts wheel type movement, and the invention adopts leg walking;
(2) the four motors drive the penguin bionic robot to walk, so that the motors required by the penguin bionic robot are greatly reduced, and the cost and the control difficulty are reduced.
Drawings
FIG. 1 is an architectural diagram of one embodiment of a penguin bionic robot according to the present invention;
FIG. 2 is a schematic illustration of a leg assembly;
FIG. 3 is a view of the leg assembly structure;
FIG. 4a is an overall view of the wing assembly;
figure 4b is an overall cross-sectional view of the wing part;
figure 4c is a partial cross-sectional view of the wing assembly;
FIG. 5 is a Y-axis rotation limit diagram;
fig. 6 is a schematic diagram of a model abstraction of a penguin biomimetic robot;
fig. 7 is a schematic diagram of a penguin bionic robot standing on two legs;
FIG. 8 is a schematic view of the moving center of gravity of the penguin bionic robot not entering the left foot supporting surface;
FIG. 9 is a schematic diagram of the interface of the penguin bionic robot moving the center of gravity into the left foot support;
FIG. 10 is a schematic diagram of the moving center of gravity of the penguin bionic robot located in the left foot supporting surface;
FIG. 11 is a schematic diagram of the moving center of gravity of the penguin bionic robot being located in the left foot supporting surface and the right foot ankle joint being aligned;
fig. 12 is a schematic diagram that the moving gravity center of the penguin bionic robot is located in a left foot supporting surface, and the gravity center is driven to move forwards by the swing of a left foot knee joint.
Detailed Description
The following description of the embodiments of the present invention is provided in order to better understand the present invention for those skilled in the art with reference to the accompanying drawings. It is to be expressly noted that in the following description, a detailed description of known functions and designs will be omitted when it may obscure the subject matter of the present invention.
Examples
Fig. 1 is an architecture diagram of a penguin bionic robot in a specific embodiment of the invention.
In this embodiment, as shown in fig. 1, a penguin bionic robot of the present invention includes: the shell part, the trunk part, the leg part and the wing part are arranged;
the shell part can be made into various cartoon or real penguin shapes, and the two rotary motions of the wing part are matched to vividly simulate the motion of the penguin wing;
as shown in fig. 1, the 2-torso unit, which includes 2.1 torso support, 2.2 control unit, 2.3 battery, 2.4 encoder, 2.5 control node board, 2.6 mounting bracket;
wherein, two 1 leg portion dress is on 2.1 truck support through the screw installation, and two 3 wing portion dresses are also fixed to 2.1 truck support through the screw, and 2.2 the control unit, 2.3 batteries, 2.4 encoders, 2.5 control node board all fix to 2.1 truck support through 2.6 installing supports. The encoder is used for feeding back the joint rotation angle so that the control unit can judge the leg posture and control the penguin bionic robot to walk.
1, a leg part, which comprises two leg parts, wherein each leg part has 2 degrees of freedom; as shown in fig. 2, each leg portion includes: 1.1 hip joint motor and reducer, 1.2 thigh, 1.3 ankle joint motor and reducer, 1.4 ankle, 1.5 sole plate, 1.6 hip joint encoder component and 1.7 ankle joint encoder;
wherein, the 1.1 hip joint motor and the reducer, and the 1.3 ankle joint motor and the reducer have the same structure;
1.1 hip joint motor and speed reducer include again: the hip joint motor, the hip joint motor reducer connecting flange and the hip joint reducer are connected; the hip joint motor is fixed on the connecting flange of the hip joint motor reducer through screws, and the hip joint reducer is fixed on the other side of the connecting flange of the hip joint motor reducer through screws, so that the hip joint motor and the reducer are assembled;
1.3 ankle joint motor and reduction gear include again: 1.3.1 ankle joint motor, 1.3.2 ankle joint motor reducer connecting flange and 1.3.3 ankle joint reducer; 1.3.1 the ankle joint motor is fixed on a 1.3.2 ankle joint motor reducer connecting flange through a screw, and a 1.3.3 ankle joint reducer is fixed on the other side of the 1.3.2 ankle joint motor reducer connecting flange through a screw, so that a 1.3 ankle joint motor and reducer part is formed;
1.2 the thigh in turn comprises: 1.2.1 hip joint motor connecting plate, 1.2.2 thigh front plate, 1.2.3 reamed hole screw, 1.2.4 thigh rear plate, 1.2.5 thigh side plate, 1.2.6 ankle joint support, 1.2.7 ankle joint bearing, 1.2.8 ankle joint encoder support, 1.2.9 ankle joint connecting motor screw;
as shown in fig. 3, the penguin-shaped bionic robot is driven by two motors (1.1 hip joint motor and reducer, 1.3 ankle joint motor and reducer), and the angles of the two joints are fed back by two joint encoders (1.6 hip joint encoder part, 1.7 ankle joint encoder). The leg structure specifically is as follows:
1.1 the hip joint motor and the reducer are fixed on the 2.1 trunk support through screws, a 1.2.1 hip joint motor connecting plate is fixedly connected with the 1.1 hip joint motor and the reducer output end of the reducer through screws, a 1.2.2 thigh front plate and a 1.2.4 thigh rear plate are fixed on the 1.2.1 hip joint motor connecting plate through 1.2.3 reamed hole screw fixing screws, and two 1.2.5 thigh side plates are fixed on the 1.2.2 thigh front plate and the 1.2.4 thigh rear plate through screws to form a rectangular structure at two sides so as to increase the rigidity of legs;
1.3.1 ankle joint motor is fixed on the connecting flange of the 1.3.2 motor reducer by screws, the 1.3.3 reducer is fixed on the other side of the 1.3.2 motor reducer by screws, one 1.4 ankle is fixed on the reducer by screws, the other 1.4 ankle is fixed on the connecting flange of the 1.3.2 motor reducer by screws, and the two 1.4 ankles are fixed in the 1.5.1 positioning grooves of the 1.5 sole plate by screws; the 1.4 ankle fixed to the 1.3.2 motor reducer flange is fixed with the 1.2.6 ankle joint support through the screw, the 1.2.7 bearing inner race tight fit is to the cylindrical step on the 1.2.6 ankle joint support, the 1.2.7 bearing outer race tight fit is to the cylindrical hole of the 1.2.4 thigh backplate, 1.2.8 ankle joint encoder support is fixed to the 1.2.4 thigh backplate through the screw, the 1.7 ankle joint encoder is fixed to the 1.2.8 ankle joint encoder support through the screw. The output flange of the 1.3.3 reducer on the other side is fixed with the 1.2.2 thigh front plate through screws.
The whole leg part is arranged on the trunk part through screws, and can rotate around the axis of the motor, namely a Z axis, under the drive of the hip joint motor and the speed reducer, and the sole plate can rotate around the axis of the motor, namely an X axis, under the drive of the ankle joint motor and the speed reducer;
3, a wing part which comprises two wings, wherein the left and right wings have the same structure and are arranged in a mirror image manner, each wing has 2 degrees of freedom, and the structure of each wing is shown in figure 4 a;
as shown in fig. 4b and 4c, each wing includes: 3.1 wing mounting bracket, 3.2Y-axis driving steering engine bracket, 3.3Y-axis driving steering engine, 3.4Y-axis driving steering engine output flange plate, 3.5Y-axis first rotating shaft, 3.6Y-axis rotating shaft bearing, 3.7Y-axis second rotating shaft, 3.8X-axis motor mounting bracket, 3.9X-axis driving steering engine, 3.10X-axis driving steering engine output flange plate, 3.11 wing connecting piece, 3.12 wing and 3.13 limit screw;
the wing part dress structure specifically is: the 3.1 wing installing support is fixed to the 2.1 trunk support through screws, the 3.2Y-axis driving steering engine support is fixed to the 3.1 wing installing support through screws, the 3.3Y-axis driving steering engine is fixed to the 3.2Y-axis driving steering engine support through screws, an output flange plate of the 3.4Y-axis driving steering engine is fixedly connected with the output end of the 3.3Y-axis driving steering engine, an output flange plate of the 3.4Y-axis driving steering engine is fixed to a first 3.5Y-axis rotating shaft through screws, the first 3.5Y-axis rotating shaft is fixedly connected with the second 3.7Y-axis rotating shaft through screws in the axial direction so as to axially compress a 3.6Y-axis rotating shaft bearing, the inner ring of the 3.6Y-axis rotating shaft bearing is tightly matched with the first 3.5Y-axis rotating shaft and the second 3.7Y-axis rotating shaft, and the outer ring of the 3.1 wing installing support is tightly matched with the wing installing support.
The 3.8X-axis motor mounting bracket is fixed to the 3.7Y-axis second rotating shaft through screws, the 3.9X-axis driving steering engine is fixed to the 3.8X-axis motor mounting bracket through screws, the 3.10X-axis driving steering engine output flange plate is fixed to the output end of the 3.9X-axis driving steering engine, the 3.11 wing connecting piece is fixed to the 3.10X-axis driving steering engine output flange plate, and the 3.12 wing is fixed to the 3.11 wing connecting piece through screws. The wings on the left side and the right side have the same structure and are arranged in a mirror image mode.
In this embodiment, as shown in fig. 5, a 3.7.2 limiting groove is provided on the 3.7Y-axis second rotating shaft, an 3.7.1 screw hole is provided in the 3.7.2 limiting groove, and the 3.7.2 limiting groove cooperates with the 3.13 limiting screw to limit the rotation angle of the Y-axis, so as to simulate the range of motion of the penguin joint.
After the whole wing part is arranged on the body part through screws, the wing can rotate around the axis of the steering engine, namely the Y axis, under the driving of the Y axis driving steering engine; under the drive of the X-axis drive steering engine, the wings can rotate around the axis of the steering engine, namely the X-axis; under the simultaneous cooperation drive of two steering engines of Y, X axis, can simulate the motion of penguin wing.
Next, model abstraction is performed on the penguin bionic robot, as shown in fig. 6, and the walking process of the penguin bionic robot is described in detail by combining the abstracted model, including the following steps:
(1) standing with both legs and supporting with both feet
As shown in fig. 7, the penguin-shaped bionic robot is initialized to stand on two legs, and sole plates of the left leg and the right leg are in contact with the ground;
(2) the left ankle joint and the right ankle joint are matched to move the gravity center to the left (the gravity center does not enter the left foot supporting surface)
In the present embodiment, the left leg in fig. 8 is a support leg, and the right leg is a stepping leg; the ankle joint motor and the speed reducer of the supporting leg drive the foot bottom plate to rotate, so that the foot bottom plate is always in contact with the ground, the ankle joint motor and the speed reducer of the walking leg drive the foot bottom plate to rotate, the outer edge of the foot bottom plate is in contact with the ground, and the gravity center of the penguin bionic robot is pushed to the supporting leg under the matching of the ankle joint motor and the speed reducer of the left leg and the right leg;
(3) the left ankle joint and the right ankle joint are matched to move the center of gravity to the left side, and the center of gravity enters the left foot support face interface
The gravity center of the penguin bionic robot is projected on the ground to enter a foot bottom plate area of a supporting leg (the left leg in fig. 9), and the penguin bionic robot is about to enter a single-leg standing stage;
(4) the center of gravity of the left foot support is positioned in the left foot support surface
The ankle joint motor and the speed reducer of the supporting leg (the left leg in the figure 10) are driven to rotate continuously, the ankle joint motor and the speed reducer of the stepping leg (the right leg in the figure 10) do not rotate, the projection of the gravity center of the penguin bionic robot on the ground enters the area of the sole plate of the supporting leg, and the penguin bionic robot enters a single-leg standing stage;
(5) the left foot is supported, the center of gravity is positioned in the left foot supporting surface, and the right foot ankle joint is adjusted
The ankle joint motor and the reducer of the stepping leg (the right leg in fig. 11) rotate to drive the sole plate of the stepping leg to keep the sole plate parallel to the ground;
(6) the left foot is supported, the gravity center is positioned in the left foot supporting surface, and the knee joint of the left foot can swing to drive the gravity center to move forwards
Hip joint motors and speed reducers of support legs (left leg in fig. 12) drive leg parts of a trunk and a stepping leg (right leg in fig. 12) to rotate, so that the gravity center moves forwards or backwards;
(7) landing leg
And (3) repeatedly operating the walking leg (the right leg in the figure 12) according to the reverse process of the steps (1) to (6) to realize the landing of the walking leg, thereby finishing the walking process of the penguin bionic robot.
Although illustrative embodiments of the present invention have been described above to facilitate the understanding of the present invention by those skilled in the art, it should be understood that the present invention is not limited to the scope of the embodiments, and various changes may be made apparent to those skilled in the art as long as they are within the spirit and scope of the present invention as defined and defined by the appended claims, and all matters of the invention which utilize the inventive concepts are protected.
Claims (2)
1. A penguin bionic robot, comprising: the shell part, the trunk part, the leg part and the wing part are arranged;
the shell part can be made into various cartoon or real penguin shapes, and the two rotary motions of the wing part are matched to vividly simulate the motion of the penguin wing;
the trunk assembly comprises a trunk support, a control unit, a battery, an encoder, a control node board and a mounting support; the control unit, the battery, the encoder and the control node board are all fixed on the trunk support through the mounting support;
the leg part comprises two leg parts, and each leg part has 2 degrees of freedom; each leg includes: a hip joint motor and reducer, a thigh, an ankle joint motor and reducer, an ankle, a sole plate, a hip joint encoder component and an ankle joint encoder;
wherein, hip joint motor and reduction gear include again: the hip joint motor, the hip joint motor reducer connecting flange and the hip joint reducer are connected; the hip joint motor is fixed on the connecting flange of the hip joint motor reducer through screws, and the hip joint reducer is fixed on the other side of the connecting flange of the hip joint motor reducer through screws, so that the hip joint motor and the reducer are assembled;
ankle joint motor and reduction gear include again: the ankle joint motor, the ankle joint motor reducer connecting flange and the ankle joint reducer are connected; the ankle joint motor is fixed on the ankle joint motor reducer connecting flange through screws, and the ankle joint reducer is fixed on the other side of the ankle joint motor reducer connecting flange through screws, so that the ankle joint motor and the reducer are assembled;
the thigh in turn comprises: the ankle joint comprises a hip joint motor connecting plate, a thigh front plate, a hinge hole screw, a thigh rear plate, a thigh side plate, an ankle joint support, an ankle joint bearing, an ankle joint encoder support and an ankle joint connecting motor screw;
the hip joint motor and the speed reducer are fixed on the trunk support through screws, a hip joint motor connecting plate is fixedly connected with the output ends of the hip joint motor and the speed reducer of the speed reducer through screws, a thigh front plate and a thigh rear plate are fixed on the hip joint motor connecting plate through hinged hole screws, and two thigh side plates are fixed on two sides of the thigh front plate and the thigh rear plate through screws to form a rectangular structure so as to increase the rigidity of legs;
the ankle joint motor is fixed on a motor reducer connecting flange through screws, the reducer is fixed on the other side of the motor reducer through screws, one ankle is fixed on the reducer through screws, the other ankle is fixed on the motor reducer connecting flange through screws, and the two ankles are fixed in positioning grooves of the sole plate through screws; the ankle fixed to the ankle joint motor reducer connecting flange is fixed with the ankle joint support through a screw; the inner ring of the ankle joint bearing is tightly matched with the cylindrical step on the ankle joint support, the outer ring of the ankle joint bearing is tightly matched with the cylindrical hole of the thigh back plate, the ankle joint encoder support is fixed to the thigh back plate through screws, and the ankle joint encoder is fixed to the ankle joint encoder support through screws; on the other side, an output flange of the ankle joint reducer is fixed with a thigh front plate through a screw;
the whole leg part is arranged on the trunk part through screws, and can rotate around the axis of the motor, namely a Z axis, under the drive of the hip joint motor and the speed reducer, and the sole plate can rotate around the axis of the motor, namely an X axis, under the drive of the ankle joint motor and the speed reducer;
the wing part comprises two wings, the left and right wings have the same structure and are arranged in a mirror image manner, and each wing has 2 degrees of freedom; the wing mounting bracket, the Y-axis driving steering engine, a Y-axis driving steering engine output flange plate, a Y-axis first rotating shaft, a Y-axis rotating shaft bearing, a Y-axis second rotating shaft, the X-axis motor mounting bracket, the X-axis driving steering engine, an X-axis driving steering engine output flange plate, a wing connecting piece and a wing;
the wing mounting bracket is fixed on the trunk bracket through screws, the Y-axis driving steering engine bracket is fixed on the wing mounting bracket through screws, the Y-axis driving steering engine is fixed on the Y-axis driving steering engine bracket through screws, the Y-axis driving steering engine output flange is fixedly connected with the output end of the Y-axis driving steering engine, the Y-axis driving steering engine output flange is fixed with the Y-axis first rotating shaft through screws, the Y-axis first rotating shaft is fixedly connected with the Y-axis second rotating shaft through screws in the axial direction, a Y-axis rotating shaft bearing is pressed in the axial direction, the inner ring of the Y-axis rotating shaft bearing is tightly matched with the Y-axis first rotating shaft and the Y-axis second rotating shaft, and the outer ring of the Y-axis rotating shaft bearing is tightly matched with the wing mounting bracket;
an X-axis motor mounting bracket is fixed to a Y-axis second rotating shaft through screws, an X-axis driving steering engine is fixed to the X-axis motor mounting bracket through screws, an X-axis driving steering engine output flange plate is fixed to the output end of the X-axis driving steering engine, a wing connecting piece is fixed to the X-axis driving steering engine output flange plate, and a wing is fixed to the wing connecting piece through screws;
after the whole wing part is arranged on the body part through screws, the wing can rotate around the axis of the steering engine, namely the Y axis, under the driving of the Y axis driving steering engine; under the drive of the X-axis drive steering engine, the wings can rotate around the axis of the steering engine, namely the X-axis; under the simultaneous matching drive of the Y, X axis two steering engines, the motion of the penguin wing can be simulated;
the Y-axis second rotating shaft is provided with a limiting groove, a screw hole is formed in the limiting groove, and the rotation angle of the Y axis can be limited by matching the limiting groove with the limiting screw, so that the motion range of the penguin joint is simulated.
2. A walking method using the penguin-bionic robot of claim 1, comprising the steps of:
(1) standing with both legs and supporting with both feet
Initializing two legs of the penguin bionic robot to stand, and enabling foot bottom plates of the left leg and the right leg to be in contact with the ground;
(2) the left ankle joint and the right ankle joint are matched to move the gravity center to the left side
The ankle joint motor and the speed reducer of the supporting leg drive the foot bottom plate to rotate, so that the foot bottom plate is always in contact with the ground, the ankle joint motor and the speed reducer of the walking leg drive the foot bottom plate to rotate, the outer edge of the foot bottom plate is in contact with the ground, and the gravity center of the penguin bionic robot is pushed to the supporting leg under the matching of the ankle joint motor and the speed reducer of the left leg and the right leg;
(3) the left ankle joint and the right ankle joint are matched to move the center of gravity to the left side, and the center of gravity enters the left foot support face interface
The gravity center of the penguin bionic robot is projected on the ground to enter the foot bottom plate area of the supporting leg, and the penguin bionic robot is to enter a single-leg standing stage;
(4) the center of gravity of the left foot support is positioned in the left foot support surface
The ankle joint motor and the speed reducer of the supporting leg are driven to rotate continuously, the ankle joint motor and the speed reducer of the stepping leg do not rotate, the projection of the gravity center of the penguin bionic robot on the ground enters the area of the sole plate of the supporting leg, and the penguin bionic robot enters a single-leg standing stage;
(5) the left foot is supported, the center of gravity is positioned in the left foot supporting surface, and the right foot ankle joint is adjusted
The ankle joint motor and the speed reducer of the stepping leg rotate to drive the foot bottom plate of the stepping leg to keep the foot bottom plate parallel to the ground;
(6) the left foot is supported, the center of gravity is positioned in the left foot supporting surface, the left ankle joint can swing to drive the center of gravity to move forwards
The hip joint motor and the speed reducer of the supporting leg drive the trunk and the leg part of the stepping leg to rotate, so that the gravity center moves forwards or backwards;
(7) landing leg
And (4) repeatedly operating the stepping leg according to the reverse process of the steps (1) to (6) to realize landing of the stepping leg, so that the walking process of the penguin bionic robot is completed.
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| CN111688838B (en) * | 2020-06-18 | 2021-04-09 | 敬科(深圳)机器人科技有限公司 | Biped robot lower limb structure based on modular joints |
| CN111716370B (en) * | 2020-06-30 | 2021-12-28 | 腾讯科技（深圳）有限公司 | Robot |
| CN113787528A (en) * | 2021-09-18 | 2021-12-14 | 上海电机学院 | Bionic penguin robot |
| CN114425935A (en) * | 2021-12-30 | 2022-05-03 | 电子科技大学 | Active roll system for keeping vehicle body horizontal on cross slope |
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