CN110588832B - Multi-legged all-terrain robot - Google Patents
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Abstract
Description
技术领域technical field
本发明涉及仿生机器人领域,特别涉及一种多足式全地形机器人。The invention relates to the field of bionic robots, in particular to a multi-legged all-terrain robot.
背景技术Background technique
随着机器人技术的发展,仿生机器人作为其分支在科研、教育、医疗等领域发挥着越来越重要的作用。四足机器人作为仿生机器人的一个类别,以四足动物为模板,在应对复杂环境乃至特殊地形时拥有相对于传统轮式移动机器人所不具备的优点,有着较高的应用前景与潜力。如专利CN110104089A,提供了一种柔性脊柱四足仿生机器人,主要特点在于采用了具有三自由度的并联机构连接前身和后身,相较于传统的四足机器人,整机具备柔性脊柱,能够在行走过程中起到储能、协调和减振的作用。又如专利CN109823438A,提供了一种仿生四足机器人,且每条足同样包含三个自由度,通过协调控制四条足的动作完成机器人的运动。With the development of robotics, bionic robots, as its branch, are playing an increasingly important role in scientific research, education, medical care and other fields. As a category of bionic robots, quadruped robots use quadrupeds as templates. They have advantages over traditional wheeled mobile robots when dealing with complex environments and even special terrains, and have high application prospects and potential. For example, the patent CN110104089A provides a flexible spine quadruped bionic robot. The main feature is that a parallel mechanism with three degrees of freedom is used to connect the front body and the rear body. Compared with the traditional quadruped robot, the whole machine has a flexible spine, which can be used in It plays the role of energy storage, coordination and vibration reduction during walking. Another example is the patent CN109823438A, which provides a bionic quadruped robot, and each foot also includes three degrees of freedom, and the movement of the robot is completed by coordinating and controlling the actions of the four legs.
然而,上述的四足仿生机器人均通过四足完成全部动作,对复杂地形的适应能力还是显得不够;并且机器人的驱动形式单一导致其运动模式相对简单,不能对步态进行良好的规划,节能效果不好;另外,机器人自身失稳的问题难以得到解决,当其侧翻或完全倒置时不能恢复其原有的运动状态。However, the above-mentioned quadruped bionic robots all complete all actions through four legs, and the adaptability to complex terrain is still insufficient; and the single driving form of the robot leads to its relatively simple movement mode, which cannot be well planned for gait, and energy saving effect. Not good; in addition, the problem of instability of the robot itself is difficult to solve, and it cannot restore its original motion state when it rolls over or is completely inverted.
发明内容SUMMARY OF THE INVENTION
本发明的目的是为了解决现有的四足仿生机器人面对更加复杂地形的适应能力不足,且运动模式相对简单,不能对步态进行良好的规划,以及难以解决自身失稳状态的问题。The purpose of the present invention is to solve the problem that the existing quadruped bionic robot has insufficient adaptability to face more complex terrain, and the movement mode is relatively simple, the gait cannot be planned well, and it is difficult to solve the problem of its own instability.
为了达到上述目的,本发明提供了一种多足式全地形机器人,包括机体、移动腿组件和滚动腿组件;In order to achieve the above object, the present invention provides a multi-legged all-terrain robot, including a body, a moving leg assembly and a rolling leg assembly;
所述机体内设置有电源模块和控制模块,所述电源模块与所述控制模块、所述移动腿组件以及所述滚动腿组件均电连接,所述控制模块集成控制所述移动腿组件和所述滚动腿组件的动作;The body is provided with a power supply module and a control module, the power supply module is electrically connected with the control module, the moving leg assembly and the rolling leg assembly, and the control module integrates and controls the moving leg assembly and all the rolling leg assemblies. Describe the action of the rolling leg assembly;
所述移动腿组件包括多组三自由度腿,所述三自由度腿对称地设置在在所述机体的第一端和第二端,所述三自由度腿用于机器人的行走动作;The moving leg assembly includes multiple sets of three-degree-of-freedom legs, the three-degree-of-freedom legs are symmetrically arranged at the first end and the second end of the body, and the three-degree-of-freedom legs are used for the walking action of the robot;
所述滚动腿组件包括多组螺线腿,所述螺线腿对称地设置在所述机体的第一侧和第二侧,所述螺线腿用于机器人的滚动动作。The rolling leg assembly includes a plurality of sets of helical legs, the helical legs are symmetrically arranged on the first side and the second side of the body, and the helical legs are used for the rolling action of the robot.
进一步地,所述机体主要由两块机体侧板、两块机体端板、上底板和下底板围成,在所述机体内设置有多块纵向分布的龙骨板和横向分布的隔板,所述龙骨板与所述隔板相互嵌合。Further, the body is mainly surrounded by two body side plates, two body end plates, an upper bottom plate and a lower bottom plate, and a plurality of longitudinally distributed keel plates and horizontally distributed partition plates are arranged in the body, so The keel plate and the partition plate are fitted with each other.
进一步地,所述移动腿组件包括4条三自由度腿,所述三自由度腿对称地安装在两块所述机体端板上。Further, the moving leg assembly includes four three-degree-of-freedom legs, and the three-degree-of-freedom legs are symmetrically mounted on the two body end plates.
进一步地,所述三自由度腿主要由腿固定板、腿臂架和小腿架组成,所述腿固定板设置在所述机体端板上,与安装在所述机体内相对应的第一无刷电机连接,所述腿固定板上设置有第二无刷电机和第三无刷电机,所述腿臂架的第一端与所述第二无刷电机连接,同时所述腿臂架的第一端转动设置有一主同步轮,第二端转动设置有一从同步轮,所述主同步轮与所述第三无刷电机连接,所述从同步轮通过同步带与所述主同步轮连接,所述小腿架的第一端与所述从同步轮连接。Further, the three-degree-of-freedom leg is mainly composed of a leg fixing plate, a leg arm frame and a calf frame. The leg fixing plate is arranged on the end plate of the body, and the first no A brushless motor is connected, the leg fixing plate is provided with a second brushless motor and a third brushless motor, the first end of the leg arm is connected with the second brushless motor, and the A master synchronizing wheel is rotated at the first end, and a slave synchronizing wheel is rotated at the second end, the master synchronizing wheel is connected with the third brushless motor, and the slave synchronizing wheel is connected with the master synchronizing wheel through a synchronous belt , the first end of the lower leg frame is connected with the slave synchronizing wheel.
进一步地,所述小腿架的第二端还设置有一脚垫,所述脚垫的底面呈半球形。Further, a foot pad is provided at the second end of the calf frame, and the bottom surface of the foot pad is hemispherical.
进一步地,所述滚动腿组件包括6条螺线腿,所述螺线腿对称地安装在两块所述机体侧板上。Further, the rolling leg assembly includes 6 helical legs, and the helical legs are symmetrically mounted on the two side panels of the body.
进一步地,所述螺线腿包括螺线腿本体和螺线腿电机,所述螺线腿本体的中心与所述螺线腿电机的转轴通过胀紧套连接,所述螺线腿本体位于所述机体外部,所述螺线腿电机设置在所述机体内。Further, the helical leg includes a helical leg body and a helical leg motor, the center of the helical leg body is connected with the rotating shaft of the helical leg motor through an expansion sleeve, and the helical leg body is located at the outside the body, and the helical leg motor is arranged inside the body.
进一步地,所述螺线腿本体为阿基米德螺线形式的偏心结构,所述螺线腿本体的中心为阿基米德螺线的中心。Further, the spiral leg body is an eccentric structure in the form of an Archimedes spiral, and the center of the spiral leg body is the center of the Archimedes spiral.
进一步地,所述螺线腿本体的外轮廓上还设置有仿生刚毛,所述仿生刚毛在所述螺线腿本体外轮廓上形成条状的凸起结构,具有类履带的形式。Further, the outer contour of the helical leg body is also provided with bionic bristles, and the bionic bristles form a strip-shaped convex structure on the outer contour of the helical leg body, and have a form like a crawler.
进一步地,所述螺线腿本体的材质为60Si2MnA弹簧钢片。Further, the material of the spiral leg body is 60Si2MnA spring steel sheet.
本发明的上述方案有如下的有益效果:The above-mentioned scheme of the present invention has the following beneficial effects:
本发明的多足式全地形机器人,设置有移动腿组件和滚动腿组件,能够实现机器人在四条三自由度腿和六条螺线腿运动之间快速灵活切换,适应各种复杂地形,同时还具备防倾覆的功能,进一步提升机器人的机动性和灵活性;The multi-legged all-terrain robot of the present invention is provided with a moving leg assembly and a rolling leg assembly, which can realize the rapid and flexible switching of the robot between four three-degree-of-freedom legs and six helical legs, adapt to various complex terrains, and also has the The anti-overturning function further enhances the maneuverability and flexibility of the robot;
本发明的多足式全地形机器人,采用四条三自由度腿和六条螺线腿的运动布局,具有极强的仿生结构,四足是自然界最为广泛的动物运动构造形式,六足结构模仿蛇形或者蚯蚓等生物,能够在复杂环境下运动;The multi-legged all-terrain robot of the present invention adopts the motion layout of four three-degree-of-freedom legs and six helical legs, and has an extremely strong bionic structure. Or creatures such as earthworms, which can move in complex environments;
本发明的多足式全地形机器人,三自由度腿和螺线腿采用了集成控制的方式,且各条三自由度腿和螺线腿均能独立控制,因而能方便地对三自由度腿和螺线腿进行步态规划,达到其对不同地形的适应能力;The multi-legged all-terrain robot of the present invention adopts an integrated control method for the three-degree-of-freedom legs and the helical legs, and each of the three-degree-of-freedom legs and the helical legs can be independently controlled, so the three-degree-of-freedom legs and the helical legs can be controlled independently. Gait planning with helical legs to achieve its adaptability to different terrains;
本发明的多足式全地形机器人,采用了较为简单的机械结构,方便零部件的拆卸和更换,使用灵活。The multi-legged all-terrain robot of the present invention adopts a relatively simple mechanical structure, which facilitates the disassembly and replacement of components and is flexible in use.
附图说明Description of drawings
图1为本发明的整体结构图;Fig. 1 is the overall structure diagram of the present invention;
图2为本发明的机体结构图;Fig. 2 is the body structure diagram of the present invention;
图3为本发明的三自由度腿结构图;3 is a three-degree-of-freedom leg structure diagram of the present invention;
图4为本发明的螺线腿结构图;Fig. 4 is the spiral leg structure diagram of the present invention;
图5为本发明依靠螺线腿运动的姿态图;Fig. 5 is the posture diagram of the present invention relying on helical leg movement;
图6为本发明依靠螺线腿运动的另一姿态图;Fig. 6 is another attitude diagram of the present invention relying on helical leg movement;
图7为本发明起身的姿态图;Fig. 7 is the posture diagram of the present invention getting up;
图8为本发明起身的另一姿态图。FIG. 8 is another posture diagram of the present invention getting up.
【附图标记说明】[Description of reference numerals]
1-机体;11-机体侧板;12-机体端板;13-上底板;14-下底板;15-龙骨板;16-隔板;2-控制模块;3-三自由度腿;31-腿固定板;32-腿臂架;33-小腿架;34-第一无刷电机;35-第二无刷电机;36-第三无刷电机;37-主同步轮;38-从同步轮;39-同步带;310-脚垫;4-螺线腿;41-螺线腿本体;42-螺线腿电机;43-胀紧套;44-仿生刚毛。1- body; 11- body side plate; 12- body end plate; 13- upper bottom plate; 14- lower bottom plate; 15- keel plate; 16- partition plate; 2- control module; 3- three-degree-of-freedom legs; 31- Leg fixing plate; 32-leg arm frame; 33-calf frame; 34-first brushless motor; 35-second brushless motor; 36-third brushless motor; 37-main synchronous wheel; 38-slave synchronous wheel ; 39- Timing belt; 310- Foot pad; 4- Spiral leg; 41- Spiral leg body; 42- Spiral leg motor;
具体实施方式Detailed ways
为使本发明要解决的技术问题、技术方案和优点更加清楚,下面将结合附图及具体实施例进行详细描述。显然,所描述的实施例是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, the following will be described in detail with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
在本发明的描述中,需要说明的是,术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本发明和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本发明的限制。此外,术语“第一”、“第二”、“第三”仅用于描述目的,而不能理解为指示或暗示相对重要性。另外,下面所描述的本发明不同实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation or a specific orientation. construction and operation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first", "second", and "third" are used for descriptive purposes only and should not be construed to indicate or imply relative importance. In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.
如图1所示,本发明的实施例提供了一种多足式全地形机器人,包括机体1、移动腿组件和滚动腿组件。在机体1内设置有电源模块和控制模块2,其中电源模块与控制模块2、移动腿组件以及滚动腿组件均电连接,用于对控制模块2、移动腿组件和滚动腿组件的电机供电。控制模块2分别对移动腿组件的各条三自由度腿3和滚动腿组件的各条螺线腿4进行控制,其中每条三自由度腿3和螺线腿4均为一个独立单元,采用控制模块集成控制的方式,提高系统的集成能力。三自由度腿3对称地设置在机体1的第一端和第二端,具有三个方向的转动自由度,使得整体的运动空间为360°空间,用于机器人的行走动作,能够驱动机器人在较平坦的道路上行走。螺线腿4对称地设置在机体1的第一侧和第二侧,用于机器人的滚动动作,进一步提高机器人的运动能力和通过性能,驱动机器人较快速地通过复杂地形。As shown in FIG. 1 , an embodiment of the present invention provides a multi-legged all-terrain robot, including a body 1 , a moving leg assembly and a rolling leg assembly. A power supply module and a
同时如图2所示,机体1主要由两块机体侧板11、两块机体端板12、上底板13和下底板14围成,通过螺栓等方式可拆卸连接。其中在机体端板12上开设有安装三自由度腿3的安装孔,在机体侧板11上开设有安装螺线腿4的安装孔。在机体1内还设置有多块纵向分布的龙骨板15和横向分布的隔板16,通过龙骨板15提升整体的纵向强度,隔板16将机体1内进一步分隔成多个安装电机等部件的区域,机体1内的部件布置较为紧凑,空间利用充分。At the same time, as shown in FIG. 2 , the body 1 is mainly surrounded by two
本实施例采用四条三自由度腿3的结构形式,在机体1的两端分别设置两条,且对称分布。三自由度腿3的结构如图3所示,主要由腿固定板31、腿臂架32和小腿架33组成,腿固定板31的连接部穿过机体端板12上对应的安装孔,与设置在机体1内的第一无刷电机34转轴连接。同时,在腿固定板31上设置有第二无刷电机35和第三无刷电机36,腿臂架32的第一端与第二无刷电机35的转轴固定连接,通过第二无刷电机35的转动带动腿臂架32绕腿固定板31转动。另外,在腿臂架32的第一端和第二端分别转动设置一主同步轮37和一从同步轮38,其中主同步轮37与第三无刷电机36的转轴固定连接,从同步轮38通过同步带39与主同步轮37皮带连接,而小腿架33的第一端与从同步轮38固定连接,因此第三无刷电机36可驱动主同步轮37转动,进而带动从同步轮38转动,使得小腿架33绕其第一端转动。因此,在腿固定板31与机体端板12连接处,腿臂架32与腿固定板31连接处,以及小腿架33与腿臂架32的连接处均形成三自由度腿3的运动关节,使得三自由度腿3具有360°的运动空间。并且三自由度腿3结构采用了集中式驱动设计,减少了整个腿的惯量,从而减少了每个电机的驱动扭矩和功率,降低了机器人的整体功率,在相同能量的情况下,提高了续航能力。This embodiment adopts the structural form of four three-degree-of-
进一步地,在小腿架33的第二端还设置有一脚垫310,通过螺栓与小腿架33第二端固定连接。小腿架33的底面呈半球形,可采用橡胶等材质,提升与地面的接触摩擦力,使得机器人采用移动腿组件移动时稳定性较高。Further, a
本实施例采用六条螺线腿4的结构形式,在机体1的两侧分别设置三条,且对称分布。螺线腿4的结构如图4所示,主要由螺线腿本体41和螺线腿电机42组成,其中螺线腿本体41的轴线与螺线腿电机42的转轴通过胀紧套43连接,螺线腿电机42设置在机体1内,螺线腿本体41位于机体1外部。其中,螺线腿本体41为阿基米德螺线形式的偏心结构,螺线腿本体41的中心为阿基米德螺线的中心。阿基米德螺线的其一特点是半径的增加与角度的增加成正比关系,形成偏心的结构,在通过阶梯状障碍物时,保持同一排的螺线腿本体41同步转动,则此排螺线腿本体41的中心线会匀速上升,进而机器人能较好地通过阶梯状障碍物,提升其通过阶梯状障碍物的稳定性。另外,螺线腿本体41采用60Si2MnA材质的弹簧钢片制成,具有一定的弹性,在机器人通过障碍的阻力较大时能够发生变形,较少对机体1的冲击,提高其越野能力和复杂路况适应能力。This embodiment adopts the structural form of six
进一步地,在螺线腿本体41的外轮廓上还设置有仿生刚毛44,仿生刚毛44通过强力胶水粘贴在螺线腿本体41的外轮廓上,形成条状的凸起结构,具有类履带的形式,能够提高螺线腿本体41的抓地力,材料可选用玻璃钢。Further, the outer contour of the
本实施例均可在各个无刷电机和螺线腿电机42上设置电机减速器,提高机器人动作时电机输出的稳定性,并降低噪音。In this embodiment, a motor reducer can be provided on each of the brushless motor and the
进一步地,还可在本发明的机体1上设置激光雷达、摄像头、陀螺仪或传感器等设备,用于感知机器人的周边环境或自身的姿态,便于控制模块2对移动腿组件和滚动腿组件进行控制,调整机器人的动作或姿态。Further, equipment such as a laser radar, a camera, a gyroscope or a sensor can also be set on the body 1 of the present invention to sense the surrounding environment of the robot or its own posture, so that the
本发明的多足式全地形机器人,能够实现机器人在四条三自由度腿3和六条螺线腿4运动之间快速灵活切换,适应各种复杂地形,不仅能在较为平坦的地形上进行四条三自由度腿3运动,且三自由度腿3均能够进行折叠和翻转。当以六条螺线腿4运动时,三自由度腿3折叠并翻转向上,腹部进行着地,实现六条螺线腿4的运动方式,如图5或图6所示。当以三自由度腿3运动时,只需把四条三自由度腿3进行翻转和舒展,慢慢提高重心,使机体1完全脱离地面,依靠三自由度腿3的屈伸和弯曲带动机体1运动,如图7或图8所示。The multi-legged all-terrain robot of the present invention can realize fast and flexible switching between the movements of four three-degree-of-
更进一步地,本发明的多足式全地形机器人,还具有防倾覆的功能,当以三自由度腿3模式运动时,机器人发生倾覆,导致其“四脚朝天”的状态,此时可通过切换驱动模式,采用六螺线腿4驱动的方式驱动机器人运动,此时三自由度腿3可以折叠收起向上,改变其运动姿态,利用其通过性迅速脱离困境。当机器人脱离困境后,只需翻转已经折叠的三自由度腿3方向即可恢复三自由度腿3运动模式。而若要重新将机体1翻转至正面朝上,则可通过同一侧或同一端的三自由度腿3将机体1撑起,而另一侧或另一端的三自由度腿3折叠,即可逐渐完成机体1的翻转。Further, the multi-legged all-terrain robot of the present invention also has the function of preventing overturning. When the robot moves in a three-degree-of-freedom leg-3 mode, the robot overturns, resulting in a state of "four feet facing the sky". Switch the drive mode, and use the six-
本发明的多足式全地形机器人,采用四条三自由度腿3和六条螺线腿4的运动布局,具有极强的仿生结构,四足是自然界最为广泛的动物运动构造形式,六足结构模仿蛇形或者蚯蚓等生物,能够在复杂环境下运动;The multi-legged all-terrain robot of the present invention adopts the motion layout of four three-degree-of-
本发明的多足式全地形机器人,采用了较为简单的机械结构,主要零部件通过螺栓等方式连接,方便零部件的拆卸和更换,使用灵活。The multi-legged all-terrain robot of the present invention adopts a relatively simple mechanical structure, and the main components are connected by means of bolts, which facilitates the disassembly and replacement of the components and is flexible in use.
其中,机器人的步态规划为:Among them, the gait planning of the robot is:
当以三自由度腿3运动模式进行运动时,在慢速运动中,步态可采用三条三自由度腿3支撑机体1的运动模式,在快速运动时,运动方式类似四足动物,即前后隔一条腿交叉进行运动,或者采用猎豹的运动方式,前两腿和后两腿同时着地,使机器人运动,提高机器人的运动速度和灵活性。When exercising in the three-degree-of-
当以螺线腿4运动模式进行运动时,若机器人在较为平坦的路面移动,则可采用三条不在同一侧的螺线腿4与地面接触的方式,即能保持机体1的水平支撑和通过状态。基于阿基米德螺线的特性,可控制另外三条螺线腿4的转动与此三条螺线腿4始终保持180°的相位差,则可实现螺线腿4交替地对机体1支撑,并驱动机体1在平面路面移动,使得机体1不会产生较大的上下位移;若机器人在较为复杂的路面、如需通过台阶障碍物时,可采用每排螺线腿4分别控制的运动方式,其中横向位置对应的两个螺线腿4为一排。调整各排螺线腿4的转动相位形成相位差,使得机体1在通过台阶障碍时前端形成向上抬升的姿态,以便更好地通过台阶障碍物。When moving in the motion mode of the
以上所述是本发明的优选实施方式,应当指出,对于本技术领域的普通技术人员来说,在不脱离本发明所述原理的前提下,还可以作出若干改进和润饰,这些改进和润饰也应视为本发明的保护范围。The above are the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can be made. It should be regarded as the protection scope of the present invention.
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