CN112896362A - Highly-bionic full-flexible-drive spider-imitating robot - Google Patents
Highly-bionic full-flexible-drive spider-imitating robot Download PDFInfo
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- CN112896362A CN112896362A CN202110328776.6A CN202110328776A CN112896362A CN 112896362 A CN112896362 A CN 112896362A CN 202110328776 A CN202110328776 A CN 202110328776A CN 112896362 A CN112896362 A CN 112896362A
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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 highly bionic full-flexible driving spider-imitating robot, which comprises a robot main body, six robot footsteps and a hydraulic control system, wherein the six robot footsteps are arranged on the robot main body; the robot of the invention is highly bionic aiming at the aspects of the overall structure, the movement gait, the joint structure, the driving principle and the like of a spider. Particularly, the leg joint driving principle refers to a biodynamics experiment, the joint is contracted by means of a hydraulic artificial muscle rope structure, the joint is extended by means of a hydraulic paper folding structure, and the elastic mechanisms such as the elastic rope and the inherent elasticity of the paper folding structure at the hip joint and the hydraulic system reduce the transportation cost of the spider-like robot together, so that the excellent performance of a biological hydraulic system in the nature can be efficiently reproduced.
Description
Technical Field
The invention relates to the field of bionic robots, in particular to a highly bionic full-flexible driving spider-like robot.
Background
Compared with the traditional industrial hydraulic system, the hydraulic system in the living body in nature realizes high-efficiency driving by using very low internal pressure, and has the advantages of no pollution, compact structure, high efficiency-power-to-quality ratio, coordinated motion control, stability, reliability and the like. The spider is provided with a typical 'biological hydraulic system', the foothold comprises two hydraulic joints, joint membranes are inflated and expanded by liquid filling through hemolymph in a leg exoskeleton to complete joint extension, joint contraction is completed through muscles, the bird-catching spider is taken as an experimental object, a biodynamics experiment is carried out to research the law of energy conversion in the hydraulic driving process of the spider, and the result shows that when the spider walks at a low speed, the elastic mechanism of the hydraulic joints and the special hydraulic system together contribute to lower transportation cost of the spider than other animals. The bionic technology is a research hotspot of all countries at present, the spider-imitating robot researched by spiders in the nature has the advantages of high flexibility, high reliability, high power density and the like, and can finish complex and exquisite high-difficulty work tasks in unstructured and unknown working environments, such as replacing human to execute tasks in the fields of military reconnaissance, battlefield attack, explosion prevention, space exploration, space station construction, rescue and relief work and the like.
For example, the patent CN207595100U discloses an eight-legged bionic spider robot, which uses hydraulic pressure as a power source, has eight legs arranged to be similar to a real spider, has a step mode completely simulating the movement mode of the real spider, has a compact overall structure, and improves the load bearing and obstacle crossing capability. But the design only simulates the motion and the appearance of the spider, the bionic research on the biological hydraulic driving mechanism of the spider is lacked, the structure is the traditional full-rigid design, and the flexibility needs to be improved. International patent WO002012159737a1 designs a six-legged self-propelled platform, biomimetically folds at the spider joints, which extend the joints by means of air pressure and passively contract the joints by means of structural rigidity. However, the structure is too simple, the control is difficult, the pneumatic driving output force is small, and the power needs to be further improved.
At present, researches on the aspects of a driving mode, a motion mechanism, a control mode and the like of the spider-imitating robot are still in a primary stage, so that the actually manufactured bionic crawling robot is difficult to achieve a preset design effect, and a series of potential superior performances cannot be actually reflected. Aiming at the bionic operation of the special hydraulic joint driving principle of the spider in the biological experiment, the highly bionic high-power-density full-flexible driving spider robot is designed, so that the problems existing in the current stage can be effectively solved, and the bionic robot is an important research direction for technicians in the field.
Disclosure of Invention
The invention aims to solve the problems in the background technology and provides a highly bionic full-flexible driving spider-imitating robot.
A highly bionic full-flexible driving spider-like robot comprises a robot main body, six robot steps and a hydraulic control system, wherein the six robot steps are arranged on the robot main body, the hydraulic control system is connected with the six robot steps through pipelines, and the hydraulic control system controls the six robot steps to move;
the robot main body comprises an upper mounting plate, six connecting plates, a lower mounting plate, a first sliding rod and a second sliding rod, the upper mounting plate is connected with the lower mounting plate into a whole through the six connecting plates, a first sliding groove is formed in the lower surface of the upper mounting plate, a second sliding groove is formed in the upper surface of the lower mounting plate, the first sliding rod is slidably mounted in the first sliding groove, and the second sliding rod is slidably mounted in the second sliding groove;
the six robot walking feet comprise a left foot, a left two foot, a left three foot, a right two foot and a right three foot, the left two foot, the left three foot, the right two foot and the right three foot are symmetrically arranged on two sides of the robot main body, the six robot walking feet are divided into two groups, the first group comprises the left foot, the right two foot and the left three foot, and the second group comprises the right foot, the left two foot and the right three foot;
the upper ends of the left foot, the right foot and the left three-foot base shafts in the first group are hinged with one end of the first connecting rod, the other end of the first connecting rod is hinged with the first sliding rod, the lower ends of the right foot, the left two foot and the right three-foot base shafts in the second group are hinged with one end of the first connecting rod, the other end of the first connecting rod is hinged with the second sliding rod, and the other structures of the left foot, the left three foot, the right two foot and the right three foot are the same except that the positions of the base shafts hinged with the first connecting rod are different;
the left foot comprises three limbs and three joints, the three limbs comprise a base joint, leg joints and shin joints, the three joints comprise hip joints, knee joints and ankle joints, each joint has one degree of freedom and three degrees of freedom, a base joint shaft of the left foot is connected with an upper mounting plate and a lower mounting plate of the robot main body through a bearing to form the hip joints, the leg joints are hinged with the base joints to form the knee joints, the shin joints are hinged with the leg joints to form the ankle joints, a hip joint paper folding structure is arranged at the hip joints and is communicated with a hydraulic control system, elastic ropes are arranged on two sides of the hip joint paper folding structure, one end of each elastic rope is connected to a first base joint force transmission inclined plane, the other end of each elastic rope is connected to a connecting plate, a knee joint paper folding structure is arranged at the knee joints, and the ankle joint paper folding structure is arranged at the ankle joints; the knee joint paper folding structure is communicated with the ankle joint paper folding structure through a silica gel hose, the silica gel hose is arranged inside the leg exoskeleton, a hydraulic artificial muscle I and a hydraulic artificial muscle II are further arranged inside the leg exoskeleton, and the hydraulic artificial muscle I and the hydraulic artificial muscle II are respectively communicated with a hydraulic control system;
one end of the hydraulic artificial muscle is fixed on the leg-section exoskeleton, and the other end of the hydraulic artificial muscle is fixed with a first rope which passes through the leg-section exoskeleton hole, bypasses a hole side pillar and a first leg-section force transmission inclined plane upper pillar and is fixed on a second base-section force transmission inclined plane; one end of the hydraulic artificial muscle is fixed on the leg exoskeleton, the other end of the hydraulic artificial muscle is fixed with a second rope, and the second rope penetrates through the hole side pillar and the second leg force transmission inclined plane upper pillar from the other side hole of the leg exoskeleton and is fixed on the shank force transmission inclined plane;
the two ends of the first sliding rod and the second sliding rod are provided with limit switches, and the first leg section force transmission inclined plane and the second leg section force transmission inclined plane are provided with limit switches;
the hip joint paper folding structure, the knee joint paper folding structure and the ankle joint paper folding structure are formed by pouring silica gel materials;
the invention has the beneficial effects that:
the robot of the invention is highly bionic aiming at the aspects of the overall structure, the movement gait, the joint structure, the driving principle and the like of a spider. Particularly, the leg joint driving principle refers to a biodynamics experiment, the joint is contracted by means of a hydraulic artificial muscle rope structure, the joint is extended by means of a hydraulic paper folding structure, and the elastic mechanisms such as the elastic rope and the inherent elasticity of the paper folding structure at the hip joint and the hydraulic system reduce the transportation cost of the spider-like robot together, so that the excellent performance of a biological hydraulic system in the nature can be efficiently reproduced.
The driving part is made of fully flexible materials, the flexibility of the driving part is very close to that of a real spider, the interaction between the unfolding of the flexible paper folding structure and the force transmission inclined plane is smoother in the joint unfolding stage, and a certain buffering effect is achieved. And the hydraulic output force is higher, the load is larger, the used flexible driver has low manufacturing cost and compact structure, the whole mass is reduced, and the power density of the spider-like robot is greatly improved.
Drawings
FIG. 1 is an overall assembly view of the spider-like robot of the present invention;
FIG. 2 is an assembly view of a spider-like robot body according to the present invention;
FIG. 3 is a schematic view of a connecting rod structure of the spider-like robot of the present invention;
FIG. 4 is a schematic view of the gait pattern of the spider-imitating robot of the invention;
FIG. 5 is a schematic structural view of the step of the spider-like robot of the present invention, wherein (1) the step is supported and (2) the step is lifted;
FIG. 6 is a schematic view of a partial structure of the spider robot step foot according to the present invention;
FIG. 7 is an enlarged partial schematic view of the hydraulic control system of the present invention;
wherein, in the figure,
1-a robot main body, 11-an upper mounting plate, 111-a first sliding chute, 12-a connecting plate, 13-a lower mounting plate, 131-a second sliding chute, 14-a first sliding rod, and 15-a second sliding rod;
2-robot step foot, 21-base joint, 211-base joint shaft, 212-first base joint force transmission inclined plane, 213-second base joint force transmission inclined plane, 214-elastic rope, 22-leg joint, 221-leg joint exoskeleton, 222-hydraulic artificial muscle I, 223-hydraulic artificial muscle II, 224-first rope, 225-second rope, 226-first leg joint force transmission inclined plane, 227-second leg joint force transmission inclined plane, 23-shin joint, 231-shin joint force transmission inclined plane, 24-hip joint paper folding structure, 251-knee joint paper folding structure, 252-silica gel hose, 253-ankle joint paper folding structure and 26-first connecting rod; 3-a hydraulic control system, 31-a hydraulic oil tank, 32-a hydraulic pump, 33-an oil filter, 34-a safety valve, 351-a reversing valve I, 352-a reversing valve II, 353-a reversing valve III, 36-a limit switch, 37-a walking controller, 38-a motor, 391-a hydraulic control one-way valve I, 392-a hydraulic control one-way valve II, 393-a hydraulic control one-way valve III, 394-a one-way valve.
Detailed Description
Referring to fig. 1 to 7, a highly bionic full-flexible driving spider-like robot comprises a robot main body 1, six robot footsteps 2 and a hydraulic control system 3, wherein the six robot footsteps 2 are arranged on the robot main body 1, the hydraulic control system 3 is connected with the six robot footsteps 2 through pipelines, and the hydraulic control system 3 controls the six robot footsteps 2 to move;
robot main part 1 includes last mounting panel 11, six connecting plates 12, lower mounting panel 13, first slide bar 14 and second slide bar 15, it is a whole to go up mounting panel 11 and be connected through six connecting plates 12 and lower mounting panel 13, it is provided with first spout 111 to go up mounting panel 11 lower surface, lower mounting panel 13 upper surface is provided with second spout 131, first slide bar 14 slidable mounting is in first spout 111, second slide bar 15 slidable mounting is in second spout 131, six robot step 2 symmetric distributions are in robot main part 1 both sides, be left side first foot L1, left side second foot L2, left three-legged L3, right side first foot R1, right side two feet R2 and right three-legged R3 respectively, every step is by three limbs festival: a base segment 21, a leg segment 22, a shin segment 23; three joints: hip joint, knee joint, ankle joint constitute, and every joint has a degree of freedom, totally three degree of freedom, and the base joint axle 211 of every step foot passes through the bearing and is connected with robot body's last mounting panel 11 and lower mounting panel 13, and hydraulic control system includes: the hydraulic oil tank 31, the hydraulic pump 32, the oil filter 33, the safety valve 34, the reversing valve I351, the reversing valve II 352, the reversing valve III 353, the limit switch 36, the walking controller 37, the motor 38, the hydraulic control one-way valve I391, the hydraulic control one-way valve II 392, the hydraulic control one-way valve III 393 and the one-way valve 394 are integrally installed on the robot main body 1, and the robot walks along with the robot, so that the robot forms an independent moving body and can walk independently.
The robot simulates spider movement gaits, six footsteps 2 are divided into two groups (the first group comprises a left foot L1, a right foot R2 and a left foot L3, the second group comprises a right foot R1, a left foot L2 and a right foot R3), the upper end of a first group of footstep base shaft 211 is hinged with a first connecting rod 26, the three first connecting rods 26 are hinged with a first sliding rod 14 on an upper mounting plate 11 of the robot body, the lower end of a second group of footstep base shaft 211 is hinged with the first connecting rod 26, the three first connecting rods 26 are hinged with a second sliding rod 15 on a lower mounting plate 13 of the robot body, when one group of footsteps is in a swinging period, the footsteps swing forwards, the three base shaft 211 simultaneously rotate to drive the first connecting rod 26 to rotate, so that the first sliding rod 14 or the second sliding rod 15 slides backwards along a first sliding groove 111 or a second sliding groove 131 on the robot body 1, when one group of footsteps is in a supporting period, the shank 23 is in contact with the ground without sliding, the three base joint shafts 211 rotate reversely at the same time to drive the first connecting rod 26 to rotate, so that the first sliding rod 14 or the second sliding rod 15 slides forwards along the first sliding groove 111 or the second sliding groove 131 on the robot main body 1, the first sliding rod 14 or the second sliding rod 15 is provided with the limit switch 36, when the hip joint rotates to an appropriate angle, the limit switch 36 is triggered, the reversing valve I351 reverses, in order to ensure the stability of movement and simulate the movement mode of a real spider, diagonal gait is adopted, namely, one group swings as a support, the other group swings, the two groups alternately swing to enable the robot to move forwards, and the rotation angles of each group of feet are the same through a connecting rod structure, so that the synchronism of the legs of the robot during walking is ensured.
Bionic is carried out on the structure and the driving principle of a spider hydraulic joint, a shin section 23 is a part of a robot which is directly contacted with a walking surface, a leg section 22 is a transition section of two joints of a foot base section 21 and the shin section 23 of the robot, the base section 21 is connected with an upper mounting plate 11 and a lower mounting plate 13 of a robot main body 1 through a base section shaft 211 and a bearing to form a hip joint, the base section 21 is hinged with the leg section 22 to form a knee joint, the leg section 22 is hinged with the shin section 23 to form an ankle joint, each joint comprises a paper folding structure, two ends of each joint are fixedly connected with a force transmission inclined plane or a connecting plate of the limb section, the angle of the paper folding structure is changed, the joints are rotated through torque generated by the force transmission inclined planes, and the spider hydraulic joint.
The hip joint paper folding structure 24 ensures the forward and backward swinging of the whole robot foot, when the robot stands on the ground statically, the hip joint paper folding structure 24 is filled with high-pressure liquid in advance, the angle is 50 degrees, the included angle between the whole foot 2 and the robot main body 1 is 90 degrees, the foot supporting period is realized, the oil inlet of the reversing valve I351 is communicated with the working port, liquid is filled into the hip joint paper folding structure 24 through a pipeline, the included angle is 80 degrees, under the condition that the shank 23 is in contact with the ground without sliding, the robot main body 1 can be driven to move forward under a large load, the reversing oil outlet of the reversing valve I351 is communicated with the working port during the foot swinging period, the liquid is discharged, the hip joint paper folding structure 24 is restored to 20 degrees by means of inherent rigidity and the elasticity of the elastic rope 214, and the forward rotation of the foot 2 is ensured under a small load.
The knee joint paper folding structure 251 and the ankle joint paper folding structure 253 are communicated through a silica gel hose 252 in the leg joint exoskeleton 221 and are filled with high-pressure liquid in advance, a hydraulic artificial muscle I222 and a hydraulic artificial muscle II 223 are arranged in the leg joint exoskeleton 221 and comprise an inner hose, a conduit, a plastic hose hoop and a nylon woven net, one end of the conduit is connected with a liquid filling pipeline, the other end of the conduit is connected with the inner hose in a sealing manner, and the inner hose is a hollow cylindrical structure which is poured by rubber and has an opening at one end and a closed end at the other end; the outer part of the inner hose is sleeved with a nylon woven net with the same length and diameter as the inner hose to limit the radial expansion of the hydraulic muscle keys; the plastic hose clamp is used for firmly fixing the nylon woven net on the inner hose.
One end of a hydraulic artificial muscle I222 is fixed on the leg exoskeleton 221, the other end of the hydraulic artificial muscle I is fixed with a first rope 224, the first rope 224 penetrates out of a hole of the leg exoskeleton 221, bypasses a hole side pillar and a pillar on a first leg power transmission inclined plane 226, is fixed on a second base power transmission inclined plane 213, one end of a hydraulic artificial muscle II 223 is fixed on the leg exoskeleton 221, the other end of the hydraulic artificial muscle II is fixed with a second rope 225, the second rope 225 penetrates out of a hole side pillar and a pillar on a second leg power transmission inclined plane 227 from another side hole of the leg exoskeleton 221, is fixed on a shin section power transmission inclined plane 231, high-pressure liquid is pumped into the hydraulic artificial muscle to axially contract, the ropes are driven, the paper folding structure is restored to an initial angle by means of the inherent elasticity of the paper folding structure and the rope structure, the contraction of the knee joint and the ankle joint is completed, the power transmission inclined planes at the.
The ankle joint and the knee joint ensure the linkage of the knee joint paper folding structure 251 and the ankle joint paper folding structure 253 through a silica gel hose 252 in the leg section, when the foot is in a supporting period, the reversing valve II 352 and the reversing valve III 353 are in a middle locking state, the angle is automatically adjusted depending on the flexibility of the flexible paper folding structure, when the foot is in a swinging period, the reversing valve II 352 and the reversing valve III 353 are reversed, the oil inlet of the reversing valve II 352 is communicated with the working port, liquid is filled into the hydraulic artificial muscle I222 through a pipeline, the hydraulic artificial muscle I222 is contracted, the first rope 224 is pulled to drive the second base section force transmission inclined plane 213 to rotate, the knee joint paper folding structure 251 is reduced from 48 degrees to 30 degrees, high-pressure liquid flows into the ankle joint paper folding structure 253 from the knee joint paper folding structure 251, so that the ankle joint is increased from 30 degrees to 48 degrees, the oil outlet of the reversing valve III is communicated with the working port, the hydraulic artificial muscle II 223 is forced, when the knee joint paper folding structure 251 is changed to be 30 degrees, the first rope 224 triggers the limit switch 36 fixed on the first leg joint force transmission inclined plane 226, the reversing valve II 352 and the reversing valve III 353 are reversed, the oil inlet of the reversing valve III 353 is communicated with the working port, liquid is filled into the hydraulic artificial muscle II 223 through a pipeline, the hydraulic artificial muscle II 223 is contracted, the second rope 225 is pulled to drive the shin joint force transmission inclined plane 231 to rotate, the ankle joint paper folding structure 253 is reduced to be 30 degrees from 48 degrees, high-pressure liquid flows into the knee joint paper folding structure 251 from the ankle joint paper folding structure 253, the knee joint is enlarged to be 48 degrees from 30 degrees, the oil outlet of the reversing valve II 352 is communicated with the working port, the hydraulic artificial muscle I222 loses a pressure source and is forced to be stretched, the feet are enabled to be stably contacted with the ground, when the ankle joint paper folding structure 253 is changed to be 30 degrees, the second rope 225 triggers the, and the reversing valve II 352 and the reversing valve III 353 are reversed to recover the locking in the middle position.
The hydraulic control system of the bionic spider robot is integrated on a robot main body and used for controlling the action of each flexible driver of the robot, the hydraulic control system consists of a main flow passage and six same sub-flow passages, fig. 7 is a partial enlarged schematic diagram of the main flow passage and one sub-flow passage of the hydraulic control system, the main flow passage consists of a hydraulic oil tank 31, a hydraulic pump 32, a one-way valve 394, an oil filter 33, a safety valve 34, a limit switch 36, a walking controller 37 and a motor 38, the hydraulic pump 32 regulates the output displacement of hydraulic oil to provide power for the hydraulic system, the safety valve 34 is arranged at the outlet of the hydraulic oil to realize the functions of pressure stabilization, system unloading and safety protection, the oil filter 33 ensures the liquid cleanliness and prevents the working environment from being polluted, the main oil passage hydraulic oil is transmitted to each step sub-flow passage, and the sub-flow passages consist of a reversing valve I351, a reversing valve, The hydraulic control one-way valve I391, the hydraulic control one-way valve II 392, the hydraulic control one-way valve III 393, the hip joint paper folding structure 24, the hydraulic artificial muscle I222 and the hydraulic artificial muscle II 223, and the limit switch 36 feeds information back to the walking controller 37 to control the work of each hydraulic valve, thereby realizing the control of foot movement and the walking of the robot.
The corrugated folding of the spider hydraulic joint membrane is simulated, and three joints of each step are composed of paper folding structures. The paper folding structure is a closed cavity poured by silica gel materials, has good tensile resistance and rapid shrinkage and recovery performance, the end surfaces of two sides are fixedly connected with the force transmission inclined plane, the contact surface is rectangular, the contact area is larger, and the driving force of the joint during extension is increased.
One end of the hip joint paper folding structure 24 is fixedly connected with the first base section force transmission inclined plane 212, the other end of the hip joint paper folding structure is fixedly connected with the robot main body connecting plate 12, two elastic ropes 214 are respectively arranged on two sides of the hip joint paper folding structure 24, one end of each elastic rope is connected to the first base section force transmission inclined plane 212, the other end of each elastic rope is connected to the connecting plate 12, the hip joint paper folding structure 24 comprises four folds, the initial angle is 20 degrees, the hip joint paper folding structure can be changed into 80 degrees after a booster pump pumps high-pressure liquid into the hip joint paper folding structure 24, the paper folding structure is restored to the initial angle by means of the inherent elasticity and.
The knee joint paper folding structure 251 and the ankle joint paper folding structure 253 are communicated through a silica gel hose 252 in the leg exoskeleton 221, one end of the knee joint paper folding structure 251 is fixedly connected with the second base section force transmission inclined plane 213, the other end of the knee joint paper folding structure is fixedly connected with the first leg section force transmission inclined plane 226, one end of the ankle joint paper folding structure 253 is fixedly connected with the second leg section force transmission inclined plane 227, the other end of the ankle joint paper folding structure is fixedly connected with the shin section force transmission inclined plane 231, the two paper folding structures comprise three folds, the initial angle is 30 degrees, when high-pressure liquid is filled into the other paper folding structure from one paper folding structure through the silica gel hose, the height can be changed into 48 degrees, the extension of the knee joint and the ankle joint is completed, the high-pressure liquid is pumped into the hydraulic artificial muscle to be axially contracted, the rope is driven, the paper folding.
In conclusion, the driving part of the software-driven spider-imitating hydraulic robot is cast and processed by full-flexible materials, the main body and the step exoskeleton are subjected to 3D printing and processing, and the whole machine has good flexibility, low manufacturing cost and light weight; the leg synchronization of the robot during walking is ensured on the mechanism, and a control system is simplified; the bionic robot aims at the aspects of the overall structure, the movement gait, the joint structure, the leg joint driving principle and the like of the spider, and the bionic robot is higher in bionic degree; the hydraulic flexible driver has higher output force, larger load, compact overall structure of the robot and flexible movement, and greatly improves the power density of the spider-like robot. Can replace human beings to complete the complex and exquisite high-difficulty work tasks with unstructured and unknown work environments.
The present invention is not limited to the above embodiments, and any structural changes made under the teaching of the present invention shall fall within the scope of the present invention, which is similar or similar to the technical solutions of the present invention.
The techniques, shapes, and configurations not described in detail in the present invention are all known techniques.
Claims (2)
1. The utility model provides a highly bionical full flexible drive imitative spider robot which characterized in that: the robot comprises a robot main body (1), six robot walking feet (2) and a hydraulic control system (3), wherein the six robot walking feet (2) are arranged on the robot main body (1), the hydraulic control system (3) is connected with the six robot walking feet (2) through pipelines, and the hydraulic control system (3) is used for controlling the six robot walking feet (2) to move;
the robot comprises a robot main body (1) and a robot body, wherein the robot main body comprises an upper mounting plate (11), six connecting plates (12), a lower mounting plate (13), a first sliding rod (14) and a second sliding rod (15), the upper mounting plate (11) is connected with the lower mounting plate (13) into a whole through the six connecting plates (12), a first sliding groove (111) is formed in the lower surface of the upper mounting plate (11), a second sliding groove (131) is formed in the upper surface of the lower mounting plate (13), the first sliding rod (14) is slidably mounted in the first sliding groove (111), and the second sliding rod (15) is slidably mounted in the second sliding groove (131);
the six robot walking feet (2) comprise a left first foot (L1), a left second foot (L2), a left third foot (L3), a right first foot (R1), a right second foot (R2) and a right third foot (R3), wherein the left first foot (L1), the left second foot (L2), the left third foot (L3), the right first foot (R1), the right second foot (R2) and the right third foot (R3) are symmetrically arranged on two sides of the robot main body (1), the six robot walking feet (2) are divided into two groups, the first group comprises the left first foot (L1), the right second foot (R2) and the left third foot (L3), and the second group comprises the right first foot (R1), the left second foot (L2) and the right third foot (R3); the upper ends of base shafts (211) of a left foot (L1), a right foot (R2) and a left foot (L3) in a first group are hinged with one end of a first connecting rod (26), the other end of the first connecting rod (26) is hinged with a first sliding rod (14), the lower ends of the base shafts (211) of the right foot (R1), the left foot (L2) and the right foot (R3) in a second group are hinged with one end of the first connecting rod (26), the other end of the first connecting rod (26) is hinged with a second sliding rod (15), and the positions of the left foot (L1), the left foot (L2), the left foot (L3), the right foot (R1), the right foot (R2) and the right foot (R3) except the positions where the base shafts (211) are hinged with the first connecting rod (26) are different are the same;
the left foot (L1) comprises three limbs and three joints, the three limbs comprise a base joint (21), leg joints (22) and a shin joint (23), the three joints comprise hip joints, knee joints and ankle joints, each joint has one degree of freedom and three degrees of freedom, a base joint shaft (211) of the left foot (L1) is connected with an upper mounting plate (11) and a lower mounting plate (13) of the robot main body (1) through bearings to form a hip joint, the leg joints (22) are hinged with the base joints (21) to form the knee joints, the shin joints (23) are hinged with the leg joints (22) to form the ankle joints, the hip joints are provided with hip joint paper folding structures (24), the hip joint paper folding structures (24) are communicated with a hydraulic control system (3), elastic ropes (214) are arranged on two sides of the hip joint paper folding structures (24), one end of each elastic rope (214) is connected to a first base joint force transmission (212), the other end is connected on the connecting plate (12), a knee joint paper folding structure (251) is arranged at the knee joint, and an ankle joint paper folding structure (253) is arranged at the ankle joint; the knee joint paper folding structure (251) is communicated with the ankle joint paper folding structure (253) through a silica gel hose (252), the silica gel hose (252) is arranged inside the leg exoskeleton (221), a hydraulic artificial muscle I (222) and a hydraulic artificial muscle II (223) are further arranged inside the leg exoskeleton (221), and the hydraulic artificial muscle I (222) and the hydraulic artificial muscle II (223) are respectively communicated with the hydraulic control system (3); one end of a hydraulic artificial muscle I (222) is fixed on the leg section exoskeleton (221), the other end of the hydraulic artificial muscle I is fixed with a first rope (224), the first rope (224) penetrates out of a hole of the leg section exoskeleton (221), bypasses a hole side pillar and an upper pillar of a first leg section force transmission inclined plane (226), and is fixed on a second foundation section force transmission inclined plane (213); one end of a hydraulic artificial muscle II (223) is fixed on the leg section exoskeleton (221), the other end of the hydraulic artificial muscle II is fixed with a second rope (225), the second rope (225) penetrates out of the other side hole of the leg section exoskeleton (221) and passes through a hole side pillar and a second leg section force transmission inclined plane (227) to be fixed on the shin section force transmission inclined plane (231);
and two ends of the first sliding rod (14) and the second sliding rod (15) are provided with limit switches (36), and the first leg section force transmission inclined plane (226) and the second leg section force transmission inclined plane (227) are provided with the limit switches (36).
2. The highly bionic full-flexible driving spider robot according to claim 1, characterized in that: the hip joint paper folding structure (24), the knee joint paper folding structure (251) and the ankle joint paper folding structure (253) are formed by pouring silica gel materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110328776.6A CN112896362B (en) | 2021-03-27 | 2021-03-27 | Highly-bionic full-flexible-drive spider-imitating robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110328776.6A CN112896362B (en) | 2021-03-27 | 2021-03-27 | Highly-bionic full-flexible-drive spider-imitating robot |
Publications (2)
| Publication Number | Publication Date |
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| CN112896362A true CN112896362A (en) | 2021-06-04 |
| CN112896362B CN112896362B (en) | 2022-03-11 |
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| CN114954727A (en) * | 2022-06-14 | 2022-08-30 | 吉林大学 | Driving type bionic crawling robot based on paper folding structure |
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