CN113428249A - Monkey-imitating robot for researching animal bounce - Google Patents
Monkey-imitating robot for researching animal bounce Download PDFInfo
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- CN113428249A CN113428249A CN202110860907.5A CN202110860907A CN113428249A CN 113428249 A CN113428249 A CN 113428249A CN 202110860907 A CN202110860907 A CN 202110860907A CN 113428249 A CN113428249 A CN 113428249A
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- tail
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- upper limb
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- lower limb
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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
Abstract
The invention provides a monkey-imitating robot for researching animal bounce, which comprises: the device comprises a main body, an upper limb motor, a bouncing leg, a lower limb motor, a tail and a three-degree-of-freedom tail control device. The robot can take off the jump through the bouncing legs, and the four limbs and the tail of the robot can swing in the soaring stage. The robot main body is internally provided with a microcontroller, an inertia measurement module, a wireless communication module, a battery and related circuits, the inertia measurement module can detect the air posture of the robot in real time and is communicated with the microcontroller, and the microcontroller can control a motor to enable the robot to move. The invention provides a monkey-simulated robot for studying animal bounce by performing bionic design on limbs and tails of primates, which can be used for analyzing behavior characteristics of the primate bounce and providing theoretical support for studying the bionic robot.
Description
Technical Field
The technology relates to the field of bionic robots, in particular to a monkey-imitating robot for researching animal bounce.
Background
With the establishment of space laboratories in China, lunar and Mars exploration becomes a breakthrough for future scientific research. Due to the weight loss, the traditional motion modes such as biped and multi-legged walking, wheeled walking and the like are increasingly difficult to complete increasingly complex space exploration tasks.
The bouncing movement has the advantages of high moving speed and long movement distance in a weightless environment, and plays an increasingly important role in future space exploration. The main concern of current bounce mechanisms is the speed and distance of the bounce, while the control of the attitude during the flight phase is of little concern.
The primates, which are high-intelligence quotient animals close to human beings, have the jumping ability in complex environments such as forests, and the like, and the research on the movement of the animals has important significance for exploring the movement mode in the weightless environment and developing the jumping robot. The first step of bionic is to abstract a reasonably simplified model from a real animal body and research the model. In addition, the simplified model should have sufficient degrees of freedom to provide adequate data support for the movements of the animal under study.
The "one-pneumatic muscle-driven primate bionic robot" disclosed in the chinese patent document CN108858147 only discloses one kind of pneumatic-driven robot arm, and the "multimode motion primate-simulated robot" disclosed in the chinese patent document CN109986579B has a complicated structure, does not consider the tail of a primate, and also considers the bouncing motion of the primate, so in this research field, a robot with a more complete motion state should be considered.
Disclosure of Invention
The invention designs a monkey-imitating robot for researching animal bounce by following the bionic idea, so as to solve the problems existing in the background.
In order to achieve the purpose, the invention provides the following technical scheme: a monkey-imitating robot for studying animal bounce is disclosed, wherein a main body comprises a head, a left upper limb motor base, a right upper limb motor base, a left lower limb motor base, a right lower limb motor base and a rolling motor base, wherein the left upper limb motor base and the right upper limb motor base, the left lower limb motor base and the right lower limb motor base are symmetrically distributed along the central axis of the main body; the upper limb motor comprises a left upper limb motor and a right upper limb motor, wherein the left upper limb motor is fixedly arranged in a left upper limb motor base of the main body, and the right upper limb motor is fixedly arranged in a right upper limb motor base of the main body; the upper limb comprises a left upper limb and a right upper limb, wherein the left upper limb is fixedly connected with an output shaft of a left upper limb motor, and the right upper limb is fixedly connected with an output shaft of a right upper limb motor; the lower limb motor comprises a left lower limb motor and a right lower limb motor, wherein the left lower limb motor is fixedly installed in the left lower limb motor base, and the right lower limb motor is fixedly installed in the right lower limb motor base.
The bouncing leg comprises a left bouncing leg and a right bouncing leg, wherein the left bouncing leg and the right bouncing leg have the same structure and respectively comprise a lower limb driving rod, a driving connecting rod, a femur, a tibia, a fibula, an ankle-foot connecting rod, a spring connecting hole and a bouncing driving motor, the connecting hole at the thicker end of the femur is fixedly connected with an output shaft of the lower limb motor, the bouncing leg comprises the bouncing driving motor fixedly connected with the femur, the output shaft of the bouncing driving motor is fixedly connected with the lower limb driving rod, one end of the driving connecting rod is rotatably connected with the lower limb driving rod, the other end of the driving connecting rod is rotatably connected with the tibia, one end of the tibia is rotatably connected with the driving connecting rod, the thicker position above the middle part is rotatably connected with the tail end of the femur, the tail end is rotatably connected with the middle part of the ankle-foot connecting rod, the middle part of the ankle-foot connecting rod is rotatably connected with the tibia, and the tail end is rotatably connected with one end of the fibula, fibula one end is connected with ankle-foot connecting rod end rotation, and the other end rotates to be connected on the thighbone, thighbone one end and low limbs motor output shaft fixed connection, and the other end rotates with the shin bone to be connected, rotates with the fibula in the position that is close to the shin bone to be connected, and the spring is as elastic element, and both ends are connected in the spring coupling hole of thighbone and fibula respectively.
The three-degree-of-freedom tail control device is located at the tail end of a main body in the central axis of the main body and comprises a rolling motor, a yaw steering engine, a pitching steering engine, a first steering engine connecting piece, a cross connecting frame and a second steering engine connecting piece, wherein one end of the rolling motor is fixedly connected to a rolling motor base on the main body, an output shaft at the other end of the rolling motor is fixedly connected with the back side of the first steering engine connecting piece, one end of the yaw steering engine is fixedly connected to the other side of the first steering engine connecting piece in a groove, an output shaft at the other end of the yaw steering engine is fixedly connected with one side of the cross connecting frame, the other side of the cross connecting frame is fixedly connected with an output shaft at one end of the pitching steering engine, the other end of the pitching steering engine is fixedly connected to the groove of the second steering engine connecting piece, and the other end of the second steering engine connecting piece is fixedly connected with the tail.
The tail includes tail connector, tail base member and counter weight, wherein the dorsal part fixed connection of tail connector one end and second steering wheel connecting piece, the other end and tail base member fixed connection, tail base member and counter weight are detachable construction, can change the counter weight that the quality is different according to the needs of difference.
Compared with the prior art, the invention has the following beneficial effects.
1. The bouncing leg is designed by adopting the muscle-skeleton characteristics of the lower limbs of the primates, and the real action can be simulated to realize the bouncing movement.
2. The tail which can rotate by three attitude angles of rolling, pitching and yawing is adopted, and the tail is variable in mass, so that the influence of the tail on the whole motion of the tail can be fully researched.
3. Motors of the limbs and the tail can be uniformly controlled by the microcontroller, so that the controllability of the coordinated movement of the limbs and the tail in the emptying stage of the robot can be improved.
Drawings
Fig. 1 is a schematic view of the overall structure of the robot according to the present invention.
Fig. 2 is a schematic structural view of the robot main body in the present invention.
Fig. 3 is a schematic structural diagram of a bouncing leg of the robot in the invention.
Fig. 4 is a schematic view of the structure of the robot femur and tibia in the present invention.
Fig. 5 is a schematic structural diagram of the three-degree-of-freedom tail control device of the robot in the invention.
Fig. 6 is a schematic structural diagram of a first steering engine connecting piece of the robot in the invention.
Fig. 7 is a schematic structural diagram of a second steering engine connecting piece of the robot in the invention.
Fig. 8 is a schematic structural view of a cross connecting frame of the robot in the invention.
Fig. 9 is a schematic structural view of a robot tail according to the present invention.
Fig. 10 is a schematic diagram of the jumping state of the monkey-imitating robot for studying animal jumping.
In the figure: 1-main body, 2-left upper limb motor, 3-right upper limb motor, 4-left upper limb, 5-right upper limb, 6-left lower limb motor, 7-right lower limb motor, 8-left bouncing leg, 9-right bouncing leg, 10-tail, 11-three-degree-of-freedom tail control device, 12-head, 13-left upper limb motor base, 14-right upper limb motor base, 15-left lower limb motor base, 16-right lower limb motor base, 17-rolling motor base, 18-microcontroller, 19-wireless module, 20-inertia measurement module, 21-battery, 22-lower limb drive rod, 23-drive link rod, 24-femur, 25-tibia, 26-ankle-foot link rod, 27-fibula, 28-spring, 29-spring connecting holes, 30-bounce driving motors, 31-rolling motors, 32-yaw steering engines, 33-pitching steering engines, 34-first steering engine connecting pieces, 35-second steering engine connecting pieces, 36-cross connecting frames, 37-tail connectors, 38-tail base bodies and 39-balance weights.
Detailed Description
Embodiments of the present technique are further described below with reference to fig. 1-6.
In the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", "clockwise" and "counterclockwise" and the like are used for indicating orientations or positional relationships based on the orientations or positions shown in the drawings, and are used only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation and operation, and thus, should not be construed as limiting the present invention.
Referring to fig. 1 and 2, a monkey-like robot for studying animal bounce is characterized in that: the three-freedom-degree tail control device comprises a main body 1, a left upper limb motor 2, a right upper limb motor 3, a left upper limb 4, a right upper limb 5, a left lower limb motor 6, a right lower limb motor 7, a left bouncing leg 8, a right bouncing leg 9, a tail 10 and a three-freedom-degree tail control device 11; the main body comprises a head 12, a left upper limb motor base 13, a right upper limb motor base 14, a left lower limb motor base 15, a right lower limb motor base 16 and a rolling motor base 17, a cavity is formed in the main body, and a microcontroller 18, a wireless communication module 19, an inertia measurement module 20, a battery 21 and related circuits are placed in the cavity; the left upper limb motor base 13, the right upper limb motor base 14, the left lower limb motor base 15 and the right lower limb motor base 16 are symmetrically distributed along the central axis of the main body, and the three-degree-of-freedom tail control device 11 is positioned at the tail end of the main body 1 in the central axis of the main body; wherein, the left upper limb motor 2 is fixedly arranged in a left upper limb motor seat 13 of the main body 1, and the right upper limb motor 3 is fixedly arranged in a right upper limb motor seat 14 of the main body 1; wherein, the left upper limb 4 is fixedly connected with the output shaft of the left upper limb motor 2, and the right upper limb 5 is fixedly connected with the output shaft of the right upper limb motor 3; wherein, the left lower limb motor 6 is fixedly arranged in a left lower limb motor base 15 of the main body 1, and the right lower limb motor 7 is fixedly arranged in a right lower limb motor base 16 of the main body 1.
Further, referring to fig. 2, the microcontroller 18, the wireless communication module 19, the inertia measurement module 20, the battery 21 and related circuits in the cavity of the main body are reasonably distributed, and devices in the cavity can communicate with a motor and a steering engine on the robot through connecting wires.
Further, referring to fig. 3 to 4, the left bouncing leg 8 and the right bouncing leg 9 having the same structure each include a lower limb driving lever 22, a driving link 23, a femur 24, a tibia 25, an ankle-foot link 26, a fibula 27, a spring 28, a spring connecting hole 29, and a bouncing driving motor 30; wherein, the connecting holes at the thicker ends of the thighs 24 of the left bouncing leg 8 and the right bouncing leg 9 are respectively and fixedly connected with the output shafts of the left lower limb motor 6 and the right lower limb motor 7; the bounce leg comprises a bounce driving motor 30 fixedly connected to the femur 24, and the output shaft of the motor is fixedly connected with the lower limb driving rod 22; one end of the driving connecting rod 23 is rotationally connected with the lower limb driving rod 22, and the other end is rotationally connected with the tibia 25; one end of the tibia 25 is rotationally connected with the driving connecting rod 23, the thicker position of the middle part above the tibia is rotationally connected with the tail end of the femur 24, and the other end of the tibia 25 is rotationally connected with the middle part of the ankle-foot connecting rod 26; the middle part of the ankle-foot connecting rod 26 is rotationally connected with the tibia 25, and the tail end of the ankle-foot connecting rod is rotationally connected with one end of the fibula 27; one end of the fibula 27 is rotatably connected with the tail end of the ankle-foot connecting rod 26, and the other end is rotatably connected with the femur 24; one end of the femur 24 is fixedly connected with an output shaft of the left lower limb motor 6 or the right lower limb motor 7, the other end of the femur is rotationally connected with the tibia 25, and the middle part of the femur, which is close to the tibia, is rotationally connected with one end of the fibula 27; a plurality of spring connecting holes 29 are processed on the fibula 27 and the femur 24, and two ends of the spring 28 are respectively fixedly installed in the spring connecting holes 29 of the two parts.
Further, referring to fig. 5 to 8, the three-degree-of-freedom tail control device 11 includes a roll motor 31, a yaw steering engine 32, a pitch steering engine 33, a first steering engine connector 34, a second steering engine connector 35, and a cross-shaped connecting frame 36; wherein in the motor cabinet 17 that rolls of 31 one end fixed connection on main part 1 of the motor that rolls, the output shaft and the dorsal part fixed connection of first steering wheel connecting piece of the motor 31 other end that rolls, 32 one end fixed connection of driftage steering wheel are in the groove of the 34 opposite side of first steering wheel connecting piece, the output shaft of the 32 other end of driftage steering wheel and one side fixed connection of cross link 36, the output shaft fixed connection of 36 opposite sides and every single move steering wheel 33 one end of cross link, 33 other ends fixed connection of every single move steering wheel is in the groove of second steering wheel connecting piece 35, the 35 other end of second steering wheel connecting piece and tail 10 fixed connection.
Further, referring to fig. 9, the tail 10 includes a tail connector 37, a tail base 38, and a weight 39; wherein the dorsal part fixed connection of tail connector 37 one end and second steering wheel connecting piece 35, the tail connector 37 other end and tail base member 38 fixed connection, tail base member 38 and counter weight 39 are detachable construction, can change the counter weight 39 that the quality is different as required.
The following describes a specific operation principle of the present embodiment with reference to fig. 10.
A jump-off stage: the robot is remotely started through the wireless communication module, the robot recognizes the self pose through the inertia measurement module 20, the microcontroller 18 controls the bounce driving motor 30 to control the motion of the bounce leg, and at the moment, the output shaft of the bounce driving motor 30 is fixedly connected with the lower limb driving rod 22, so that the lower limb driving rod 22 in the figure 3 can rotate anticlockwise around the output shaft of the bounce driving motor 30. Because one end of the driving connecting rod 23 is connected with the bounce driving rod 22, the driving connecting rod 23 moves towards the lower left, the upper end of the tibia 25 is connected with the driving connecting rod 23, the tibia 25 rotates anticlockwise around the connecting position of the tibia 25 and the femur 24 as the center of a circle, the fibula 27 is connected with the lower end of the tibia 25 through the ankle-foot connecting piece 26, the fibula 27 also rotates anticlockwise, the distance between the two spring connecting holes 29 is reduced, the spring 10 is compressed to accumulate elastic potential energy, at the moment, the robot is adjusted to a bounce mode shown in fig. 10, when the inertia measuring module 20 identifies that the robot reaches a bounce position where the robot can bounce, the bounce driving motor 30 is powered off, and the spring 10 releases and bounces the robot into the air.
And (3) emptying stage: after the robot bounces into the air, the influence of the swing of the left upper limb 4, the right upper limb 5, the left bouncing leg 8, the right bouncing leg 9 and the tail 10 on the air posture of the robot can be tested according to experimental requirements. The microcontroller 18 can be remotely instructed through the wireless communication module 19, and the microcontroller can realize the independent swinging or the cooperative swinging of the left upper limb 4, the right upper limb 5, the left bouncing leg 8 and the right bouncing leg 9 by controlling the left upper limb motor 2, the right upper limb motor 3, the left lower limb motor 6 and the right lower limb motor 7; when the influence of the swing of the tail 10 on the aerial motion of the robot needs to be detected, a command can be remotely applied to the microcontroller 18 through the wireless communication module 19, and at the moment, the microcontroller 18 controls the rolling motor 31, the yaw steering engine 32 and the pitch steering engine 33 to independently or cooperatively control the motions of the tail in three angles of pitching, yawing and rolling; similarly, coordinated control of the tail 10 and the left and right upper limbs 4, 5, 8 and 9 may also be achieved.
And (3) a landing stage: when the robot falls to the ground from the air, the body posture of the robot is easy to be in an unstable posture due to the impact force of the ground, the unstable posture of the main body 1 can be recognized through the inertia measurement module 20, and the microcontroller 18 can control the rolling motor 31, the yaw steering engine 32 and the pitch steering engine 33 to swing the tail 10 to correct the posture of the main body 1.
It should be noted that the bouncing form of the bouncing mechanism and the swinging form of the tail are not limited to the above embodiments, and the arrangement form of the link transmission is not limited to the above embodiments, and the adaptive changes according to the actual requirements are all within the protection scope of the present invention; meanwhile, the swing form of the limb in the invention is not limited to the above embodiment, and the adaptive change according to the actual requirement is within the protection scope of the invention. It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (5)
1. The utility model provides a study monkey robot of animal spring which characterized in that: the jumping leg comprises a main body, an upper limb motor, an upper limb, a lower limb motor, a jumping leg, a three-degree-of-freedom tail control device and a tail; the main body comprises a head, a left upper limb motor base, a right upper limb motor base, a left lower limb motor base, a right lower limb motor base and a rolling motor base, wherein the left upper limb motor base and the right upper limb motor base, the left lower limb motor base and the right lower limb motor base are symmetrically distributed along the central axis of the main body; the upper limb motor comprises a left upper limb motor and a right upper limb motor, wherein the left upper limb motor is fixedly arranged in a left upper limb motor base of the main body, and the right upper limb motor is fixedly arranged in a right upper limb motor base of the main body; the upper limb comprises a left upper limb and a right upper limb, wherein the left upper limb is fixedly connected with an output shaft of a left upper limb motor, and the right upper limb is fixedly connected with an output shaft of a right upper limb motor; the lower limb motor comprises a left lower limb motor and a right lower limb motor, wherein the left lower limb motor is fixedly arranged in the left lower limb motor base, and the right lower limb motor is fixedly arranged in the right lower limb motor base; the bouncing leg comprises a left bouncing leg and a right bouncing leg, wherein the left bouncing leg and the right bouncing leg have the same structure and respectively comprise a lower limb driving rod, a driving connecting rod, a femur, a tibia, a fibula, an ankle-foot connecting rod, a spring connecting hole and a bouncing driving motor, wherein the connecting hole at the thicker end of the femur is fixedly connected with an output shaft of the lower limb motor, the bouncing leg comprises the bouncing driving motor fixedly connected with the femur, the output shaft of the bouncing driving motor is fixedly connected with the lower limb driving rod, one end of the driving connecting rod is rotatably connected with the lower limb driving rod, the other end of the driving connecting rod is rotatably connected with the tibia, one end of the tibia is rotatably connected with the driving connecting rod, the thicker position above the middle part is rotatably connected with the tail end of the femur, the tail end is rotatably connected with the middle part of the ankle-foot connecting rod, the middle part of the ankle-foot connecting rod is rotatably connected with the tibia, and the tail end is rotatably connected with one end of the fibula, one end of the fibula is rotationally connected with the tail end of the ankle-foot connecting rod, the other end of the fibula is rotationally connected with the femur, one end of the femur is fixedly connected with the output shaft of the lower limb motor, the other end of the femur is rotationally connected with the tibia, the position close to the tibia is rotationally connected with the fibula, the spring is used as an elastic element, and the two ends of the spring are respectively connected into spring connecting holes of the femur and the fibula; the three-degree-of-freedom tail control device is positioned at the tail end of the main body in the central axis of the main body and comprises a rolling motor, a yaw steering engine, a pitching steering engine, a first steering engine connecting piece, a cross connecting frame and a second steering engine connecting piece, wherein one end of the rolling motor is fixedly connected in a rolling motor seat on the main body, an output shaft at the other end of the rolling motor is fixedly connected with the back side of the first steering engine connecting piece, one end of the yaw steering engine is fixedly connected in a groove at the other side of the first steering engine connecting piece, an output shaft at the other end of the yaw steering engine is fixedly connected with one side of the cross connecting frame, the other side of the cross connecting frame is fixedly connected with an output shaft at one end of the pitching steering engine, the other end of the pitching steering engine is fixedly connected in a groove of the second steering engine connecting piece, and the other end of the second steering engine connecting piece is fixedly connected with the tail; the tail includes tail connector, tail base member and counter weight, wherein the dorsal part fixed connection of tail connector one end and second steering wheel connecting piece, the other end and tail base member fixed connection, tail base member and counter weight are detachable construction, can change the counter weight that the quality is different according to the needs of difference.
2. The monkey-imitating robot for studying animal bounce as claimed in claim 1, wherein: a plurality of spring connecting holes are processed on the fibula and the femur, and two ends of each spring are fixedly installed in the spring connecting holes of the two parts respectively.
3. The monkey-imitating robot for studying animal bounce as claimed in claim 1, wherein: the femur is processed into a bionic structure with one end thicker and the other end thinner and with a certain bending.
4. The monkey-imitating robot for studying animal bounce as claimed in claim 1, wherein: the cross connecting frame is a bending structure extending out of two ends.
5. The monkey-imitating robot for studying animal bounce as claimed in claim 1, wherein: one end of the first steering engine connecting piece is provided with a connecting shaft, and the other end of the first steering engine connecting piece is provided with a shallow groove; one end of the second steering engine connecting piece is provided with a connecting hole, and the other end of the second steering engine connecting piece is provided with a shallow groove.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110860907.5A CN113428249A (en) | 2021-07-29 | 2021-07-29 | Monkey-imitating robot for researching animal bounce |
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| CN202110860907.5A CN113428249A (en) | 2021-07-29 | 2021-07-29 | Monkey-imitating robot for researching animal bounce |
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Application publication date: 20210924 |