CN201777321U - Gecko-imitated robot mechanical structure and robot thereof - Google Patents
Gecko-imitated robot mechanical structure and robot thereof Download PDFInfo
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- CN201777321U CN201777321U CN201020213245XU CN201020213245U CN201777321U CN 201777321 U CN201777321 U CN 201777321U CN 201020213245X U CN201020213245X U CN 201020213245XU CN 201020213245 U CN201020213245 U CN 201020213245U CN 201777321 U CN201777321 U CN 201777321U
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Abstract
The utility model discloses a gecko-imitated robot mechanical structure and a robot thereof, which belong to the field of specialized robots. The gecko-imitated robot mechanical structure is characterized by comprising a robot body frame, four limbs and a passive tail, wherein each limb mounted on the robot body frame sequentially comprises a two-degree-of-freedom hip joint, a thigh connecting rod, a single-degree-of-freedom knee joint, a shank, a passive three-degree-of-freedom ball hinge ankle joint and a foot. Each two-degree-of-freedom hip joint consists of a hip joint leg lifting steering engine (11) and a hip joint leg swinging steering engine (12); the hip joint leg lifting steering engines (11) control the limbs to rise or fall down; the hip joint leg swinging steering engines (12) control the limbs to swing forwards and backwards; and each single-degree-of-freedom knee joint consists of a knee joint steering engine (13). The gecko-imitated robot mechanical structure is reasonable in arrangement of the position of each degree of freedom of each leg and realizes excellent capacity of the robot moving on ground and wall surfaces by adding force sensor feedback control.
Description
Technical field
The utility model relates to a kind of gecko-emulated robot physical construction and robot thereof, belongs to field of special robots.Can be applicable to fields such as anti-terrorism, search and rescue, small space detection, security, aviation aerospace and urban service industry.
Background technology
Robot under the non-structure environment has extensive and urgent demand.The accessible kinematic robot of 3 dimension spaces (be called for short 3DOF robot) technical risk maximum wherein, scientific and technological content is the highest, and demand is the most urgent.The mechanism of 3DOF robot motion system is divided at present: wheeled, as the disclosed a kind of non-contact magnetically adsorbed wall climbing robot of Chinese patent CN1739925; Crawler type is as the attached crawler-type wall climbing robot of the disclosed magnetic based on synchronous cog belt of Chinese patent CN1709654; Rod-type is as Chinese patent CN1511681 disclosed five sufficient climbing robots, CN1966337A.Wherein, rod-type robot architecture complexity, obstacle climbing ability is strong, adheres to more reliably, has higher motion and adaptive capacity, but the motion control complexity, degree of freedom is many, drive and the control difficulty big, be the direction of 3DOF robot development.U.S. MIT, UC Berkeley, the gecko-emulated robot Stickybot of unit cooperation research and developments such as Harvard and Carnige Mellon has four limbs, and every limb has only 2 degree of freedom, and each degree of freedom is driven by a steering wheel, has realized the motion on the plane of rule.
The leg mechanism of bio-robot is mixed two kinds of forms of general existence at the branch of degree of freedom: a kind of is imitative mammiferous leg mechanism, leg is positioned at the health below, being arranged on the ground of this robotlike's degree of freedom has bigger working space when moving, can be with bigger stride motion, this robotlike should not climb the wall motion because the center is too high from contact surface.Another kind of is that the degree of freedom of class Reptilia distributes, and center of gravity was lower when this robotlike move on wall, and when moving on the ground because center of gravity is lower, easily and produce between the ground and rub.The leg mechanism robot is in motion process, more than biped, be in the support phase time, system is an overdrive condition, support mutually and often have interaction force between the foot, may make the robot support of ground motion form slide relative between the foot mutually, perhaps make climbing robot owing to supporting mutually the wall that comes off of the slide relative between the foot, cause cataphoretic failure; And to drive steering wheel be the waste that the effect that overcomes this power causes the energy.And above-mentioned robot does not propose a good terms of settlement to this class problem.
The utility model content
Based on above-mentioned background, the utility model proposes a kind of gecko-emulated robot physical construction and robot thereof, the position of rationally arranging degree of freedom on every leg makes robot have the well locomitivity on ground and metope.
A kind of gecko-emulated robot physical construction is characterized in that: comprises fuselage ring, is installed on four limbs on the fuselage ring, and the passive type tail; Wherein every limbs are made up of two degrees of freedom hip joint, big leg connecting rod, single degree of freedom knee joint, shank, three degree of freedom passive type spherical hinge ankle-joint and foot successively; The hip joint swinging kick steering wheel that above-mentioned two degrees of freedom hip joint is lifted by the control limbs and the hip joint that falls is lifted leg steering wheel and the swing of control limbs is formed; Above-mentioned single degree of freedom knee joint is made up of the knee joint steering wheel.
Described hip joint is lifted the leg steering wheel and is installed on the described fuselage ring, and hip joint swinging kick steering wheel framework is installed on hip joint and lifts on the leg steering wheel output shaft, and knee joint swinging kick steering wheel is installed in the steering wheel framework, shank with the foot between be connected by ankle-joint.The single-piece framed structure has alleviated the overall weight of robot body.
The dress axis that described hip joint is lifted the leg steering wheel becomes 60 ° of angles with the robot body plane; Can when not influencing the steering wheel range of movement, dwindle the width of body like this, help the later stability of climbing wall.
Described three degree of freedom passive type spherical hinge ankle-joint concrete structure is: one has the spheroid of connecting rod, and connecting rod is used for being connected with shank, and spheroid is embedded in the sufficient ball recess.
Described gecko-emulated robot physical construction is characterized in that: the vola has the one dimension elasticity force gauge that is used to monitor contact condition and stressing conditions between foot and the contact surface.Shank is 2 D force sensor, and this 2 D force sensor is used for the two-dimentional power of detection of vertical in sufficient transverse plane, perhaps is three-dimensional force sensor.
Described gecko-emulated robot physical construction is characterized in that: described fuselage ring comprises forward frame, lumbar frame and rear frame, and wherein forward frame is identical with rear frame structure, has interchangeability.Lumbar frame is elastic rod or rigid rod.
Described control part is made up of upper computer control system, robot control system and power module; Adopt wireless communications mode between upper computer control system and the robot control system.
Robot control system is a dcs, by host computer control module, four limbs slave control modules, sensor signal conditioning module, radio receiving transmitting module and carrier power supplys; Host computer control module links to each other by spi bus with radio receiving transmitting module, partly realizes wireless remote control with PC control; The carrier power module is entire machine people control system and steering wheel power supply.
Advantage of the present utility model is: the leg mechanism of Reptilia gecko carries out the degree of freedom distribution in simulation the Nature, makes its mechanism characteristics that has mammal and Reptilia concurrently, satisfies the advantage of moving on ground and metope.The robot integral structure is a framed structure, has alleviated the overall weight of body.The elasticity tail is installed on the robot fuselage afterbody, makes it have better stability.A three-dimensional strength measurement system that forms with an one dimension contact force sensor and 2 D force sensor or a three-dimensional force sensor perception robot foot end stressed effectively reduces the support interaction force between the foot mutually.On robot leg, made up force gauge, made its ability,, realized supporting each sufficient motor coordination mutually by force feedback with aware space three-dimensional force.The elasticity tail at robot rear portion has effectively strengthened the stability of robot.The robot steering wheel is fixed in the framed structure, has reduced the moment of flexure of the output shaft of steering wheel.Big leg mechanism adopts parallel plate mechanism to form, and has reduced complete machine weight in the time of proof strength.Robot has been realized wireless remote control by in the power supply of body power supply, has reduced the interference of cable to robot, and the robot motion is controlled by dcs, can realize keeping straight on, and turns, and quickens, and slows down, and suspends actions such as recovery.
Description of drawings
Fig. 1 the utility model robot complete machine structure scheme drawing.
Fig. 2 (a) the utility model robot complete machine master TV structure scheme drawing.
Fig. 2 (b) the utility model robot complete machine left side TV structure scheme drawing.
Fig. 3 the utility model robot (partly) main body section separation structure scheme drawing.
Fig. 4 the utility model robot hip joint structural representation.
Fig. 5 the utility model robot knee joint structure scheme drawing.
Fig. 6 the utility model robot thigh structural representation.
Fig. 7 the utility model robot control part constructional drawing.
Fig. 8 the utility model robot control system mainframe program diagram of circuit.
Fig. 9 the utility model robot control system slave program flow diagram.
Number in the figure title: 1, forward frame, 2, sole, 3,2 D force sensor, 4, knee joint, 6, big leg connecting rod, 7, hip joint, 8, little leg connecting rod, 9, tail, 10, lumbar frame, 11, hip joint is lifted the leg steering wheel, 12, hip joint swinging kick steering wheel, 13, the knee joint steering wheel, 14, sole control steering wheel hole, 15, the hip joint knock hole, 16, hip joint is lifted leg steering wheel machine mounting hole, 17, fuselage connecting rod mounting hole, 18, hip joint is lifted leg steering wheel axis hole, 19, hip joint swinging kick steering wheel mounting hole, 20, the hip joint fix shaft, 21, big leg joint fix shaft, 22, the shank connecting bore, 23, the steering wheel connecting bore.
The specific embodiment
As depicted in figs. 1 and 2, robot is made up of fuselage, four identical legs and tail 9.The wall scroll leg is by robot sole 2,2 D force sensor 3, and shank connecting rod 8, calf joint 4, big leg connecting rod 6, the steering wheels (hip joint is lifted leg steering wheel 11, hip joint swinging kick steering wheel 12, knee joint steering wheel 13) of hip joint 7 and three control joint motions are formed.What this example adopted is the fuselage of front and back symmetry, and promptly forward frame 1 also links to each other by fuselage connecting rod 10 with rear frame, symmetrical robot body part before and after forming.Robot wall scroll leg has three degree of freedom, and each degree of freedom is all controlled its motion by a steering wheel.Therefore have 12 steering wheel control entire machine people's motion.On fuselage, reserved simultaneously the position of four steering wheels altogether, with the motion control of expansion robot sole.
As Fig. 3, Fig. 4, Fig. 5, Fig. 6 are respectively the robot fuselage, hip joint, knee joint and big leg connecting rod.Hip joint is lifted leg steering wheel 11 and is installed on the fuselage hip joint and lifts on the leg steering wheel mounting hole 16, and it is consistent with hip joint knock hole 15 axis to adjust its output shaft.For reducing the motion gait of robot fuselage width and adjustment robot, install at an angle on the initial position of this steering wheel and health plane, the up-and-down movement of control limbs.Hip joint fix shaft 20 on the hip joint is aimed at and is installed in the hip joint knock hole 15, and hip joint is lifted the output shaft of leg steering wheel axis hole aligning steering wheel 11 and is fixed together.Hip joint swinging kick steering wheel 12 is installed in the hip joint swinging kick steering wheel mounting hole 19, the swing of control limbs.Knee joint steering wheel 13 is installed in the framed structure of calf joint, the extension angle between the control thigh and calf.Two big leg connecting rods of same robot respectively with the output shaft of hip joint swinging kick steering wheel 12 and hip joint on big leg joint fix shaft 21 match to merge and be fixed together.Shank connecting rod 8 is fixed together with it by kneed shank connecting bore, and 2 D force sensor 3 is connected by shank connecting rod 8 and knee joint 4 as shank.One section cross fixation of two elastic steel sheets is together as the tail tip, the other end separately be fixed on the robot fuselage afterbody and with fuselage at an angle, the tail tip is dropped in the plane, sole place.
Before or after fuselage be an integral structure, in head design the installation steering wheel position of control sole fine motion, hip joint, knee joint are the general frame structure.
Transducing part comprises a 2 D force sensor and places the elastomeric force gauge of robot sole bottom.The stressing conditions of dimension sensor measuring vertical sole in the leg rhizoplane.In motion process, by the interaction force between the force gauge perception support foot, and adjust the steering wheel angle in view of the above, the interaction force that support respectively be it serves to show is reduced in the certain limit.Sensor was used to judge the sufficient and ground-surface size that contacts the pressure between situation and foot and the contact surface in elasticity was micro-nano.
Robot control part constructional drawing as shown in Figure 7, the robot control part is made up of upper computer control system, robot control system, power module and steering wheel.The upper computer control system radical function be and robot control system between radio communication, form by micro controller system, wireless communication module and peripheral circuit.Link to each other with computing machine by USB cable, and by the USB power supply, by computing machine distribution of machine people control command.Micro controller system and wireless module adopt the SPI interface communication.
Robot control integral body is the dcs of a up-down structure, host computer control module comprises micro controller system, wireless communication module and peripheral circuit, be responsible for radio communication with engine control system, accept control command, resolve instruction, and distribute control task to give lower floor's slave, coordinate the coordinated movement of various economic factors of each limbs by the limbs state that receives each lower floor's slave.Each independently controls the motion of one leg four lower floor's slave control modules, and the levels control system communicates by RS485 or I2C.
The sensor signal conditioning module is converted to the analog signal of sensor output in the corresponding signal range of AD through amplification and pretreatment.
Power module comprises battery and power-switching circuit, the electricity consumption of battery supply equipment people's control system and power system, and it is each electricity consumption part required voltage scope of robot control system that power-switching circuit is used for the voltage transitions of battery.
Figure 8 shows that robot control system mainframe program diagram of circuit.Initial p WM mode of operation, UART, SPI, I after system powers on
2C and I/O interface enable to interrupt afterwards, receive control command, parsing control command and the control task of distributing each limbs of upper computer control system with interrupt mode.The host assignment control task adopts the mode shake hands to slave, if send for three times unsuccessful then change another kind of signalling methods automatically, continues three times, unsuccessful then fault alarm.Simultaneously, main frame receives the status information of slave, and adjusts the motion of limbs according to this information.
Figure 9 shows that robot control system slave program flow diagram.Enable after the system initialization to interrupt.Force signal is gathered, with main frame communicate by letter and the parameter adjustment of PWM is all finished by interrupting.The slave control module receives the control command of main frame, and leg and driving health three parts are decomposed into and lift leg, fall.If reach preposition when protracting then wait for synchronizing signal with other limbs; The state that contacts to earth of handle foot is as danger signal in the falling bodies process; Drive the scope of wanting the judgment signal in the body movement process, if satisfy greater than predetermined application force, then robot leg is regulated the speed when the driving health moves ahead, to change the size of application force between the leg.Various motions are that transmit status is given main frame after finishing in per step in operational process, back and forth follow bad the execution.Robot supports the phase leg and distributes onesize propulsive effort, the propulsive effort required according to the motion calculation drive machines people of robot, and mean allocation supports on the phase leg at each.The size of power is the output valve of expectation, according to the stressed size in three-dimensional Force Calculation body hip joint place of foot end, and the power output size of regulating the motion adjusting leg of steering wheel.Creep on vertical surface, according to the characteristics of motion of animal, the stable of health, the mainly propulsive effort that provides robot upwards to creep by lower limb are provided upper limbs.System is at first by calculating robot's required application force that moves, according to the gait of the creeping required power that provides of each limbs that distributes.Return of value and computing value by force gauge compare the calculation error value, and regulate the motion of leg.
The steering wheel installation site and the control signal of control robot sole have been reserved in the utility model.At robot fuselage head and afterbody, each has reserved the installation site of two steering wheels, in robot control system, has reserved four road steering wheel control signals on the host computer control module, is provided with the finely regulating that the machine sole is expanded in the back.
Main frame and slave cooperating are finished entire machine people's exercises, by the control command that upper computer control system sends, finish control task according to computing machine.
Claims (10)
1. gecko-emulated robot physical construction is characterized in that:
Comprise fuselage ring, be installed on four limbs on the fuselage ring, and the passive type tail;
Wherein every limbs are made up of two degrees of freedom hip joint, big leg connecting rod, single degree of freedom knee joint, shank, three degree of freedom passive type spherical hinge ankle-joint and foot successively;
The hip joint swinging kick steering wheel (12) that above-mentioned two degrees of freedom hip joint is lifted by the control limbs or the hip joint that falls is lifted leg steering wheel (11) and controlled the limbs swing is formed;
Above-mentioned single degree of freedom knee joint is made up of knee joint steering wheel (13).
2. gecko-emulated robot physical construction according to claim 1, it is characterized in that: described hip joint is lifted leg steering wheel (11) and is installed on the described fuselage ring, hip joint swinging kick steering wheel framework is installed on hip joint and lifts on the leg steering wheel output shaft, and knee joint swinging kick steering wheel (12) is installed in the steering wheel framework.
3. gecko-emulated robot physical construction according to claim 1 is characterized in that: the dress axis that above-mentioned hip joint is lifted leg steering wheel (11) becomes 60 ° of angles with the robot body plane.
4. gecko-emulated robot physical construction according to claim 1 is characterized in that: above-mentioned three degree of freedom passive type spherical hinge ankle-joint concrete structure is: one has the spheroid of connecting rod, and connecting rod is used for being connected with shank, and spheroid is embedded in the sufficient ball recess.
5. gecko-emulated robot physical construction according to claim 1 is characterized in that: the vola has the one dimension elasticity force gauge that is used to monitor contact condition and stressing conditions between foot and the contact surface.
6. gecko-emulated robot physical construction according to claim 1 is characterized in that: above-mentioned shank is 2 D force sensor, and this 2 D force sensor is used for the two-dimentional power of detection of vertical in sufficient transverse plane.
7. gecko-emulated robot physical construction according to claim 1 is characterized in that: above-mentioned shank is three-dimensional force sensor.
8. according to the arbitrary described gecko-emulated robot physical construction of claim 1 to 7, it is characterized in that: described fuselage ring comprises forward frame (1) and rear frame, and links to each other by fuselage connecting rod (10), and wherein forward frame is identical with rear frame structure.
9. gecko-emulated robot physical construction according to claim 6 is characterized in that: described lumbar frame is elastic rod or rigid rod.
10. robot that comprises the described gecko-emulated robot physical construction of claim 1 is characterized in that:
Also comprise transducing part and control part;
Described transducing part is made up of a 2 D force sensor and a micro-nano sensor, or a three-dimensional force sensor;
Described control part is made up of upper computer control system, robot control system and carrier power module;
Adopt wireless communications mode between upper computer control system and the robot control system;
Robot control system is a dcs, by host computer control module, four limbs slave control modules, sensor signal conditioning module, radio receiving transmitting module; Host computer control module links to each other by spi bus with radio receiving transmitting module, partly realizes wireless remote control with PC control;
The carrier power module is entire machine people control system and steering wheel power supply.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201020213245XU CN201777321U (en) | 2010-06-02 | 2010-06-02 | Gecko-imitated robot mechanical structure and robot thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201020213245XU CN201777321U (en) | 2010-06-02 | 2010-06-02 | Gecko-imitated robot mechanical structure and robot thereof |
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| CN201777321U true CN201777321U (en) | 2011-03-30 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101870310A (en) * | 2010-06-02 | 2010-10-27 | 南京航空航天大学 | Gecko-like robot and mechanical structure thereof |
| CN102372041A (en) * | 2011-10-21 | 2012-03-14 | 南京航空航天大学 | IPMC (Ion-exchange polymer-metal composites) based gecko-simulating active driving sole and driving mode |
| CN103979030A (en) * | 2014-05-13 | 2014-08-13 | 上海宇航系统工程研究所 | Gecko-like bionic dry adhering device |
| CN103991487A (en) * | 2014-04-27 | 2014-08-20 | 湘潭大学 | Full-pneumatic vacuum absorption type wall-climbing robot |
| CN104118490A (en) * | 2014-07-08 | 2014-10-29 | 上海交通大学 | Desert quadruped robot imitating lizard |
| CN105128971A (en) * | 2015-09-07 | 2015-12-09 | 南京航空航天大学 | Bionic four-footed wall-climbing robot based on falcula attachment |
| CN107672683A (en) * | 2017-09-27 | 2018-02-09 | 南京航空航天大学 | A kind of bio-robot |
-
2010
- 2010-06-02 CN CN201020213245XU patent/CN201777321U/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101870310A (en) * | 2010-06-02 | 2010-10-27 | 南京航空航天大学 | Gecko-like robot and mechanical structure thereof |
| CN102372041A (en) * | 2011-10-21 | 2012-03-14 | 南京航空航天大学 | IPMC (Ion-exchange polymer-metal composites) based gecko-simulating active driving sole and driving mode |
| CN103991487A (en) * | 2014-04-27 | 2014-08-20 | 湘潭大学 | Full-pneumatic vacuum absorption type wall-climbing robot |
| CN103991487B (en) * | 2014-04-27 | 2016-07-06 | 湘潭大学 | Full Pneumatic vacuum adsorbed wall-climbing robot |
| CN103979030A (en) * | 2014-05-13 | 2014-08-13 | 上海宇航系统工程研究所 | Gecko-like bionic dry adhering device |
| CN103979030B (en) * | 2014-05-13 | 2016-03-30 | 上海宇航系统工程研究所 | The bionical dry adhering device of one kind gecko |
| CN104118490A (en) * | 2014-07-08 | 2014-10-29 | 上海交通大学 | Desert quadruped robot imitating lizard |
| CN105128971A (en) * | 2015-09-07 | 2015-12-09 | 南京航空航天大学 | Bionic four-footed wall-climbing robot based on falcula attachment |
| CN107672683A (en) * | 2017-09-27 | 2018-02-09 | 南京航空航天大学 | A kind of bio-robot |
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| GR01 | Patent grant | ||
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Granted publication date: 20110330 |