CN202378991U - Six-foot walking robot - Google Patents
Six-foot walking robot Download PDFInfo
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- CN202378991U CN202378991U CN2011205643019U CN201120564301U CN202378991U CN 202378991 U CN202378991 U CN 202378991U CN 2011205643019 U CN2011205643019 U CN 2011205643019U CN 201120564301 U CN201120564301 U CN 201120564301U CN 202378991 U CN202378991 U CN 202378991U
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Abstract
The utility model discloses a six-foot walking robot. The conventional walking robot is complex in mechanical structure and high in energy consumption, is complex in control and cannot adapt to environments with complex terrains. The six-foot walking robot comprises a six-foot walking robot mechanical body and a six-foot walking robot control system, wherein the six-foot walking robot mechanical body comprises a frame and robot legs; the frame comprises a machine body and six leg fixing plate groups; the machine body comprises a machine body upper plate and a machine body lower plate; the robot legs have the same structure, each robot leg comprises a rump, a thigh, a crus and a foot, and has three degrees of freedom; the six robot legs are uniformly arranged on two sides of the frame; and the control system comprises a central control unit, an electronic compass, a force sensor, batteries and an encoder. The six-foot walking robot is simple and compact in mechanical structure, high in energy utilization ratio, simple and reliable in control, and superior in flexibility and environment adaptability.
Description
Technical field
The utility model belongs to the Robotics field, is specifically related to a kind of six-legged walking machine device people.
Background technology
That the mode of motion that the mobile robot adopted mainly comprises is wheeled, crawler type, sufficient formula, mode of motion such as hybrid, wherein uses the most extensive with wheeled robot.As everyone knows, wheeled robot has that speed is fast, good stability, advantage such as easy to control, but it is higher to environmental requirement, require state of ground relatively flat, continuously, thereby its application has its limitation.This problem though caterpillar type robot has weakened to a certain extent can not be from overcoming in essence, and is heavy relatively simultaneously and the bigger crawler belt of the area that contacts to earth has brought series of new problems such as destruction face of land original state toward contact.And the polypody walking robot can be on the road surface of injustice stabilized walking, can replace wheeled and caterpillar type robot and accomplish the hauling operation in the complex environment of some unstructuredness.Compare wheeled and crawler-mounted traveling vehicle and mechanism; The polypody walking robot only needs some interrupted, discrete sufficient points that fall; Thereby can be as the animal leaping over obstacles; Through rugged, soft or muddy ground, thereby the polypody walking robot has the stronger adaptive capacity on complicated earth surface, walking, and the research of the polypody walking robot that compatible with environment that it is good and kinematic dexterity make is paid attention to obtaining in a nearly century widely.
Since the eighties in 20th century four feet walking robot that begins one's study such as robotics pioneer, the U.S. famous robot scholar R.B.McGhee, the research of polypody walking robot receives numerous scholars always and pays close attention to.Abroad; Emerged the day by day progressive polypody walking robot of large quantities of technology in recent years; The four feet walking robot TITAN of Shigeo Hirose team of Tokyo polytechnical university; The bionical autonomous robot Rhex of the seminar that Univ Michigan-Ann Arbor USA, Carnegie Mellon University, UC Berkeley University and Canadian McGitl university form; The Silo4 and the Silo6 clearance robot of the IAI research center Gonzalez de Santos team development of Spain CSIC research parliament, the BigDog military robot that Boston Dynamics company releases etc.
At home; Unit such as Changchun Optical and Precise Machinery Inst., Chinese Academy of Science, Shenyang automation research institute of the Chinese Academy of Sciences, Tsing-Hua University, Shanghai Communications University, Harbin Institute of Technology, the Central China University of Science and Technology and universities and colleges have all successively carried out the research of Robotics; And in the development of polypody walking robot technology, also obtained bigger achievement, for example: Changchun Optical and Precise Machinery Inst., Chinese Academy of Science adopts parallelogram and cam mechanism to develop one eight sufficient crab type walking machine; The six-legged walking machine under water that Chinese Academy of Sciences's Shenyang Institute of Automation is succeeded in developing; Tsing-Hua University has developed DTWN frame-type three-leg walking robot and five sufficient climbing level robots; Shanghai transport science and techonologies university research has been developed JTUWM series four-footed walking robot; " 4+2 " polypody walking robot, the MiniQuad restructural polypody walking robot of Central China University of Science and Technology's development.
The polypody walking robot obtains the concern of numerous research institutions because of its outstanding preceence; But there are some problem demanding prompt solutions in existing polypody walking robot, and like complicated in mechanical structure, expenditure of energy is big; Control is complicated, the destructuring environment that incompatibility is with a varied topography, obstacle is grown thickly.Polypody walking robot technology also needs research and lifting further.
Summary of the invention
The purpose of the utility model is to provide a kind of six-legged walking machine device people who overcomes above problem.The utility model is made up of six-legged walking machine device people machinery body and six-legged walking machine device people control system.
Six-legged walking machine device people machinery body comprises frame and robot leg.Frame comprises fuselage and 6 leg adapter plate groups.Fuselage comprises fuselage upper plate and fuselage lower plate, and the fuselage upper plate is positioned at directly over the fuselage lower plate, is distributed with uniformly-spaced laterally zygomorphic hole on fuselage upper plate and the fuselage lower plate, makes things convenient for leg adapter plate group installation site to regulate.A leg adapter plate group comprises two leg adapter plates that structure is identical, and the leg adapter plate is rectangular in shape, and is distributed with equally spaced hole on leg adapter plate and the face that robot leg is threaded, makes things convenient for the robot leg installation site to regulate; The fuselage upper plate is threaded with the upper end of leg adapter plate group, and the fuselage lower plate is threaded with the lower end of leg adapter plate group; Robot leg altogether 6 comprise in first foreleg, second foreleg, first leg, first back leg and second back leg in the leg, second; Every robot leg has three degree of freedom; And structure is identical; Every robot leg is threaded with a leg adapter plate group on the frame, and every robot leg comprises buttocks, thigh, shank and pin.Wherein after the altitude hold of six-legged walking machine device people's first foreleg, second foreleg and first back leg, second back leg, in first in the leg, second height of leg can adjust as required, thereby make six-legged walking machine device person walks more steadily, flexibly.
The buttocks of robot leg comprises first servomotor, first attaching parts and second attaching parts.The first servomotor shell is threaded with leg adapter plate group, and the output shaft of first servomotor is threaded with the fork portion of first attaching parts, the base portion quadrature of the base portion of first attaching parts and second attaching parts and being threaded.The output shaft of first servomotor rotates and drives the motion of first attaching parts, thereby realizes the outer pendulum and the interior pendular motion of robot leg.
The thigh of robot leg comprises second servomotor, first connecting panel, second connecting panel and the 3rd servomotor.The output shaft of second servomotor is threaded with the fork portion of second attaching parts; The shell of second servomotor is connected with the threaded one end of first connecting panel with second connecting panel simultaneously, and the other end of first connecting panel and second connecting panel is connected with the outer casing screw of the 3rd servomotor simultaneously.The output shaft of second servomotor rotates and drives the thigh mass motion, thus the forward swing of realizing the robot thigh and back pendular motion accomplish thigh lift and fall action.
The shank of robot leg comprises that the 3rd attaching parts, first connects cylinder and force gauge.The fork portion of the 3rd attaching parts is threaded with the output shaft of the 3rd servomotor, and the base portion of the 3rd attaching parts is connected cylinder with first threaded one end connects, and the other end of the first connection cylinder is connected with the outer casing screw of force gauge.The output shaft of the 3rd servomotor rotates and drives the motion of the 3rd attaching parts, thereby realizes the forward swing and back pendular motion of robot shank.
The pin of robot leg comprises that second connects cylinder and foot end.One end of the second connection cylinder is connected with the force gauge outer casing screw; The foot end is semisphere; Second connect cylinder the semisphere cross section of the other end and foot end through being threaded, this foot end adopts elastomeric material manufacturing, behind its foot that falls and the non-rigid contact for flexibility contacts of ground; Not only can prevent that six-legged walking machine device people from skidding but also can reduce ground shock when walking, effectively raise the comformability of robot environment.
Six-legged walking machine device people control system comprises central controller, electronic compass, force gauge, battery and coder.Central controller, electronic compass and battery are installed in the upper side of fuselage lower plate, and six force gauges are loaded on respectively on the shank of six robot legs, and coder is that servomotor carries, and itself and servomotor are packaged together.
Battery is that six-legged walking machine device people provides energy in the six-legged walking machine device people control system; Electronic compass is used to measure six-legged walking machine device people's attitude, and the survey result of institute is input in the central controller; Six force gauges are measured the application force between six robot legs and the ground respectively, and the survey result of institute is input in the central controller; Central controller carries out comprehensive analyses to the measurement signal that obtains, and generates corresponding gait control signal then and respectively six robot legs is controlled, thereby make the six-legged walking machine device people coordinated movement of various economic factors.The utility model utilizes the servomotor position feedback of coder and the force feedback of six force gauges, not only can realize six-legged walking machine device people motion closed loop control but also make six-legged walking machine device people have power feeling.
The beneficial effect that the utility model can reach:
(1) adopts the design of servomotor, simplified the physical construction of six-legged walking machine device people leg greatly, make six-legged walking machine device people simple in structure, compact, have higher reliability as a six-legged walking machine device people leg structure part;
(2) adopt imitative mammal leg structure design, six robot legs are made rational planning for and are generated six-legged walking machine device person walks gait, can effectively improve six-legged walking machine device people's capacity usage ratio;
(3) adopt two Height Adjustable designs of middle leg of six-legged walking machine device people; Make six-legged walking machine device people in the process of walking the stressed homogeneity of each bar robot leg improve greatly; Make six-legged walking machine device people whole six-legged walking machine device people's in gaits such as turning sports coordination obtain the actv. raising simultaneously, make six-legged walking machine device people have superior kinematic dexterity;
(4) the utilization central controller is controlled six robot legs respectively; Simultaneously six robot legs of whole six-legged walking machine device people are carried out co-operative control; The task division of labor is clear and definite, harmonious in the central controller; Greatly reduce the control difficulty, improved the reliability of control, thereby can effectively improve the comformability of robot environment.
Description of drawings
The overall structure scheme drawing of Fig. 1 the utility model;
The structural representation of first foreleg of Fig. 2 the utility model.
Among the figure: 1. first foreleg, 2. second foreleg, 3. leg in first, 4. leg, 5. first back leg in second; 6. second foreleg, 7. fuselage upper plate, 8. fuselage lower plate, 9. leg adapter plate group, 10. first servomotor; 11. second servomotor, 12. the 3rd servomotors, 13. first attaching partss, 14. second attaching partss, 15. the 3rd attaching partss; 16. first connecting panel, 17. second connecting panels, 18. first connect cylinder, 19. force gauges, 20. second connect cylinder; 21. the foot end, 22. central controllers, 23. electronic compasss, 24. batteries.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is described further.
As shown in Figure 1, the utility model is made up of six-legged walking machine device people machinery body and six-legged walking machine device people control system.
Six-legged walking machine device people machinery body comprises frame and robot leg.Frame comprises fuselage and 6 leg adapter plate groups.Fuselage comprises fuselage upper plate 7 and fuselage lower plate 8, and fuselage upper plate 7 is positioned at directly over the fuselage lower plate 8, is distributed with uniformly-spaced laterally zygomorphic hole on fuselage upper plate 7 and the fuselage lower plate 8, makes things convenient for leg adapter plate group installation site to regulate.A leg adapter plate group comprises two leg adapter plates that structure is identical, and the leg adapter plate is rectangular in shape, and is distributed with equally spaced hole on leg adapter plate and the face that robot leg is threaded, makes things convenient for the robot leg installation site to regulate; With leg adapter plate group 9 is example, and fuselage upper plate 7 is threaded with the upper end of leg adapter plate group 9, and fuselage lower plate 8 is threaded with the lower end of leg adapter plate group 9; Robot leg altogether 6 comprise in first foreleg 1, second foreleg 2, first leg 4, first back leg 5 and second back leg 6 in the leg 3, second; Every robot leg has three degree of freedom; And structure is identical; Every robot leg is threaded with a leg adapter plate group on the frame, and every robot leg comprises buttocks, thigh, shank and pin.Wherein after the altitude hold of six-legged walking machine device people's first foreleg 1, second foreleg 2 and first back leg 5, second back leg 6; In first in the leg 3, second height of leg 4 can adjust as required, thereby make six-legged walking machine device person walks more steadily, flexibly.
Be that example describes with first foreleg 1 below.
As shown in Figure 2, the buttocks of robot leg comprises first servomotor 10, first attaching parts 13 and second attaching parts 14.First servomotor, 10 shells are threaded with leg adapter plate group, and the output shaft of first servomotor 10 is threaded with the fork portion of first attaching parts 13, the base portion quadrature of the base portion of first attaching parts 13 and second attaching parts 14 and being threaded.The output shaft of first servomotor 10 rotates and drives 13 motions of first attaching parts, thereby realizes the outer pendulum and the interior pendular motion of robot leg.
The thigh of robot leg comprises second servomotor 11, first connecting panel 16, second connecting panel 17 and the 3rd servomotor 12.The output shaft of second servomotor 11 is threaded with the fork portion of second attaching parts 14; The shell of second servomotor 11 is connected with the threaded one end of first connecting panel 16 and second connecting panel 17 simultaneously, and the other end of first connecting panel 16 and second connecting panel 17 is connected with the outer casing screw of the 3rd servomotor 12 simultaneously.The output shaft of second servomotor 11 rotates and drives the thigh mass motion, thus the forward swing of realizing the robot thigh and back pendular motion accomplish thigh lift and fall action.
The shank of robot leg comprises that the 3rd attaching parts 15, first connects cylinder 18 and force gauge 19.The fork portion of the 3rd attaching parts 15 is threaded with the output shaft of the 3rd servomotor 12, and the base portion of the 3rd attaching parts 15 is connected cylinder 18 with first threaded one end connects, and the other end of the first connection cylinder 18 is connected with the outer casing screw of force gauge 19.The output shaft of the 3rd servomotor 12 rotates and drives 15 motions of the 3rd attaching parts, thereby realizes the forward swing and back pendular motion of robot shank.
The pin of robot leg comprises that second connects cylinder 20 and foot end 21.One end of the second connection cylinder 20 is connected with force gauge 19 outer casing screws; Foot end 21 is a semisphere; Second connect cylinder 20 the semisphere cross section of the other end and foot end 21 through being threaded, this foot end adopts elastomeric material manufacturing, behind its foot that falls and the non-rigid contact for flexibility contacts of ground; Not only can prevent that six-legged walking machine device people from skidding but also can reduce ground shock when walking, effectively raise the comformability of robot environment.
Like Fig. 1, shown in 2, six-legged walking machine device people control system comprises central controller 22, electronic compass 23, force gauge 19, battery 24 and coder.Central controller 22, electronic compass 23 and battery 24 are installed in the upper side of fuselage lower plate 8, and six force gauges are loaded on respectively on the shank of six robot legs, and coder is that servomotor carries, and itself and servomotor are packaged together.
Claims (1)
1. six-legged walking machine device people comprises six-legged walking machine device people machinery body and six-legged walking machine device people control system, it is characterized in that:
Six-legged walking machine device people machinery body comprises frame and robot leg, and frame comprises fuselage and 6 leg adapter plate groups; Fuselage comprises fuselage upper plate and fuselage lower plate; The fuselage upper plate is positioned at directly over the fuselage lower plate, is distributed with uniformly-spaced laterally zygomorphic hole on fuselage upper plate and the fuselage lower plate, and a leg adapter plate group comprises two leg adapter plates that structure is identical; The leg adapter plate is rectangular in shape; Be distributed with equally spaced hole on leg adapter plate and the face that robot leg is threaded, the fuselage upper plate is threaded with the upper end of leg adapter plate group, and the fuselage lower plate is threaded with the lower end of leg adapter plate group; Robot leg altogether 6 comprise in first foreleg, second foreleg, first leg, first back leg and second back leg in the leg, second; Every robot leg has three degree of freedom; And structure is identical; Every robot leg is threaded with a leg adapter plate group on the frame, and every robot leg comprises buttocks, thigh, shank and pin;
The buttocks of robot leg comprises first servomotor, first attaching parts and second attaching parts; The first servomotor shell is threaded with leg adapter plate group; The output shaft of first servomotor is threaded with the fork portion of first attaching parts; The base portion quadrature of the base portion of first attaching parts and second attaching parts and being threaded, the output shaft of first servomotor rotates and drives the motion of first attaching parts;
The thigh of robot leg comprises second servomotor, first connecting panel, second connecting panel and the 3rd servomotor; The output shaft of second servomotor is threaded with the fork portion of second attaching parts; The shell of second servomotor is connected with the threaded one end of first connecting panel with second connecting panel simultaneously, and the other end of first connecting panel and second connecting panel is connected with the outer casing screw of the 3rd servomotor simultaneously; The output shaft of second servomotor rotates and drives the thigh mass motion;
The shank of robot leg comprises that the 3rd attaching parts, first connects cylinder and force gauge; The fork portion of the 3rd attaching parts is threaded with the output shaft of the 3rd servomotor, and the base portion of the 3rd attaching parts is connected cylinder with first threaded one end connects, and the other end of the first connection cylinder is connected with the outer casing screw of force gauge; The output shaft of the 3rd servomotor rotates and drives the motion of the 3rd attaching parts;
The pin of robot leg comprises that second connects cylinder and foot end; Second connect cylinder an end is connected with the force gauge outer casing screw, the foot end is semisphere, second connect cylinder the semisphere cross section of the other end and foot end through being threaded, this is sufficient holds the manufacturing of employing elastomeric material;
Six-legged walking machine device people control system comprises central controller, electronic compass, force gauge, battery and coder; Central controller, electronic compass and battery are installed in the upper side of fuselage lower plate; Six force gauges are loaded on respectively on the shank of six robot legs; Coder is that servomotor carries, and itself and servomotor are packaged together, and battery is that six-legged walking machine device people provides energy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205643019U CN202378991U (en) | 2011-12-29 | 2011-12-29 | Six-foot walking robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205643019U CN202378991U (en) | 2011-12-29 | 2011-12-29 | Six-foot walking robot |
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| CN202378991U true CN202378991U (en) | 2012-08-15 |
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| CN2011205643019U Expired - Fee Related CN202378991U (en) | 2011-12-29 | 2011-12-29 | Six-foot walking robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102556198A (en) * | 2011-12-29 | 2012-07-11 | 浙江大学 | Six-foot walking robot |
| CN103481964A (en) * | 2013-09-13 | 2014-01-01 | 北京航空航天大学 | Six-leg walking robot capable of crossing obstacles |
| CN103481963A (en) * | 2013-09-13 | 2014-01-01 | 北京航空航天大学 | Two-stage buffer foot device applicable to obstacle crossing robot |
| CN104444418A (en) * | 2014-11-07 | 2015-03-25 | 上海交通大学 | Novel eighteen-degree-of-freedom robot with bucket |
| CN109533074A (en) * | 2018-11-14 | 2019-03-29 | 西北农林科技大学 | A kind of implementation method of hexapod robot and its gait of keeping straight on |
| CN109703646A (en) * | 2019-01-14 | 2019-05-03 | 南昌大学 | A kind of novel legged type robot device |
| CN109733500A (en) * | 2019-01-28 | 2019-05-10 | 南昌大学 | A kind of restructural hexapod robot device |
| CN112623065A (en) * | 2021-02-04 | 2021-04-09 | 德鲁动力科技(成都)有限公司 | Simple quadruped robot structure |
-
2011
- 2011-12-29 CN CN2011205643019U patent/CN202378991U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102556198A (en) * | 2011-12-29 | 2012-07-11 | 浙江大学 | Six-foot walking robot |
| CN103481964A (en) * | 2013-09-13 | 2014-01-01 | 北京航空航天大学 | Six-leg walking robot capable of crossing obstacles |
| CN103481963A (en) * | 2013-09-13 | 2014-01-01 | 北京航空航天大学 | Two-stage buffer foot device applicable to obstacle crossing robot |
| CN103481964B (en) * | 2013-09-13 | 2015-08-05 | 北京航空航天大学 | A kind of Six-foot walking robot with obstacle climbing ability |
| CN103481963B (en) * | 2013-09-13 | 2016-06-01 | 北京航空航天大学 | A kind of foot device with two-stage buffering being applicable to barrier-surpassing robot |
| CN104444418A (en) * | 2014-11-07 | 2015-03-25 | 上海交通大学 | Novel eighteen-degree-of-freedom robot with bucket |
| CN109533074A (en) * | 2018-11-14 | 2019-03-29 | 西北农林科技大学 | A kind of implementation method of hexapod robot and its gait of keeping straight on |
| CN109703646A (en) * | 2019-01-14 | 2019-05-03 | 南昌大学 | A kind of novel legged type robot device |
| CN109733500A (en) * | 2019-01-28 | 2019-05-10 | 南昌大学 | A kind of restructural hexapod robot device |
| CN109733500B (en) * | 2019-01-28 | 2024-04-05 | 南昌大学 | Reconfigurable hexapod robot device |
| CN112623065A (en) * | 2021-02-04 | 2021-04-09 | 德鲁动力科技(成都)有限公司 | Simple quadruped robot structure |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120815 Termination date: 20141229 |
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| EXPY | Termination of patent right or utility model |