CN206171602U - Bionical four -footed spider robot - Google Patents
Bionical four -footed spider robot Download PDFInfo
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- CN206171602U CN206171602U CN201621189417.8U CN201621189417U CN206171602U CN 206171602 U CN206171602 U CN 206171602U CN 201621189417 U CN201621189417 U CN 201621189417U CN 206171602 U CN206171602 U CN 206171602U
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- piezoelectric patches
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- clamping device
- bionical
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Abstract
The utility model provides a bionical four -footed spider robot, includes one as somatic body, the body both sides are equipped with shanks that two pairs of symmetries the set up mechanism of crawling, the body front side is equipped with mouth clamping device, the body middle part is equipped with the camera module, mechanism and mouth clamping device are crawled by corresponding piezoelectric patches drive motion to the shank, the shank is crawled the piezoelectric patches group of mechanism, mouth clamping device's vertical piezoelectric patches and horizontal piezoelectric patches, camera module and all is connected with control module. The utility model discloses a mechanism and ground are creeped to the shank has better adhesive force and obstacle climbing ability, can be used to carry the object, can pick the object through mouth clamping device, can carry the destination according to the route of setting for, this holder has 4 degrees of freedom, can not only control the elasticity degree of centre gripping object, can also more have gentle quick nature through the application point of tilting adjustment centre gripping object, the camera module at top can realize rotating, guarantees the wider field of vision of bionical spider robot seizure.
Description
Technical field
The utility model belongs to robot field, is related to a kind of bionical four-footed spider robot driven based on piezoelectric patches.
Background technology
Earth surface is mostly rugged and rough, the road surface that height rises and falls, based on this road conditions, traditional wheel machine structure row
Difficulty is walked, for the not enough robot of organism balance is even it also occur that turning on one's side and affecting normal work.Therefore, design a kind of
The mechanical mechanism that can adapt to roughness pavement and complicated landform is just particularly important.The walking mould of nature reptile
Formula after the evolution of 1,100 can high level adapt to the road surface of complicated change, reptile can safely navigate within nature
Boundary depends primarily on the skeletal architecture and leg structure of itself.In order to study life entity structure and can apply in robot, mould
The robot for intending biological motion mechanism obtains broader applications, and bionics synthesis obtain the concern of more and more people, become one
New branch of science.
Robot move mode has wheeled, crawler type and leg foot formula.Wheeled and crawler type is obtained in each field of living
Extensively application, and leg foot formula is also in the continuous rising stage broken through, also many innovative points can be exploited.Leg foot formula has front
Two kinds of move modes do not have the advantage that Tui Zu formulas travel mechanism has multiple degrees of freedom, and motion has more flexibility, can be easier
Leaping over obstacles object, has stronger adaptability to complicated landform.At present, robot ambulation can be strengthened based on even number bar leg steady
Qualitative the characteristics of, more in the robot research of leg to have biped, four-footed, Hexapod Robot, four-footed has more preferably compared with biped
Stability and carry body ability；Compared to six foots, structure is simpler, practicality is higher, from system and controller
Design considering, leg quantitative design is a good selection into four-footed.
The content of the invention
The utility model provide a kind of visual field it is wide, can carry an object, the flexible bionical four-footed spider robot of motion.
The technical solution adopted in the utility model is：
A kind of bionical four-footed spider robot, it is characterised in that：Including one as body body, the body both sides set
There are two pairs of symmetrically arranged leg climbing mechanisms, the body front side is provided with mouth clamping device, and the body middle part is provided with to be taken the photograph
As head module；
The leg climbing mechanism is a four-bar linkage that linkage is driven by piezoelectric patches, and it includes being hinged on body
Horizontally disposed frame bar, the inner of the frame bar is hinged with the first side link arranged on perpendicular, its outer end hinge
The second side link arranged on perpendicular is connected to, the upper end of second side link is after the warp architecture of an outward bending
Leg, is connected, first side link, the second frame linking between first side link and the bending place of the second side link by connecting rod
It is mounted on producing the symmetrically arranged piezoelectric patches group that moment of flexure drives corresponding component action on bar and frame bar；
The mouth clamping device includes the fixed mount being connected with body, and rear plate is hinged with the fixed mount, described
The vertical piezoelectric patches for arranging perpendicular to the ground for driving its closure or opening, the front end of the rear plate are installed on the outside of rear plate
It is connected with by its drive closure or the front plate for opening, driving is provided with the upside of the front plate, and it rotates upwardly and downwardly adjustment clamping
The horizontal piezoelectric patches that the parallel ground of position is arranged；
The camera module includes the rotatable platform for being installed on bodies top and the camera being installed on rotatable platform,
The rotatable platform includes rotatable round platform and is fixed on round platform upper supporting piece, and the camera is fixed on support member；
The piezoelectric patches group of the leg climbing mechanism, the vertical piezoelectric patches of mouth clamping device and horizontal piezoelectric patches, rotation
Platform and camera are connected with control module.Climbing mechanism design in leg of the present utility model is based on four-bar linkage mould
Type, has more preferable adhesive force and obstacle climbing ability compared to wheeled and crawler type, and ground, can be used for carry an object；By mouth
Portion's clamping device can capture object, and according to the path of setting destination can be transported to, and the clamper has 4 frees degree, can not only
The tightness of control clamping object, moreover it is possible to by the application point for rotating upwardly and downwardly adjustment clamping object, with more soft quick property；Top
Camera module can realize rotating, it is ensured that bionical spider robot catches the wider array of visual field.
Further, the control module includes a maincenter control module, is connected with vision in the maincenter control module
Reason module and motion-control module, the motion-control module and rotatable platform, the piezoelectric patches group of leg climbing mechanism, mouth folder
The vertical piezoelectric patches and horizontal piezoelectric patches connection of device is held, the vision processing module is connected with camera.
Further, on the frame bar piezoelectric patches group be arranged on frame bar before and after on both sides, first side link and
Piezoelectric patches group on second side link is separately mounted on the left and right sides of the first side link and the second side link.The utility model
The lift leg that leg climbing mechanism is realized by the piezoelectric patches group on the first side link and the second side link puts leg action, by machine
Piezoelectric patches group is swung to the rear the forward swing of realizing leg climbing mechanism on hack lever.
Further, the support member includes the support bar of a fixing camera, and the support bar is fixed on round platform, described
Round platform is fixedly connected by many root posts with disk.
The beneficial effects of the utility model：
1st, wall scroll foot structure adopts four-bar linkage model, is hinged between four rod units, rotary damping
Little, more flexibility, torque transmission efficiency is high, can reach the torque requirement of swing of leg.
2nd, mouth clamper has 4 frees degree, can not only control the tightness for clamping object, moreover it is possible to by rotating upwardly and downwardly
The application point of adjustment clamping object, more flexibility.
3rd, top is provided with camera rotatable platform, and the addition of disk can realize the rotation of whole camera platform, so as to
The identification region for selecting camera optimal.
Description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is climbing mechanism structural representation in leg of the present utility model.
Fig. 3 is mouth clamping device structural representation of the present utility model.
Fig. 4 is the structural representation of camera module of the present utility model.
Fig. 5 is circuit theory diagrams of the present utility model.
Specific embodiment
The utility model is further described with reference to specific embodiment, but does not limit to the utility model
In these specific embodiments.One skilled in the art would recognize that the utility model is covered in Claims scope
All alternatives, improvement project and the equivalents for being potentially included.
Referring to Fig. 1-5, a kind of bionical four-footed spider robot, including one as body body 5, the both sides of the body 5
Two pairs of symmetrically arranged leg climbing mechanisms 1 and 4,2 and 3 are provided with, the front side of the body 5 is provided with mouth clamping device 10, described
The middle part of body 5 is provided with camera module 11；
The leg climbing mechanism is a four-bar linkage that linkage is driven by piezoelectric patches, and it includes being hinged on body 5
On horizontally disposed frame bar 6, the inner of the frame bar 6 is hinged with the first side link 7 arranged on perpendicular, outside it
End is hinged with the second side link 9 arranged on perpendicular, and the upper end of second side link 9 is the bending knot of an outward bending
The back leg of structure, is connected, first side link between the bending place of the side link 9 of first side link 7 and second by connecting rod 8
7th, it is mounted on producing the symmetrically arranged piezoelectric patches that moment of flexure drives corresponding component action on the second frame linking 9 and frame bar 6
Group；
The mouth clamping device 10 includes the fixed mount 14 being connected with body 5, presss from both sides after being hinged with the fixed mount 14
Plate 13, the outside of the rear plate 13 is provided with the vertical piezoelectric patches for arranging perpendicular to the ground for driving its closure or opening, described
The front end of rear plate 13 is connected with by its drive closure or the front plate 12 for opening, and the upside of the front plate 12 is provided with driving
The horizontal piezoelectric patches that its parallel ground for rotating upwardly and downwardly adjustment clip position is arranged；
The camera module 11 includes the rotatable platform for being installed on the top of body 5 and the shooting being installed on rotatable platform
19, the rotatable platform includes rotatable round platform 15 and is fixed on the upper supporting piece of round platform 15, and the camera 19 is fixed on
On support member；
The piezoelectric patches group of the leg climbing mechanism, the vertical piezoelectric patches of mouth clamping device 10 and horizontal piezoelectric patches, turn
Moving platform and camera 19 are connected with control module.Climbing mechanism design in leg of the present utility model is based on four-bar linkage
Model, has more preferable adhesive force and obstacle climbing ability compared to wheeled and crawler type, and ground, can be used for carry an object；Pass through
Mouth clamping device 10 can capture object, and according to the path of setting destination can be transported to, and the clamper has 4 frees degree, no
It is only capable of controlling the tightness of clamping object, moreover it is possible to by the application point for rotating upwardly and downwardly adjustment clamping object, with more soft quick property；
The camera module 11 at top can be realized rotating, it is ensured that bionical spider robot catches the wider array of visual field.
Control module described in the present embodiment includes a maincenter control module, is connected with vision in the maincenter control module
Reason module and motion-control module, the motion-control module and rotatable platform, the piezoelectric patches group of leg climbing mechanism, mouth folder
The vertical piezoelectric patches and horizontal piezoelectric patches connection of device is held, the vision processing module is connected with camera.
Piezoelectric patches group is arranged on the both sides in front and back of frame bar on frame bar 6 described in the present embodiment, first side link 7
It is separately mounted on the left and right sides of the first side link and the second side link with the piezoelectric patches group on the second side link 9.This practicality
The new piezoelectric patches group by the first side link 7 and the second side link 9 puts leg action come the lift leg for realizing leg climbing mechanism,
The forward swing for realizing leg climbing mechanism by piezoelectric patches group on frame bar 6 is swung to the rear.
Support member described in the present embodiment includes the support bar 18 of a fixing camera, and the support bar 18 is fixed on round platform 17
On, the round platform 17 is fixedly connected by many root posts 16 with disk 15.
As shown in Fig. 2 single leg climbing mechanism reference plane four-bar mechanism model and design, by frame bar 6, first connect
Hack lever 7, connecting rod 8, the second side link 9 are constituted, the bent body portion that the second side link 9 is stretched out as bionical spider back leg, after
Leg can realize the crawling exercises of bionical spider, and four bars are coupled to each other by hinge arrangement, can effectively transmit torque and drive back leg fortune
It is dynamic.And utilize piezoelectric ceramic piece（PZT）To drive leg exercise, under voltage control, frame bar 6 is acted in C groups piezoelectric patches
Under can realize swing campaign, drive leg to move forward；In A, B group piezoelectric patches on first side link 7 and the second side link 9
Roll motion can be done under effect, raising and whereabouts for leg is driven.Move forward and backward together single leg climbing mechanism is completed
When, bionical spider can make body turn left or deflect certain angle toward right direction to realize by two foots interaction generation moments of flexure
Towards the walking of different directions.
Such as Fig. 2, the utility model marches forward will realize lift leg vertically upward and horizontal forward two actions of leg advanced in years, lift
Leg motion is to apply forward voltage signal to B groups piezoelectric patches on A groups piezoelectric patches on the first side link 7 and the second side link 9 so that
The left piezoelectric patches upper surface of A groups is shunk, and lower surface elongation is so that the first side link 7 produces a moment of flexure counterclockwise；In A
Apply and left piezoelectric patches polarity identical voltage on the right piezoelectric patches of group so that right piezoelectric patches upper surface is shunk, lower surface elongation,
Drive the first side link 7 also to produce a moment of flexure counterclockwise upwards, drive the first side link 7 to rotate counterclockwise.Connect first
Under hack lever 7 drives, torque counterclockwise can be passed to the second side link 9 by connecting rod 8, while applying and A group polarity to B groups piezoelectric patches
Identical voltage so that the two panels piezoelectric patches of B groups all produces corresponding strain, drives the second side link 9 to rotate counterclockwise, and is connected in
Back leg on second side link 9 can just lift certain altitude in the case where the second side link 9 is rotated counterclockwise, and realize lift leg action.
After lifting leg, it is desirable to have step the action of leg forward.Apply forward voltage signal to frame bar 6 so that C group piezoelectricity
Piece elongated motivation hack lever 6 produces moment of flexure forward, and frame bar 6 can forward swing and drive whole piece leg to move forward.
And then leg have horizontal direction receive leg and vertical direction put two actions of leg, return to relative to body
Initial position.As shown in Fig. 2 applying reversely electricity to B groups piezoelectric patches on A groups piezoelectric patches on the first side link 7 and the second side link 9
Pressure signal so that two groups of piezoelectric patches produce strain and drive the first side link 7 and the second side link 9 to produce clockwise moment of flexure, band
Dynamic back leg is fallen after rise until contacting with ground.To apply reverse voltage signal to C groups piezoelectric patches on frame bar 6 simultaneously, frame bar 6 exists
Piezoelectric patches effect is lower to be produced moment of flexure backward and drives whole piece leg to move backward.So one leg just completes " lift leg-front
Put-put leg-rear pendulum " process of a cycle motion, four legs drive bionical spider whole by the periodic motion for going round and beginning again
Individual body is moved forward.
Bionical spider requires that the motion towards different directions can be realized when mobile, on the basis for realizing forward-reverse motion
On, need to deflect the motion realized towards different directions plus turning left or turning right.Bionical spider has four legs, is tied by two legs
Close and form a torque, two torques can be produced altogether to realize whole body rotations certain angle.As shown in figure 1, working as bionical spider
Spider will turn left when deflecting, and to A, B group piezoelectric patches on leg 1 forward voltage is applied, and realize lift leg motion, then give the applying of C groups piezoelectric patches
Forward voltage, realization swings forward, and to A, B group piezoelectric patches on leg 3 forward voltage is applied, and realizes lift leg motion, then gives C group piezoelectricity
Piece applies negative voltage, and realization swings backward, and the tandem mutual motion of leg 1, leg 3 produces a torque counterclockwise；Equally
Ground, to A, B group piezoelectric patches on leg 2 forward voltage is applied, and realizes lift leg motion, then applies forward voltage to C groups piezoelectric patches, is realized
Swing forward, to A, B group piezoelectric patches on leg 4 forward voltage is applied, realize lift leg motion, then apply negative sense electricity to C groups piezoelectric patches
Pressure, realization swings backward, and the tandem mutual motion of leg 2, leg 4 also produces a torque counterclockwise, turns counterclockwise at two
Bionical spider just can turn left deflection under square effect.
It is the same that bionical spider is turned right and rotates with the principle of rotation of turning left, and simply the different combined situation in leg is realizing
The torque of different directions.As shown in figure 1, to realize turning right, to A, B group piezoelectric patches on leg climbing mechanism 4 forward voltage is applied,
Lift leg motion is realized, then applies forward voltage to C groups piezoelectric patches, realization swings forward, presses to A, B group on leg climbing mechanism 2
Electric piece applies forward voltage, realizes lift leg motion, then applies negative voltage to C groups piezoelectric patches, and realization swings backward, and leg is creeped
Mechanism 4, the tandem mutual motion of leg climbing mechanism 2 produce a clockwise torque；Similarly, leg climbing mechanism is given
A, B group piezoelectric patches applies forward voltage on 3, realizes lift leg motion, then applies forward voltage to C groups piezoelectric patches, realizes toward forward swing
It is dynamic, apply forward voltage to A, B group piezoelectric patches on leg climbing mechanism 1, lift leg motion is realized, then apply negative to C groups piezoelectric patches
To voltage, realization swings backward, and also generation one is suitable for the tandem mutual motion of leg climbing mechanism 3, leg climbing mechanism 1
Hour hands torque, bionical spider just can turn right deflection under the effect of two clockwise torques.
It is necessary to give its topmost purposes after bionical spider basic exercise function is realized, the utility model purpose exists
Can so be accomplished by adding mouth clamping device 10 for carry an object in bionical spider is allowed.As shown in figure 3, mouth clamping dress
Putting 10 has front plate 12, rear plate 13 and a fixed mount 14, mouth clamping device 10 open with closure will by rear plate 13 come
Realize, driven using the vertical piezoelectric patches being pasted onto on rear plate 13, the vertical piezoelectric patches on rear plate 13 is along vertical
In the directional spreding on ground, when forward voltage is applied to two vertical piezoelectric patches, because vertical piezoelectric patches is distributed in rear plate
Outside, forward voltage causes vertical piezoelectric patches to extend, and drives two pieces of rear plates 13 to extend, but due to the end of rear plate 13 is solid
Fixed, a moment of flexure inward can be produced so that two pieces of closures of rear plate 13 are clamped, and can thus clamp target object；Together
Reason applies negative voltage, two pieces of opened with certain angle of rear plate 13.Horizontal piezoelectric patches on front plate 12 is along parallel to ground
Directional spreding, is pasted onto the upper surface of front plate 12, receives can the horizontal piezoelectric patches outer surface of two panels when applying negative voltage is given
Contracting, drives front plate 12 to shorten, and produces a moment of flexure upwards, drives two pieces of front plates 12 up to rotate；Two pieces of front plates 12
Rotating down can apply forward voltage realization by the flat piezoelectric patches of feedwater.It is to determine clamping that front plate 12 is rotated down upwards
The optimum application point of of object.
Bionical spider has can capture the sheet of object afterwards, and with greater need for there is a pair of " eyes " position of target object is determined
Put, based on this just one camera rotatable platform in the top design of body 5, the platform is that to carry camera 19 by disk 15 real
Now rotate, also include accessory, such as column 16, round platform 17, support bar 18.Disk rotational can enable camera to possess
Broader visual angle is determining object space.
Claims (4)
1. a kind of bionical four-footed spider robot, it is characterised in that：Including one as body body, the body both sides are provided with
Two pairs of symmetrically arranged leg climbing mechanisms, the body front side is provided with mouth clamping device, and the body middle part is provided with shooting
Head module；
The leg climbing mechanism is a four-bar linkage that linkage is driven by piezoelectric patches, and it includes the water being hinged on body
The flat frame bar for arranging, the inner of the frame bar is hinged with the first side link arranged on perpendicular, and its outer end is hinged with
The second side link arranged on perpendicular, the upper end of second side link is the back leg of the warp architecture of an outward bending,
Between first side link and the bending place of the second side link by connecting rod connect, first side link, the second side link,
And be mounted on producing the symmetrically arranged piezoelectric patches group that moment of flexure drives corresponding component action on frame bar；
The mouth clamping device includes the fixed mount being connected with body, and rear plate, the rear folder are hinged with the fixed mount
The vertical piezoelectric patches for arranging perpendicular to the ground for driving its closure or opening, the front end connection of the rear plate are installed on the outside of plate
Have by its drive closure or the front plate for opening, driving is provided with the upside of the front plate, and it rotates upwardly and downwardly adjustment clip position
Parallel ground arrange horizontal piezoelectric patches；
The camera module includes the rotatable platform for being installed on bodies top and the camera being installed on rotatable platform, described
Rotatable platform includes rotatable round platform and is fixed on round platform upper supporting piece, and the camera is fixed on support member；
The piezoelectric patches group of the leg climbing mechanism, the vertical piezoelectric patches of mouth clamping device and horizontal piezoelectric patches, rotatable platform
It is connected with control module with camera.
2. a kind of bionical four-footed spider robot according to claim 1, it is characterised in that：The control module includes one
Maincenter control module, is connected with vision processing module and motion-control module, the motion control in the maincenter control module
Module connects with rotatable platform, the piezoelectric patches group of leg climbing mechanism, the vertical piezoelectric patches of mouth clamping device and horizontal piezoelectric patches
Connect, the vision processing module is connected with camera.
3. a kind of bionical four-footed spider robot according to claim 1, it is characterised in that：Piezoelectric patches on the frame bar
On both sides before and after frame bar, piezoelectric patches group on first side link and the second side link is separately mounted to the to group
On the left and right sides of one side link and the second side link.
4. a kind of bionical four-footed spider robot according to one of claim 1 ~ 3, it is characterised in that：The support member bag
The support bar of a fixing camera is included, the support bar is fixed on round platform, and the round platform is fixed by many root posts and disk
Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621189417.8U CN206171602U (en) | 2016-11-04 | 2016-11-04 | Bionical four -footed spider robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621189417.8U CN206171602U (en) | 2016-11-04 | 2016-11-04 | Bionical four -footed spider robot |
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| Publication Number | Publication Date |
|---|---|
| CN206171602U true CN206171602U (en) | 2017-05-17 |
Family
ID=58681304
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621189417.8U Withdrawn - After Issue CN206171602U (en) | 2016-11-04 | 2016-11-04 | Bionical four -footed spider robot |
Country Status (1)
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| CN (1) | CN206171602U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106542017A (en) * | 2016-11-04 | 2017-03-29 | 宁波大学 | A kind of bionical four-footed spider robot |
| CN108438088A (en) * | 2018-05-02 | 2018-08-24 | 南京航空航天大学 | Imitative ant foot pad structure and robot with adaptivity and movement technique |
| CN110972717A (en) * | 2019-11-27 | 2020-04-10 | 中国科学院长春光学精密机械与物理研究所 | Flexible picking robot |
| CN111483533A (en) * | 2020-06-16 | 2020-08-04 | 山东大学 | Omnidirectional movement bionic quadruped robot with variable configuration |
| CN113800413A (en) * | 2021-09-10 | 2021-12-17 | 广东电网有限责任公司 | High-altitude operation robot |
| CN114044062A (en) * | 2021-11-18 | 2022-02-15 | 长春工业大学 | Paper folding crawling robot based on two-rod tensioning mechanism |
| CN115352549A (en) * | 2022-05-27 | 2022-11-18 | 程达 | Multifunctional hexapod bionic robot based on metamorphic mechanism |
-
2016
- 2016-11-04 CN CN201621189417.8U patent/CN206171602U/en not_active Withdrawn - After Issue
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106542017A (en) * | 2016-11-04 | 2017-03-29 | 宁波大学 | A kind of bionical four-footed spider robot |
| CN106542017B (en) * | 2016-11-04 | 2018-10-23 | 宁波大学 | A kind of bionical four-footed spider robot |
| CN108438088A (en) * | 2018-05-02 | 2018-08-24 | 南京航空航天大学 | Imitative ant foot pad structure and robot with adaptivity and movement technique |
| CN108438088B (en) * | 2018-05-02 | 2023-09-26 | 南京航空航天大学 | Motion method of robot with adaptive ant-like foot pad structure |
| CN110972717A (en) * | 2019-11-27 | 2020-04-10 | 中国科学院长春光学精密机械与物理研究所 | Flexible picking robot |
| CN111483533A (en) * | 2020-06-16 | 2020-08-04 | 山东大学 | Omnidirectional movement bionic quadruped robot with variable configuration |
| CN113800413A (en) * | 2021-09-10 | 2021-12-17 | 广东电网有限责任公司 | High-altitude operation robot |
| CN114044062A (en) * | 2021-11-18 | 2022-02-15 | 长春工业大学 | Paper folding crawling robot based on two-rod tensioning mechanism |
| CN115352549A (en) * | 2022-05-27 | 2022-11-18 | 程达 | Multifunctional hexapod bionic robot based on metamorphic mechanism |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170517 Effective date of abandoning: 20181023 |
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| AV01 | Patent right actively abandoned |