CN207683654U - A kind of imitative tortoise time item pendulum shin coupling turning robot - Google Patents
A kind of imitative tortoise time item pendulum shin coupling turning robot Download PDFInfo
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- CN207683654U CN207683654U CN201820007364.6U CN201820007364U CN207683654U CN 207683654 U CN207683654 U CN 207683654U CN 201820007364 U CN201820007364 U CN 201820007364U CN 207683654 U CN207683654 U CN 207683654U
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Abstract
Item pendulum shin, which is returned, the utility model is related to a kind of imitative tortoise couples turning robot, the robot includes intelligent control part and mechanical body part, intelligent control part is with stc12c5a60s2 microcontrollers center in order to control, with ultrasonic sensor and infrared sensor jointly for detection part, using online adaptive weighted fusion algorithm technology, accurate range estimation is obtained；The mechanical body part includes body, neck neck and leg, neck immediately ahead of body, and the right and left has two symmetrical wheel legs, every wheel leg to share three degree of freedom respectively, and the end of leg is equipped with wheel, and there are one servos controls for each joint；The utility model is more preferable using the common strength of the strength and shell, leg that rely on neck steering engine, quickly realizes the overturning of tortoise；The increase of the shell preferably safety of protection complete machine and reliability, substantially increase the efficiency of overturning.
Description
Technical field
The utility model is related to robot field, specifically a kind of imitative tortoise returns item pendulum shin and couples turning robot.
Background technology
Walking mechanism includes mainly legged at present（Sufficient formula）, wheeled, crawler type, the mechanisms such as creeping-type and creeping motion type.Wheel
The advantages of formula movement climbing mechanism is that speed is fast, control is simple, flexibility is good；The disadvantage is that contact area is small, obstacle climbing ability is poor, suitable
Answering property is poor.The advantages of legged mobile robot be can not only walk on flat ground and also can the walking on rugged ground, also
Fricton-tight complete and one-way movement can be done；But legged mobile robot its stable gait planning relatively difficult to achieve and stable equilibrium's control
System, movement velocity is relatively low with energy efficiency, and legged mobile robot is generally heavier, complicated.Therefore someone's utility model
A kind of wheel robot leg, but this robot but easily inclines when encountering the complicated landforms such as rugged slope or gully
It turns over, makes robot cisco unity malfunction.
In the Nature, Chelonian is a kind of common there is a situation where backs towards can be turned over by itself strength behind ground
The animal turned.Hungary scientist by Chelonian carapace carry out Geometric Modeling discovery, green turtle in the case where carapace lands,
It is touchdown point that head is against ground by original place with strong neck, itself is turned.Higher Testudo elongata carapace is in vault type, is borrowed
The geometric features (generally by original place whipping head and four limbs) of gravity and turtle shell are helped to overturn body.In conjunction with the overturning of Chelonian
Process, it is found that Chelonian successfully realizes the characteristic of overturning：1. in switching process, inevitable there are one supporting points to be propped up
Support provides brace foundation for overturning, and green turtle is supported by head, and Testudo elongata back is high, and practical also there is provided supports； ②
Necessarily have a process of rotation, green turtle by neck firmly, realize body rotation, and Testudo elongata carrys out reality by whipping head and four limbs
Appear the rotation of body.Therefore, it takes a hint from the research of Chelonian pose recovery process, designs one kind for supporting and rotating
The mechanism of function, to realize the overturning of robot.
Mobile robot detects the barrier in its ambient enviroment on one side, is moved forward on one side to complete scheduled task.
If the range-measurement system of robot is only single sensor (being, for example, ultrasonic sensor), in order to reliably detect barrier
Distance, it may be necessary to same position is repeatedly detected, this will take some time, and not due to robot
Stop it is mobile so that front and back result of detection differs greatly, and will be impacted in this way to being accurately positioned for barrier.
Utility model content
The purpose of this utility model is to provide a kind of imitative tortoise automatic turning machine people, for later quadruped robot overturning and
Mobile research provides basis.
In order to solve the above technical problems, the technical solution adopted in the utility model is：
A kind of imitative tortoise time item pendulum shin coupling turning robot, which includes intelligent control part and mechanical body portion
Point, intelligent control part is total with ultrasonic sensor and infrared sensor with stc12c5a60s2 microcontrollers center in order to control
It is all detection part, using online adaptive weighted fusion algorithm technology, obtains accurate range estimation；The mechanical body
Part includes body, neck neck and leg, body front neck, and the right and left has two symmetrical wheel legs respectively, often
Wheel leg shares three degree of freedom, and the end of leg is equipped with wheel, and there are one servos controls for each joint.
The stc12c5a60s2 single-chip microcomputer outputs connect steering engine controller, and steering engine controller output controls on neck
Steering engine on structure leg identical with four and the wheel being connected with leg steering engine, further include for before body, lower section ranging
Ultrasonic wave and infrared ray obstacle avoidance system.
The wheel leg includes leg I, leg II, leg III and leg IV, and leg I is equipped with steering engine, steering engine, steering engineAnd
Steering engine, leg II is equipped with steering engine Ⅸ, steering engine Ⅹ, steering engine Ⅺ and steering engine Ⅻ, and leg III is equipped with steering engine V, steering engine, steering engine
VII and steering engine VIII, leg IV is equipped with steering engine, steering engine, steering engineAnd steering engine, the steering engine on each adjacent segment
Between be equipped with connecting platform.
The neck neck is equipped with steering engine I, steering engine II, steering engine III and steering engine IV, and end is equipped with platform.
The beneficial effects of the utility model：
Imitative tortoise provided by the utility model returns item pendulum shin and couples turning robot, using the power by neck steering engine
Amount and shell, leg it is common strength it is more preferable, quickly realize the overturning of tortoise；The increase of shell preferably protection complete machine
Safety and reliability substantially increase the efficiency of overturning.In addition, being jointly with ultrasonic sensor and infrared sensor
Detection part obtains more accurate range estimation using online adaptive weighted fusion algorithm technology, solves previous generation
Signal cross-talk problem；
Robot provided by the utility model can imitate the whole overturning that tortoise itself switching mechanism realizes body, work as body
When in dumping condition, item pendulum shin flip-flop movement can be carried out back automatically, is independently turned over by constantly changing robot pose center of gravity
Turn, quickly adjust oneself state, basis is provided is restored to normal row for the theoretical research in machinery bionic system related application field
Walk posture；Imitative tortoise forward movement, when road conditions are flatter, robot is in wheel type movement state and quickly moves, when road conditions are more rugged
Qu Shi robots are in leg formula motion state crawling exercises, and the utility model accurately coordinates without operator's trick height,
Operated without real-time tracking, and if robot advance during encounter topple over situation when can automatic turning, smoothly
The target for reaching setting, improves the intelligence of robot.
Description of the drawings
Fig. 1 the utility model overall structure diagrams；
Fig. 2 the utility model rollover states schematic diagrames；
Fig. 3 the utility model running on wheels status diagrams；
Fig. 4 the utility model leg formula motion state schematic diagrames；
Fig. 5 the utility model neck neck structural schematic diagrams；
Fig. 6 the utility model leg structure schematic diagrames；
Reference numeral：1, steering engine I, 2, steering engine II, 3, steering engine III, 4, steering engine IV, 5, platform, 6, steering engine V, 7, steering engine,
8, steering engine VII, 9, steering engine VIII, 10, wheel I, 11, steering engine Ⅸ, 12, steering engine Ⅹ, 13, steering engine Ⅺ, 14, steering engine Ⅻ, 15, wheel II,
16, steering engine, 17, steering engine, 18, steering engine, 19, steering engine, 20, wheel III, 21, steering engine, 22, steering engine, 23, steering engine, 24, steering engine, 25, wheel IV, 26, preceding ultrasonic sensor and infrared sensor, 27, under
Ultrasonic sensor and infrared sensor, 28, single layer fixed plate, 29, leg root steering engine and upper joint steering engine connecting platform,
30, upper joint steering engine and hypozygal steering engine connecting platform, 31, hypozygal steering engine and ankle-joint steering engine connecting platform, 32, imitative tortoise
Shell.
Specific implementation mode
The utility model is further elaborated With reference to embodiment.
As shown in the figure：A kind of imitative tortoise time item pendulum shin coupling turning robot, it is characterised in that：The robot includes intelligence
Control section and mechanical body part, intelligent control part are passed with stc12c5a60s2 microcontrollers center in order to control with ultrasonic wave
Sensor and infrared sensor are jointly detection part, using online adaptive weighted fusion algorithm technology, obtain accurately away from
From estimated value；The mechanical body part includes body, neck neck and leg, and neck immediately ahead of body, the right and left has respectively
Two symmetrical wheel legs, every wheel leg share three degree of freedom, and the end of leg is equipped with wheel, there are one each joint is equal
Stc12c5a60s2 single-chip microcomputer outputs described in servos control connect steering engine controller, and steering engine controller output controls on neck
Steering engine on structure leg identical with four and the wheel being connected with leg steering engine, further include for before body, lower section ranging
Ultrasonic wave and infrared ray obstacle avoidance system；The wheel leg includes leg I, leg II, leg III and leg IV, and leg I is equipped with steering engine, steering engine, steering engineAnd steering engine, leg II is equipped with steering engine Ⅸ, steering engine Ⅹ, steering engine Ⅺ and steering engine Ⅻ, and leg III is equipped with steering engine
V, steering engine, steering engine VII and steering engine VIII, leg IV is equipped with steering engine, steering engine, steering engineAnd steering engine, each phase
Connecting platform is equipped between steering engine on adjacent joint；The neck neck is equipped with steering engine I 1, steering engine II 2, steering engine III 3 and steering engine IV 4,
And end is equipped with platform 5.
When abdominal ultrasonic wave sensor and infrared sensor 26 detect that robot is in tilt state, pass through letter
Breath is conveyed to the steering engine that steering engine controller control switching mechanism makes and carries out overturning instruction.Its switching mechanism operative mechanism is：It sends
Instruction 1 rotates clockwise steering engine V 6 and rotate steering wheel counterclockwise Ⅸ 11, then suitable simultaneously（It is inverse）Where hour hands rotation of leg I and leg II
Steering engine7, steering engine VII 8, steering engine Ⅹ 12, that Ⅺ 13 certain angle of steering engine keeps its in alignment is identical as body front-rear direction, adjust
Whole leg III and IV place steering engine of leg make to roll up and make wheel one end close to abdomen, and the stress of body is made to concentrate on shell top, leg I in this way
With these three positions of leg II, rotating steering engine I 1 at this time makes neck swaying direction in IV side of leg III and leg, steering engine II 2, steering engine III
3, steering engine IV 4 is in the side direction rotation outside the shell, make platform 5 land support entire body make body left and right directions with again
Force direction θ at a certain angle, makes that load born by engine body concentrates on platform 5 and turtle shell closes on one side of ground in this way, and the angles θ constantly reduce straight
It to 0 ~ 15 °, is hereafter totally turned over by body its own gravity to realize, restores proper motion posture.
When detecting that road conditions are relatively flat positioned at ultrasonic sensor below body and infrared sensor, start to take turns
Formula moves, and rotates clockwise steering engine steering engine V 6, steering engine21 and rotate steering wheel counterclockwise Ⅸ 11, steering engine16, make preceding two
On leg and rear two legs straight line in the horizontal direction, steering engine is adjusted7, steering engine VII 8, steering engine Ⅹ 12, steering engine Ⅺ 13, steering engine17, steering engine18, steering engine22, steering engine23 make leg with ground at plumbness, then rotate clockwise rudder
Machine VIII 9, steering engine Ⅻ 14, steering engine19, steering engine24, which start 360 ° of continuous rotations, drives body to fast forward through.
When detecting that road conditions are rugged and rough positioned at ultrasonic sensor below body and infrared sensor, cut automatically
It is changed to leg formula diagonal motion, action is：Send 1 rotate steering wheel steering engine VIII 9 counterclockwise of instruction, steering engine Ⅻ 14, steering engine19、
Steering engine24 make wheel, at Maximum Contact area state, send instruction 2 with ground and rotate clockwise steering engine7 certain angles make
Leg I is lifted away from ground, while rotating clockwise V 6 certain angle of steering engine makes I advance certain distance of leg, another mistake hour hands rotate rudder
Machine7 certain angles make leg I land, then send same instructions 3 to its III same position steering engine of diagonal leg, and sending instruction 4 makes rudder
Machine steering engine Ⅸ 11, steering engine21 rotate counterclockwise equal angular simultaneously, achieve the effect that body advances a distance, to leg
II and leg IV send and complete another pair angular motion work with 1,2 identical program instructions 5 of instruction and make body in advance a distance, so change
For a complete leg formula motion process, this process of repetition can advance.
The utility model using by neck steering engine strength and shell, leg it is common strength it is more preferable, faster
Realize the overturning of tortoise in ground；The increase of the shell preferably safety of protection complete machine and reliability, substantially increase overturning
Efficiency.In addition, being melted using online adaptive weighted data jointly for detection part with ultrasonic sensor and infrared sensor
Conjunction technology obtains more accurate range estimation, solves the problems, such as the signal cross-talk generated in the past.
Robot provided by the utility model can imitate the whole overturning that tortoise itself switching mechanism realizes body, work as body
When in dumping condition, item pendulum shin flip-flop movement can be carried out back automatically, is independently turned over by constantly changing robot pose center of gravity
Turn, quickly adjust oneself state, basis is provided is restored to normal row for the theoretical research in machinery bionic system related application field
Walk posture；Imitative tortoise forward movement, when road conditions are flatter, robot is in wheel type movement state and quickly moves, when road conditions are more rugged
Qu Shi robots are in leg formula motion state crawling exercises, and the utility model accurately coordinates without operator's trick height,
Operated without real-time tracking, and if robot advance during encounter topple over situation when can automatic turning, smoothly
The target for reaching setting, improves the intelligence of robot.
Claims (4)
1. a kind of imitative tortoise returns item pendulum shin and couples turning robot, it is characterised in that：The robot include intelligent control part and
Mechanical body part, intelligent control part is with stc12c5a60s2 microcontrollers center in order to control, with ultrasonic sensor and infrared
Line sensor is that detection part obtains accurate range estimation using online adaptive weighted fusion algorithm technology jointly；Institute
It includes body, neck neck and leg to state mechanical body part, and neck immediately ahead of body, the right and left has symmetrical two respectively
Wheel leg, every wheel leg share three degree of freedom, and the end of leg is equipped with wheel, and there are one servos controls for each joint.
2. imitative tortoise returns item pendulum shin and couples turning robot as described in claim 1, it is characterised in that：It is described
Stc12c5a60s2 single-chip microcomputer outputs connect steering engine controller, and steering engine controller output controls knot identical with four on neck
Steering engine on structure leg and the wheel being connected with leg steering engine, further include for before body, the ultrasonic wave of lower section ranging and infrared
Line obstacle avoidance system.
3. imitative tortoise returns item pendulum shin and couples turning robot as described in claim 1, it is characterised in that：The wheel leg includes leg
I, leg II, leg III and leg IV, leg I are equipped with steering engine, steering engine, steering engineAnd steering engine, leg II is equipped with steering engine
Ⅸ, steering engine Ⅹ, steering engine Ⅺ and steering engine Ⅻ, leg III are equipped with steering engine V, steering engine, steering engine VII and steering engine VIII, leg IV is equipped with rudder
Machine, steering engine, steering engineAnd steering engine, connecting platform is equipped between the steering engine on each adjacent segment.
4. imitative tortoise returns item pendulum shin and couples turning robot as described in claim 1, it is characterised in that：The neck neck is equipped with
Steering engine I, steering engine II, steering engine III and steering engine IV, and end is equipped with platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820007364.6U CN207683654U (en) | 2018-01-03 | 2018-01-03 | A kind of imitative tortoise time item pendulum shin coupling turning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820007364.6U CN207683654U (en) | 2018-01-03 | 2018-01-03 | A kind of imitative tortoise time item pendulum shin coupling turning robot |
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| CN207683654U true CN207683654U (en) | 2018-08-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820007364.6U Active CN207683654U (en) | 2018-01-03 | 2018-01-03 | A kind of imitative tortoise time item pendulum shin coupling turning robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107933733A (en) * | 2018-01-03 | 2018-04-20 | 河南科技大学 | A kind of imitative tortoise returns item pendulum shin coupling turning robot |
| CN109940620A (en) * | 2019-04-15 | 2019-06-28 | 于傲泽 | A kind of Intelligent exploration robot and its control method |
-
2018
- 2018-01-03 CN CN201820007364.6U patent/CN207683654U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107933733A (en) * | 2018-01-03 | 2018-04-20 | 河南科技大学 | A kind of imitative tortoise returns item pendulum shin coupling turning robot |
| CN107933733B (en) * | 2018-01-03 | 2023-09-01 | 河南科技大学 | Turtle-return-imitating swing-shank coupling overturning robot |
| CN109940620A (en) * | 2019-04-15 | 2019-06-28 | 于傲泽 | A kind of Intelligent exploration robot and its control method |
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