CN209776604U - Four-wheel-foot bionic robot - Google Patents
Four-wheel-foot bionic robot Download PDFInfo
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- CN209776604U CN209776604U CN201920380810.2U CN201920380810U CN209776604U CN 209776604 U CN209776604 U CN 209776604U CN 201920380810 U CN201920380810 U CN 201920380810U CN 209776604 U CN209776604 U CN 209776604U
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Abstract
The utility model relates to a robot field. The technical scheme is as follows: a four-wheel-foot bionic robot is characterized in that: the robot comprises a robot body, four leg executing mechanisms which are symmetrically arranged on two sides of the robot body in a pairwise manner and drive the robot body to move, a camera which is arranged on the front side of the top of the robot body in a manner of collecting image signals of the surrounding environment of the robot body through a base, a six-axis gyroscope which is arranged on the rear side of the top of the robot body in a manner of collecting motion attitude signals of the robot body, two infrared obstacle avoiding modules which are symmetrically arranged on two side faces of the robot body in a manner of collecting signals of obstacles around the robot body, a plurality of distance measuring modules which are arranged on the front portion and the rear portion of the robot body in a manner of collecting distance signals between the obstacles and the robot body, a control module. The bionic robot can automatically plan a running path, realizes autonomous movement of the robot, and has the characteristics of small volume, simple structure, low cost and stable and reliable work.
Description
Technical Field
The utility model relates to a robot field specifically is a four-wheel sufficient bionic robot of many environment of adaptation with image recognition, path planning, autonomous operation.
Background
At present, the demand of robots capable of adapting to complex environments and having autonomous movement capabilities in various fields is increasing. The four-wheel-foot bionic robot combines a wheel type robot and a foot type robot, adopts a mode of installing driving wheels on the legs of the robot, enables the robot to have two driving modes of wheel type driving and foot type driving simultaneously, can adopt wheel type driving to improve the running speed when the robot moves on a stable road surface, can adopt foot type driving to cross obstacles when the robot encounters the obstacles, is a robot which integrates autonomous visual perception, automatically analyzes a path to automatically avoid the obstacles and autonomously moves to a specified position, can adapt to various environments, can be used for related tasks such as emergency rescue and the like. The design of the four-wheel-foot bionic robot covers knowledge of various subjects, including sensor technology, mechanics, electronic control engineering, computer programming technology and excellent achievements in related artificial intelligence, and reflects the leading development level of the current electromechanical integration technology. At present, the domestic research on the four-wheel-foot bionic robot is still in a starting stage, so the method has important significance for the research and design of the four-wheel-foot bionic robot.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a four-wheel-foot bionic robot, this bionic robot can carry out image acquisition to operational environment to carry out discernment processing to the image of gathering, the automatic planning operation route, thereby realize the autonomous movement of robot, and have small, simple structure, with low costs, characteristics that job stabilization is reliable.
the utility model provides a technical scheme is:
A four-wheel-foot bionic robot is characterized in that: the robot comprises a robot body, four leg execution mechanisms, a camera, a six-axis gyroscope, two infrared obstacle avoidance modules, a plurality of distance measurement modules, a control module and a power supply, wherein the four leg execution mechanisms are symmetrically arranged on two sides of the robot body in pairs to drive the robot body to move, the camera is arranged on the front side of the top of the robot body through a base to collect image signals of the surrounding environment of the robot body, the six-axis gyroscope is arranged on the rear side of the top of the robot body to collect movement posture signals of the robot body, the two infrared obstacle avoidance modules are symmetrically arranged on two side surfaces of the robot body to collect signals of obstacles around the robot body, the plurality of distance measurement modules are arranged on the front part and the rear part of; the four leg actuating mechanisms, the camera, the six-axis gyroscope, the two infrared obstacle avoidance modules, the plurality of distance measurement modules and the control module are respectively and electrically connected with a power supply;
The control module comprises four singlechip separation machines which are respectively in one-to-one correspondence with the four leg execution mechanisms, a main singlechip which is electrically connected with the four singlechip separation machines and a microcomputer which is electrically connected with the main singlechip; the camera is connected with the microcomputer through a wireless module; the six-axis gyroscope, the two infrared obstacle avoidance modules and the plurality of distance measurement modules are respectively and electrically connected with the main singlechip through I/O ports;
The four leg executing mechanisms have the same structure; each leg executing mechanism comprises a connecting rod assembly driven by the steering engine group, a stepping motor arranged on the connecting rod assembly, a Mecanum wheel driven by the stepping motor and a driving module electrically connected with the stepping motor to drive the stepping motor to rotate; the driving module is electrically connected with the corresponding wafer separator.
The connecting rod assembly comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod which are sequentially hinged in pairs to form a closed loop; the hinge point of the third connecting rod and the fourth connecting rod is positioned in the middle of the third connecting rod; the tail end of the third connecting rod is provided with the stepping motor.
The steering engine group comprises a first steering engine, a middle block, a second steering engine and a third steering engine, wherein the first steering engine is arranged on the machine body and used for driving the connecting rod assembly to rotate in a plane parallel to the side face of the machine body; the axis of the first steering engine and the axis of the third steering engine are both arranged perpendicular to the side face of the machine body; the axis of the second steering engine is perpendicular to the axis of the first steering engine; and the first steering engine, the second steering engine and the third steering engine are respectively and electrically connected with the corresponding single wafer separating machine.
The camera is hinged on the base in a swinging mode, and a hinged shaft of the camera and the base is parallel to the top surface of the machine body; the base can be rotatably positioned on the machine body around an axis vertical to the top surface of the machine body; a first rotating motor for driving the camera to swing is arranged on the base; the machine body is provided with a second rotating motor for driving the base to rotate; the first rotating motor and the second rotating motor are respectively and electrically connected with the main single chip microcomputer.
And the machine body is also provided with a plurality of searchlights for illumination.
and the single chip microcomputer and the main single chip microcomputer both adopt STM32 single chip microcomputers.
The power supply comprises a 5V power supply and a 12V power supply so as to adapt to the working voltage of each component.
The distance measurement module is one or more of an ultrasonic distance measurement module, an infrared control module or a laser distance measurement module.
The utility model has the advantages that:
1. The utility model discloses a camera can carry out image acquisition to organism surrounding environment to send image signal to microcomputer, microcomputer contrasts the back to the image of receiving and current image model, sends control signal to four minutes mascerators through total singlechip, thereby controls four shank actuating mechanism coordinated actions, realizes the autonomous movement of robot.
2. The utility model discloses a sufficient drive can be realized through control link assembly on the one hand to shank actuating mechanism when meetting the barrier, and wheeled drive is realized to on the other hand accessible control mecanum wheel, guarantees to make the robot carry out the efficient motion according to different environment, improves the multi-environment adaptability of robot.
3. The utility model discloses a mecanum wheel is as the wheel that rolls to every mecanum wheel is controlled by a wafer separator, makes the robot can realize not equidirectional removal under the condition that itself does not turn to, makes things convenient for the robot to move in narrow and small space.
4. The utility model discloses in, infrared obstacle avoidance module can detect the barrier of robot both sides, and distance measuring module can survey the distance between organism front portion and rear portion and the barrier, and infrared obstacle avoidance module and distance measuring module cooperation work to avoid the robot to bump with the barrier when moving; and when the robot moves, the control module can adjust the motion posture of the body at any time according to signals collected by the six-axis gyroscope, correct the shaking of the body when the robot walks, and ensure that the robot moves stably and reliably.
5. the utility model discloses well part of adopting is conventional part, simple structure, can greatly reduced manufacturing cost, is fit for popularizing and applying.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
fig. 2 is a schematic view of the structure of the present invention.
Fig. 3 is a schematic perspective view of the middle leg actuator of the present invention.
Detailed Description
The following further description is made with reference to the embodiments shown in the drawings.
The four-wheel-foot bionic robot shown in fig. 1 and 2 comprises a robot body 1, four leg actuating mechanisms 2, a camera 4, a six-axis gyroscope 5, two infrared obstacle avoidance modules 6, a plurality of (four) distance measurement modules 7, a control module (not shown in the figure) and a power supply (not shown in the figure); the four leg actuating mechanisms, the camera, the six-axis gyroscope, the two infrared obstacle avoidance modules, the plurality of distance measurement modules and the control module are respectively and electrically connected with the power supply. The power supply comprises a 5V power supply and a 12V power supply so as to adapt to the working voltage of each component. The machine body is used for carrying various parts, and the lower part of the machine body is inwards contracted to form a T shape. For convenience of description, the top or top surface of the machine body in this embodiment is the upper portion of the machine body in fig. 2, the side surfaces of the machine body are the left and right sides of the machine body in fig. 2, the front or front side of the machine body is the side facing outward from the vertical paper in fig. 2, and the rear or rear side of the machine body is the side facing inward from the vertical paper in fig. 2.
The control module comprises four singlechip dividers, a general singlechip and a microcomputer. The four wafer separators are respectively connected with the four leg executing mechanisms in a one-to-one correspondence mode, so that one wafer separator is ensured to control one leg executing mechanism. The total singlechip is electrically connected with the four singlechip dividers so as to control the four leg actuating mechanisms to move in a coordinated manner. The microcomputer is used for receiving and storing the signals collected by all the parts, processing the received signals and then controlling all the parts to work coordinately through the main singlechip. And the single chip microcomputer and the main single chip microcomputer both adopt STM32 single chip microcomputers.
As shown in fig. 2 and 3, the four leg actuators have the same structure and are symmetrically arranged on two sides of the machine body; each leg actuator comprises a rudder unit, a linkage assembly, a stepper motor 2-5, a drive module (not shown) and a mecanum wheel 2-6. One end of the driving module is electrically connected with the stepping motor, and the other end of the driving module is electrically connected with the corresponding wafer separator through the I/O port, so that the wafer separator controls the rotating speed and the rotating direction of the stepping motor through the driving module. The Mecanum wheel is fixedly connected with a motor shaft of the stepping motor, so that the stepping motor drives the Mecanum wheel to rotate; and because every shank actuating mechanism is controlled by a wafer separator respectively, consequently can control the rotation and the rotational speed of four mecanum wheels respectively through four wafer separators for the robot realizes the removal of equidirectional under the circumstances that the organism does not turn to, make things convenient for the robot to move in narrow and small space.
The connecting rod assembly comprises a first connecting rod 2-1, a second connecting rod 2-2, a third connecting rod 2-3 and a fourth connecting rod 2-4 which are sequentially hinged end to end in pairs to form a closed loop. The first connecting rod is a driving part and is driven to rotate by the steering engine group; the hinge point of the third connecting rod and the fourth connecting rod is positioned in the middle of the third connecting rod; the tail end of the third connecting rod is provided with the stepping motor.
The steering engine group is used for driving the connecting rod assembly to move and comprises a first steering engine 2-7, a middle block 2-8, a second steering engine 2-9 and a third steering engine 2-10. The first steering engine is arranged on the machine body and used for driving the connecting rod assembly to rotate in a plane parallel to the side face of the machine body; the rotating shaft of the first steering engine is fixedly connected with the middle block. And a rotating shaft of the second steering engine is fixedly connected with the middle block and is used for driving the connecting rod assembly to rotate in a plane vertical to the side face of the machine body. Third steering wheel and the fixed an organic whole of second steering wheel (the utility model discloses as an organic whole with the shell welding of third steering wheel and second steering wheel, as shown in fig. 3) to the axis of rotation and the first connecting rod fixed connection of third steering wheel, so that the first connecting rod of drive rotates. The axis of the first steering engine and the axis of the third steering engine are both arranged perpendicular to the side face of the machine body; and the axis of the second steering engine is perpendicular to the axis of the first steering engine. And the first steering engine, the second steering engine and the third steering engine are respectively electrically connected with the corresponding wafer separators so as to be controlled to rotate by the corresponding wafer separators.
As shown in fig. 1, the camera is mounted on the front side of the top of the body through a base 3 and is used for acquiring an environment image signal around the body. The camera is connected with the microcomputer through the wireless module so as to send the acquired image signal to the microcomputer, and the microcomputer stores and analyzes the acquired image signal and judges the external environment of the body. The camera is hinged on the base in a swinging mode, and a hinge shaft of the camera and the base is parallel to the top surface of the machine body, so that the camera can swing in a plane vertical to the top surface of the machine body; the base is installed on the organism, and the axis of base perpendicular organism bottom surface to the base can rotate around self axis, thereby drives the camera and rotates, guarantees that the camera can gather the image signal of equidirectional not. A first rotating motor (not shown in the figure) for driving the camera to swing is arranged on the base; a second rotating motor (not shown in the figure) for driving the base to rotate is arranged on the machine body; the first rotating motor and the second rotating motor are respectively electrically connected with the main single chip microcomputer so that the main single chip microcomputer can control the rotating angle and the rotating range of the camera.
As shown in fig. 1, two infrared obstacle avoidance modules are symmetrically installed on two side surfaces of the body to collect obstacle signals around the body. The six-axis gyroscope is installed on the rear side of the top of the machine body to collect motion attitude signals of the machine body. The four distance measuring modules are symmetrically arranged in pairs at the front part and the rear part of the machine body (the distance measuring module at the rear part is not shown in the figure) so as to collect distance signals between the front part and the rear part of the machine body and the barrier; the distance measuring module can adopt one or more of an ultrasonic distance measuring module, an infrared control module or a laser distance measuring module. The two infrared obstacle avoidance modules, the six-axis gyroscope and the plurality of distance measurement modules are electrically connected with the main single chip microcomputer through I/O ports respectively.
The body is also provided with a plurality of searchlights (not shown) for lighting.
All the components can be obtained by outsourcing.
The working principle of the utility model is as follows:
When the system works, the two infrared obstacle avoidance modules and the four distance measurement modules work in a matched mode, collected signals are sent to the microcomputer through the main single chip microcomputer, and the camera also sends collected image signals to the microcomputer through the wireless module; if the microcomputer judges that no barrier exists around the machine body, the Mecanum wheel is controlled and driven to move, and the robot is driven by the wheel; if the microcomputer judges that the obstacles exist around the robot body, the microcomputer controls and drives the connecting rod assembly to move, and at the moment, the robot is driven in a foot type, so that the robot is prevented from colliding with the obstacles, and the movement efficiency and multi-environment adaptability of the robot are improved. In addition, in the moving process of the robot, the six-axis gyroscope can monitor and adjust the moving posture of the robot in real time, correct the shaking of the robot body when the robot walks, and ensure the stable and reliable operation of the robot.
Finally, it should be noted that the above-mentioned embodiments illustrate only specific embodiments of the invention. Obviously, the present invention is not limited to the above embodiments, and many variations are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the invention should be considered as within the scope of the invention.
Claims (8)
1. a four-wheel-foot bionic robot is characterized in that: the robot comprises a robot body (1), four leg executing mechanisms (2) which are symmetrically arranged on two sides of the robot body in pairs to drive the robot body to move, a camera (4) which is arranged on the front side of the top of the robot body through a base (3) and is used for collecting image signals of the surrounding environment of the robot body, a six-axis gyroscope (5) which is arranged on the rear side of the top of the robot body and is used for collecting motion attitude signals of the robot body, two infrared obstacle avoiding modules (6) which are symmetrically arranged on two side surfaces of the robot body and are used for collecting signals of obstacles around the robot body, a plurality of distance measuring modules (7) which are arranged on the front part and the rear part of the robot body and are used for collecting distance signals between the obstacles and the robot body, a; the four leg actuating mechanisms, the camera, the six-axis gyroscope, the two infrared obstacle avoidance modules, the plurality of distance measurement modules and the control module are respectively and electrically connected with a power supply;
The control module comprises four singlechip separation machines which are respectively in one-to-one correspondence with the four leg execution mechanisms, a main singlechip which is electrically connected with the four singlechip separation machines and a microcomputer which is electrically connected with the main singlechip; the camera is connected with the microcomputer through a wireless module; the six-axis gyroscope, the two infrared obstacle avoidance modules and the plurality of distance measurement modules are respectively and electrically connected with the main singlechip through I/O ports;
The four leg executing mechanisms have the same structure; each leg executing mechanism comprises a connecting rod assembly driven by the steering engine group, a stepping motor (2-5) arranged on the connecting rod assembly, a Mecanum wheel (2-6) driven by the stepping motor and a driving module electrically connected with the stepping motor to drive the stepping motor to rotate; the driving module is electrically connected with the corresponding wafer separator.
2. The four-wheel-foot biomimetic robot of claim 1, wherein: the connecting rod assembly comprises a first connecting rod (2-1), a second connecting rod (2-2), a third connecting rod (2-3) and a fourth connecting rod (2-4), which are hinged pairwise in sequence and form a closed loop; the hinge point of the third connecting rod and the fourth connecting rod is positioned in the middle of the third connecting rod; the tail end of the third connecting rod is provided with the stepping motor.
3. The four-wheel-foot biomimetic robot of claim 2, wherein: the steering engine group comprises a first steering engine (2-7) which is arranged on the machine body and used for driving the connecting rod assembly to rotate in a plane parallel to the side face of the machine body, a middle block (2-8) which is fixedly connected with a rotating shaft of the first steering engine, a second steering engine (2-9) which is fixedly connected with the rotating shaft and the middle block and used for driving the connecting rod assembly to rotate in a plane vertical to the side face of the machine body, and a third steering engine (2-10) which is fixed with the second steering engine into a whole and used for driving the first connecting rod to rotate; the axis of the first steering engine and the axis of the third steering engine are both arranged perpendicular to the side face of the machine body; the axis of the second steering engine is perpendicular to the axis of the first steering engine; and the first steering engine, the second steering engine and the third steering engine are respectively and electrically connected with the corresponding single wafer separating machine.
4. the four-wheel-foot biomimetic robot according to claim 3, wherein: the camera is hinged on the base in a swinging mode, and a hinged shaft of the camera and the base is parallel to the top surface of the machine body; the base can be rotatably positioned on the machine body around an axis vertical to the top surface of the machine body; a first rotating motor for driving the camera to swing is arranged on the base; the machine body is provided with a second rotating motor for driving the base to rotate; the first rotating motor and the second rotating motor are respectively and electrically connected with the main single chip microcomputer.
5. The four-wheel-foot biomimetic robot of claim 4, wherein: and the machine body is also provided with a plurality of searchlights for illumination.
6. The four-wheel-foot biomimetic robot of claim 5, wherein: and the single chip microcomputer and the main single chip microcomputer both adopt STM32 single chip microcomputers.
7. The four-wheel-foot biomimetic robot of claim 6, wherein: the power supply comprises a 5V power supply and a 12V power supply so as to adapt to the working voltage of each component.
8. The four-wheel-foot biomimetic robot of claim 7, wherein: the distance measurement module is one or more of an ultrasonic distance measurement module, an infrared control module or a laser distance measurement module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920380810.2U CN209776604U (en) | 2019-03-25 | 2019-03-25 | Four-wheel-foot bionic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920380810.2U CN209776604U (en) | 2019-03-25 | 2019-03-25 | Four-wheel-foot bionic robot |
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| Publication Number | Publication Date |
|---|---|
| CN209776604U true CN209776604U (en) | 2019-12-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920380810.2U Expired - Fee Related CN209776604U (en) | 2019-03-25 | 2019-03-25 | Four-wheel-foot bionic robot |
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| Country | Link |
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| CN (1) | CN209776604U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112092940A (en) * | 2020-09-11 | 2020-12-18 | 六安科亚信息科技有限公司 | Crawling software robot |
| CN112372615A (en) * | 2020-10-19 | 2021-02-19 | 无锡文声智能科技有限公司 | Wheel-leg combined type grabbing robot for field survey and grabbing method |
| CN112590966A (en) * | 2021-01-11 | 2021-04-02 | 清华大学 | Wheel-foot type omnidirectional four-foot robot with less degrees of freedom |
| CN113200101A (en) * | 2021-05-07 | 2021-08-03 | 华中师范大学 | Quadruped robot |
| CN113400280A (en) * | 2021-06-22 | 2021-09-17 | 上海应用技术大学 | Robot based on mecanum wheel |
| CN114435500A (en) * | 2022-01-17 | 2022-05-06 | 重庆理工大学 | Balance mobile robot under complex terrain and control method thereof |
| CN114833870A (en) * | 2022-06-08 | 2022-08-02 | 北京哈崎机器人科技有限公司 | Head structure and intelligent robot of robot |
| CN116215690A (en) * | 2022-12-21 | 2023-06-06 | 中兵智能创新研究院有限公司 | Composite wheel-step type robot platform with high explosion dynamic characteristics |
-
2019
- 2019-03-25 CN CN201920380810.2U patent/CN209776604U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112092940A (en) * | 2020-09-11 | 2020-12-18 | 六安科亚信息科技有限公司 | Crawling software robot |
| CN112372615A (en) * | 2020-10-19 | 2021-02-19 | 无锡文声智能科技有限公司 | Wheel-leg combined type grabbing robot for field survey and grabbing method |
| CN112590966A (en) * | 2021-01-11 | 2021-04-02 | 清华大学 | Wheel-foot type omnidirectional four-foot robot with less degrees of freedom |
| CN112590966B (en) * | 2021-01-11 | 2021-10-26 | 清华大学 | Wheel-foot type omnidirectional four-foot robot with less degrees of freedom |
| CN113200101A (en) * | 2021-05-07 | 2021-08-03 | 华中师范大学 | Quadruped robot |
| CN113400280A (en) * | 2021-06-22 | 2021-09-17 | 上海应用技术大学 | Robot based on mecanum wheel |
| CN114435500A (en) * | 2022-01-17 | 2022-05-06 | 重庆理工大学 | Balance mobile robot under complex terrain and control method thereof |
| CN114833870A (en) * | 2022-06-08 | 2022-08-02 | 北京哈崎机器人科技有限公司 | Head structure and intelligent robot of robot |
| CN116215690A (en) * | 2022-12-21 | 2023-06-06 | 中兵智能创新研究院有限公司 | Composite wheel-step type robot platform with high explosion dynamic characteristics |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191213 Termination date: 20210325 |