CN218703591U - Bionic robot based on lizard walking posture - Google Patents
Bionic robot based on lizard walking posture Download PDFInfo
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- CN218703591U CN218703591U CN202222983971.5U CN202222983971U CN218703591U CN 218703591 U CN218703591 U CN 218703591U CN 202222983971 U CN202222983971 U CN 202222983971U CN 218703591 U CN218703591 U CN 218703591U
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Abstract
A bionic robot based on lizard walking posture solves the problems that the robot is simple in structure, smooth in walking, capable of reducing the height of the bionic robot and the like. The technical scheme is as follows: the method comprises the following steps: a group of separating discs are connected through a central steel cable, a left steel cable and a right steel cable to form a flexible body part. Two end separating discs of the flexible machine body part are respectively flexibly connected with the leg swinging steering engine through a central steel cable, a left steel cable and a right steel cable. The nose portion that swing leg steering wheel connected. The four walking legs are respectively connected with the leg swinging steering engine through leg lifting steering engines. The beneficial effects are that: the bionic robot has simple structure, smooth walking, reduced height, and small walking resistance. Can be widely used in the fields of earthquake relief, military operation, marine environmental protection, scientific research and education.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a lizard-simulated robot structure.
Background
Along with the development of science and technology in a new era, the urbanization process is faster and faster, and the bionic robot is more and more widely applied to the fields of earthquake relief, military operation, marine environmental protection, future education and the like.
The bionic robot has simple structure, smooth walking and reduced height, and is favorable for walking in narrow space, overcoming walking resistance and meeting the special technical requirements for the bionic robot in the rescue process.
SUMMERY OF THE UTILITY MODEL
For solving bionic robot simple structure, walking smoothly, reduce bionic robot height, do benefit to and realize walking, overcome the walking resistance in narrow and small space the utility model discloses a bionic robot based on lizard walking gesture.
The utility model discloses use lizard as the prototype, its body structure is highly resumeed, and relative to the mechanized serious comparison that makes progress of current numerous robot motion gesture hardness in the health motion process, this kind of bionic lizard has improved this problem to a great extent. In order to ensure the flexibility of the movement of the lizard robot, the cooperation between the body structure and the four feet must be strictly considered, and the bionic lizard robot combines the related theories of multiple subjects such as light weight design, mechanical principle, kinematics, friction, material mechanics and the like, and realizes various movements of the lizard through the mechanical structure. The utility model aims to solve the technical problem that a design scheme of bionical lizard robot health and four-footed flexibility is provided, consequently the utility model discloses the firm technique of attacking who takes does: the utility model provides a bionical lizard robot of high reduction, including the flexible body frame as bionical lizard robot and the four limbs of bionical lizard robot, the flexible body frame of bionical lizard robot adopts linear cable drive structure, the motion is accurate, the controllability is good, moreover, the steam generator is simple in structure, it is very suitable to apply it to the flexible body frame of bionical lizard robot, body vertebra part can be regarded as a line in theory, select an endpoint as the benchmark, the wrench movement of arbitrary form can take place for the line, like the lizard of nature generally, the four limbs structure of bionical lizard robot is mirror symmetry for hanging down in the flexible body frame of bionical lizard, its body part also can take place when moving along with the four limbs when moving about, the wrench movement problem that is the S form has been solved completely to bionical lizard' S health wrench movement problem, bionical effect is splendid all.
The utility model discloses the technical scheme who realizes the invention purpose adoption is:
a biomimetic robot based on lizard walking gestures comprising: a body section, walking legs and a head section for mounting video and gripping structures.
The fuselage section includes: a group of separating discs, a central steel cable, a left steel cable, a right steel cable, a leg lifting steering engine and a leg swinging steering engine;
the group of separating discs are sleeved and fixed on the central steel cable, the left steel cable and the right steel cable in position, and the group of separating discs, the central steel cable, the left steel cable and the right steel cable form a flexible machine body part;
two ends of the central steel cable, the left steel cable and the right steel cable are respectively and fixedly connected with the leg swinging steering engine;
the head part is connected with the leg swinging steering engine;
the four walking legs are respectively connected with the leg swinging steering engine through leg lifting steering engines.
The utility model has the advantages that: the bionic robot has simple structure, smooth walking, reduced height, and small walking resistance. Can be widely used in the fields of earthquake relief, military operation, marine environmental protection, scientific research and education.
The present invention will be described in detail with reference to the accompanying drawings.
Drawings
Figure 1 is a theoretical drawing of the flexible body frame of the present invention.
Fig. 2 is a diagram showing the foot end trajectory action of the present invention.
Fig. 3 is a schematic structural view of the utility model in a top view.
Fig. 4 is a partially enlarged schematic view of a portion a of fig. 3.
In the attached drawing, 1-1 part of a separating disc, 1-2 parts of a central steel cable, 1-3 parts of a left steel cable, 1-4 parts of a right steel cable, 1-5 parts of a leg lifting steering engine, 1-51 parts of a leg lifting fixed support, 1-52 parts of a leg lifting rotating support, 1-53 parts of a leg lifting motor, 1-6 parts of a leg swinging steering engine, 1-61 parts of a leg swinging rudder base, 1-62 parts of an electric swing rod, 2 parts of a machine head part, 3 parts of a walking leg and 4 parts of a tail machine body part.
Detailed Description
Referring to the drawings, a biomimetic robot based on a lizard walking gesture comprises: a body section, walking legs and a head section for mounting video and gripping structures.
The fuselage portion include: a group of separating discs 1-1, a central steel cable 1-2, a left steel cable 1-3, a right steel cable 1-4, a leg lifting steering engine 1-5 and a leg swinging steering engine 1-6.
The group of separating discs 1-1 are sleeved and fixed on the central steel cable 1-2, the left steel cable 1-3 and the right steel cable 1-4, and the group of separating discs 1-1, the central steel cable 1-2, the left steel cable 1-3 and the right steel cable 1-4 form a flexible body part.
And two ends of the central steel cable 1-2, the left steel cable 1-3 and the right steel cable 1-4 are respectively and fixedly connected with the leg swing steering engine 1-6.
The head part 2 is connected with the leg swinging steering engine 1-6.
Four walking legs 3 are arranged and are respectively connected with leg swinging steering engines 1-6 through leg lifting steering engines 1-5.
When the bionic robot is used, the leg lifting steering engines 1-5 respectively control lifting or falling of the four walking legs 3, and the leg swinging steering engines 1-6 respectively control swinging of the four walking legs 3, so that the bionic robot can twist and walk left and right in an S shape.
When the leg swing steering engine 1-6 swings to the left side, the left steel cable 1-3 is compressed to be shortened, the right steel cable 1-4 is stretched to be lengthened, the body part is concave to the left to form an S shape, when the leg swing steering engine 1-6 swings to the right side, the left steel cable 1-3 is stretched to be lengthened, the right steel cable 1-4 is compressed to be shortened, the body part is concave to the right to form an S shape, the actions are repeated in a circulating mode, and the bionic robot body part can twist like a lizard body in nature.
In the embodiment of the utility model, swing leg steering wheel 1-6 include: the leg-swinging rudder machine base 1-61 and the electric swing rod 1-62, wherein the electric swing rod 1-62 is arranged on the leg-swinging rudder machine base 1-61.
Lift leg steering wheel 1-5 include: the leg lifting device comprises leg lifting fixed supports 1-51, leg lifting rotating supports 1-52 and leg lifting motors 1-53, wherein the leg lifting motors 1-53 are installed on the leg lifting fixed supports 1-51, output shafts of the leg lifting motors 1-53 are fixedly connected with the leg lifting rotating supports 1-52, the leg lifting fixed supports 1-51 are rotatably connected with the leg lifting rotating supports 1-52, the leg lifting fixed supports 1-51 are connected with one ends of electric swing rods 1-62 in leg swinging steering engines 1-6, and walking legs 3 are connected with the leg lifting rotating supports 1-52.
When the electric swing rod device is used, the electric swing rod 1-62 swings backwards to realize the forward walking of the device in one step, after the forward walking is completed in one step, the leg lifting motor 1-53 rotates to drive the walking leg 3 to lift, and after the electric swing rod 1-62 swings forwards, the leg lifting motor 1-53 rotates to drive the walking leg 3 to fall, the actions are circulated, and the action processes of the leg swinging steering engine 1-6 and the leg lifting steering engine 1-5 are respectively controlled, so that the device can go forward or go back or turn.
Under the control of the leg lifting steering engine 1-5, the walking leg 3 makes forward stepping motion, and the walking leg 3 makes 'leg lifting-leg swinging-falling' motion by combining the twisting motion of the bionic robot body part controlled by the leg swinging steering engine 1-6. The walking gait of the bionic robot is realized like that of a lizard in nature by the cyclic reciprocating. The design theory of the body part of the bionic robot is as follows:
the body part can be theoretically regarded as a line, one end point is selected as a reference point, the line can twist in any shape, like a lizard in the nature, and the body part can twist in different shapes when moving, as shown in the global current situation of fig. 1
The cable length parameter is as follows: l is 1 ，L 2 ，···，L n (ii) a Control point coordinates: p i (x, y, z); configuration parameters are as follows: p(s). The most important principle of the design of the body structure solves the rigidity problem of a frame of a body part of the bionic robot, the force of a tail end control body is very important, the main purpose is to send the control body to a specified position, and the final purpose is to enable the control body to work, so that the rigidity of the body of the continuum robot is very important, and the normal transmission can be realized only by ensuring certain rigidity.
The bionic robot walking leg 3 coordinate system is transformed, the transformation involves the transformation between coordinate systems, as shown in figure 3, when the initial coordinate system is A n Coordinate axis being X n 、Y n 、Z n The transformed coordinate system is A n+l Coordinate axis being X n+1 、Y n+1 、Z n+1 Since the Y-axis is not changed, Y is n And Y n+1 And (4) overlapping. The coordinate system transformation can be decomposed into 4 steps: the coordinate system is initially located in coordinate system A n Around Z n Axis of rotation theta n+1 Let X be n And X n+1 The axes are parallel; coordinate system along Z n Axial translation d n+1 Let X be n And X n+1 The axes are collinear; coordinate system around X n Axis (also X) n+1 Shaft) rotation a n+1 Let Z be n And Z n+1 The axes are parallel; coordinate system along X n Axis (also X) n+1 Axis) translation b n+1 Let Z be n And Z n+1 The axes are collinear. The coordinate system is represented by A n Conversion to A n+1 The transformation matrix is:
where Rot is a rotation matrix, rot (X, theta) represents a rotation angle theta around the X axis; trans is a translation matrix, and Trans (x, y, z) represents the movement distance x, y, z in the direction X, Y, Z.
Wherein the rotation matrix and the translation matrix are as follows:
according to the formulas (1) to (4), a matrix that the initial coordinate system An is transformed to the coordinate system An +1 can be deduced
Parameters under a standard type D-H model can be obtained according to the set joint sizes and coordinate transformation formulas, and are shown in table 1.
TABLE 1D-H parameter coordinates
Wherein H is a first joint coordinate system A 1 To a fixed coordinate system A 0 The distance of (c). L is 1 、L 2 And L 3 Respectively the length of the first, second and third links. Substituting the parameters in the table into formula (5) to obtain a three-degree-of-freedom mechanical leg fixed coordinate system A 0 To the end coordinate system A 3 Is converted into a matrix
Is->
(coordinate System A) 0 To A 1 The switch matrix of), "is greater than or equal to>
(coordinate System A) 1 To A 2 A transition matrix of (c),
(coordinate System A) 2 To A 3 The transformation matrix of (a) is multiplied by (b), and the concrete transformation matrix is:
the embodiment of the utility model provides an in, still include afterbody fuselage portion, afterbody fuselage portion constitute flexible afterbody fuselage portion by a set of partition plate 1-1 through central cable wire 1-2, left cable wire 1-3 and right cable wire 1-4. The flexible tail body part is used for controlling the bionic robot to walk and move manually.
Claims (3)
1. A biomimetic robot based on lizard walking gestures comprising: fuselage part, walking leg and be used for the installation video and snatch the nose portion of structure, its characterized in that:
the fuselage section includes: a group of separating discs (1-1), a central steel cable (1-2), a left steel cable (1-3), a right steel cable (1-4), a leg lifting steering engine (1-5) and a leg swinging steering engine (1-6);
the group of separating discs (1-1) are sleeved and fixed on the central steel cable (1-2), the left steel cable (1-3) and the right steel cable (1-4) in position, and the group of separating discs (1-1), the central steel cable (1-2), the left steel cable (1-3) and the right steel cable (1-4) form a flexible machine body part;
two ends of the central steel cable (1-2), the left steel cable (1-3) and the right steel cable (1-4) are respectively and fixedly connected with the leg swinging steering engine (1-6);
the nose part (2) is connected with a leg swinging steering engine (1-6);
four walking legs (3) are arranged and are respectively connected with the leg swing steering engines (1-6) through leg lifting steering engines (1-5).
2. The lizard walking gesture-based biomimetic robot according to claim 1, wherein:
the leg swinging steering engine (1-6) comprises: the leg-swinging rudder base (1-61) and the electric swing rod (1-62), wherein the electric swing rod (1-62) is arranged on the leg-swinging rudder base (1-61);
lift leg steering wheel (1-5) include: the leg lifting device comprises leg lifting fixed supports (1-51), leg lifting rotating supports (1-52) and leg lifting motors (1-53), wherein the leg lifting motors (1-53) are installed on the leg lifting fixed supports (1-51), output shafts of the leg lifting motors (1-53) are fixedly connected with the leg lifting rotating supports (1-52), the leg lifting fixed supports (1-51) are rotatably connected with the leg lifting rotating supports (1-52), the leg lifting fixed supports (1-51) are connected with one ends of electric swing rods (1-62) in leg swing steering engines (1-6), and walking legs (3) are connected with the leg lifting rotating supports (1-52).
3. The lizard walking gesture-based biomimetic robot according to claim 1, wherein: the flexible tail body part is characterized by further comprising a tail body part (4), wherein the tail body part (4) is formed by sleeving a group of separating discs (1-1) and fixing the separating discs to a central steel cable (1-2) in position.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222983971.5U CN218703591U (en) | 2022-11-08 | 2022-11-08 | Bionic robot based on lizard walking posture |
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| CN202222983971.5U CN218703591U (en) | 2022-11-08 | 2022-11-08 | Bionic robot based on lizard walking posture |
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| Publication Number | Publication Date |
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| CN218703591U true CN218703591U (en) | 2023-03-24 |
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| CN202222983971.5U Active CN218703591U (en) | 2022-11-08 | 2022-11-08 | Bionic robot based on lizard walking posture |
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- 2022-11-08 CN CN202222983971.5U patent/CN218703591U/en active Active
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