CN101353064A - Ground to wall transition wall gecko-intimating robot - Google Patents
Ground to wall transition wall gecko-intimating robot Download PDFInfo
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Abstract
The invention relates to a ground wall transition robot imitating a wall lizard, which adopts a manner of crawling on all fours and consists of a mechanical part and a circuit part. The mechanical part comprises a body and four legs, is divided into two parts in a completely symmetric manner with interchangeability; the two parts are connected by sliding part; each joint is driven by steering engine; the position of paw is designed into a damping joint, which provides a fixed position for the paw joint when suspending, and angles can be adjusted according to the condition of the wall surface when adsorbing, so as to adapt to varied conditions of the wall surface; the robot realizes the ground wall transition in a transitional walking manner, and the ground wall transition can be realized by the combined of the pitching action of the body and the change of the foothold position of a single foot; the motion control of the robot adopts a master-slave control structure, wherein, a host computer takes charge of the algorithm operation relevant to the gait planning of the robot, and meanwhile sends out orders to a slave computer at certain frequency, then the slave computer receives the orders of the host computer and makes corresponding responses, thus completing the output of the control information of the driver and sending relevant operation state information of the robot back to the host computer; the host computer and the slave computer are communicated by a 232 serial port.
Description
Technical field
The present invention relates to a kind of micro robot-ground to wall transition wall gecko-intimating robot, be mainly used in anti-terrorism, rescue, head defendance, fields such as public and national security such as extraordinary investigation.
Background technology
The imitative gecko climbing robot that can creep on vertical wall and top ceiling as gecko is that present bio-robot circle in the world compares one of the hot issue in forward position.
Along with climbing robot constantly the widening of aspect field of applications such as civilian, military, space flight, on performance, higher expectation-realize automatically transition walking between phase cross surface (as ground one wall, wall one wall, wall one top etc.) is proposed for it.In order to realize this requirement, the two kinds of climbing robot experimental prototypes that can realize ground one wall transition walking appear in recent years, and mechanism's pattern is respectively distortion frame-type and more piece wheel formula.But these two kinds of patterns are not owing to possess the sufficient mechanism of individual drive, the comformability deficiency of wall shape, and the span ability of manoevreability and non-regular obstacle is relatively poor, in order to overcome these shortcomings, can think that the polypody wall climbing mechanism will be a kind ofly to select preferably.
Can realize on the stable basis of creeping, ground at gecko-emulated robot, carry out the planning of ground to the metope transient mode, can expand the range of movement of gecko-emulated robot and the variety of motion, provide possibility for widely gecko-emulated robot being applied to practice.
First generation gecko-emulated robot, number of patent application is 200610114771.9, adopts sufficient formula to creep, and can realize turning action by rational gait planning, but it is only limited on the ground and creeps, and can't realize that ground arrives the transitional movement of metope.
Gecko-emulated robot of the present invention can be expanded the range of movement of gecko-emulated robot and the variety of motion realizing carrying out the planning of ground to the metope transient mode on the stable basis of creeping, ground.
Summary of the invention
Technology of the present invention is dealt with problems: overcome the deficiencies in the prior art, a kind of ground to wall transition wall gecko-intimating robot is provided, this robot can realize in climbing the wall process that ground creeps to the transition of metope, and the sole that produces adsorption affinity in the robot crawling process does not relatively move with wall.
Technical solution of the present invention: ground to wall transition wall gecko-intimating robot, adopt the Four-feet creeping mode, form by mechanics and control part, working portion and back working portion before described mechanics is divided into, and two-part structure is symmetry fully, has interchangeability, working portion or back working portion are respectively by the robot health before described, two soles and two legs constitute, every leg is by the big leg joint of three controllable degrees of freedom, calf joint and leg root joint are formed, the two ends of each big leg joint, all be hingedly connected together between one end in one end of calf joint and leg root joint by steering wheel, each joint all adopts steering wheel to drive, the other end of each calf joint is connected with sole, and the other end in each leg root joint is connected with the robot health; Described control part comprises: upper computer, micro controller system, number switch control circuit, steering wheel, power supply and be positioned at two suckers on the sole, and it is characterized in that: front and back two parts of described mechanics link together by moving sets; Described two soles adopt the damping articulation structure, and the fixed position is arranged when making sole unsettled, can freely adjust angle during absorption, to adapt to different wall conditions; Control part adopts the master slave control structure, upper computer is finished the relevant algorithm computing of robot's gait planning, and with certain frequency to the lower computer transmitting control commands, micro controller system is according to the order output PWM Waveform Control steering wheel corner size of upper computer, finish control information output to steering wheel, signal according to the sensor output that is installed in the sole place feeds back relevant robot running state information to upper computer simultaneously, again by the motion control of chip microcontroller to steering wheel, thereby realize the gait planning that ground wall transition needs, reach and make mechanics finish ground wall transition, wall is climbed up in described ground wall transition i.e. two forelegs, two back legs are alternately walked and are made health press close to wall gradually then, last two back legs stick metope, finish ground wall transition.
The realization of described ground wall transition is made up of two kinds of motions: monopodia changes the luffing of health under the two sufficient adsorbed states on foothold position and the diagonal line under the tripodia adsorbed state, promptly the sufficient invariant position of two absorption utilizes and lifts the increase that the leg joint motion realizes the health pitch angle.
In the damping joint at described sole place, ball joint bearing is installed in the cover by holding screw, cover is connected with shank, the axle interference is installed in the bearing, the sole sorbing material is connected with axle, in ball joint bearing, add the friction powder, increase friction coefficient, its deadweight can't overcome friction when unsettled to make sole, sole and wall can freely be adjusted the spherical joint angle according to the wall situation in the process that contacts absorption like this, are fixed on the function that certain angle has been realized the damping joint but then can't overcome the bearing internal friction owing to conducting oneself with dignity when unsettled.
Described moving sets is slided in the aluminium cover as line slideway by the thick stainless steel sheet of 8mm and realizes, add the thick copper sheet of 2mm as friction material between steel plate and the aluminium cover, thereby the power of reducing friction, stainless steel sheet one end is fixed in half body before the robot by holding screw, the aluminium cover by holding screw be fixed on robot at the lower body bearing.
Adopt 232 serial ports to communicate between described upper computer and the micro controller system machine, upper computer adopts Labview to finish the upper computer control system program design, realize the output of robot control signal, the time gap that order is upgraded is 0.1s, realizes the timing that order is upgraded with the timing circulation.
The present invention is with the advantage that first generation gecko-emulated robot technology is compared:
(1) gecko-emulated robot of the present invention is by two kinds of motions---and monopodia changes on foothold position and the diagonal line under the two sufficient adsorbed states increase of health pitch angle and can realize that ground creeps to the transition of metope under the tripodia adsorbed state, and first generation robot can only be realized ground-surface rectilinear creeping and turning.
(2) sole adopts the damping articulation structure, lockable position when lifting pin, but free adjustment joint position during kiss the earth makes more liberalization of sole activity, and robot can have abundant attitude to adapt to complicated terrain environment.
(3) adopt moving sets to connect the length variations of coordinating robot's health when ground wall transition, avoid mechanism to cross constraint, thereby avoid adsorbing the bigger tangential internal stress of generation between foot and the adherent surface, destroy sole material and robot body steadiness.
(4) sensor installation on the sole utilizes feedback signal to drive joint steering wheel time-out and rotation by PC control, sole can fully be adsorbed on the adherent surface, thereby well keep mechanism stability.
(5) upper computer is finished the upper computer control system program design with Labview, realize the output of robot control signal, the time gap that order is upgraded is 0.1s, with the regularly timing of circulation realization order renewal, design by program of lower computer, realization is to the motion control of steering wheel, thereby the control mechanics is finished ground wall transition according to the gait of being planned.
Description of drawings
Fig. 1 is the main TV structure scheme drawing of the mechanics of robot of the present invention;
Fig. 2 is a robot health moving sets structural representation of the present invention;
Fig. 3 is that sole of the present invention adopts damping articulation structure scheme drawing;
Fig. 4 is the body posture figure of robot of the present invention;
Fig. 5 is the math modeling in the robot transient process of the present invention;
Fig. 6 is the diagonal line gait of robot of the present invention;
The body posture figure of Fig. 7 robot of the present invention;
The body posture figure of Fig. 8 robot of the present invention;
The body posture figure of Fig. 9 robot of the present invention;
Figure 10 ground of the present invention wall transition step diagram of circuit;
Figure 11 circuit part of the present invention;
Figure 12 pc control procedure of the present invention interface;
Figure 13 program of lower computer overview flow chart of the present invention.
The specific embodiment
As shown in Figure 1, gecko-emulated robot of the present invention adopts the Four-feet creeping mode, and it is made up of mechanics and circuit part.Working portion and back working portion before mechanics is divided into, two-part structure is symmetry fully, has interchangeability.Before working portion and back working portion constitute by robot health 9, four 1,2,3,4 and four soles of leg respectively, four soles adopt the damping articulation structure, the fixed position is arranged when making sole unsettled, can freely adjust angle during absorption, to adapt to different wall conditions; Every leg is made up of big leg joint 6, calf joint 7 and the leg root joint 5 of three controllable degrees of freedom, all be hingedly connected together between one end in one end of the two ends of each big leg joint 6, calf joint 7 and leg root joint 5 by steering wheel 10, each joint all adopts steering wheel 10 to drive, the other end of each calf joint 7 is connected with sole, and the other end in each leg root joint 5 is connected with robot health 9.Totally 3 steering wheels on every leg among the present invention, 4 legs are totally 12 steering wheels.Preceding working portion and back working portion link together by moving sets 8.
As shown in Figure 2, moving sets 8 is that the stainless steel sheet 14 of 8mm overlaps the realization of sliding in 12 as line slideway at aluminium by thickness, left and right sides wall and upper wall add the thick copper sheet 11 of 2mm in the aluminium cover, contact with copper sheet 11 when stainless steel sheet 14 is moved in aluminium cover 12, thereby reduce friction.In aluminium cover upper wall and the punching of left and right sides wall, the tightening screw 13 of packing into can be adjusted the pressure size between copper sheet 11 and the stainless steel sheet 14 like this, thereby controls friction force size when sliding.Stainless steel sheet 14 1 ends are fixed in half body before the robot by holding screw 13, and the aluminium cover is fixed in the robot lower body by holding screw 13.
As shown in Figure 3, the sole place adopts the damping joint to be installed in the cover 19 by holding screw 17 by spherical joint bearing 16, and cover 19 is connected with shank, and axle 15 interference are installed in the bearing 16, and the sole sorbing material is connected with axle 15.Add the friction powder in the spherical joint bearing, increase friction coefficient, its deadweight can't overcome friction when unsettled to make sole.Like this, sole and wall can freely be adjusted the spherical joint angle according to the wall situation in the process that contacts absorption, are fixed on certain angle but then can't overcome the bearing internal friction owing to conducting oneself with dignity when unsettled, have realized the function in damping joint.
The transition principle:
The transition of robot is creeped and is made up of two kinds of motions---and monopodia changes the increase of health pitch angle under the two sufficient adsorbed states on foothold position and the diagonal line under the tripodia adsorbed state.Under the tripodia adsorbed state, free foot belongs to the open kinematic chain end, and under abandoned condition, degree of freedom is 6, therefore can require rationally to adjust its foothold position according to suffered restraint condition of reality and gait planning.
As shown in Figure 4, two sufficient adsorbed states are adjusted the health pitch angle down on the diagonal line, and promptly the front foot on the diagonal line is adsorbed on the wall, metapedes absorption on the ground, the locking foreleg lift leg joint, be driving with the leg joint of lifting of back leg, adjust body posture, make health upright gradually.The commentaries on classics leg joint on all joints and the absorption foot is failure to actuate on the two legs at free foot place at this moment, and driving number is 1, and the degree of freedom that is got mechanism by the freedom calculation formula also is 1, and number is identical with driving.
This motion can realize the increase of health pitch angle, makes health upright gradually, but requires back leg and health plane to keep certain angle, and this just need increase the position, foothold that the back constantly changes metapedes at the health pitch angle.In order to increase the stability of robot, all the other tripodias were all taked adsorbed state when monopodia changed the position, foothold.Can release thus, the above-mentioned two kinds of motions of alternate cycles can realize the upright gradually of robot health.
In the ground wall transient process, the track of health barycenter should be dull ascendant trend, and avoids fluctuating up and down as far as possible, and is less with consumption of energy.Need are repeatedly adjusted body posture could realize upright situation, when the current adjustment process of planning, should consider the possibility that adjust along favourable body erect direction next time.
Posture analysis:
As shown in Figure 5, be adsorbed on wall respectively and ground is example with leg 2,4, the body posture of setting up in the mathematics model analysis transient process changes.
The parallel ground of x direction, and vertical with metope, i.e. the gecko-emulated robot direction of creeping on the ground, y direction vertical ground, and parallel, i.e. the creep direction of robot on wall, θ with metope
1Be the ground-surface relatively leaning angle of health, i.e. the pitch angle of health, θ
2Lift the angle that the relative health of leg joint plane turns over for back leg, its size is set according to gait planning.l
1Be the length after the foreleg elongation on the diagonal line, l
3Be the length after the back leg elongation on the diagonal line, l
2It is body length.
The coordinate of the body centre of this model is:
From formula (1) as can be seen, at θ
1In the process that increases, x
0' reduce y
0' increase, body centre's track is dull to rise.
From formula (2) as can be seen, at θ
1In the process that increases, E reduces, and H increases, and back leg foot end edge-x direction (near wall) moves, and foreleg foot end edge+y helps body erect adjustment next time to moving.
Gait planning:
The ground wall transition of gecko-emulated robot mainly is divided into three processes:
(a) two forelegs are climbed up wall, and the beginning transition is creeped;
(b) two back legs are to the alternately walking of wall direction, and health is upright gradually;
(c) back leg is climbed up wall, finishes ground wall transition.
A. a foreleg is climbed up wall, and the beginning transition is creeped.
As shown in Figure 6, gecko-emulated robot adopts simple diagonal line gait when creeping on ground, the crawling process of robot may be summarized to be leg and lifts---leg swing---motion sequence that pin falls wherein represents that with stain sole is in adsorbed state, and blank spot represents that sole is in vacant state.
It is 90 ° that the leg angle is lifted in setting, and the swinging kick angle is 45 °.
An orbit period is finished, and robot is S in the straight-line displacement of x direction
1,
S
1/2＝lsin(θ/2)(3)
L is a robot thigh length, and θ is the swinging kick angle of big leg joint.
With step 1 among Fig. 6 is example, when front end body and wall apart from E '＜S
1/ 2, when carrying out step 2, leg 2 does not have enough activity spaces in the x direction, lift and extend after can not fall to the ground again, but can contact with wall and adsorb, as shown in Figure 7.
According to the change order at diagonal line gait foothold among Fig. 6, cancel the adsorption affinity of 1,3 foot, 2,4 foots become the absorption foot.
As shown in Figure 8, with other movable joint lockings, the leg joint steering wheel of lifting with leg 4 is driving, just can realize the increase of health pitch angle, simultaneously unsettled leg 3 motions in back are subjected to ground and interfere in the body erect process, can be by the swinging kick joint motions, its thigh overlapped with shank lifting the leg joint place, thereby approximately regard it as point.At this moment, health and four legs are in the same plane, and in conjunction with analysis above, it is the same that robot adopts the diagonal line gait to creep with adopting the diagonal line gait principle of creeping on the ground in this plane.With reference to the step 4 among Fig. 6, leg 1 lifts 90 ° and elongation, and the swinging kick joint motions of leg 2,4 draw in S with health along x ' direction
1/ 2, as step 5 among Fig. 6.Equally, when falling, leg 1 can be adsorbed onto wall, foothold and ground-surface distance H
1Foothold and ground-surface distance H greater than leg 2
2, for the upright adjustment of health provides condition, as shown in Figure 9.
The leg 3 that will be in contraction state is stretched to and leg 4 same length, just adsorbs ground.
At this moment, two forelegs all are positioned on the wall, and set up procedure is finished, and begin to carry out ground wall transition.
B. a back leg is to the alternately walking of wall direction, and health is upright gradually.
With reference to Fig. 9, cancel 2,4 adsorption affinity, 1,3 foot becomes the absorption foot, for avoiding interfering, earlier with leg 3 withdrawals, the leg joint of lifting with leg 3 is driving, and health and leg are pulled in the same plane, and leg 2 lifts the back elongation and falls, adsorb with wall, because its extended length is identical with leg 1, so the foothold ground height is identical, promptly y direction position is identical.This moment, leg 1,2,3 was a supporting leg, and leg 4 is unsettled.
(1) leg 4 relative health planes is clockwise rotated angle θ
2, elongation back and ground absorption, extended length is lifted leg joint and ground distance decision by body posture and back leg.
(2) cancel 1,3 adsorption affinity, 2,4 become supporting leg.For avoiding interfering, earlier with leg 3 withdrawals.
(3) lifting leg joint with leg 4 is driving, adjusts body posture.Make leg 1,2,4 become supporting leg, and leg 3 is unsettled.
(1) leg 3 relative health planes is clockwise rotated angle θ
2, elongation back and ground absorption.
(2) cancel 2,4 adsorption affinitys, 1,3 becomes supporting leg.For avoiding interfering, earlier with leg 4 withdrawals.
(3) lifting leg joint with leg 4 is driving, adjusts body posture, makes leg 1,2, and 3 become supporting leg, and leg 4 is unsettled.
Article two, so alternately walking of back leg, health is upright gradually.
C. leg is climbed up wall, finishes ground wall transition.
As shown in Figure 5, the unsettled leg 3 in back is that basic point strides to lift leg joint each time, the displacement that produces on the x direction
S
2＝H′ctg(π-θ
1-θ
2)+H′ctgθ
1 (4)
And
H′＝l
3sin(π-θ
1-θ
2)(5)
Can get
S
2＝l
3cos(π-θ
1-θ
2)+l
3sin(π-θ
1-θ
2)ctgθ
1 (6)
When lifting leg joint and wall apart from E '＜S
2The time, will fall on the wall and absorption after back leg 3 elongations.Cancel 2,4 adsorption affinitys, 1,3 becomes supporting leg, and lifting the leg joint steering wheel with leg 3 then is driving, adjusts body posture, for avoiding interfering, earlier with leg 4 withdrawals.
Because three legs have all dropped on the wall, adjust attitude specifically after health all parallel with four legs with wall, so far finish ground wall transition, robot continues employing diagonal line gait and creeps on wall.
Overall flow figure as shown in figure 10.
Be circuit part of the present invention as shown in figure 11, comprise: micro controller system 25, number switch control circuit 24, steering wheel 10, be installed in the sensor 20 on the sole, be positioned at the sucker 21 on the sole, power supply 22 and upper computer 23, upper computer 23 is connected with micro controller system 25 by UART or RS232 interface, power supply 22 is respectively single chip circuit 25, electromagnet and 12 steering wheels 10 provide power supply on the sucker 22, upper computer 23 sends control command, after micro controller system 25 receives this control command by serial ports, the corner size of 12 steering wheels 10 of its 12 road I/O mouth, 12 PWM Waveform Control of output, reach the gait of control robot, 4 road I/O of micro controller system 25 reach the absorption and the release of sucker 22 on the control robot sole 7 as the break-make of sole adsorption affinity control port output control figure switch circuit 24 simultaneously.
The master slave control structure is adopted in the motion control of robot, upper computer is finished the relevant algorithm computing of robot's gait planning, and send order to lower computer with certain frequency, lower computer is accepted the order of upper computer, make corresponding response, finish control information output, to the relevant robot running state information of upper computer feedback, communicate with 232 serial ports between upper computer and the lower computer simultaneously actuator.
Be robot PC control interface as shown in figure 12, upper computer is finished the upper computer control system program design with Labview, realize the output of robot control signal, the time gap that order is upgraded is 0.1s, with the regularly timing of circulation realization order renewal, LFF, LFC, LFT, LFP represent left front leg foot joint, left front leg calf joint, the big leg joint of left front leg, the control partly of left front leg sole of robot respectively, other and the like, scroll bar is angle position control, the control of button for whether adsorbing shows that control shows current angle value.
Be program of lower computer design overall diagram of circuit as shown in figure 13, the program of lower computer design can be embodied as reception and validity check, the motion control of steering wheel and the lower computer signal feedback in the motion process to the PC control order.
Claims (5)
1, ground to wall transition wall gecko-intimating robot, adopt the Four-feet creeping mode, form by mechanics and control part, working portion and back working portion before described mechanics is divided into, and two-part structure is symmetry fully, has interchangeability, working portion or back working portion are respectively by the robot health before described, two soles and two legs constitute, every leg is by the big leg joint of three controllable degrees of freedom, calf joint and leg root joint are formed, the two ends of each big leg joint, all be hingedly connected together between one end in one end of calf joint and leg root joint by steering wheel, each joint all adopts steering wheel to drive, the other end of each calf joint is connected with sole, and the other end in each leg root joint is connected with the robot health; Described control part comprises: upper computer, micro controller system, number switch control circuit, steering wheel, power supply and be positioned at sucker on the sole, and it is characterized in that: front and back two parts of described mechanics link together by moving sets; Described sole adopts the damping articulation structure, and the fixed position is arranged when making sole unsettled, can freely adjust angle during absorption, to adapt to different wall conditions; Control part adopts the master slave control structure, upper computer is finished the relevant algorithm computing of robot's gait planning, and with certain frequency to the lower computer transmitting control commands, micro controller system is according to the order output PWM Waveform Control steering wheel corner size of upper computer, finish control information output to steering wheel, signal according to the sensor output that is installed in the sole place feeds back relevant robot running state information to upper computer simultaneously, again by the motion control of chip microcontroller to steering wheel, thereby realize the gait planning that ground wall transition needs, reach and make mechanics finish ground wall transition, the wall transition of described ground is promptly earlier by some underactions, make two forelegs of gecko climb up wall, then under the state of diagonal line two foot absorption, the leg joint of lifting with back leg is driving, constantly adjust body posture and realize the upright gradually of health, last two back legs are also climbed up the process of wall.
2, ground to wall transition wall gecko-intimating robot according to claim 1, it is characterized in that: the realization of described ground wall transition is made up of two kinds of motions: monopodia changes the luffing of health under the two sufficient adsorbed states on foothold position and the diagonal line under the tripodia adsorbed state, promptly the sufficient invariant position of two absorption is realized the increase of health pitch angle by the motion of console leg joint.
3, ground to wall transition wall gecko-intimating robot according to claim 1, it is characterized in that: the damping joint at described sole place, ball joint bearing is installed in the cover by holding screw, cover is connected with shank, the axle interference is installed in the bearing, the sole sorbing material is connected with axle, in ball joint bearing, add the friction powder, increase friction coefficient, make sole its deadweight when unsettled can't overcome friction and be fixed on certain angle, in the process that is contacting absorption with wall, then can freely adjust joint angles by pressure, thereby realize the function in damping joint according to the wall situation.
4, ground to wall transition wall gecko-intimating robot according to claim 1, it is characterized in that: described moving sets is slided in the aluminium cover as line slideway by the thick stainless steel sheet of 8mm and realizes, add the thick copper sheet of 2mm as friction material between steel plate and the aluminium cover, thereby the power of reducing friction, stainless steel sheet one end is fixed in half body before the robot by holding screw, the aluminium cover by holding screw be fixed on robot at the lower body bearing.
5, ground to wall transition wall gecko-intimating robot according to claim 1, it is characterized in that: adopt 232 serial ports to communicate between described upper computer and the micro controller system machine, upper computer adopts Labview to finish the upper computer control system program design, realize the output of robot control signal, the time gap that order is upgraded is 0.1s, realizes the timing that order is upgraded with regularly circulating.
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| CN116360296A (en) * | 2023-05-31 | 2023-06-30 | 中国航空工业集团公司金城南京机电液压工程研究中心 | Real-time simulation system of control device |
-
2008
- 2008-09-19 CN CN2008101199657A patent/CN101353064B/en not_active Expired - Fee Related
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