CN109484509A - One kind is crawled climbing robot - Google Patents
One kind is crawled climbing robot Download PDFInfo
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- CN109484509A CN109484509A CN201811407625.4A CN201811407625A CN109484509A CN 109484509 A CN109484509 A CN 109484509A CN 201811407625 A CN201811407625 A CN 201811407625A CN 109484509 A CN109484509 A CN 109484509A
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- main body
- driving mechanism
- robot
- shank
- thigh
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The present invention relates to robotic technology fields, it crawls climbing robot more particularly to one kind, including machine body, it includes rack and robot leg, rack includes main body, respectively the first main body, second main body and third main body, first main body opposite second main body can be swung up and down under the drive of the first driving mechanism, second main body opposite third main body can be swung up and down under the drive of the second driving mechanism, whole machine body can be divided into three main bodys, when encountering rugged hill path, first main body is crawled after creeping up, so that the first driving mechanism drives the second main body to swing up and down and advance simultaneously towards preceding walking, so that the second driving mechanism drives third main body to swing up and down and advance simultaneously towards preceding walking, by traditional machine body one dividing into three, robot is allowed to imitate the longer thing of figure, such as Wu The walking manner of centipede etc. can be applicable in creeping for mountainous region or the place such as rugged, and easy to control and stability is good, is not easy to overturn.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to one kind is crawled climbing robot.
Background technique
Motion mode used by mobile robot mainly includes the forms of motion such as wheeled, crawler type, sufficient formula, hybrid,
Wherein it is most widely used with wheeled robot.It is well known that wheeled robot has, speed is fast, stability is good, easy to control etc.
Advantage, but it is higher to environmental requirement, it is desirable that it is state of ground relatively flat, continuous, thus its application has its limitation.Although
Caterpillar type robot weakens this problem to a certain extent, but can not inherently overcome, while relatively cumbersome and contact to earth
The biggish crawler belt of area brings toward contact and destroys a series of new problems such as earth's surface original state.And Multifeet walking robot is crawled
Climbing robot can on uneven road surface stabilized walking, wheeled and caterpillar type robot can be replaced to complete some non-structural
Hauling operation in the complex environment of property.Compared to wheeled and caterpillar traveling vehicle and mechanism, climbing robot of crawling only is needed
Want it is some it is interrupted, discrete fall foot point, thus can be by soft or muddy ground, thus climbing robot of crawling has more
The strong creeper of crawling that the adaptability walked on complicated earth surface, good environmental suitability and kinematic dexterity are made
The research of device people has obtained extensive attention in a nearly century, but existing crawling machine human body of crawling is longer, packet
Machine body is included, machine body is a whole plate body, and robot leg is convenient for robot ambulation mounted in the side of machine body, though
So existing climbing robot of crawling has stronger in complicated earth surface compared to wheeled and caterpillar traveling vehicle and mechanism
The adaptability of upper walking, but due to the whole plate body that the machine body is an elongated, when running into rough hill path
When, limitation of the climbing robot due to self structure of crawling, robot leg and the machine positioned at recess place positioned at raised place
Difference in height between device people's leg is larger, if walking forward by force, robot leg road holding is small, is easy to cause climbing robot of crawling
Overturning landing, causes the damage of machine, stability is poor.
Summary of the invention
It is an object of the invention to aiming at the shortcomings in the prior art, and adherence properties are good, stability it is good crawl to creep
Robot.
The purpose of the present invention is achieved through the following technical solutions:
It provides one kind to crawl climbing robot, including machine body and control system, machine body includes rack and machine
People's leg, rack include the main body of the movable connection of more piece, respectively sequentially connected first main body, the second main body and third master
Body, between first main body and the second main body by one first driving mechanism connect, the side of first driving mechanism with
The connection of first main body, the other side is hinged by the first pin shaft and the second main body, and the first main body can be in the band of the first driving mechanism
Dynamic lower opposite second main body is swung up and down；It is connected between second main body and third main body by one second driving mechanism, institute
The side for stating the second driving mechanism is connect with the second main body, and the other side is hinged by the second pin shaft and third main body, the second main body
It opposite third main body can be swung up and down under the drive of the second driving mechanism；
The quantity of the robot leg be it is a plurality of, the main body two sides of each section are connected separately with a robot leg, each
The robot leg includes sequentially connected third driving mechanism, thigh, the 4th driving mechanism and shank, and one end of thigh is logical
Cross that third driving mechanism is hinged with main body, thigh can under the drive of third driving mechanism opposite main body swing, shank
It is connected by the other end of the 4th driving mechanism and thigh, shank can be under the drive of the 4th driving mechanism above and below opposite thigh
It swings；
Control system includes central controller, electronic compass, force snesor and provides the battery of energy for robot, center
Controller, electronic compass and battery are mounted on the rack, force snesor be equipped with it is multiple, each force snesor is loaded on each machine respectively
The shank of device people's leg.
Wherein, the third driving mechanism and the 4th driving mechanism include shell, circuit board, motor, gear and position
Detector, when control system sends a signal to above-mentioned driving mechanism, driving mechanism receive signal, and the circuit board in it according to
After the signal received judges rotation direction, motor is started turning, and power is reached thigh or shank through gear, while by position
It sets detector and sends signal back to, judge whether to have arrived at position.
Beneficial effects of the present invention: one kind of the invention is crawled climbing robot, be provided with sequentially connected first main body,
Second main body, third main body, the first main body opposite second main body can be swung up and down under the drive of the first driving mechanism, and second
Main body opposite third main body can be swung up and down under the drive of the second driving mechanism, whole machine body can be divided into three
A main body first starts the first driving mechanism when encountering rugged hill path so that the first main body with respect to the second main body upwards or
For person to lower swing, the thigh in the first main body drives shank with respect to the first main body to forward swing using third driving mechanism as hinge joint
It is dynamic until the free end of shank treads ground after, the second main body under the drive of the second driving mechanism opposite third main body upwards or
To lower swing, the thigh in the second main body drives shank to swing forward to the second main body directly using third driving mechanism as hinge joint
After touching ground to the free end of shank, similarly, third main body is similarly acted, so that the first main body, the second main body and
The presentation of three main bodys is a section to crawl forward, robot to be allowed to imitate the longer thing of figure, such as the walking of centipede
Mode can be applicable in creeping for mountainous region or the place such as rugged, the stability for the robot ambulation that keeps crawling, and it is steady to grab ground, be not easy
It overturns, flexibility is good.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings, but the embodiment in attached drawing is not constituted to any limit of the invention
System, for those of ordinary skill in the art, without creative efforts, can also obtain according to the following drawings
Other attached drawings.
Fig. 1 is the structural schematic diagram of climbing robot of crawling of the invention.
Fig. 2 is the structural schematic diagram of robot leg in Fig. 1.
Fig. 1 includes: into Fig. 2
Machine body 1, rack 2, robot leg 30,31,32,33,34,35, the first main body 4, the second main body 5, third master
Body 6, the first driving mechanism 7, the second driving mechanism 8, third driving mechanism 9, thigh 10, the 4th driving mechanism 11, shank 12, control
System 13 processed, central controller 130, electronic compass 131, force snesor 133, battery 132.
Specific embodiment
The invention will be further described with the following Examples.
A kind of specific embodiment of climbing robot of crawling of the invention, as Figure 1-Figure 2, including machine body 1
With control system 13, control system 13 connects machine body 1, and machine body 1 can be driven mobile, and machine body 1 includes machine
Frame 2 and robot leg, rack 2 include the main body of the movable connection of more piece, and respectively sequentially connected first main body 4, second is main
Body 5 and third main body 6 are connected between first main body 4 and the second main body 5 by the first driving mechanism 7, first driving
The side of mechanism 7 is connect with the first main body 4, the other side by the first pin shaft with the second main body 5 hingedly, the first main body 4 can be
Opposite second main body 5 is swung up and down under the drive of first driving mechanism 7.By the between second main body 5 and third main body 6
The connection of two driving mechanisms 8, the side of second driving mechanism 8 connect with the second main body 5, and the other side passes through the second pin shaft and the
Three main bodys 6 are hinged, and the second main body 5 opposite third main body 6 can be swung up and down under the drive of the second driving mechanism 8, above-mentioned knot
Structure setting enables opposite second main body 5 of the first main body 4 to swing, and the second main body 5 can be swung with respect to third main body 6, will be whole
The machine body 1 of body is divided for the identical main body of three structures, and robot is allowed to imitate the longer thing of figure, such as centipede
Walking manner, wherein opposite can be swung up and down between three main bodys can be applicable in mountainous region or it is rugged equal local creep,
Stability is good, is not easy to overturn.
First main body 4, the second main body 5 and 6 front and rear sides of third main body are connected separately with a robot leg, in this implementation
In example, 4 two sides robot leg of the first noumenon is respectively 30,31, and the robot leg of 5 two sides of the second ontology is respectively 32,33, third
The robot leg of 6 two sides of main body is respectively 34,35, since the first main body 4, the second ontology 5 are identical with 6 structure of third ontology, with
Under using the structure of the first noumenon 4 as illustrating, the robot leg 30,31 includes sequentially connected third driving mechanism
9, one end of thigh 10, the 4th driving mechanism 11 and shank 12, thigh 10 is hinged by third driving mechanism 9 and the first main body 4,
Third driving mechanism 9 starts, and thigh 10 is hinge joint with third driving mechanism 9, puts before and after opposite first main body 4 of drive shank 12
Dynamic, shank 12 is connect by the 4th driving mechanism 11 with the other end of thigh 10, and shank 12 can be in the 4th driving mechanism 11
Lower opposite thigh 10 is driven to swing up and down.
When robot is when flat road surface is walked, first step robot leg 30,31, the thigh 10 of robot leg 30,31 with
Third driving mechanism 9 is hinge joint, and shank 12 is that fulcrum is swung forward until the free end of shank 12 is stepped on third driving mechanism 9
Face on the spot, during robot leg 30,31 steps dynamic, robot center of gravity in the supporting zone of robot leg 32,33,34,35,
After ground is treaded in the free end of the shank 12 of robot leg 30,31, robot leg 32,33,34,35 is respectively with its shank 12
Fulcrum, third driving mechanism 9 drive thigh 10 to swing forward with respect to shank 12, so that the second main body 5, third main body 6 are to Forward
It is dynamic, above-mentioned movement is repeated with this, completes a gait cycle, realizes that robot moves forward.
When encountering rugged hill path, first start the first driving mechanism 7 so that opposite second main body 5 of the first main body 4 to
Upper or to lower swing, thigh 10 in the first main body 4 is hinge joint with third driving mechanism 9, drives shank 12 opposite first
Main body 4 is swung forward after ground is treaded in the free end of shank 12, the second main body 5 phase under the drive of the second driving mechanism 8
Third main body 6 is swung upward or downward, the thigh 10 in the second main body 5 is hinge joint with third driving mechanism 9, drives shank
12 opposite second main bodys 5 are swung forward after the free end of shank 12 touches ground, and similarly, third main body 6 is similarly dynamic
Make so that the first main body 4, the second main body 5 and third main body 6 present it is a section crawl forward so that robot can be with mould
The imitative longer thing of figure, such as the walking manner of centipede, can be applicable in mountainous region or it is rugged equal local creep, keep crawling
The stability of robot ambulation grabs ground surely, is not easy to overturn, flexibility is good.
The third driving mechanism 9 and the 4th driving mechanism 11 include shell, circuit board, motor and gear, shank 12
On be connected with position detector, position detector is arranged on the shank 12 of each main body, for detecting the mobile position of shank 12
It sets, when control system 13 issues movable signal forward or backward to third driving mechanism 9 and four driving mechanisms 11, third
After driving mechanism 9 and the 4th driving mechanism 11 receive signal, thigh 10 is driven to swing by third driving mechanism 9, the 4th driving machine
Structure 11 drives shank 12 to swing, and third driving mechanism 9 and 11 interior circuit board of the 4th driving mechanism judge according to the signal received
After rotation direction, motor is started turning, and power is reached thigh 10 or shank 12 through gear, third driving mechanism 9 drives greatly
Leg 10 is swung, and is driven the shank being located on thigh 10 before or swung backward, while sending back shank by position detector
12 shift position signal, judges whether shank 12 has arrived at position.
Control system 13 includes central controller 130, electronic compass 131, force snesor 133 and provides energy for robot
Battery 132, central controller 130, electronic compass 131 and battery be mounted in rack 2, force snesor 133 be equipped with it is multiple, respectively
A force snesor 133 is loaded on the shank 12 of each robot leg respectively, and the battery in control system 13 is climbing robot of crawling
Energy is provided；Electronic compass 131 is used to measure the posture for climbing robot of crawling, and measured result is input to central controller
In 130；There are six force snesor 133 is set, six force snesors 133 measure six effects between robot leg and ground respectively
Power, and measured result is input in central controller 130；Central controller 130 carries out comprehensive point to obtained measuring signal
Analysis, then generates corresponding gait control signal and controls respectively six robot legs, to make climbing robot of crawling
The coordinated movement of various economic factors.It include encoder, the position feedback of encoder and six power in each driving mechanism in above-mentioned driving mechanism
The force feedback of sensor 133 not only may be implemented to crawl climbing robot movement closed-loop control but also make climbing robot of crawling
Feel with power, stability is more preferable.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of range is protected, although explaining in detail referring to preferred embodiment to the present invention, those skilled in the art are answered
Work as understanding, it can be with modification or equivalent replacement of the technical solution of the present invention are made, without departing from the reality of technical solution of the present invention
Matter and range.
Claims (2)
- The climbing robot 1. one kind is crawled, it is characterised in that: including machine body, for controlling the mobile control system of machine body System, machine body includes rack and robot leg, and rack includes the main body of the movable connection of more piece, and respectively sequentially connected the One main body, the second main body and third main body are connected between first main body and the second main body by one first driving mechanism, institute The side for stating the first driving mechanism is connect with the first main body, and the other side is hinged by the first pin shaft and the second main body, the first main body It opposite second main body can be swung up and down under the drive of the first driving mechanism；Pass through between second main body and third main body The connection of one second driving mechanism, the side of second driving mechanism connect with the second main body, the other side pass through the second pin shaft and Third main body is hinged, and the second main body opposite third main body can be swung up and down under the drive of the second driving mechanism；The quantity of the robot leg be it is a plurality of, the main body two sides of each section are connected separately with a robot leg, each described Robot leg includes sequentially connected third driving mechanism, thigh, the 4th driving mechanism and shank, and one end of thigh passes through the Three driving mechanisms and main body are hinged, and thigh opposite main body swing, shank can pass through under the drive of third driving mechanism The connection of the other end of 4th driving mechanism and thigh, shank can be put above and below opposite thigh under the drive of the 4th driving mechanism It is dynamic；Control system includes central controller, electronic compass, force snesor and provides the battery of energy, center control for robot Device, electronic compass and battery are mounted on the rack, force snesor be equipped with it is multiple, each force snesor is loaded on each robot respectively The shank of leg.
- The climbing robot 2. one kind according to claim 1 is crawled, it is characterised in that: the third driving mechanism and the 4th Driving mechanism includes shell, circuit board, motor, gear and position detector, when control system sends a signal to above-mentioned driving When mechanism, after driving mechanism receives signal, and the circuit board in it judges rotation direction according to the signal received, motor starts Rotation, reaches thigh or shank for power through gear, while sending signal back to by position detector, judges whether to have arrived at position It sets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811407625.4A CN109484509B (en) | 2018-11-23 | 2018-11-23 | Creeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811407625.4A CN109484509B (en) | 2018-11-23 | 2018-11-23 | Creeping robot |
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| Publication Number | Publication Date |
|---|---|
| CN109484509A true CN109484509A (en) | 2019-03-19 |
| CN109484509B CN109484509B (en) | 2023-09-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811407625.4A Active CN109484509B (en) | 2018-11-23 | 2018-11-23 | Creeping robot |
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| Country | Link |
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| CN (1) | CN109484509B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111071367A (en) * | 2020-03-02 | 2020-04-28 | 秦皇岛达则科技有限公司 | Crawling robot |
| CN114055489A (en) * | 2021-11-16 | 2022-02-18 | 三明学院 | Centipede-imitating robot |
| CN114620161A (en) * | 2022-03-31 | 2022-06-14 | 北京工业大学 | Centipede-simulated robot with multi-terrain adaptability and few-degree-of-freedom leg structure |
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| US9662787B1 (en) * | 2015-09-25 | 2017-05-30 | Google Inc. | Hydraulic pressure variation in a legged robot |
| CN107336763A (en) * | 2017-07-10 | 2017-11-10 | 上海理工大学 | A kind of comprehensive multi-joint simulating crawling robot |
| CN107351938A (en) * | 2017-07-10 | 2017-11-17 | 上海理工大学 | A kind of multi-joint climbing robot |
| CN209225266U (en) * | 2018-11-23 | 2019-08-09 | 广东职业技术学院 | One kind is crawled climbing robot |
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| CN101219683A (en) * | 2008-01-25 | 2008-07-16 | 清华大学 | Dual-purpose mobile robot of wheel and foot |
| CN101391625A (en) * | 2008-11-04 | 2009-03-25 | 中国人民解放军空军工程大学 | Wall climbing robot |
| JP2014161991A (en) * | 2013-02-28 | 2014-09-08 | Nsk Ltd | Robot movement mechanism and robot comprising the same |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111071367A (en) * | 2020-03-02 | 2020-04-28 | 秦皇岛达则科技有限公司 | Crawling robot |
| CN111071367B (en) * | 2020-03-02 | 2022-03-11 | 秦皇岛达则科技有限公司 | Crawling robot |
| CN114055489A (en) * | 2021-11-16 | 2022-02-18 | 三明学院 | Centipede-imitating robot |
| CN114620161A (en) * | 2022-03-31 | 2022-06-14 | 北京工业大学 | Centipede-simulated robot with multi-terrain adaptability and few-degree-of-freedom leg structure |
| CN114620161B (en) * | 2022-03-31 | 2023-09-01 | 北京工业大学 | Centipede-like robot with multi-terrain adaptability and few-freedom-degree leg structure |
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| CN109484509B (en) | 2023-09-01 |
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