CN109484509B - Creeping robot - Google Patents
Creeping robot Download PDFInfo
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- CN109484509B CN109484509B CN201811407625.4A CN201811407625A CN109484509B CN 109484509 B CN109484509 B CN 109484509B CN 201811407625 A CN201811407625 A CN 201811407625A CN 109484509 B CN109484509 B CN 109484509B
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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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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The invention relates to the technical field of robots, in particular to a creeping robot, which comprises a machine body, wherein the machine body comprises a frame and robot legs, the frame comprises a main body, a first main body, a second main body and a third main body, the first main body can swing up and down relative to the second main body under the drive of a first driving mechanism, the second main body can swing up and down relative to the third main body under the drive of a second driving mechanism, the whole machine body can be divided into three main bodies, when the robot meets a rugged mountain road, the first main body creeping is carried out, the first driving mechanism drives the second main body to swing up and down and simultaneously move forward, the second driving mechanism drives the third main body to swing up and down and simultaneously move forward, the traditional machine body can be divided into three parts, and the robot can simulate long things such as a centipede and the like walking mode, can be suitable for climbing in mountain areas or rugged places, is convenient to control and has good stability, and is not easy to turn over.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a creeping crawling robot.
Background
The motion modes adopted by the mobile robot mainly comprise wheel type, crawler type, foot type, hybrid type and other motion modes, wherein the wheel type robot is most widely applied. As is well known, a wheeled robot has advantages of high speed, good stability, easy control, etc., but has high environmental requirements, and requires relatively flat and continuous ground conditions, so that the application of the wheeled robot has limitations. Although the tracked robot weakens the problem to a certain extent, the problem cannot be overcome basically, and a series of new problems such as the damage to the ground surface and the like are often caused by the relatively heavy track with large ground contact area. The multi-legged walking robot, namely the creeping crawling robot can stably walk on uneven road surfaces, and can replace wheeled and crawler robots to finish transportation operations in some unstructured complex environments. Compared with wheeled and crawler-type walking vehicles and mechanisms, the creeping crawling robot only needs a few intermittent and discrete foot points, so that the creeping crawling robot can travel on complex ground through soft or muddy ground, the creeping crawling robot has stronger adaptability to travel on complex ground, the creeping crawling robot is widely considered in the near century due to good environmental adaptability and motion flexibility, the existing creeping crawling robot is long in length and comprises a robot body, the robot body is an integral plate body, the robot legs are arranged on the side edges of the robot body to facilitate the robot to travel, and although the existing creeping crawling robot has stronger adaptability to travel on complex ground compared with wheeled and crawler-type walking vehicles and mechanisms, the creeping crawling robot is a long integral plate body because the robot body is limited by a self structure when the creeping crawling robot bumps on a mountain road, the height difference between the robot legs located in a raised place and the robot located in a recessed place is large, if the robot legs are located forwards, the creeping crawling robot is easy to turn over, and the robot is easy to damage the robot on the ground due to the stability.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a creeping crawling robot with good ground grabbing property and good stability.
The aim of the invention is achieved by the following technical scheme:
the creeping robot comprises a machine body and a control system, wherein the machine body comprises a frame and robot legs, the frame comprises a plurality of sections of movably connected main bodies, namely a first main body, a second main body and a third main body which are sequentially connected, the first main body is connected with the second main body through a first driving mechanism, one side of the first driving mechanism is connected with the first main body, the other side of the first driving mechanism is hinged with the second main body through a first pin shaft, and the first main body can swing up and down relative to the second main body under the drive of the first driving mechanism; the second main body is connected with the third main body through a second driving mechanism, one side of the second driving mechanism is connected with the second main body, the other side of the second driving mechanism is hinged with the third main body through a second pin shaft, and the second main body can swing up and down relative to the third main body under the driving of the second driving mechanism;
the number of the robot legs is multiple, two sides of the main body of each section are respectively connected with one robot leg, each robot leg comprises a third driving mechanism, a thigh, a fourth driving mechanism and a shank which are sequentially connected, one end of the thigh is hinged with the main body through the third driving mechanism, the thigh can swing back and forth relative to the main body under the drive of the third driving mechanism, the shank is connected with the other end of the thigh through the fourth driving mechanism, and the shank can swing up and down relative to the thigh under the drive of the fourth driving mechanism;
the control system comprises a central controller, an electronic compass, force sensors and a battery for providing energy for the robot, wherein the central controller, the electronic compass and the battery are arranged on the frame, the force sensors are provided with a plurality of force sensors, and each force sensor is respectively arranged on the lower leg of each robot leg.
When the control system sends signals to the driving mechanism, the driving mechanism receives the signals, the circuit board in the driving mechanism judges the rotation direction according to the received signals, the motor starts to rotate, power is transmitted to thighs or calves through the gears, and meanwhile, the position detector sends back signals to judge whether the position is reached.
The invention has the beneficial effects that: according to the creeping robot disclosed by the invention, the first main body, the second main body and the third main body which are sequentially connected are arranged, the first main body can swing up and down relative to the second main body under the drive of the first driving mechanism, the second main body can swing up and down relative to the third main body under the drive of the second driving mechanism, the whole robot body can be divided into three main bodies, when a rugged mountain road is met, the first driving mechanism is started first, so that the first main body swings up or down relative to the second main body, thighs in the first main body take the third driving mechanism as a hinge point, the second main body swings forward relative to the first main body until the free ends of the thighs tread on the ground, the thighs in the second main body swing up or down relative to the third main body under the drive of the second driving mechanism, the third driving mechanism is taken as a hinge point, the thighs in the second main body swing forward until the free ends of the thighs contact the ground, and the third main body also acts in the same way, so that the first main body, the second main body and the third main body can take the same action, the thighs and the third main body can stably walk forward relative to the robot, the robot can walk on a long ground, the robot can walk on a long road, the climbing mode is like, the robot can walk stably, the climbing is suitable, and the robot can walk on a long ground, and the like.
Drawings
The invention will be further described with reference to the accompanying drawings, in which embodiments do not constitute any limitation of the invention, and other drawings can be obtained by one of ordinary skill in the art without inventive effort from the following drawings.
Fig. 1 is a schematic structural view of the creeping crawling robot of the present invention.
Fig. 2 is a schematic view of the robot leg of fig. 1.
Fig. 1 to 2 include:
the robot comprises a machine body 1, a frame 2, robot legs 30, 31, 32, 33, 34 and 35, a first main body 4, a second main body 5, a third main body 6, a first driving mechanism 7, a second driving mechanism 8, a third driving mechanism 9, a thigh 10, a fourth driving mechanism 11, a shank 12, a control system 13, a central controller 130, an electronic compass 131, a force sensor 133 and a battery 132.
Detailed Description
The invention will be further described with reference to the following examples.
The invention relates to a concrete implementation mode of a creeping crawling robot, which is shown in fig. 1-2, and comprises a machine body 1 and a control system 13, wherein the control system 13 is connected with the machine body 1 and can drive the machine body 1 to move, the machine body 1 comprises a frame 2 and robot legs, the frame 2 comprises a plurality of sections of movably connected main bodies, namely a first main body 4, a second main body 5 and a third main body 6 which are sequentially connected, the first main body 4 and the second main body 5 are connected through a first driving mechanism 7, one side of the first driving mechanism 7 is connected with the first main body 4, the other side of the first driving mechanism 7 is hinged with the second main body 5 through a first pin shaft, and the first main body 4 can swing up and down relative to the second main body 5 under the driving of the first driving mechanism 7. The second main body 5 is connected with the third main body 6 through the second driving mechanism 8, one side of the second driving mechanism 8 is connected with the second main body 5, the other side of the second driving mechanism 8 is hinged with the third main body 6 through a second pin shaft, the second main body 5 can swing up and down relative to the third main body 6 under the driving of the second driving mechanism 8, the structure is arranged, the first main body 4 can swing relative to the second main body 5, the second main body 5 can swing relative to the third main body 6, the whole machine body 1 is divided into three main bodies with the same structure, so that the robot can simulate a long object such as a centipede, and the like, the three main bodies can swing up and down relative to each other, so that the robot can be suitable for climbing in mountain areas or bumpy areas, and the like, and the robot is good in stability and not easy to roll over.
In this embodiment, the robot legs on the two sides of the first body 4 are respectively 30 and 31, the robot legs on the two sides of the second body 5 are respectively 32 and 33, and the robot legs on the two sides of the third body 6 are respectively 34 and 35, and since the first body 4, the second body 5 and the third body 6 have the same structure, the structure of the first body 4 is described in detail below, the robot legs 30 and 31 each include a third driving mechanism 9, a thigh 10, a fourth driving mechanism 11 and a shank 12 which are sequentially connected, one end of the thigh 10 is hinged with the first body 4 through the third driving mechanism 9, the third driving mechanism 9 is started, the thigh 10 uses the third driving mechanism 9 as a hinge point, the shank 12 is driven to swing back and forth relative to the first body 4, the shank 12 is connected with the other end of the thigh 10 through the fourth driving mechanism 11, and the shank 12 can swing up and down relative to the thigh 10 under the driving of the fourth driving mechanism 11.
When the robot walks on a flat road surface, the robot legs 30 and 31 are first stepped on, the thighs 10 of the robot legs 30 and 31 take the third driving mechanism 9 as a hinge point, the lower legs 12 take the third driving mechanism 9 as a pivot point to swing forwards until the free ends of the lower legs 12 are stepped on the ground, in the process of stepping on the robot legs 30 and 31, the centers of gravity of the robot are in the supporting areas of the robot legs 32, 33, 34 and 35, after the free ends of the lower legs 12 of the robot legs 30 and 31 are stepped on the ground, the robot legs 32, 33, 34 and 35 take the lower legs 12 of the robot legs 30 and 31 as pivot points, and the third driving mechanism 9 drives the thighs 10 to swing forwards relative to the lower legs 12 so as to enable the second main bodies 5 and the third main bodies 6 to move forwards, and accordingly the above actions are repeated, so that a gait cycle is completed, and the forward movement of the robot is realized.
When a rugged mountain road is met, the first driving mechanism 7 is started firstly, so that the first main body 4 swings upwards or downwards relative to the second main body 5, the thigh 10 in the first main body 4 takes the third driving mechanism 9 as a hinge point, the shank 12 is driven to swing forwards relative to the first main body 4 until the free end of the shank 12 is stamped on the ground, the second main body 5 swings upwards or downwards relative to the third main body 6 under the driving of the second driving mechanism 8, the thigh 10 in the second main body 5 takes the third driving mechanism 9 as a hinge point, the shank 12 is driven to swing forwards relative to the second main body 5 until the free end of the shank 12 is contacted with the ground, and the third main body 6 also acts similarly, so that the first main body 4, the second main body 5 and the third main body 6 present a section of creeping forward, the robot can simulate longer things, such as a centipede and the like, the walking mode can be suitable for climbing on the mountain or the rugged place, the stability of the creeping robot is maintained, the vehicle is not easy to grasp, and the vehicle is not easy to walk stably, and the flexibility is good.
The third driving mechanism 9 and the fourth driving mechanism 11 comprise a shell, a circuit board, a motor and a gear, the lower leg 12 is connected with a position detector, the position detector is arranged on the lower leg 12 of each main body and is used for detecting the moving position of the lower leg 12, when the control system 13 sends forward or backward moving signals to the third driving mechanism 9 and the fourth driving mechanism 11, after the third driving mechanism 9 and the fourth driving mechanism 11 receive the signals, the upper leg 10 is driven to swing by the third driving mechanism 9, the lower leg 12 is driven to swing by the fourth driving mechanism 11, after the circuit board in the third driving mechanism 9 and the fourth driving mechanism 11 judges the rotating direction according to the received signals, the motor starts to rotate, power is transmitted to the upper leg 10 or the lower leg 12 through the gear, the lower leg 10 is driven to swing by the third driving mechanism 9, the lower leg on the upper leg 10 is driven to swing forwards or backwards, and meanwhile, the moving position signal of the lower leg 12 is transmitted back by the position detector, and whether the lower leg 12 reaches the position is judged.
The control system 13 comprises a central controller 130, an electronic compass 131, force sensors 133 and a battery 132 for providing energy for the robot, wherein the central controller 130, the electronic compass 131 and the battery are arranged on the frame 2, the force sensors 133 are provided with a plurality of force sensors, each force sensor 133 is respectively arranged on the lower leg 12 of each robot leg, and the battery in the control system 13 provides energy for the creeping robot; the electronic compass 131 is used for measuring the gesture of the creeping robot and inputting the measured result into the central controller 130; the force sensors 133 are six, the six force sensors 133 respectively measure the acting forces between the six robot legs and the ground, and the measured results are input into the central controller 130; the central controller 130 performs comprehensive analysis on the obtained measurement signals, and then generates corresponding gait control signals to control the six robot legs respectively, so that the creeping robot moves in a coordinated manner. Among the above-mentioned actuating mechanism, all include the encoder in each actuating mechanism, the position feedback of encoder and the force feedback of six force sensors 133 not only can realize creeping robot motion closed-loop control and make creeping robot have the sense of force, stability performance is better.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the scope of the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention.
Claims (2)
1. Creeping robot, its characterized in that: the robot comprises a machine body and a control system for controlling the movement of the machine body, wherein the machine body comprises a frame and robot legs, the frame comprises a plurality of sections of movably connected main bodies, namely a first main body, a second main body and a third main body which are sequentially connected, the first main body is connected with the second main body through a first driving mechanism, one side of the first driving mechanism is connected with the first main body, the other side of the first driving mechanism is hinged with the second main body through a first pin shaft, and the first main body can swing up and down relative to the second main body under the drive of the first driving mechanism; the second main body is connected with the third main body through a second driving mechanism, one side of the second driving mechanism is connected with the second main body, the other side of the second driving mechanism is hinged with the third main body through a second pin shaft, and the second main body can swing up and down relative to the third main body under the driving of the second driving mechanism;
the first body, the second body and the third body are identical in structure;
the number of the robot legs is multiple, two sides of the main body of each section are respectively connected with one robot leg, each robot leg comprises a third driving mechanism, a thigh, a fourth driving mechanism and a shank which are sequentially connected, one end of the thigh is hinged with the main body through the third driving mechanism, the thigh can swing back and forth relative to the main body under the drive of the third driving mechanism, the shank is connected with the other end of the thigh through the fourth driving mechanism, and the shank can swing up and down relative to the thigh under the drive of the fourth driving mechanism;
the control system comprises a central controller, an electronic compass, force sensors and a battery for providing energy for the robot, wherein the central controller, the electronic compass and the battery are arranged on the frame, the force sensors are provided with a plurality of force sensors, and each force sensor is respectively arranged on the lower leg of each robot leg;
the electronic compass is used for measuring the gesture of the creeping crawling robot and inputting the measured result into the central controller; the force sensors are six, and the six force sensors respectively measure acting forces between the six robot legs and the ground.
2. A creeping robot according to claim 1, characterized in that: the third driving mechanism and the fourth driving mechanism comprise a shell, a circuit board, a motor, a gear and a position detector, when the control system sends signals to the driving mechanism, the driving mechanism receives the signals, the circuit board in the driving mechanism judges the rotation direction according to the received signals, the motor starts to rotate, power is transmitted to thighs or calves through the gear, and meanwhile, the position detector sends back signals to judge whether the position is reached.
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 |
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| CN109484509A CN109484509A (en) | 2019-03-19 |
| CN109484509B true CN109484509B (en) | 2023-09-01 |
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| CN201811407625.4A Active CN109484509B (en) | 2018-11-23 | 2018-11-23 | Creeping robot |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111071367B (en) * | 2020-03-02 | 2022-03-11 | 秦皇岛达则科技有限公司 | Crawling robot |
| CN114055489B (en) * | 2021-11-16 | 2023-06-20 | 三明学院 | Centipede-like robot |
| 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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| 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 |
| 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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2018
- 2018-11-23 CN CN201811407625.4A patent/CN109484509B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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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