CN111516775A - Foot type robot capable of stably working in amphibious environment - Google Patents
Foot type robot capable of stably working in amphibious environment Download PDFInfo
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- CN111516775A CN111516775A CN202010413726.3A CN202010413726A CN111516775A CN 111516775 A CN111516775 A CN 111516775A CN 202010413726 A CN202010413726 A CN 202010413726A CN 111516775 A CN111516775 A CN 111516775A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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Abstract
The invention discloses a foot type robot capable of stably operating in an amphibious environment, which comprises a sealed machine body, wherein a motor is arranged in the machine body, an output shaft of the motor extends out of the side wall of the machine body in a dynamic sealing mode, the output shaft of the motor is fixedly connected with one end of a crank through a bevel gear box, the other end of the crank is hinged with a sliding block, the sliding block is arranged in a sliding chute of a guide rod, the upper end of the guide rod is arranged on the machine body through a bearing, and a rotating plane of the crank and a reciprocating swinging plane of the guide rod are both mutually vertical to the side wall; one end of a first connecting rod is hinged with the sliding block, the other end of the first connecting rod is hinged with the root of the leg component, one ends of a second connecting rod and a third connecting rod are respectively connected with the guide rod, the other ends of the second connecting rod and the third connecting rod are respectively connected with the root of the leg component, and a double-rocker mechanism is formed locally. The amphibious robot has the advantages of simple structure, easy maintenance, high energy utilization rate, quick and stable movement, self-locking capability, strong bearing capability, convenience for modular mass production and amphibious operation capability.
Description
Technical Field
The invention belongs to the technical field of foot robots, and relates to a foot robot capable of stably operating in an amphibious environment.
Background
The multi-legged robot generally refers to a robot with four or more legs, has stronger motion flexibility compared with wheeled and tracked robots, has strong adaptability to complex environments due to the structural design of multiple joints, multiple degrees of freedom and multiple motion modes of feet, can stably walk in complex and severe non-structural environments, replaces manual work, and has stronger practical value.
In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art: the leg of the foot robot commonly used at present has two structures, one is to adopt a plurality of motors as joint driving sources, for example, chinese patent No. 201310273443.3 discloses a multi-foot moving device based on a hybrid driving mechanism, adopts a plurality of motors as joint driving sources, because a plurality of motors can increase self volume, weight and system complexity, the motors are in the state of adjusting positive rotation and reverse rotation, the energy consumption is larger. The other mode is that a multi-link mechanism is adopted, and single drive is used for completing the motion of the feet of the robot, and the mode has the advantages that the single drive can complete the motion, the whole structure is lighter, the energy utilization rate is higher, and the defects that the tracks are mostly fixed, and the toe track at the support phase stage is not a straight line, so that the machine body is unstable in the motion process of the robot, less motors bear the weight of the machine body, and the burden of the motors is generally larger; and the two foot type robots are limited in moving range only on land and are difficult to be suitable for amphibious environments with complex terrains and luxuriant aquatic organisms.
Disclosure of Invention
In order to solve the problems, the invention provides a foot type robot which can stably work in an amphibious environment, has the advantages of simple structure, easy maintenance, high energy utilization rate, quick and stable movement, self-locking capability, strong bearing capability, convenience for modularized mass production and amphibious working capability, and solves the problems in the prior art.
The invention adopts the technical scheme that the foot type robot stably operates in the amphibious environment comprises a sealed machine body, wherein a motor is arranged in the machine body, an output shaft of the motor extends out of the side wall of the machine body in a dynamic sealing mode, the output shaft of the motor is fixedly connected with one end of a crank through a bevel gear box, the other end of the crank is hinged with a sliding block, the sliding block is arranged in a sliding chute of a guide rod, the upper end of the guide rod is arranged on the machine body through a bearing, the bearing is positioned above the bevel gear box, and a rotating plane of the crank and a reciprocating swinging plane of the guide rod are both vertical to the side wall surface of the machine; one end of a first connecting rod is hinged with the sliding block, the other end of the first connecting rod is hinged with the root of the leg component, one ends of a second connecting rod and a third connecting rod are respectively connected with the guide rod, the other ends of the second connecting rod and the third connecting rod are respectively connected with the root of the leg component, and a double-rocker mechanism is formed locally.
Furthermore, the root of the leg component is parallel to the guide rod, the distance between the second connecting rod and the hinge joint of the third connecting rod and the root of the leg component is not more than the distance between the second connecting rod and the hinge joint of the third connecting rod and the guide rod, and the long arc in the toe motion track of the leg component is contacted with the ground.
Furthermore, the included angle between the guide rod and the vertical direction ranges from 10 degrees to 100 degrees.
Further, the length of the slide way of the guide rod is larger than the maximum sliding displacement of the slide block by 2-3 cm.
Further, the execution periods of the support phase and the swing phase in the leg member are equal.
Furthermore, the leg component is composed of a leg root part, a leg middle part and a toe in sequence from top to bottom, and the leg root part, the leg middle part and the toe are connected through torsion springs respectively.
Further, the outer side of the toe of the leg member is arc-shaped.
Furthermore, leg buffer is arranged in the middle of the leg component and comprises a plurality of coaxial metal rings, gaps exist between the adjacent metal rings, a plurality of supporting points are arranged between the adjacent metal rings, and the leg buffer is made of metal with good toughness and good alternating stress resistance.
Furthermore, each leg component is driven by a motor which is controlled independently, and all the motors are arranged in a sealed cabin of the machine body.
Further, an output shaft of the motor is connected with an output shaft of one bevel gear in the bevel gear box through a coupler.
The invention has the beneficial effects that:
1. in the whole motion process of the robot, each connecting rod in the connecting rod mechanism is in periodic reciprocating motion, and the up-and-down reciprocating motion of the leg component is coupled with the transverse reciprocating swing motion, so that the robot is transversely moved, has amphibious operation capacity, and is not easy to wind in a region with abundant aquatic life because each connecting rod does not rotate continuously in the whole circle.
2. The motor of the robot can complete the walking movement of walking feet only by unidirectional rotation, thereby greatly reducing energy consumption; the motion process mutual independence and the principle of every shank component are the same, but modularization volume production, if break down only need replace the trouble part, easy to maintain, whole motors can be arranged in the sealed cabin and unified sealedly, simple structure.
3. Can maximize stride, increased robot and ground area of contact, reduced the sunken degree that the toe is absorbed in the earth's surface, the high holding of walking in-process organism and ground is fixed, is in relatively stable operating condition, has improved its adaptability to the environment, can not appear because of the sudden change of landform the toe unsettled, the phenomenon of organism end of holding in the palm.
4. Because the root of the leg component is parallel to the guide rod, when the robot is in a static state, the leg component realizes self-locking, and the output shaft of the motor cannot be acted by torque generated by the weight of the robot body, so that the service life of the motor is longer, and the bearing capacity of the robot is increased.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is an isometric view of an multi-legged robot in an embodiment of the present invention.
Fig. 2 is a partial schematic view of a single leg of the multi-legged robot in the embodiment of the invention.
Fig. 3 is a schematic view of the mechanism of the link structure in the embodiment of the present invention.
Fig. 4 is a schematic structural view of a leg cushion according to an embodiment of the present invention.
Fig. 5 is a schematic diagram illustrating the analysis of the motion speed process according to the embodiment of the present invention.
In the figure, 1, a leg buffer device, 2, a leg component, 3, a third connecting rod, 4, a second connecting rod, 5, a first connecting rod, 6, a leg support, 7, a machine body, 8, a bevel gear box, 9, a guide rod, 10, a sliding block, 11, a crank and 12 are arranged in sequence.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The legged robot for stable operation in an amphibious environment comprises a sealed body 7, wherein the body 7 is a waterproof sealed cabin, a motor 12 is arranged in the sealed cabin and is convenient to work in the amphibious environment, an output shaft of the motor 12 extends out of the side wall of the body 7 in a dynamic sealing mode, the output shaft of the motor 12 is fixedly connected with one end of a crank 11 through a bevel gear box 8, the other end of the crank 11 is connected with a sliding block 10 through a hinge, the sliding block 10 is arranged in a sliding groove of a guide rod 9 and realizes relative sliding by using a self-lubricating substance, the upper end of the guide rod 9 is arranged on the body 7 through a bearing, the bearing is positioned above the bevel gear box 8, and a rotating plane of the crank 11 and a reciprocating swinging plane of the guide rod 9 are both vertical to the side wall surface of the body 7 in; one end of a first connecting rod 5 is hinged with a sliding block 10, the other end of the first connecting rod 5 is hinged with the root of the leg component 2, one ends of a second connecting rod 4 and a third connecting rod 3 are respectively connected with a guide rod 9, the other ends of the second connecting rod 4 and the third connecting rod 3 are respectively connected with the root of the leg component 2, and a double-rocker mechanism is formed locally. The distance between the second connecting rod 4 and the third connecting rod 3 and the hinge point of the root part of the leg component 2 respectively does not exceed the distance between the second connecting rod 4 and the third connecting rod 3 when the two connecting rods are parallel to each other, namely the distance between the second connecting rod 4 and the hinge point of the root part of the leg component 2 and the distance between the third connecting rod 3 and the hinge point of the second connecting rod 4 and the hinge point of the leg component 2 respectively do not exceed the distance between the third connecting rod 3 and the hinge point of the guide rod 9 respectively, so that an ideal toe track close to the toe; the toe locus in the motion process is determined by the position relation between the second connecting rod 4 and the third connecting rod 3, the closer the distance between the second connecting rod 4 and the third connecting rod 3 and the root part of the leg component 2 is, the longer the toe locus is, the larger the stride is, the lower the step height is, and the more suitable for quick running on flat ground is; the farther the second connecting rod 4 and the third connecting rod 3 are hinged with the root of the leg component 2, the smaller the stride is, the higher the step height is, and the greater the pedaling force on the ground is, so that the obstacle-crossing running on the uneven ground is more suitable.
As shown in fig. 3, when the motor 12 rotates, the bevel gear box 8 turns to output torque to drive the crank 11 to rotate together, the slider 10 slides in the sliding slot of the guide rod 9 under the driving of the crank 11, so as to drive the guide rod 9 to swing back and forth around the bearing, the rotating plane of the crank 11 and the reciprocating swing plane of the guide rod 9 are both perpendicular to the side wall surface of the machine body 7 in space, and the leg root of the leg member 2 is driven to swing back and forth periodically by the rotation of the crank 11; one ends of the second connecting rod 4 and the third connecting rod 3 are respectively connected with the guide rod 9, the other ends of the second connecting rod 4 and the third connecting rod 3 are respectively connected with the root of the leg component 2, a double-rocker mechanism is formed locally, and the root of the leg component 2 is driven to periodically and transversely reciprocate in the reciprocating swinging process of the guide rod 9; the up-and-down reciprocating motion is coupled with the transverse reciprocating swing motion, so that the transverse movement of the robot is realized, and the robot can crawl and advance on the land or under the water by utilizing the leg members 2.
An output shaft of the motor 12 is connected with an output shaft of one bevel gear in the bevel gear box 8 through a coupler; the driving direction of the motor 12 is changed through the bevel gear box 8, so that the rotating plane of the crank 11 and the reciprocating swinging plane of the guide rod 9 are both perpendicular to the side wall surface of the machine body 7 in space, and meanwhile, all the motors 12 are ensured to be installed in a sealed cabin of the machine body 7, so that the robot can work in an underwater environment.
The leg support 6 serves as a connecting piece for connection, fixation and limitation. Whole shank link mechanism and bevel gear box 8 are installed on shank support 6, rely on shank support 6 to guarantee that bevel gear box 8 keeps perpendicular with the connecting rod plane, reduce the mechanism wearing and tearing and improve transmission efficiency. Due to the existence of the leg support 6, the whole leg is more convenient to disassemble and assemble, and the modularization of the robot is more facilitated.
When the guide bar 9 is placed vertically, the toe path of the leg member 2 is an inclined ellipse-like. In combination with the motion trace of the toe when the motor 12 works, as shown in fig. 5, the mounting angle of the leg member 2 on the leg support 6 is adjusted, and the link mechanism is tilted, which depends mainly on the mounting positions of the upper ends of the crank 11 and the guide rod 9 on the body 7. Taking the position as an origin, an included angle formed by tangent lines drawn on two sides of a track circle formed by one rotation of the crank 11 is an included angle formed in the motion process of the guide rod 9, and the included angle range of the leg component 2 and the vertical direction depends on the motion range of the guide rod 9 and the relative installation position between the installation position of the upper end of the guide rod 9 and the rotation center of the crank 11. The included angle range of the guide rod 9 and the vertical direction is usually 10-100 degrees, so that the longest arc in the ellipse-like track is contacted with the ground; firstly, the toe track at the support phase stage can be made to be an approximate straight line, the stability of the machine body 7 in the motion process is ensured, the stride can be maximized, and the step pitch of each step of the robot is increased; secondly, the outer side of the toe of the leg component 2 is firstly contacted with the ground, the contact between the toe and the ground is arc surface contact instead of point contact, the contact area of the robot and the ground is increased, and the condition that the toe of the robot sinks into the ground surface too deeply under the amphibious environment with the characteristic of soft mud is prevented; thirdly, the toe of the robot does not shift relative to the ground in the vertical direction during the walking process, so that the track of the mass center of the machine body 7 of the robot is positioned near the same horizontal line during the moving process, the height of the machine body 7 and the ground is kept fixed during the walking process, and the robot is in a relatively stable working state, and the robot can still keep the moving stability in a high-speed state under a complex amphibious environment.
Because the root of the leg component 2 is parallel to the guide rod 9, when the robot is in a static state, the stress direction of the leg component 2 is parallel to the guide rod 9 and perpendicular to the crank 11, the guide rod 9 does not swing under the action of gravity, the leg component 2 realizes self-locking, all gravity is borne by the leg buffer device 1, the leg component 2 and the guide rod 9, the output shaft of the motor 12 cannot be subjected to the torque action generated by the weight of the robot body 7, the abrasion to the motor 12 is reduced, the burden of the motor 12 is greatly reduced, and the service life of the motor 12 is longer.
As shown in fig. 2, the outer side of the toe of the leg member 2 has a circular arc-like blade configuration, and the oblique side contacts the ground toward the outer side of the robot. The robot utilizes shank buffer 1, makes its self utilize shank component 2 toe portion outside to touch to earth and move in the motion process, has strengthened the stationarity of robot motion outside, can also prevent that the robot toe from sinking into in the loose geology under the amphibious environment, so should increase the area of contact of shank component 2 and ground to improve the stability of robot motion, increase its adaptability to amphibious complex environment. The sliding block 10 is provided with a lubricating sleeve and is arranged in a slide way of the guide rod 9, clamping grooves are arranged at two ends of the slide way to prevent the sliding block 10 from falling off, and the sliding block 10 is hinged with the crank 11 through a hinge. The fixed position of the slider 10 on the crank 11 can be adjusted, and can be manually adjusted, the track of the toe can change along with the change of the fixed position of the slider 10 on the crank 11, so that the toe track of the leg component 2 can be adjusted, and the defect that the most fixed toe track of the robot of the existing multi-link mechanism is overcome.
The length of the slideway of the guide rod 9 is 2-3 cm greater than the maximum sliding displacement of the slide block 10, so that the slide block 10 can complete periodic reciprocating sliding in the chute of the guide rod 9 under the driving of the crank 11, and the guide rod 9 is driven to stably reciprocate. Meanwhile, in order to make the two sets of leg members 2 alternately take steps in order when the robot moves, it is necessary that the execution periods of the support phase and the swing phase are as equal as possible, that is, when the point of time when one set of leg-support phase ends is the point of time when the support phase of the other set of legs starts. As can be seen from fig. 5, the supporting phase toe locus is segmented according to equal time (see different linear line segments of the elliptical locus), each segment length is uniformly changed, that is, the toe speed in the supporting phase stage is a stable acceleration-first-then-deceleration process, and no speed mutation exists, so that the whole motion process can be stably carried out.
The leg component 2 comprises a root part, a middle part and a toe, and the root part, the middle part and the toe are respectively connected through torsion springs; as shown in fig. 4, a leg cushion device 1 is disposed in the middle of a leg member 2, the leg cushion device 1 includes a plurality of coaxial metal rings, a gap exists between adjacent metal rings, a plurality of supporting points are disposed between adjacent metal rings, and the leg cushion device 1 is made of a metal with good toughness and good alternating stress resistance, such as aluminum alloy; when the buffer device receives the axial force, the supporting point provides a supporting force to prevent the buffer device from generating axial deformation, so that the axial deformation of the leg component 2 is small; when the passive buffer mechanism is subjected to radial force, the relative position between the metal rings generates deviation, and the effect of absorbing vibration is achieved. The impact of the leg part and the ground is reduced, the motion is stable, and the adaptability of the robot to complex terrains is improved.
Each leg component 2 is driven by a motor 12 which is controlled independently, all the motors 12 are arranged in a sealed cabin for unified sealing, different leg components 2 do not interfere with each other when working, and actions such as straight movement and turning of the robot can be realized by adjusting the rotating speed and the direction of different motors 12. For example, when the robot turns, the rotating speed of the motor 12 turning to the inner side is reduced, so that the reciprocating motion of the corresponding foot is slowed down, meanwhile, the rotating speed of the motor 12 turning to the outer side is increased, the reciprocating motion of the corresponding foot is increased, the robot turns on the land or in water, and the motion requirement of the robot in an amphibious environment complex environment can be met.
The foot type robot capable of stably operating in the amphibious environment has the capability of working in the amphibious environment, the single motor is used for driving the crank rocker mechanism to realize the movement of the robot, the structure is simple, the number of parts is small, the overall structure is light, the maintenance is easy, and the energy utilization rate is high; the motor only needs to rotate in one direction to complete the whole motion of the walking foot, and compared with the mode that the motor rotates forwards and backwards alternately in the conventional motion structure, the power consumption is obviously lower than that of the mode that the motor periodically accelerates, decelerates and reverses. In the whole movement process, each connecting rod in the connecting rod mechanism is in a periodic reciprocating swing state, and the mechanism does not have complex space movement, so that winding caused by flourishing aquatic plants can be avoided when underwater work is carried out, the interference of aquatic organisms can be effectively avoided, and the aquatic organisms can rapidly pass through the area.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. A foot type robot capable of stably working in an amphibious environment is characterized by comprising a sealed machine body (7), a motor (12) is installed in the machine body (7), an output shaft of the motor (12) extends out of the side wall of the machine body (7) in a dynamic sealing mode, the output shaft of the motor (12) is fixedly connected with one end of a crank (11) through a bevel gear box (8), the other end of the crank (11) is hinged with a sliding block (10), the sliding block (10) is installed in a sliding groove of a guide rod (9), the upper end of the guide rod (9) is installed on the machine body (7) through a bearing, the bearing is located above the bevel gear box (8), and a rotating plane of the crank (11) and a reciprocating swinging plane of the guide rod (9) are both vertical to the surface of the machine body (7) in space; one end of a first connecting rod (5) is hinged with the sliding block (10), the other end of the first connecting rod (5) is hinged with the root of the leg component (2), one ends of a second connecting rod (4) and a third connecting rod (3) are respectively connected with the guide rod (9), the other ends of the second connecting rod (4) and the third connecting rod (3) are connected with the root of the leg component (2), and a double-rocker mechanism is formed locally.
2. The legged robot for stable operation in amphibious environment according to claim 1, wherein the root of the leg member (2) is parallel to the guide rod (9), the distance between the hinge points of the second connecting rod (4) and the third connecting rod (3) and the root of the leg member (2) is not more than the distance between the hinge points of the second connecting rod (4) and the third connecting rod (3) and the guide rod (9), and the long arc in the toe motion track of the leg member (2) is in contact with the ground.
3. An amphibious robot stable in operation according to claim 1 or 2, characterised in that the angle between the guiding rod (9) and the vertical is in the range 10 ° -100 °.
4. The legged robot for stable operation in amphibious environment according to claim 1 or 2, characterized in that the length of the slide way of the guiding rod (9) is 2-3 cm longer than the maximum sliding displacement of the sliding block (10).
5. An amphibious robot adapted for stable operation in an environment according to claim 1, where the execution period of the support phase and swing phase in the leg members (2) are equal.
6. The legged robot for stable operation in an amphibious environment according to claim 1 or 5, wherein the leg members (2) are sequentially formed by a leg root, a leg middle and a toe from top to bottom, and the leg root, the leg middle and the toe are respectively connected through torsion springs.
7. An amphibious robot adapted for stable operation in an environment according to claim 1, where the lateral side of the toe of the leg member (2) is rounded.
8. The legged robot for stable operation in amphibious environment according to claim 1, wherein a leg cushioning device (1) is provided in the middle of a leg of the leg member (2), the leg cushioning device (1) comprises a plurality of coaxial metal rings, a gap is provided between adjacent metal rings, a plurality of support points are provided between adjacent metal rings, and the leg cushioning device (1) is made of metal with good toughness and good alternating stress resistance.
9. An amphibious environment stabilized working foot robot according to claim 1, characterised in that each of said leg members (2) is driven by a separately controlled motor (12), all motors (12) being mounted in a sealed compartment of the body (7).
10. An amphibious robot stable in operation according to claim 1 or 9, characterised in that the output shaft of the motor (12) is connected to the output shaft of one of the bevel gears in the bevel gear box (8) via a coupling.
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Cited By (1)
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| CN113306352A (en) * | 2021-07-08 | 2021-08-27 | 山东大学 | Multi-terrain adaptive amphibious six-foot belt waist multifunctional robot |
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| XI CHEN ETC.: "Prototype development and gait planning of biologically inspired multi-legged crablike robot", 《MECHATRONICS》 * |
| 王沫楠 等: "两栖仿生机器蟹行走过程运动学研究", 《哈尔滨工程大学学报》 * |
| 王立权 等: "仿蟹机器人行走稳定性判定方法", 《高技术通讯》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113306352A (en) * | 2021-07-08 | 2021-08-27 | 山东大学 | Multi-terrain adaptive amphibious six-foot belt waist multifunctional robot |
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| CN111516775B (en) | 2021-04-09 |
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