CN1338357A - Miniaturized bionic 6-leg robot - Google Patents
Miniaturized bionic 6-leg robot Download PDFInfo
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- CN1338357A CN1338357A CN 01126965 CN01126965A CN1338357A CN 1338357 A CN1338357 A CN 1338357A CN 01126965 CN01126965 CN 01126965 CN 01126965 A CN01126965 A CN 01126965A CN 1338357 A CN1338357 A CN 1338357A
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Abstract
A miniaturized bionic 6-leg robot is composed of machine frame, miniaturized motor, worm gear set, belt drive unit, 4-rod mechanism, two front legs, two central legs and two back legs. Said miniaturized motor drives in turn worm gear set, belt drive unit, 4-rod mechanism and 6 legs. Its advantages include simple structure and control, flexible movement, and better trafficability and adaptability.
Description
Technical field: what the present invention relates to is a kind of bio-robot, and particularly a kind of miniaturized bionic 6-leg robot belongs to the robot field.
Background technology: the history that the research of robot is had decades, specialty researcher and technical staff are from the angle of biology and engineering science, analyzed the mechanism that insect and animal can adapt to various complex environments, and copied cockroach on this basis and be developed into bionical six biped robots.These researchs mainly are subjected to the various different motion angle of back generation that stimulate from the leg muscle of cockroach, utilize the diastole and the contraction of pneumatic operated valve simulate muscular, come interconnected between simulate muscular with a kind of articulation mechanism of complexity, at last the motor input as the environmental stimuli signal.This method is no doubt fine, but robot architecture and robot motion's control are very complicated, and general structure size and volume are difficult to dwindle.2000 the 10th phase journal one literary compositions of Shanghai Communications University: microminiature six biped robots that a kind of shape-memory alloy wire drives, author: Li Mingdong etc., problem to the cradle head angle displacement deficiency of marmem driving in the confined space, adopt: reduce the radius of gyration in joint, with the deficiency of power output compensation angle displacement more than needed; In three-dimensional free space, arrange shape-memory alloy wire, increase two kinds of methods of shape-memory alloy wire length, developed the bionical six-legged walking machine device people who drives by shape-memory alloy wire, and studied the control strategy of this robotlike Static gait walking.Because the driver of this robot adopts marmem, thereby the motion frequency of robot and the speed of service are slow, and movement velocity is regulated and is restricted.
Summary of the invention: the present invention is directed to deficiency of the prior art, a kind of miniaturized bionic 6-leg robot is proposed, based on bionics principle, Ultraprecision Machining, utilize six cover parallel four-bar mechanisms, micromotor and supporting deceleration to increase to turn round mechanism's development volume small, have good mobility, flexibility and to " miniaturized bionic 6-leg robot " of the adaptive capacity of environment.Finish to adapt to that manpower is limit and people's online detection, inspection and operation can't be obtained under environment such as small, narrow, uneven, that barrier is numerous.The present invention mainly comprises: frame, micromotor, the worm and gear device, belt drive unit, four-bar mechanism, and two of front foots, two of two of mesopodiums and metapedes, its connected mode is: establish micromotor in the frame, the worm and gear device, belt drive unit, two of frame peripheral hardware four-bar mechanism and front foots, two of two of mesopodiums and metapedes, micromotor worm and gear device connects, be connected with belt drive unit again by belt, the axle of belt drive unit is connected with four bar structure structures respectively, and power passed to four-bar mechanism respectively, four-bar mechanism respectively with front foot, mesopodium is connected with metapedes, and drives six sufficient walkings.Belt drive unit mainly comprises: front axle, jackshaft, transition axis, rear axle, transition axis is provided with the worm gear and the transition axis belt pulley of worm and gear device, jackshaft is provided with two jackshaft belt pulleys, front axle is provided with two preceding shaft pulleys, rear axle is provided with a backshaft skin belt wheel, by belt, and transition axis and jackshaft, jackshaft is connected with rear axle with front axle, front axle, and jackshaft, front axle and rear axle two axial ends are connected with four-bar mechanism respectively.ROBOT CONTROL realizes by PC computer, D/A converter, power amplifier.
The present invention has substantive distinguishing features and marked improvement, structure and control are simple, motion flexibly, trafficability characteristic and adaptability is good, adapt to the actuation movement under topography and geomorphology widely, particularly short space, microtubule, uneven, the environment such as barrier is numerous.More approach the motion feature of organism, thus the motion more flexible, changeable, be easy to control, the adaptability good to non-structure environment.
Description of drawings: Fig. 1 structural representation of the present invention
Fig. 2 the present invention four bar structural representations
Fig. 3 walking schematic diagram of the present invention
The specific embodiment: as Fig. 1, Fig. 2 and shown in Figure 3, the present invention mainly comprises: frame 1, micromotor 2, worm and gear device 3, belt drive unit 4, four-bar mechanism 5, and two 6 of front foots, 7, two 8 of mesopodiums, 9 and two 10 of metapedes, 11, its connected mode is: establish micromotor 2 in the frame 1, worm and gear device 3, belt drive unit 4, two 6 of frame 1 peripheral hardware four-bar mechanism 5 and front foots, 7, two 8 of mesopodiums, 9 and two 10 of metapedes, 11, micromotor 2 is connected with worm and gear device 3, be connected with belt drive unit 4 again by belt, the axle of belt drive unit 4 is connected with four-bar mechanism 5 respectively, and power passed to four-bar mechanism 5 respectively, four-bar mechanism 5 respectively with front foot 6,7, mesopodium 8,9 and metapedes 10,11 connect, and drive six foots 6,7,8,9,10,11 walkings.Belt drive unit 4 mainly comprises: front axle 12, jackshaft 13, transition axis 14, rear axle 15, transition axis 14 is provided with the worm gear and the transition axis belt pulley 16 of worm and gear device 3, jackshaft 13 is provided with two jackshaft belt pulleys 17,18, front axle 12 is provided with two preceding shaft pulleys 19,20, rear axle 15 is provided with a backshaft skin belt wheel 21, pass through belt, transition axis 14 and jackshaft 13, jackshaft 13 is connected with rear axle 15 with front axle 12, front axle 12, and the axle head of jackshaft 13, front axle 12 and rear axle 15 is connected with four-bar mechanism 5 respectively.Six foots of the present invention divide two groups, and promptly front and back two foots 7,11 or 6,10 of a side and the middle foot 8 or 9 of opposite side are one group.Tripodia 7 on the same group except small movements is regulated, 11,8 or 6,10,9 action simultaneously, two groups of foots 7,11,9 and 6,10,9 the motion on mutually every 180 °, two groups of alternating movements, first group of foot 7 of robot, 11,8 or 6,10,9 just land, and the machine human body is swung backward relatively, because the frictional force on ground, to force robot body to travel forward, promptly realize actuation movement, meanwhile robot is second group sufficient 6,10,9 or 7,11,8 is just liftoff, and the machine human body is swung forwards to foremost relatively, robot two step pitches that travel forward repeat above-mentioned control procedure, and robot will be according to the stroke motion of appointment.Change the micromotor rotation direction, robot will move round about, and the speed of control micromotor can realize the requirement of the multiple movement velocity of robot.Arbitrary moment robot always tripod land, robot changes the position of touchdown point except that having good landform adaptive capacity, also be easy to realize turning to of robot, at robot motion's gait, action such as the robot foot end must be lifted leg, swinging kick, lands, driving.Corresponding foot end track should have straight land supporting part, the driving part that lands, lift the leg swing partly, and this track is realized by four-bar mechanism 5.ROBOT CONTROL realizes by PC computer, D/A converter, power amplifier.
Claims (4)
1, a kind of miniaturized bionic 6-leg robot, mainly comprise: frame (1), front foot (6), (7), mesopodium (8), (9), metapedes (10), (11), it is characterized in that also comprising: micromotor (2), worm and gear device (3), belt drive unit (4) and four-bar mechanism (5), its connected mode is: establish micromotor (2) in the frame (1), worm and gear device (3), belt drive unit (4), two of frame (1) peripheral hardware four-bar mechanism (5) and front foots (6), (7), two of mesopodiums (8), (9) and two of metapedes (10), (11), micromotor (2) is connected with worm and gear device (3), be connected with belt drive unit (4) again by belt, belt drive unit (4) the axle be connected with four-bar mechanism (5) respectively, four-bar mechanism (5) respectively with front foot (6), (7), mesopodium (8), (9) and metapedes (10), (11) connect.
2, this miniaturized bionic 6-leg robot according to claim 1, it is characterized in that belt drive unit (4) mainly comprises: front axle (12), jackshaft (13), transition axis (14), rear axle (15), transition axis (14) is provided with the worm gear and the transition axis belt pulley (16) of worm and gear device (3), jackshaft (13) is provided with two jackshaft belt pulleys (17), (18), front axle (12) is provided with two preceding shaft pulleys (19), (20), rear axle (15) is provided with a backshaft skin belt wheel (21), pass through belt, transition axis (14) and jackshaft (13), jackshaft (13) and front axle (12), front axle (12) is connected with rear axle (15).
3, this miniaturized bionic 6-leg robot according to claim 1 is characterized in that the axle head of jackshaft (13), front axle (12) and rear axle (15) is connected with four-bar mechanism (5) respectively.
4, this miniaturized bionic 6-leg robot according to claim 1 is characterized in that ROBOT CONTROL passes through PC computer, D/A converter, power amplifier and realize.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB011269650A CN1142048C (en) | 2001-10-08 | 2001-10-08 | Miniaturized bionic 6-leg robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB011269650A CN1142048C (en) | 2001-10-08 | 2001-10-08 | Miniaturized bionic 6-leg robot |
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| Publication Number | Publication Date |
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| CN1338357A true CN1338357A (en) | 2002-03-06 |
| CN1142048C CN1142048C (en) | 2004-03-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB011269650A Expired - Fee Related CN1142048C (en) | 2001-10-08 | 2001-10-08 | Miniaturized bionic 6-leg robot |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1328017C (en) * | 2005-05-20 | 2007-07-25 | 哈尔滨工程大学 | Bionic mole cricket robot |
| CN100455256C (en) * | 2004-02-17 | 2009-01-28 | 韩国科学技术研究院 | Teleoperated endoscopic capsule equipped with active locomotion system |
| CN101927659A (en) * | 2010-08-05 | 2010-12-29 | 北京理工大学 | Split omnibearing overload-resistant rubber wheel |
| CN101746429B (en) * | 2010-01-28 | 2011-11-16 | 同济大学 | Hexapodous biomimetic wet-sucking wall-climbing robot |
| CN102495632A (en) * | 2011-12-15 | 2012-06-13 | 北京理工大学 | Movement platform based on omnidirectional driving of ball wheels |
| CN102616296A (en) * | 2012-03-31 | 2012-08-01 | 浙江工业大学 | Six-wheel-leg type serial-parallel hybrid robot |
| CN102837752A (en) * | 2012-09-20 | 2012-12-26 | 吉林大学 | Six-foot obstacle crossing robot with limb self-cutting function and control system thereof |
| CN102897245A (en) * | 2012-10-30 | 2013-01-30 | 同济大学 | Robot body modularization linkage device for single-drive multi-legged robot |
| CN102963456A (en) * | 2012-12-19 | 2013-03-13 | 叶志彪 | Teaching robot with six feet |
| CN103171644A (en) * | 2013-03-31 | 2013-06-26 | 吉林大学 | All-wheel drive walking mechanism of biomimetic six-wheeled leg |
| CN103192897A (en) * | 2013-04-24 | 2013-07-10 | 吉林大学 | Bionic six-wheel-leg travelling mechanism |
| CN104015833A (en) * | 2014-06-23 | 2014-09-03 | 哈尔滨工业大学 | Robot walking leg mechanism with integration of wheel type, foot type and wheel-foot composite type |
| CN105460099A (en) * | 2015-12-21 | 2016-04-06 | 西安交通大学 | Multifunctional six-legged climbing robot |
| CN106080830A (en) * | 2016-07-08 | 2016-11-09 | 苏州米众三维科技有限公司 | The Hexapod Robot printed based on 3D |
| CN107472395A (en) * | 2017-09-19 | 2017-12-15 | 泸县玉流机械制造有限责任公司 | Four-footed machinery beast |
| CN108657303A (en) * | 2017-03-30 | 2018-10-16 | 深圳光启合众科技有限公司 | The Servo Control method, apparatus and hexapod robot of hexapod robot |
| CN114342686A (en) * | 2021-12-10 | 2022-04-15 | 江苏大学 | Bionic six-foot topping robot |
| CN117242958A (en) * | 2023-11-16 | 2023-12-19 | 龙门实验室 | Transplanting robot suitable for greenhouse |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100368156C (en) * | 2006-04-27 | 2008-02-13 | 上海交通大学 | Microsize robot based on wheel leg type composite mechanism |
-
2001
- 2001-10-08 CN CNB011269650A patent/CN1142048C/en not_active Expired - Fee Related
Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100455256C (en) * | 2004-02-17 | 2009-01-28 | 韩国科学技术研究院 | Teleoperated endoscopic capsule equipped with active locomotion system |
| CN1328017C (en) * | 2005-05-20 | 2007-07-25 | 哈尔滨工程大学 | Bionic mole cricket robot |
| CN101746429B (en) * | 2010-01-28 | 2011-11-16 | 同济大学 | Hexapodous biomimetic wet-sucking wall-climbing robot |
| CN101927659B (en) * | 2010-08-05 | 2013-04-03 | 北京理工大学 | Split omnibearing overload-resistant rubber wheel |
| CN101927659A (en) * | 2010-08-05 | 2010-12-29 | 北京理工大学 | Split omnibearing overload-resistant rubber wheel |
| CN102495632B (en) * | 2011-12-15 | 2013-04-03 | 北京理工大学 | Movement platform based on omnidirectional driving of ball wheels |
| CN102495632A (en) * | 2011-12-15 | 2012-06-13 | 北京理工大学 | Movement platform based on omnidirectional driving of ball wheels |
| CN102616296A (en) * | 2012-03-31 | 2012-08-01 | 浙江工业大学 | Six-wheel-leg type serial-parallel hybrid robot |
| CN102616296B (en) * | 2012-03-31 | 2014-01-29 | 浙江工业大学 | Six-wheel-leg type serial-parallel hybrid robot |
| CN102837752A (en) * | 2012-09-20 | 2012-12-26 | 吉林大学 | Six-foot obstacle crossing robot with limb self-cutting function and control system thereof |
| CN102837752B (en) * | 2012-09-20 | 2014-11-05 | 吉林大学 | Six-foot obstacle crossing robot with limb self-cutting function and control system thereof |
| CN102897245A (en) * | 2012-10-30 | 2013-01-30 | 同济大学 | Robot body modularization linkage device for single-drive multi-legged robot |
| CN102963456A (en) * | 2012-12-19 | 2013-03-13 | 叶志彪 | Teaching robot with six feet |
| CN103171644A (en) * | 2013-03-31 | 2013-06-26 | 吉林大学 | All-wheel drive walking mechanism of biomimetic six-wheeled leg |
| CN103171644B (en) * | 2013-03-31 | 2015-10-07 | 吉林大学 | Bionical six take turns leg drives traveling gear entirely |
| CN103192897A (en) * | 2013-04-24 | 2013-07-10 | 吉林大学 | Bionic six-wheel-leg travelling mechanism |
| CN103192897B (en) * | 2013-04-24 | 2015-04-08 | 吉林大学 | Bionic six-wheel-leg travelling mechanism |
| CN104015833A (en) * | 2014-06-23 | 2014-09-03 | 哈尔滨工业大学 | Robot walking leg mechanism with integration of wheel type, foot type and wheel-foot composite type |
| CN104015833B (en) * | 2014-06-23 | 2016-03-02 | 哈尔滨工业大学 | Wheeled, sufficient formula and take turns the robot walking-leg mechanism that walking combined walking is integrated |
| CN105460099A (en) * | 2015-12-21 | 2016-04-06 | 西安交通大学 | Multifunctional six-legged climbing robot |
| CN106080830A (en) * | 2016-07-08 | 2016-11-09 | 苏州米众三维科技有限公司 | The Hexapod Robot printed based on 3D |
| CN108657303A (en) * | 2017-03-30 | 2018-10-16 | 深圳光启合众科技有限公司 | The Servo Control method, apparatus and hexapod robot of hexapod robot |
| CN107472395A (en) * | 2017-09-19 | 2017-12-15 | 泸县玉流机械制造有限责任公司 | Four-footed machinery beast |
| CN114342686A (en) * | 2021-12-10 | 2022-04-15 | 江苏大学 | Bionic six-foot topping robot |
| CN117242958A (en) * | 2023-11-16 | 2023-12-19 | 龙门实验室 | Transplanting robot suitable for greenhouse |
| CN117242958B (en) * | 2023-11-16 | 2024-02-02 | 龙门实验室 | Transplanting robot suitable for greenhouse |
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| Publication number | Publication date |
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| CN1142048C (en) | 2004-03-17 |
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