CN203172754U - Rollable six-foot robot - Google Patents
Rollable six-foot robot Download PDFInfo
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- CN203172754U CN203172754U CN 201320198578 CN201320198578U CN203172754U CN 203172754 U CN203172754 U CN 203172754U CN 201320198578 CN201320198578 CN 201320198578 CN 201320198578 U CN201320198578 U CN 201320198578U CN 203172754 U CN203172754 U CN 203172754U
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- lower limb
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- steering wheel
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Abstract
The utility model discloses a rollable six-foot robot. The rollable six-foot robot comprises a hexagonal whole machine support, a control and detection module which is mounted right above the whole machine support, and six foot mechanisms which are fixed onto six sides of the whole machine support respectively, wherein the six foot mechanisms are of the same structural mode, and every foot mechanism comprises an upper limb mechanism, a middle section mechanism and a lower limb mechanism. When in rugged and bad road conditions, the rollable six-foot robot walks in a foot mode; and when on flat and downslope road surfaces, the foot mechanisms can act in coordination under the control of a central controller to complete the switch from a walking mode to a rolling mode. According to the rollable six-foot robot, a driving mechanism close to the body is configured with a control lifting degree of freedom, so that compared with a traditional mode in which mechanisms close to the body are configured with a lateral swinging degree of freedom, the obstacle crossing ability is improved. The movement mechanism redundancy of the six-foot robot enables the robot to advance forward even when certain joints break down; and two of the leg structures can complete the clamping action to improve the task executing capability.
Description
Technical field
The utility model belongs to the Robotics field, relates to a kind of six sufficient barrier-surpassing robots that namely can roll again with leg walking.
Background technology
Have many advantages: with respect to wheeled robot, legged type robot has better comformability and keeps away the barrier locomotor activity under rugged road surface, abominable road conditions; With respect to caterpillar robot, it is lighter that legged type robot has weight, and the traveling gear coupling is more weak, and characteristics such as still can walk on after the mechanism of certain degree of freedom is malfunctioning.Legged type robot, particularly six biped robots have good road surface adaptive capacity, high-speed maneuverability, walking stability and structural reliability, more easily leaping over obstacles.Therefore six biped robots are widely used in the hazardous location and survey fields such as disaster relief.
At present, many six biped robots occurred, this robotlike generally adopts connecting rod to drive, and can realize functions such as obstacle detouring, but is difficult to cross the obstacle that surpasses own height; And the systematic comparison complexity, the control difficulty is big.Six present biped robots have reasonable obstacle climbing ability, but are difficult to walking at a high speed in flat road surface.
Summary of the invention
The utility model is intended to by bionical method, designs a kind of bionical spider, utilizes the light obstacle detouring of advantage of multi-foot robot when obstacle detouring; When rugged road surface, slope, utilize the advantage of wheel humanoid robot, roll fast.By improving design, strengthen obstacle climbing ability simultaneously, make it can cross obstacle above height.
The utility model is achieved through the following technical solutions:
A kind of six biped robots that roll and advance, comprise hexagonal complete machine support 1, be fixedly installed in control and the detection module 2 directly over the complete machine support 1 and six foot mechanisms 3,4,5,6,7,8 that are individually fixed in six sides of complete machine support 1, wherein six foot mechanisms 3,4,5,6,7,8 version are identical, include the A of upper limbs mechanism, middle section mechanism B and lower limb mechanism C.
The described upper limbs A of mechanism is made up of the servo steering wheel 9 of upper limbs, upper limbs power output flange 10, upper limbs and stage casing attaching parts 11, flanged pivot shaft 12, bearing assembly 13 and bearing support 14.The servo steering wheel 9 of the upper limbs of high moment of torsion drives upper limbs by upper limbs power output flange 10 and stage casing attaching parts 11 rotates.Rigidity in order to keep moving has increased supporting component.The flange end of flanged pivot shaft 12 is captiveed joint with stage casing attaching parts 11 with upper limbs.The axle head of flanged pivot shaft 12 cooperates with the bearing inner ring of bearing assembly 13.Bearing assembly 13 is connected by bearing support 14 and the complete machine support 14 of angle bar.Upper limbs drives A and is configured to lifting mechanism, has improved the obstacle climbing ability of robot.
Section mechanism B is made up of with lower limb attaching parts 17 and stage casing power output flange 18 stage casing driving steering wheel 15, stage casing backup bearing 16, stage casing in described.Steering wheel 15 lateral arrangement are supported in the stage casing, and the length of whole piece leg is shortened, and have reduced the arm of force length of leg, thereby have reduced the burden of the servo steering wheel 9 of upper limbs.The stage casing drives the power of steering wheel 15 by 18 outputs of stage casing power output flange.The output shaft that stage casing and lower limb attaching parts 17 drive steering wheel 15 in the stage casing is to there being Liang Chu to link to each other with it, wherein, and stage casing power output flange 18 drive stage casing and lower limb attaching parts 17 lateral rotation, the 16 responsible supports of stage casing backup bearing.
Described lower limb mechanism C drives steering wheel 19, lower limb power output flange 20 and the two-way foot 21 of lower limb by lower limb and forms.Lower limb drive steering wheel 19 and drive two-way foot 21 motions of lower limb by lower limb power output flange 20.The two-way foot 21 of lower limb adopts the manufacturing of hollow out carbon fiber sheet, has reduced weight in proof strength.Because the two-way foot 21 of lower limb drives steering wheel 19 symmetries about lower limb, still can normally walk even robot topples.When entering the rolling walking mode, the outer minister of the two-way foot 21 of lower limb end lands, because length is big, so the walking stability height has reduced the burden of control system.
Control and detection module 2 comprise CMOS camera 2-1, hardware visual processes module 2-2, central controller 2-3, Inertial Measurement Unit 2-4 and the wireless communication unit 2-5 of omnidirectional vision;
Wherein, CMOS camera 2-1 passes to the hardware visual processes module 2-2 with hardware video compression function with the ambient condition information that collects, carry out video processing after, traffic information is transferred to central controller 2-3;
The movable information that Inertial Measurement Unit 2-4 gathers, and be transferred to central controller 2-3;
Wireless communication unit 2-5 is used for receiving and sending controling instruction;
Central controller 2-3 drives instruction according to the information that hardware visual processes module 2-2 and Inertial Measurement Unit 2-4 pass over from line output, the perhaps manual control instruction that receives according to wireless communication unit 2-5, control the motor-driven work of each servorudder, and then make each leg move corresponding angle.
Under autonomous walking mode, central controller 2-3 makes road conditions according to the visual information of CMOS camera 2-1 and judges, central process unit 2-3 makes gait adjustment and planning according to the movable information of visual information and Inertial Measurement Unit 2-4 acquisition, send to each servo steering wheel by bus, each servo steering wheel receives instruction and makes corresponding actions.
Under distance control mode, the movable information that the ambient condition information that CMOS camera 2-1 is collected by wireless transmit/receive units 2-5, Inertial Measurement Unit 2-4 gather sends to the telltale on the remote controllers, and operator sends corresponding control command according to demonstration information.Wireless transmit/receive units 2-5 receives operator's control command, and then controls each servo steering wheel by central controller 2-3.
Under rugged and abominable road conditions, adopt sufficient formula walking.When running into smooth and descending road surface, each foot mechanism is under the control of central controller 2-3, and coordination being finished walking and switching to the attitude of rolling.In this process, central controller 2-3 understands self residing attitude by the feedback information that reads Inertial Measurement Unit 2-4, makes the balance adjustment.
The beneficial effects of the utility model are:
1, under abominable road conditions, utilizes the advantage of legged type robot to finish obstacle detouring, utilize the advantage of wheel humanoid robot to walk at a high speed on smooth and descending road surface, improve capacity usage ratio;
2, will be control lifting degree of freedom near the actuator configuration of health, will be configured to the teeter degree of freedom near the mechanism of health with respect to traditional, improve obstacle climbing ability;
3, obtain the attitude of robot by self-contained Inertial Measurement Unit IMU, the switching of easily finishing walking and rolling;
4, the actr near health has increased bearings, and with respect to the actr that does not have to support, load-carrying capacity is stronger, and motion rigidity is bigger;
5, obstacle climbing ability is stronger, can cross the obstacle that is higher than height;
6, complete machine adopts carbon fiber and aviation constructed of aluminium, and is in light weight, can provide higher capacity weight under identical power;
7, the relative health symmetry of terminal shank also can normally be walked even topple, and has also increased when rolling simultaneously and the area of contact on ground, and is more stable, reduced the burden of control system;
8, the kinematic mechanism redundancy of six biped robots makes robot still can advance after certain knuckle failure; Both legs can be finished grasping movement, have improved the ability of executing the task.
Description of drawings
Fig. 1 is complete machine structure figure of the present utility model;
Fig. 2 is the enlarged drawing of upper limbs mechanism part;
Fig. 3 is the enlarged drawing of stage casing structure division;
Fig. 4 is the enlarged drawing of lower limb mechanism part;
Fig. 5 is the transition process sketch of walking posture to roll attitude;
Fig. 6 is control and detection module block diagram.
Among the figure:
1, complete machine support; 2, control and detection module; 3,4,5,6,7,8, foot mechanism;
9, the servo steering wheel of upper limbs; 10, upper limbs power output flange; 11, upper limbs and stage casing attaching parts;
12, flanged pivot shaft; 13, bearing assembly; 14, bearing support; 15, the stage casing drives steering wheel;
16, stage casing backup bearing; 17, stage casing and lower limb attaching parts; 18, stage casing power output flange;
19, lower limb drive steering wheel; 20, lower limb power output flange; 21, the two-way foot of lower limb;
A, upper limbs mechanism; B, middle section mechanism; C, lower limb mechanism;
2-1, CMOS camera; 2-2, hardware visual processes module; 2-3, central controller;
2-4, Inertial Measurement Unit; 2-5, wireless communication unit.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is described further.
Fig. 1 is the complete machine structure figure of a kind of six biped robots of advancing of rolling of the present utility model, as seen it comprises hexagonal complete machine support 1, be fixedly installed in control and the detection module 2 directly over the complete machine support 1 and six foot mechanisms 3,4,5,6,7,8 that are individually fixed in six sides of complete machine support 1, wherein six foot mechanisms 3,4,5,6,7,8 version are identical, include the A of upper limbs mechanism, middle section mechanism B and lower limb mechanism C.
The described upper limbs A of mechanism is made up of the servo steering wheel 9 of upper limbs, upper limbs power output flange 10, upper limbs and stage casing attaching parts 11, flanged pivot shaft 12, bearing assembly 13 and bearing support 14 as shown in Figure 2.The servo steering wheel 9 of the upper limbs of high moment of torsion drives upper limbs by upper limbs power output flange 10 and stage casing attaching parts 11 rotates.Rigidity in order to keep moving has increased supporting component.The flange end of flanged pivot shaft 12 is captiveed joint with stage casing attaching parts 11 with upper limbs.The axle head of flanged pivot shaft 12 cooperates with the bearing inner ring of bearing assembly 13.Bearing assembly 13 is connected by bearing support 14 and the complete machine support 14 of angle bar.Upper limbs drives A and is configured to lifting mechanism, has improved the obstacle climbing ability of robot.
Section mechanism B is made up of with lower limb attaching parts 17 and stage casing power output flange 18 stage casing driving steering wheel 15, stage casing backup bearing 16, stage casing as shown in Figure 3 in described.Steering wheel 15 lateral arrangement are supported in the stage casing, and the length of whole piece leg is shortened, and have reduced the arm of force length of leg, thereby have reduced the burden of the servo steering wheel 9 of upper limbs.The stage casing drives the power of steering wheel 15 by 18 outputs of stage casing power output flange.The output shaft that stage casing and lower limb attaching parts 17 drive steering wheel 15 in the stage casing is to there being Liang Chu to link to each other with it, wherein, and stage casing power output flange 18 drive stage casing and lower limb attaching parts 17 lateral rotation, the 16 responsible supports of stage casing backup bearing.
Described lower limb mechanism C drives steering wheel 19, lower limb power output flange 20 and the two-way foot 21 of lower limb by lower limb and forms as shown in Figure 4.Lower limb drive steering wheel 19 and drive two-way foot 21 motions of lower limb by lower limb power output flange 20.The two-way foot 21 of lower limb adopts the manufacturing of hollow out carbon fiber sheet, has reduced weight in proof strength.Because the two-way foot 21 of lower limb drives steering wheel 19 symmetries about lower limb, still can normally walk even robot topples.When entering the rolling walking mode, the outer minister of the two-way foot 21 of lower limb end lands, because length is big, so the walking stability height has reduced the burden of control system.
Fig. 6 is control of the present utility model and detection module block diagram, comprises CMOS camera 2-1, hardware visual processes module 2-2, central controller 2-3, Inertial Measurement Unit 2-4 and the wireless communication unit 2-5 of omnidirectional vision;
Wherein, CMOS camera 2-1 passes to the hardware visual processes module 2-2 with hardware video compression function with the ambient condition information that collects, carry out video processing after, traffic information is transferred to central controller 2-3;
The movable information that Inertial Measurement Unit 2-4 gathers, and be transferred to central controller 2-3;
Wireless communication unit 2-5 is used for receiving and sending controling instruction;
Central controller 2-3 drives instruction according to the information that hardware visual processes module 2-2 and Inertial Measurement Unit 2-4 pass over from line output, the perhaps manual control instruction that receives according to wireless communication unit 2-5, control the motor-driven work of each servorudder, and then make each leg move corresponding angle.
Under autonomous walking mode, central controller 2-3 makes road conditions according to the visual information of CMOS camera 2-1 and judges, central process unit 2-3 makes gait adjustment and planning according to the movable information of visual information and Inertial Measurement Unit 2-4 acquisition, send to each servo steering wheel by bus, each servo steering wheel receives instruction and makes corresponding actions.
Under distance control mode, the movable information that the ambient condition information that CMOS camera 2-1 is collected by wireless transmit/receive units 2-5, Inertial Measurement Unit 2-4 gather sends to the telltale on the remote controllers, and operator sends corresponding control command according to demonstration information.Wireless transmit/receive units 2-5 receives operator's control command, and then controls each servo steering wheel by central controller 2-3.
Under rugged and abominable road conditions, adopt sufficient formula walking.When running into smooth and descending road surface, each foot mechanism is under the control of central controller 2-3, and coordination being finished walking and switching to the attitude of rolling, and its detailed process as shown in Figure 5.In this process, central controller 2-3 understands self residing attitude by the feedback information that reads Inertial Measurement Unit 2-4, makes the balance adjustment.
Above-described embodiment only is used for explanation the utility model; wherein the structure of each parts, connection mode etc. all can change to some extent; every equivalents and improvement of carrying out on the basis of technical solutions of the utility model all should do not got rid of outside protection domain of the present utility model.
Claims (5)
1. six biped robots that can roll and advance, it is characterized in that: comprise hexagonal complete machine support (1), be fixedly installed in control and the detection module (2) directly over the complete machine support (1) and six foot mechanisms (3,4,5,6,7,8) that are individually fixed in six sides of complete machine support (1), wherein the version of six foot mechanisms (3,4,5,6,7,8) is identical, includes upper limbs mechanism (A), middle section mechanism (B) and lower limb mechanism (C).
2. according to a kind of six biped robots that roll and advance shown in the claim 1, it is characterized in that:
Described upper limbs mechanism (A) is made up of the servo steering wheel of upper limbs (9), upper limbs power output flange (10), upper limbs and stage casing attaching parts (11), flanged pivot shaft (12), bearing assembly (13) and bearing support (14); The servo steering wheel of the upper limbs of high moment of torsion (9) drives upper limbs by upper limbs power output flange (10) and stage casing attaching parts (11) rotates; The flange end of flanged pivot shaft (12) is captiveed joint with stage casing attaching parts (11) with upper limbs; The axle head of flanged pivot shaft (12) cooperates with the bearing inner ring of bearing assembly (13); Bearing assembly (13) is connected by bearing support (14) and the complete machine support (14) of angle bar.
3. according to a kind of six biped robots that roll and advance shown in the claim 1, it is characterized in that:
Section mechanism (B) is made up of with lower limb attaching parts (17) and stage casing power output flange (18) stage casing driving steering wheel (15), stage casing backup bearing (16), stage casing in described; Steering wheel (15) lateral arrangement is supported in the stage casing; The stage casing drives the power of steering wheel (15) by stage casing power output flange (18) output; The output shaft that stage casing and lower limb attaching parts (17) drive steering wheel (15) in the stage casing is to there being Liang Chu to link to each other with it, wherein, stage casing power output flange (18) drive stage casing and lower limb attaching parts (17) lateral rotation, stage casing backup bearing (16) is responsible for support.
4. according to a kind of six biped robots that roll and advance shown in the claim 1, it is characterized in that:
Described lower limb mechanism (C) drives steering wheel (19), lower limb power output flange (20) and the two-way foot of lower limb (21) by lower limb and forms; Lower limb drive steering wheel (19) and drive the two-way foots of lower limb (21) motion by lower limb power output flange (20); The two-way foot of lower limb (21) drives steering wheel (19) symmetry about lower limb; When entering the rolling walking mode, outer minister's end of the two-way foot of lower limb (21) lands.
5. according to a kind of six biped robots that roll and advance shown in the claim 1, it is characterized in that:
Described control and detection module (2) comprise CMOS camera (2-1), hardware visual processes module (2-2), central controller (2-3), Inertial Measurement Unit (2-4) and the wireless communication unit (2-5) of omnidirectional vision;
CMOS camera (2-1) passes to the hardware visual processes module (2-2) with hardware video compression function with the ambient condition information that collects, carry out video processing after, traffic information is transferred to central controller (2-3);
The movable information that Inertial Measurement Unit (2-4) is gathered, and be transferred to central controller (2-3);
Wireless communication unit (2-5) is used for receiving and sending controling instruction;
Central controller (2-3) drives instruction according to the information that hardware visual processes module (2-2) and Inertial Measurement Unit (2-4) pass over from line output, the perhaps manual control instruction that receives according to wireless communication unit (2-5), control the motor-driven work of each servorudder, and then make each leg move corresponding angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320198578 CN203172754U (en) | 2013-04-19 | 2013-04-19 | Rollable six-foot robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320198578 CN203172754U (en) | 2013-04-19 | 2013-04-19 | Rollable six-foot robot |
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| CN203172754U true CN203172754U (en) | 2013-09-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201320198578 Expired - Fee Related CN203172754U (en) | 2013-04-19 | 2013-04-19 | Rollable six-foot robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103085898A (en) * | 2013-02-01 | 2013-05-08 | 吉林大学 | Middle wheel steering articulated brotherhood of railroad trainmen (BRT) bus |
| CN103171645A (en) * | 2013-04-19 | 2013-06-26 | 吉林大学 | Hexapod robot capable of travelling in rolling manner |
| CN108516029A (en) * | 2018-04-02 | 2018-09-11 | 上海交通大学 | Autonomous rolling soft robot based on dielectric elastomer |
| CN108528563A (en) * | 2018-05-14 | 2018-09-14 | 南京大学 | A kind of Hexapod Robot |
-
2013
- 2013-04-19 CN CN 201320198578 patent/CN203172754U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103085898A (en) * | 2013-02-01 | 2013-05-08 | 吉林大学 | Middle wheel steering articulated brotherhood of railroad trainmen (BRT) bus |
| CN103085898B (en) * | 2013-02-01 | 2015-12-09 | 吉林大学 | In take turns and turn to radial type BRT bus |
| CN103171645A (en) * | 2013-04-19 | 2013-06-26 | 吉林大学 | Hexapod robot capable of travelling in rolling manner |
| CN103171645B (en) * | 2013-04-19 | 2015-06-10 | 吉林大学 | Hexapod robot capable of travelling in rolling manner |
| CN108516029A (en) * | 2018-04-02 | 2018-09-11 | 上海交通大学 | Autonomous rolling soft robot based on dielectric elastomer |
| CN108528563A (en) * | 2018-05-14 | 2018-09-14 | 南京大学 | A kind of Hexapod Robot |
| CN108528563B (en) * | 2018-05-14 | 2023-11-03 | 南京大学 | Six-foot robot |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130904 Termination date: 20140419 |