CN1338357A - Miniaturized bionic 6-leg robot - Google Patents

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

Translated fromChinese

微型六足仿生机器人Micro Hexapod Bionic Robot

技术领域：本发明涉及的是一种仿生机器人，特别是一种微型六足仿生机器人，属于机器人领域。Technical field: what the present invention relates to is a kind of bionic robot, especially a kind of miniature hexapod bionic robot, belongs to the field of robot.

背景技术：对机器人的研究已有几十年的历史，专业研究人员和技术人员从生物学和工程学的角度，分析了昆虫和动物能够适应各种复杂环境的机理，并在此基础上仿造蟑螂研制成仿生六足机器人。这些研究主要从蟑螂的腿部肌肉受到各种刺激后产生不同的运动的角度出发，利用气动阀模拟肌肉的舒张和收缩，用一种复杂的关节机构来模拟肌肉间的互联，最后把电机输入当成外界刺激信号。这种方法固然很好，但机器人结构和机器人运动控制十分复杂，总体结构尺寸和体积很难缩小。上海交通大学2000年第10期学报一文：一种形状记忆合金丝驱动的微小型六足机器人，作者：李明东等，对有限空间中形状记忆合金驱动的转动关节输出角位移不足的问题，采用：减小关节的回转半径，用富余的输出力补偿输出角位移的不足；在三维可用空间中布置形状记忆合金丝，增大形状记忆合金丝长度二种方法，开发了由形状记忆合金丝驱动的仿生六足步行机器人，并研究了该类机器人靜步态行走的控制策略。由于该机器人的驱动器采用形状记忆合金，因而机器人的运动频率和运行速度慢，运动速度调节受到限制。Background technology: The research on robots has a history of several decades. Professional researchers and technicians have analyzed the mechanisms by which insects and animals can adapt to various complex environments from the perspective of biology and engineering, and imitated robots on this basis. Cockroaches developed into bionic hexapod robots. These studies mainly start from the perspective that the leg muscles of cockroaches produce different movements after receiving various stimuli. Pneumatic valves are used to simulate the relaxation and contraction of muscles, and a complex joint mechanism is used to simulate the interconnection between muscles. Finally, the motor input as external stimuli. This method is very good, but the robot structure and robot motion control are very complicated, and the overall structure size and volume are difficult to reduce. The 10th Journal of Shanghai Jiaotong University in 2000: A micro-sized hexapod robot driven by shape memory alloy wire, author: Li Mingdong et al. To solve the problem of insufficient angular displacement of the rotary joint driven by shape memory alloy in a limited space, the following methods are used: Reduce the radius of gyration of the joint, use the surplus output force to compensate the insufficient output angular displacement; arrange the shape memory alloy wire in the three-dimensional available space, and increase the length of the shape memory alloy wire. Two methods have been developed, which are driven by the shape memory alloy wire Bionic hexapod walking robot, and researched the control strategy of this kind of robot's static gait walking. Since the driver of the robot is made of shape memory alloy, the movement frequency and speed of the robot are slow, and the adjustment of the movement speed is limited.

发明内容：本发明针对现有技术中的不足，提出一种微型六足仿生机器人，基于仿生学原理、超精密加工技术，利用六套并联四杆机构、微型电动机及配套减速增扭机构研制体积微小、具有良好的机动性、灵活性及对环境的适应能力的“微型六足仿生机器人”。以适应在微小、狭窄、凹凸不平、障碍物众多等环境下完成人力所限和人所不及的在线探测、检查和作业。本发明主要包括：机架、微型电动机、蜗轮蜗杆装置、皮带传动装置、四杆机构，以及前足两条、中足两条和后足两条，其连接方式为：机架内设微型电动机、蜗轮蜗杆装置、皮带传动装置，机架外设四杆机构以及前足两条、中足两条和后足两条，微型电动机蜗轮蜗杆装置连接，通过皮带又与皮带传动装置连接，皮带传动装置的轴分别与四杆构构连接，并将动力分别传给四杆机构，四杆机构分别与前足、中足和后足连接，并带动六足步行。皮带传动装置主要包括：前轴、中间轴、过渡轴、后轴，过渡轴上设有蜗轮蜗杆装置的蜗轮和过渡轴皮带轮，中间轴上设有两个中间轴皮带轮，前轴上设有两个前轴皮带轮，后轴上设有一个后轴皮带轮，通过皮带，过渡轴与中间轴，中间轴与前轴、前轴与后轴相连接，中间轴、前轴和后轴两轴端分别与四杆机构连接。机器人的控制通过PC计算机、D/A转换器、功放电路实现。Summary of the invention: In view of the deficiencies in the prior art, the present invention proposes a miniature hexapod bionic robot. Based on the principle of bionics and ultra-precision machining technology, the volume A "miniature hexapod bionic robot" that is tiny, has good mobility, flexibility and adaptability to the environment. In order to adapt to the small, narrow, uneven, numerous obstacles and other environments to complete the online detection, inspection and operation that is limited by manpower and beyond the reach of manpower. The invention mainly includes: a frame, a micro motor, a worm gear device, a belt transmission device, a four-bar mechanism, and two front legs, two middle legs and two rear legs. Worm gear device, belt drive device, frame peripheral four-bar mechanism and two front feet, two middle legs and two rear legs, the micro motor worm gear device is connected with the belt drive device through the belt, the belt drive device The shafts are respectively connected with the four-bar structure, and the power is transmitted to the four-bar mechanism respectively, and the four-bar mechanism is respectively connected with the front foot, the middle foot and the rear foot, and drives the hexapod to walk. The belt transmission device mainly includes: front shaft, intermediate shaft, transition shaft, rear shaft, the worm gear of the worm gear and the transition shaft pulley are arranged on the transition shaft, two intermediate shaft pulleys are arranged on the intermediate shaft, and two intermediate shaft pulleys are arranged on the front shaft. A front axle pulley, the rear axle is provided with a rear axle pulley, through the belt, the transition shaft and the intermediate shaft, the intermediate shaft and the front axle, the front axle and the rear axle are connected, and the two shaft ends of the intermediate shaft, the front axle and the rear axle are respectively Connected to a four-bar linkage. The control of the robot is realized through PC computer, D/A converter and power amplifier circuit.

本发明具有实质性特点和显著进步，结构和控制简单、运动灵活、通过性和适应性良好，适应更广泛的地形地貌，特别是微小空间、微小管道、凹凸不平、障碍物众多等环境下的驱动运动。更接近于生物体的运动特征，因而运动更加灵活，多变、易于控制，对非结构环境良好的适应性。The present invention has substantive features and significant progress, simple structure and control, flexible movement, good passability and adaptability, and adapts to a wider range of terrain and landforms, especially in environments such as tiny spaces, tiny pipes, unevenness, and numerous obstacles. drive movement. It is closer to the movement characteristics of organisms, so the movement is more flexible, changeable, easy to control, and has good adaptability to unstructured environments.

附图说明：图1本发明结构示意图Description of drawings: Fig. 1 is a schematic diagram of the structure of the present invention

图2本发明四杆结构示意图Fig. 2 schematic diagram of four-bar structure of the present invention

图3本发明步行原理图Fig. 3 walking schematic diagram of the present invention

具体实施方式：如图1、图2和图3所示，本发明主要包括：机架1、微型电动机2、蜗轮蜗杆装置3、皮带传动装置4、四杆机构5，以及前足两条6、7、中足两条8、9和后足两条10、11，其连接方式为：机架1内设微型电动机2、蜗轮蜗杆装置3、皮带传动装置4，机架1外设四杆机构5以及前足两条6、7，中足两条8、9和后足两条10、11，微型电动机2与蜗轮蜗杆装置3连接，通过皮带又与皮带传动装置4连接，皮带传动装置4的轴分别与四杆机构5连接，并将动力分别传给四杆机构5，四杆机构5分别与前足6、7、中足8、9和后足10、11连接，并带动六足6、7、8、9、10、11步行。皮带传动装置4主要包括：前轴12、中间轴13、过渡轴14、后轴15，过渡轴14上设有蜗轮蜗杆装置3的蜗轮和过渡轴皮带轮16，中间轴13上设有两个中间轴皮带轮17、18，前轴12上设有两个前轴皮带轮19、20，后轴15上设有一个后轴皮带轮21，通过皮带，过渡轴14与中间轴13，中间轴13与前轴12、前轴12与后轴15相连接，中间轴13、前轴12和后轴15的轴端分别与四杆机构5连接。本发明的六足分两组，即一侧的前后两足7、11或6、10与另一侧的中间足8或9为一组。除了微小运动调节外同组三足7、11、8或6、10、9同时行动，两组足7、11、9与6、10、9在运动上互隔180°，两组交替运动，机器人第一组足7、11、8或6、10、9刚好着地，并相对机器人体向后摆动，由于地面的摩擦力，将迫使机器人本体向前运动、即实现驱动运动，与此同时机器人第二组足6、10、9或7、11、8刚好离地，并相对机器人体向前摆动到最前端，机器人向前运动二个步距，重复上述的控制过程，机器人将根据指定的行程运动。改变微型电动机转动方向，机器人将向相反方向运动，控制微型电动机的速度，即能实现机器人多种运动速度的要求。任一瞬间机器人总是三脚着地，机器人除具有良好的地形适应能力外，改变着地点的位置，也很容易实现机器人的转向，针对机器人运动步态，机器人足端必须有抬腿、摆腿、着地、驱动等动作。相应的足端轨迹应有平直的着地支承部份、着地驱动部份、抬腿摆动部份，该轨迹通过四杆机构5来实现。机器人的控制通过PC计算机、D/A转换器、功放电路实现。The specific embodiment: as shown in Fig. 1, Fig. 2 and Fig. 3, the present invention mainly comprises:frame 1,miniature motor 2, worm gear device 3,belt transmission device 4, four-bar mechanism 5, and front foot two 6, 7. Twomiddle feet 8, 9 and tworear feet 10, 11, the connection method is: amicro motor 2, a worm gear device 3, and abelt transmission device 4 are installed in theframe 1, and a four-bar mechanism is arranged outside theframe 1 5 and twofront feet 6, 7, twomiddle feet 8, 9 and tworear feet 10, 11, themicromotor 2 is connected with the worm gear device 3, and is connected with thebelt transmission device 4 by the belt, and thebelt transmission device 4 Axis is connected with four-bar mechanism 5 respectively, and power is passed to four-bar mechanism 5 respectively, and four-bar mechanism 5 is respectively connected withfront foot 6,7,middle foot 8,9 andrear foot 10,11, and driveshexapod 6, 7, 8, 9, 10, 11 walks. Thebelt transmission device 4 mainly includes: a front shaft 12, anintermediate shaft 13, atransition shaft 14, and arear shaft 15. Thetransition shaft 14 is provided with a worm gear of the worm gear device 3 and atransition shaft pulley 16, and theintermediate shaft 13 is provided with two intermediate shafts.Axle pulleys 17, 18, twofront axle pulleys 19, 20 are provided on the front axle 12, arear axle pulley 21 is provided on therear axle 15, through the belt, thetransition shaft 14 and theintermediate shaft 13, theintermediate shaft 13 and the front axle 12. The front axle 12 is connected with therear axle 15, and the axle ends of theintermediate axle 13, the front axle 12 and therear axle 15 are respectively connected with the four-bar mechanism 5. The hexapod of the present invention is divided into two groups, namely the front and rear twofeet 7, 11 or 6, 10 on one side and themiddle foot 8 or 9 on the other side are a group. In addition to micro-motion adjustment, the threelegs 7, 11, 8 or 6, 10, 9 of the same group move at the same time. The two groups oflegs 7, 11, 9 and 6, 10, 9 are separated by 180° in motion, and the two groups move alternately. The first group offeet 7, 11, 8 or 6, 10, 9 of the robot just lands on the ground and swings backward relative to the robot body. Due to the friction force on the ground, the robot body will be forced to move forward, that is, to realize the driving motion. At the same time, the robot The second group offeet 6, 10, 9 or 7, 11, 8 is just off the ground, and swings forward relative to the robot body to the front end, the robot moves forward two steps, repeats the above control process, the robot will move forward according to the specified stroke movement. Change the rotation direction of the micro motor, the robot will move in the opposite direction, and control the speed of the micro motor, that is, the requirements of various moving speeds of the robot can be realized. At any moment, the robot always lands on three feet. In addition to the good ability to adapt to the terrain, the robot can also easily realize the turning of the robot when changing the position of the location. For the robot's gait, the robot's feet must have leg lift, leg swing, Landing, driving and other actions. Corresponding end of foot track should have straight support part on the ground, driving part on the ground, leg lifting swing part, and this track is realized by four-bar mechanism 5. The control of the robot is realized through PC computer, D/A converter and power amplifier circuit.

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.

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