CN104843102A - Damping foot type robot based on six-degrees-of-freedom parallel mechanism - Google Patents
Damping foot type robot based on six-degrees-of-freedom parallel mechanism Download PDFInfo
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- CN104843102A CN104843102A CN201510115703.3A CN201510115703A CN104843102A CN 104843102 A CN104843102 A CN 104843102A CN 201510115703 A CN201510115703 A CN 201510115703A CN 104843102 A CN104843102 A CN 104843102A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 83
- 238000013016 damping Methods 0.000 title claims description 25
- 238000001514 detection method Methods 0.000 claims abstract description 34
- 230000008713 feedback mechanism Effects 0.000 claims abstract description 17
- 238000000605 extraction Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000000386 athletic effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Classifications
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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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明涉及一种基于并联六自由度机构的减振足式机器人，属于机器人技术领域。本发明的足式机器人，包括机器人本体、连接在机器人本体下部的运动机构、减振反馈机构、运动机构控制模块、开关量信号检测模块、模式控制模块；运动机构的减振反馈机构接触到地面时，开启触觉开关，开关量信号检测模块控制模式控制模块向运动机构控制模块输出停止继续伸出的指令。本发明的足式机器人对机器人足端是否接触地面进行反馈控制，能有效解决机器人在执行预定指令时，由于地面不平而产生颠簸的技术难点，具有重要的推广应用价值。
The invention relates to a vibration-absorbing legged robot based on a parallel six-degree-of-freedom mechanism, which belongs to the technical field of robots. The legged robot of the present invention includes a robot body, a motion mechanism connected to the lower part of the robot body, a vibration reduction feedback mechanism, a motion mechanism control module, a switch signal detection module, and a mode control module; the vibration reduction feedback mechanism of the motion mechanism touches the ground , the tactile switch is turned on, and the switch signal detection module controls the mode control module to output an instruction to stop and continue extending to the motion mechanism control module. The footed robot of the present invention performs feedback control on whether the foot of the robot is in contact with the ground, which can effectively solve the technical difficulty of bumping due to uneven ground when the robot executes predetermined instructions, and has important popularization and application value.
Description
Technical field
The present invention relates to a kind of vibration damping legged type robot based on 6-dof parallel mechanism, belong to robotics.
Background technology
Robot, owing to can replace manually completing some heavy even dangerous work, therefore obtains research widely.One in robot important component part is then hoofing part part, and this is that robot can paleocinetic key.Common robot can be divided into legged type robot, wheeled robot, caterpillar type robot etc., they all have respective merits and faults, as wheeled robot then has kinematic velocity faster, be suitable for travelling in structuring or hand on smooth road surface, field, but in the wild on some rugged destructuring road surfaces, then only have sufficient formula and caterpillar type robot can complete traveling task, because it has good obstacle climbing ability.Especially, under the environment such as mountain region, jungle, legged type robot is walked flexibly because of it, has reasonable carrying capacity.If a company of the U.S. is specially for U.S. army develops a four-footed hydraulic-driven machine people being referred to as " towser ", be used for transporting equipment supply in Afghan jungle.Conventional its foot of legged type robot is generally tandem mechanism, and its weak point is exactly, and the load-carrying capacity of robot is smaller.In order to increase the load-carrying capacity of legged type robot, scholar and research institution is had to propose to adopt three degree of freedom in parallel or six-freedom motion mechanism to come alternative traditional tandem mechanism.Six-freedom motion mechanism in parallel is as the foot of robot, its structural integrity is good, and rigidity is comparatively large, has larger load-carrying capacity, but the obvious shortcoming that these legged type robots exist absorbs the successful of impact shock not as wheeled or caterpillar type robot.
The walking process of general legged type robot is achieved in that the path of motion first being cooked up robot foot end by control system, then controls foot end according to planned path of motion and carries out stretching out or retraction movement.The problem done like this is, because ground exists rugged and rough, likely there is larger error in path of motion planned in advance, so there will be after the sufficient termination of robot contacts ground, also do not move to the athletic posture preset, control system still can control foot end continue protruding, because its foot end touches ground, so the continuing to stretch out the robot way up of this sufficient place part can only be caused to lift of foot end, thus cause the health overbalance of robot, and there is sense of jolting.There are some legged type robots can hold spring or the cushion of an installation vibration damping at its foot, when sufficient termination contact ground continue again to stretch out time, recoil spring or cushion can be compressed, when recoil spring or cushion because of the elastic force that produced by compressing and its robot gravity that bears balance each other time, when foot end continues to stretch out again, recoil spring is just no longer compressed, and the robot health of this sufficient place part can be lifted equally, destroy the balance of robot health, occur sense of jolting.
Summary of the invention
The object of the invention is to solve the shortcoming that there is vibratory impulse when conventional parallel or series connection legged type robot foot land, and a kind of vibration damping legged type robot based on 6-dof parallel mechanism is provided.
The object of the invention is to be achieved through the following technical solutions:
A kind of vibration damping legged type robot based on 6-dof parallel mechanism of the present invention, comprises robot body, is connected to the kinematic mechanism of robot body bottom, vibration damping feedback mechanism, kinematic mechanism control module, on-off model detection module, mode control module;
Kinematic mechanism adopts the kinematic mechanism of six degree of freedom in parallel;
Kinematic mechanism control module has movement instruction input interface and Schema control instruction input interface, kinematic mechanism control module sends motor message to kinematic mechanism, actuation movement mechanism kinematic according to the instruction of movement instruction input interface and the input of Schema control instruction input interface;
On-off model detection module detects the on off state of tact switch in real time, and the signal of master mode control module exports, when on-off model detection module detects that tact switch is in closure state, mode control module exports the instruction stopping continuing to stretch out, when on-off model detection module detects that tact switch is in off-state, mode control module then exports the instruction allowing to continue to stretch out.
Mode control module, according to the control signal of receiving key amount signal detection module, is selected to export to kinematic mechanism control module the instruction whether allowing to continue to stretch out;
Whether kinematic mechanism moves the instruction situation that both the movement instruction input interface and Schema control instruction input interface that depend on kinematic mechanism control module inputs, as long as mode control module outputs the instruction stopping continuing to stretch out, no matter which type of instruction the instruction input interface of kinematic mechanism controller receives, kinematic mechanism all stops stretching out, only have mode control module to output to allow the instruction continuing to stretch out, kinematic mechanism just can come controlled motion mechanism according to the instruction of its movement instruction input interface input and stretch out;
Vibration damping feedback mechanism comprises dome-type flexible sheath, contact, tact switch, and the dome-type flexible sheath of vibration damping feedback mechanism is fixed on the bottom of kinematic mechanism; Contact one end and dome-type flexible sheath inwall are fixed, and the other end of contact freely stretches out to kinematic mechanism side; Tact switch is open contact switch, tact switch is fixed on the bottom end face of kinematic mechanism, the extraction wire of tact switch is connected with the detection interface of on-off model detection module, the mouth of on-off model detection module is connected with the input end data line of mode control module, and the mouth of mode control module is connected with the Schema control instruction input interface data line of kinematic mechanism control module.
Described contact is preferably recoil spring, can realize starting while tact switch, can also play buffering and land the effect of vibratory impulse.
Working process
When robot ambulation, first by the predetermined instruction input interface input queued switches kinematic mechanism movement instruction of kinematic mechanism control module, stretch out in process at the kinematic mechanism of robot, when the vibration damping feedback mechanism of any one kinematic mechanism touches ground, be subject to the effect of robot self gravitation, dome-type flexible sheath is inwardly compressed, and then makes the free end of contact open tact switch; Now on-off model detection module detects that tact switch is in closure state, and on-off model detection module master mode control module exports the instruction stopping continuing to stretch out to kinematic mechanism control module; Kinematic mechanism is avoided because ground injustice continues protruding, robot generation to be jolted; After the kinematic mechanism of robot lifts, vibration damping feedback mechanism departs from ground, and the resilience of dome-type flexible sheath makes the free end of contact depart from and close tact switch; Now on-off model detection module detects that tact switch is in off-state, on-off model detection module master mode control module exports the instruction allowing to continue to stretch out to kinematic mechanism control module, the kinematic mechanism of robot, before non-kiss the earth, can be made according to movement instruction and stretch out motion.
Beneficial effect
To robot foot end, whether kiss the earth carries out controlled reset to legged type robot of the present invention, and effectively can solve robot when performing predetermined instruction, the technical barrier that generation is jolted because ground is uneven, has important application value.
Accompanying drawing explanation
Fig. 1 is the integral structure figure of legged type robot of the present invention;
Fig. 2 is the structural representation of vibration damping feedback mechanism in legged type robot of the present invention;
Fig. 3 is kinematic mechanism control flow chart in legged type robot of the present invention;
100-robot carrier, 101-kinematic mechanism, 102-vibration damping feedback mechanism, 201-dome-type rubber sleeve, 202-recoil spring, 203-tact switch.
Detailed description of the invention
Below in conjunction with accompanying drawing, content of the present invention is described in detail.
Embodiment
A kind of vibration damping legged type robot based on 6-dof parallel mechanism of the present invention, as shown in Figure 1, comprise robot body 100, be connected to the kinematic mechanism 101 of robot body bottom, vibration damping feedback mechanism 102, kinematic mechanism control module, on-off model detection module, mode control module;
Kinematic mechanism 101 adopts the kinematic mechanism of six degree of freedom in parallel;
Kinematic mechanism control module has movement instruction input interface and Schema control instruction input interface, kinematic mechanism control module sends motor message to kinematic mechanism 101, actuation movement mechanism kinematic according to the instruction of movement instruction input interface and the input of Schema control instruction input interface;
On-off model detection module detects the on off state of tact switch 203 in real time, and the signal of master mode control module exports, when on-off model detection module detects that tact switch 203 is in closure state, mode control module exports the instruction stopping continuing to stretch out, when on-off model detection module detects that tact switch 203 is in off-state, mode control module then exports the instruction allowing to continue to stretch out.
Mode control module, according to the control signal of receiving key amount signal detection module, is selected to export to kinematic mechanism control module the instruction whether allowing to continue to stretch out;
As shown in Figure 2, vibration damping feedback mechanism 102 comprises dome-type flexible sheath 201, recoil spring 302, tact switch 203, and the dome-type flexible sheath 201 of vibration damping feedback mechanism 102 is fixed on the bottom of kinematic mechanism 101; Recoil spring 302 one end and dome-type flexible sheath 201 inwall are fixed, and the other end of recoil spring 302 freely stretches out to kinematic mechanism side; Tact switch 203 is open contact switch, tact switch 203 is fixed on the bottom end face of kinematic mechanism, the extraction wire of tact switch 203 is connected with the detection interface of on-off model detection module, the mouth of on-off model detection module is connected with the input end data line of mode control module, and the mouth of mode control module is connected with the Schema control instruction input interface data line of kinematic mechanism control module.
Working process
When robot ambulation, first by the predetermined instruction input interface input queued switches kinematic mechanism movement instruction of kinematic mechanism control module, stretch out in process at the kinematic mechanism of robot, when the vibration damping feedback mechanism 102 of any one kinematic mechanism 101 touches ground, be subject to the effect of robot self gravitation, dome-type flexible sheath 201 is inwardly compressed, and then makes the free end of recoil spring 302 open tact switch 203; Now on-off model detection module detects that tact switch 203 is in closure state, and on-off model detection module master mode control module exports the instruction stopping continuing to stretch out to kinematic mechanism control module; Kinematic mechanism 101 is avoided because ground injustice continues protruding, robot generation to be jolted; After the kinematic mechanism of robot lifts, vibration damping feedback mechanism 102 departs from ground, and dome-type flexible sheath 201 resilience makes the free end of recoil spring 302 depart from and closes tact switch 203; Now on-off model detection module detects that tact switch 203 is in off-state, on-off model detection module master mode control module exports the instruction allowing to continue to stretch out to kinematic mechanism control module, the kinematic mechanism of robot, before non-kiss the earth, can be made according to movement instruction and stretch out motion.
Claims (3)
1. based on a vibration damping legged type robot for 6-dof parallel mechanism, it is characterized in that: comprise robot body, be connected to the kinematic mechanism of robot body bottom, vibration damping feedback mechanism, kinematic mechanism control module, on-off model detection module, mode control module;
Kinematic mechanism control module has movement instruction input interface and Schema control instruction input interface, kinematic mechanism control module sends motor message to kinematic mechanism, actuation movement mechanism kinematic according to the instruction of movement instruction input interface and the input of Schema control instruction input interface;
On-off model detection module detects the on off state of tact switch in real time, and the signal of master mode control module exports, when on-off model detection module detects that tact switch is in closure state, mode control module exports the instruction stopping continuing to stretch out, when on-off model detection module detects that tact switch is in off-state, mode control module then exports the instruction allowing to continue to stretch out;
Mode control module, according to the control signal of receiving key amount signal detection module, is selected to export to kinematic mechanism control module the instruction whether allowing to continue to stretch out;
Vibration damping feedback mechanism comprises dome-type flexible sheath, contact, tact switch, and the dome-type flexible sheath of vibration damping feedback mechanism is fixed on the bottom of kinematic mechanism; Contact one end and dome-type flexible sheath inwall are fixed, and the other end of contact freely stretches out to kinematic mechanism side; Tact switch is open contact switch, tact switch is fixed on the bottom end face of kinematic mechanism, the extraction wire of tact switch is connected with the detection interface of on-off model detection module, the mouth of on-off model detection module is connected with the input end data line of mode control module, and the mouth of mode control module is connected with the Schema control instruction input interface data line of kinematic mechanism control module.
2. a kind of vibration damping legged type robot based on 6-dof parallel mechanism as claimed in claim 1, is characterized in that: described kinematic mechanism adopts the kinematic mechanism of six degree of freedom in parallel.
3. a kind of vibration damping legged type robot based on 6-dof parallel mechanism as claimed in claim 1, is characterized in that: described contact is preferably recoil spring.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510115703.3A CN104843102A (en) | 2015-03-17 | 2015-03-17 | Damping foot type robot based on six-degrees-of-freedom parallel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510115703.3A CN104843102A (en) | 2015-03-17 | 2015-03-17 | Damping foot type robot based on six-degrees-of-freedom parallel mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109909982A (en) * | 2019-04-24 | 2019-06-21 | 河海大学常州校区 | A Crawling Robot Based on 4-RPS Parallel Mechanism |
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| CN102530121A (en) * | 2011-12-29 | 2012-07-04 | 浙江大学 | Leg of multi-legged walking robot |
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2015
- 2015-03-17 CN CN201510115703.3A patent/CN104843102A/en active Pending
Patent Citations (4)
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| US7228923B2 (en) * | 2001-12-25 | 2007-06-12 | Honda Giken Kogyo Kabushiki Kaisha | Device for absorbing floor-landing shock for legged mobile robot |
| CN1649698A (en) * | 2002-03-18 | 2005-08-03 | 索尼株式会社 | Robot device, legged locomotion robot operation control device and operation control method, legged locomotion robot sensor system, and locomotion device |
| CN102530121A (en) * | 2011-12-29 | 2012-07-04 | 浙江大学 | Leg of multi-legged walking robot |
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Non-Patent Citations (1)
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| CN109909982A (en) * | 2019-04-24 | 2019-06-21 | 河海大学常州校区 | A Crawling Robot Based on 4-RPS Parallel Mechanism |
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Application publication date: 20150819 |