CN202345807U - Amphibious robot foot mechanism with variable topological structure - Google Patents
Amphibious robot foot mechanism with variable topological structure Download PDFInfo
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- CN202345807U CN202345807U CN2011205009095U CN201120500909U CN202345807U CN 202345807 U CN202345807 U CN 202345807U CN 2011205009095 U CN2011205009095 U CN 2011205009095U CN 201120500909 U CN201120500909 U CN 201120500909U CN 202345807 U CN202345807 U CN 202345807U
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Abstract
本实用新型公开了一种可变拓扑结构的两栖机器人足机构，包括第一至第四驱动模块、髋关节连接模块和小腿模块；第一至第四驱动模块具有相同的结构；每个驱动模块均包括尾轴、U型主支架、驱动单元和圆舵盘。四个可独立驱动的驱动模块，在非人为干预的条件下通过冗余驱动可同时实现陆地及水中运动构型，并具备良好的扩展性能，可便捷地装配至四足两栖机器人或者六足两栖机器人，使得两栖机器人具有很强的环境适应性。陆地运动状态以髋关节、俯仰关节和膝关节为驱动关节，旋转关节冗余；水下运动状态则以髋关节、俯仰关节和旋转关节为驱动关节，膝关节冗余。本实用新型具有运动形式丰富，关节回转角度大，扩展性强，机动性、灵活性好等优点。
The utility model discloses a foot mechanism of an amphibious robot with a variable topology structure, which comprises first to fourth drive modules, a hip joint connection module and a lower leg module; the first to fourth drive modules have the same structure; each drive module Both include tail shaft, U-shaped main bracket, drive unit and round steering wheel. Four drive modules that can be driven independently can simultaneously realize land and water motion configurations through redundant drives under the condition of non-human intervention, and have good expansion performance, and can be easily assembled to quadruped amphibious robots or hexapod amphibious robots Robots make amphibious robots have strong environmental adaptability. In the state of land motion, the hip joint, pitch joint, and knee joint are used as the driving joints, and the rotation joints are redundant; in the underwater motion state, the hip joint, pitch joint, and rotation joint are used as the driving joints, and the knee joints are redundant. The utility model has the advantages of rich motion forms, large joint rotation angle, strong expansibility, good maneuverability and flexibility, and the like.
Description
Technical field
The utility model belongs to the Robotics field, but is specifically related to a kind of Amphibious bionic robot foot mechanism that adapts to the variable topological structure of multimedium environment.
Background technology
Along with the development of national marine Development Strategy and military strategy, obtain the technical advantage of ocean and coastal region and the focus that military superiority becomes national security missile defense expert and Defensive Technologies Study personnel concern.The amphibious robot that have the altitude maneuver ability, can carry capacity weight can be accomplished the combat duty under the harsies environment such as amphibious investigation in naval's landing operations, the removal of mines, explosion, communication relaying; Can accomplish subsea survey under the complicated marine environment, oil production, underwater salvage, rescue and relief work, fight against terrorism and violence etc. again and be not suitable for the task of bearing by the people.What therefore, inorganic components and parts of research application and organic functions body matched and set up has senior life morphological feature and can under the multimedium environment, have important use value and social benefit by the Amphibious bionic robot of flexible motion in many-sides such as movement mechanism, behavior, perceptual model, information processing and control coordinations.
In recent years, the technical study of amphibious robot has obtained fast development.Many scholars have developed mechanical system or its experimental model of amphibious robot.Professor Hirose like Tokyo polytechnical university has developed a series of snake-shaped robot model machines, can realize various mode of motion such as direct unit drives, side rolling, screw motion, the motion of S space of curves.The bionical eel of research department of United States Navy design-calculated is a prototype with the seven-star eel in the ocean, adopts modular design, can realize long-distance migration, is mainly used in the military detection in ocean.The snakelike bio-robot AmphiBot-I of technical college of Swiss Confederation development is a prototype with snake and the isometric build vertebrate of eel, and it both can carry out the eel shape and moves about in water as sea snake and eel, also can be as snake side direction fluctuates and creeps in the land.Units such as domestic Shanghai Communications University, Chinese Academy of Science Shenyang Institute of Automation, the National University of Defense technology have developed the snake-shaped robot model machine in succession.The clearance robot Ariel of the common development of U.S. DARPA and iRobot robot company is bionical prototype with crab.This robot is demonstrated in the United States Navy tactical operations center, in land and shallow water, has simulated the clearance task respectively, and experiment has obtained success.Domestic Harbin Engineering University, University On The Mountain Of Swallows, Harbin University of Science and Technology have also carried out the research of Amphibious bionic crab, and Shanghai Communications University has done discussion to the movement mechanism of Amphibious bionic turtle.U.S. Massa Products company has developed bionical shrimp robot, can be waves surging turbulently and contain in the marine site in shoal, and the dangerous explosive of search is reposefully surveyed the surface in seabed, visits dirt etc.To sum up visible, in Amphibious bionic robot field's research, main is bionical prototype with the biology in the marine environment such as snake, eel, crab, shrimp, and has realized amphibious motor function to a certain extent at present, but ubiquity is not enough as follows:
Mode of motion is single, has good exercise performance when creeping by land like bionical crab, but still adopts the mode of motion creep after the entry, influenced by media environment to become to be difficult to control, and sport efficiency also sharply reduces.The type of drive lack diversity and the alerting ability of mechanism, though existing bio-robot has structurally generally adopted Bionic Design, most of mechanisms all adopt mono-redundant drive mode or owe type of drive.Unsuitable to workplatform; The health that is in particular in bionical eel, bionical snake robot is difficult to load working arm; Bionical shrimp load-carrying capacity is not enough, and bionical crab is then because can't be in water reliable and stable motion also is not suitable as the suitable workplatform in the marine environment.
Summary of the invention
But the purpose of the utility model is to provide a kind of amphibious robot foot mechanism that can overcome the variable topological structure of above-mentioned defective; This foot mechanism has 4 driving joints can independently controlling; Under no artificial intervention condition, can realize land motion and underwater exercise simultaneously through the transformation topology structure; And can be used as sufficient mechanism kinematic unit be equipped with to four-footed, six the foot etc. multi-foot robot, make the robot complete machine possess amphibious locomitivity, improve its compatible with environment.
But the amphibious robot of a kind of variable topological structure that the utility model provides foot mechanism is characterized in that this foot mechanism comprises first to fourth driver module, hip joint link block and shank module;
First to fourth driver module has identical structure; Each driver module includes tailing axle, U type main support, driver element and circle steering wheel, and driver element is fixed on the U type main support, and tailing axle is stuck on the U type main support, and tailing axle is coaxial with the output shaft of driver element, and the circle steering wheel links to each other with the output shaft of driver element;
The hip joint link block comprises the hip joint attaching parts and is fixedly connected on hip joint attaching parts the 3rd to the 6th connecting panel all around; Wherein, the 3rd, the 5th connecting panel is parallel and direction is identical, and the 4th, the 6th connecting panel is parallel and direction is identical, and the 3rd connecting panel and the 4th connecting panel is in the opposite direction, and 90 ° of phase phasic differences;
The shank module comprises the plate that meets water, Hooke's hinge, rotation foot end and anti-skidding base; The meet water lower end of plate is equipped with Hooke's hinge, and rotation foot end is installed in the lower end of Hooke's hinge, and anti-skidding base is fixed on the bottom of rotation foot end; The shank module is captiveed joint with the U type main support of 4 wheel driven dynamic model piece through the plate upper end that meets water; First to fourth leg modular unit all first, second L type frame through separately links to each other with fuselage, a L type frame and the 2nd L type frame respectively with first driver module in the both sides of U type main support link to each other; The round steering wheel of first driver module links to each other with the 5th connecting panel in the hip joint link block, is used to export driving torque; First driver module bottom has on the 3rd connecting panel of propeler bracket in the hip joint link block; The 4th connecting panel in the hip joint link block links to each other with the round steering wheel of second driver module, and the 6th connecting panel in the hip joint link block links to each other with the tailing axle of second driver module; Second driver module links to each other with the steering wheel attaching parts through its U type main support, and the steering wheel attaching parts links to each other with the round steering wheel of the 3rd driver module; First, second connecting panel respectively with the 3rd driver module in U type main support link to each other in both sides; First connecting panel links to each other with the round steering wheel of 4 wheel driven dynamic model piece, and second connecting panel links to each other with the tailing axle of 4 wheel driven dynamic model piece; The shank module is installed on the U type main support of 4 wheel driven dynamic model piece through the plate that meets water.
The utility model can be realized the topological transformation that sufficient mechanism is different through redundant drive; Under non-artificial intervention, can make the robot of this foot mechanism of the many groups of assembling possess land motor function and underwater exercise function simultaneously; Compared with prior art, the utility model has following advantage: 1) mode of motion is abundant.This sufficient mechanism with redundant drive and variable topological structure makes the polypody amphibious robot of this foot mechanism of assembling under the varying environment medium, can adopt different mode of motion; As in the mode of creeping of land, the mode of swimming, water on the water surface, being similar to the sliding trip of fin, water-bed walking etc.; These special exercise modes in varying environment all have very high sport efficiency, make robot can adapt to more complex environment.2) the topological structure conversion of this foot mechanism does not need human intervention, only can realize through redundant drive, greatly reduces its dependence to manual operation, helps further to improve the autonomous compatible with environment of amphibious robot.3) extendability is strong.This foot mechanism can be used as the crucial sufficient module of amphibious robot and expands easily, as assembles 4 groups and should foot mechanism expand to the four-footed amphibious robot, or assembles 6 groups and should foot mechanism expand to six sufficient amphibious robots etc.
Description of drawings
But the detailed structure decomposing schematic representation of the amphibious robot of the variable topological structure that Fig. 1 provides for the utility model foot mechanism;
Fig. 2 is the structural representation of driver module among Fig. 1;
Fig. 3 is the structural representation of hip joint link block among Fig. 1;
Fig. 4 is the structural representation of shank modular unit among Fig. 1;
Fig. 5 different topological structure scheme drawing when in it carries out crawling exercises and carries out water, moving about for the leg modular unit of this Amphibious bionic turtle robot;
Fig. 6 is the four-footed amphibious robot scheme drawing of this foot mechanism of assembling;
Fig. 7 is six sufficient amphibious robot scheme drawings of this foot mechanism of assembling;
Gait action scheme drawing when Fig. 8 creeps for the four-footed amphibious robot land of this foot mechanism of assembling;
Gait action scheme drawing when moving about in the four-footed amphibious robot water of Fig. 9 for this foot mechanism of assembling.
The specific embodiment
Below through by embodiment and accompanying drawing the utility model being described in further detail, but following examples only are illustrative, and the protection domain of the utility model does not receive the restriction of these embodiment.
As shown in Figure 1, this foot mechanism comprises first to fourth driver module 001,003,004,005, hip joint link block 002, shank module 006, and steering wheel attaching parts 3, first, second connecting panel 4,5; Four driver modules 001,003,004,005 have identical structure.As shown in Figure 2; The structure of robot driver module is: driver element 8 is fixed on the U type main support 7, and tailing axle 6 is stuck on the U type main support 7, and tailing axle 6 is coaxial with the output shaft of driver element 8; Circle steering wheel 9 links to each other with the output shaft of driver element 8, plays the output rotating torque and connects fixing.The form of driver element 8 is not limit, and can be various movable parties such as steering wheel, DC machine.
As shown in Figure 3; Hip joint link block 002 plays a part to connect the hip joint and the pitching joint of robot, all is fixedly connected with the 3rd to the 6th connecting panel 10,11,12 and 14 around the hip joint attaching parts 13, wherein; Three, the 5th connecting panel 10,12 is parallel and direction is identical; Four, the 6th connecting panel 11,14 is parallel and direction is identical, and the 3rd connecting panel 10 and the 4th connecting panel 11 is in the opposite direction, and 90 ° of phase phasic differences.
As shown in Figure 4, robot shank module 006 is mainly the strike mechanism of robot in water.The meet water lower end of plate 15 is equipped with Hooke's hinge 16; Rotation foot end 17 is installed in the lower end of Hooke's hinge 16; Skid preventing in the bottom that anti-skidding base 18 is fixed on rotation foot end 17, these parts have been formed the foot of robot and made it have certain alerting ability (can rotate around both direction).Shank module 006 is captiveed joint with the U type main support 7 of driver module 005 through plate 15 upper ends that meet water.The plate 15 that meets water is designed to tabular, under the prerequisite that does not influence motor function, increases its area as far as possible, the propulsive force when being used to provide robot to move about under water.
This foot mechanism links to each other with the robot fuselage that is about to assembling as general purpose interface through a L type frame 1 and the 2nd L type frame 2, L type frame 1 and L type frame 2 respectively with driver module 001 in the both sides of U type main support 7 link to each other.The round steering wheel 9 of driver module 001 links to each other with connecting panel 12 in the hip joint link block 002, is used to export driving torque.Driver module 001 bottom has on 6 connecting panels 10 in hip joint link block 002 of tailing axle, in order to carry and to guarantee that structure is firm.Connecting panel 11 in the hip joint link block 002 links to each other with the round steering wheel 9 of driver module 003, and the connecting panel 14 in the hip joint link block 002 links to each other with the tailing axle 6 of driver module 003.Driver module 003 links to each other with steering wheel attaching parts 3 through its U type main support 7, and steering wheel attaching parts 3 links to each other with the round steering wheel 9 of driver module 004.Connecting panel 4 and connecting panel 5 respectively with driver module 004 in U type main support 7 link to each other in both sides.Connecting panel 4 links to each other with the round steering wheel 9 of driver module 005, and connecting panel 5 links to each other with the tailing axle 6 of driver module 005.Shank module 006 is installed in through its plate 15 that meets water on the U type main support 7 of driver module 005, as robot main mechanism of striking in water.
Different variable topological structure scheme drawing when being illustrated in figure 5 as this foot mechanism land state of kinematic motion with the underwater exercise state.Like Fig. 5 a, I is to four joints (be driver module) of IV for this foot mechanism unit, and I is that hip joint, II are that pitching joint, III are that rotary joint, IV are knee joint.Its rotary joint III is the redundant degree of freedom joint during land state of kinematic motion, and this joint remains locked in the motion process of land.Like Fig. 5 b, its knee joint IV is the redundant degree of freedom joint during underwater exercise state, and this joint remains locked in the process of moving about.This variable topological structure with redundant drive, make assembled should foot mechanism amphibious robot can realize two kinds of distinct mode of motion in land and the water with two kinds of different topology mode of motion, have very strong compatible with environment.
Fig. 6 is the four-footed amphibious robot scheme drawing of this foot mechanism of assembling.But the sufficient structure of four groups of identical variable topological structures is assemblied on the closed fuselage, can form a kind of quadruped robot with amphibious motor function.
Fig. 7 is six sufficient amphibious robot scheme drawings of this foot mechanism of assembling.But the sufficient structure of six groups of identical variable topological structures is assemblied on the closed fuselage, can form a kind of six biped robots with amphibious motor function.
More than the four-footed amphibious robot and the six sufficient amphibious robots of this foot mechanism composition of assembling are the example under the particular case, all can design various combination forms (like tripodia, eight biped robots etc.) to different structure and situation, do not limit at this.
Be illustrated in figure 8 as the basic exercise step scheme drawing of four-footed amphibious robot land when creeping of this foot mechanism of assembling.Robot only uses hip joint, pitching joint and knee joint, rotary joint redundant drive in crawling exercises.The fundamental operation sequence of leg is when creeping: lift-swing-fall.Fig. 8 a is the starting state; Like Fig. 8 b, robot lifts leg through pitching joint and knee joint rotation; Like Fig. 8 c, rotate swinging kick forward through hip joint then; Like Fig. 8 d, through pitching joint and knee joint rotation leg is put down at last.The land of the robot gait of creeping is alternately accomplished above-mentioned fundamental operation by four legs and is combined.
Be illustrated in figure 9 as the basic exercise step scheme drawing that moves about in the four-footed amphibious robot water of this foot mechanism of assembling.During moving about under water, only uses robot hip joint, pitching joint and rotary joint, the knee joint redundant drive.The fundamental operation sequence of moving about under water is: strike-put back-reset.Fig. 9 a is the starting state; Like Fig. 9 b, robot at first rotates rotary joint adjustment meet water plate and water surface angle, makes the water side maximum so that the maximum propelling thrust of striking to be provided, and secondly strikes backward through the hip joint rotation, and complete machine promotes forward; Like Fig. 9 c, and then the control rotary joint adjustment plate angle that meets water, make the water side minimum minimum to guarantee resistance, make four leg modular units put back through the hip joint backward rotation; Like Fig. 9 d, reset at last and accomplish forward motion in the whole water.The gait of advancing in the water of robot is alternately accomplished above-mentioned fundamental operation by four legs and is combined.
Creep and advance the joint combination method of application of gait in gait and the water only corresponding to existing design gait in above land, to different situations and different designs gait (as land turn to, gaits such as land obstacle detouring, land are kept away in barrier, water floating, the water and turned to, water-bed walking, the dive of floating) occupation mode do not limit.
The specific embodiment of this foot mechanism water-proff packing is following; For driver element (steering wheel); Its each parts are taken apart and immersed in nonconducting oil, treat in oil, to assemble when not having bubble again emerges driver element (steering wheel), get into to prevent bubble; After assembling water-proof silica-gel is applied in each seam of driver element (steering wheel), prevents that leakage of oil and water liquid from getting into.For attaching parts, the material that employing should not be got rusty (like aluminum alloy, corrosion-resistant steel etc.) makes whole sufficient mechanism to be immersed in the water fully.
The above only is the preferred embodiment of the utility model, is not the structure of the utility model is done any pro forma restriction.Every technical spirit according to the utility model is to any simple modification, equivalent variations and modification that above embodiment did, all still belongs in the scope of technical scheme of the utility model.
Claims (1)
1. but the amphibious robot of variable topological structure foot mechanism is characterized in that this foot mechanism comprises first to fourth driver module, hip joint link block and shank module;
First to fourth driver module has identical structure; Each driver module includes tailing axle (6), U type main support (7), driver element (8) and circle steering wheel (9); Driver element is fixed on the U type main support; Tailing axle is stuck on the U type main support; Tailing axle is coaxial with the output shaft of driver element (8), and circle steering wheel (9) links to each other with the output shaft of driver element (8);
The hip joint link block comprises hip joint attaching parts (13) and is fixedly connected on hip joint attaching parts the 3rd to the 6th connecting panel (10,11,12,14) all around; Wherein, the 3rd, the 5th connecting panel (10,12) is parallel and direction is identical, and the 4th, the 6th connecting panel (11,14) is parallel and direction is identical, and the 3rd connecting panel (10) and the 4th connecting panel (11) is in the opposite direction, and 90 ° of phase phasic differences;
The shank module comprises the plate that meets water (15), Hooke's hinge (16), rotation foot end (17) and anti-skidding base (18); The meet water lower end of plate (15) is equipped with Hooke's hinge (16), and rotation foot end (17) is installed in the lower end of Hooke's hinge (16), and anti-skidding base (18) is fixed on the bottom of rotation foot end (17); The shank module is captiveed joint with the U type main support (7) of 4 wheel driven dynamic model piece through the plate that meets water (15) upper end;
First to fourth leg modular unit all first, second L type frame (1,2) through separately links to each other with fuselage, a L type frame (1) and the 2nd L type frame (2) respectively with first driver module in the both sides of U type main support (7) link to each other; The round steering wheel (9) of first driver module links to each other with the 5th connecting panel (12) in the hip joint link block, is used to export driving torque; First driver module bottom has on the 3rd connecting panel (10) of tailing axle (6) frame in the hip joint link block; The 4th connecting panel (11) in the hip joint link block links to each other with the round steering wheel (9) of second driver module, and the 6th connecting panel (14) in the hip joint link block links to each other with the tailing axle (6) of second driver module; Second driver module links to each other with steering wheel attaching parts (3) through its U type main support (7), and steering wheel attaching parts (3) links to each other with the round steering wheel (9) of the 3rd driver module; First, second connecting panel (4,5) respectively with the 3rd driver module in U type main support (7) link to each other in both sides; First connecting panel (4) links to each other with the round steering wheel (9) of 4 wheel driven dynamic model piece, and second connecting panel (5) links to each other with the tailing axle (6) of 4 wheel driven dynamic model piece; The shank module is installed on the U type main support (7) of 4 wheel driven dynamic model piece through the plate that meets water (15).
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| CN104443105A (en) * | 2014-10-29 | 2015-03-25 | 西南大学 | Low-energy-loss six-foot robot |
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| CN107739014A (en) * | 2014-10-30 | 2018-02-27 | 泉州泉港灿鹏机械设备有限公司 | Mobile device |
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| CN104444904B (en) * | 2014-10-30 | 2017-11-21 | 黄种继 | Portable lighting formula operating desk |
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| CN115303427A (en) * | 2022-07-18 | 2022-11-08 | 深圳市人工智能与机器人研究院 | Amphibious intelligent ship capable of crossing barrier |
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