CN215621236U - Amphibious intelligent bionic robot - Google Patents
Amphibious intelligent bionic robot Download PDFInfo
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- CN215621236U CN215621236U CN202122176459.5U CN202122176459U CN215621236U CN 215621236 U CN215621236 U CN 215621236U CN 202122176459 U CN202122176459 U CN 202122176459U CN 215621236 U CN215621236 U CN 215621236U
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Abstract
本实用新型提供了一种水陆两栖智能仿生机器人，包括腿部机构、机身机构、液压系统、控制系统、水陆两栖模块；所述腿部机构包括髋部组件、髋关节组件、大腿组件、膝关节组件和小腿组件，所述机身机构包括机身侧板、支撑杆、机身底板，所述液压系统包括液压油箱、液压泵、软管，所述控制系统包括油压反馈系统、智能避障系统、自动复位系统；所述水陆两栖模块包括气囊、气泵、气阀、控制面板。本实用新型提供的四足机器人采用了仿生的腿部结构设计，适应于各种复杂的运动环境；四条腿采用内膝肘式放置，运动结构更为合理。
The utility model provides an amphibious intelligent bionic robot, comprising a leg mechanism, a body mechanism, a hydraulic system, a control system and an amphibious module; the leg mechanism includes a hip assembly, a hip joint assembly, a thigh assembly, a knee assembly A joint assembly and a calf assembly, the fuselage mechanism includes a fuselage side plate, a support rod, and a fuselage bottom plate, the hydraulic system includes a hydraulic oil tank, a hydraulic pump, and a hose, and the control system includes an oil pressure feedback system, an intelligent avoidance barrier system and automatic reset system; the amphibious module includes an air bag, an air pump, an air valve, and a control panel. The quadruped robot provided by the utility model adopts a bionic leg structure design, which is suitable for various complex motion environments; the four legs are placed in an inner knee and elbow type, and the motion structure is more reasonable.
Description
Technical Field
The utility model relates to the technical field of bionic robots, in particular to an amphibious intelligent bionic robot.
Background
The legged walking robot can be classified into a humanoid robot, a reptile-like robot, a mammal-like robot, and the like, from the external shape or some function that imitates living things in nature. The humanoid robot closest to the human being is a biped robot, which has the appearance and motion pattern of the human being. The biped robot has the defects of extremely low speed, weak capability of loading heavy objects, difficult stability and difficulty in bearing post-disaster detection tasks on rugged terrains. The crawling-like robot mainly simulates the structure and the motion characteristics of the body of an insect, such as ants, centipedes and the like which are common in nature, and is a multi-legged robot. Compared with a biped robot, the multi-legged robot has the advantages that complex terrains can be easily coped with by means of multiple legs, and the defect is that the size is large, so that the speed is low, and the multi-legged robot is not suitable for rescue work on disaster sites. The four-foot walking robot has high matching degree and actual acquisition value for complex terrains, overcomes the influence of the complex terrains on the stability of the robot, has strong bearing capacity compared with a biped robot, and has important significance in the fields of application rescue and the like. In addition, the existing bionic robot has low intelligent degree and has low adaptability to specific scenes such as rescue after disaster and the like.
Therefore, the utility model provides an intelligent bionic robot to improve the adaptability and the intelligent degree of the robot.
SUMMERY OF THE UTILITY MODEL
Aiming at the defects in the prior art, the utility model aims to provide an amphibious intelligent bionic robot and a control system thereof.
The utility model provides an amphibious intelligent bionic robot, which comprises a leg mechanism, a body mechanism, a hydraulic system, a control system and an amphibious module; the leg mechanism comprises a hip component, a hip joint component, a thigh component, a knee joint component and a shank component, the hip component is connected to the bottom of the body mechanism, the hip joint component comprises a hip joint hydraulic cylinder, the knee joint component comprises a knee joint hydraulic cylinder, the hip component is connected with the thigh component, the hip component is further connected with the shank component through the hip joint hydraulic cylinder, the thigh component is connected with the shank component, the thigh component is further connected with the shank component through the knee joint hydraulic cylinder, and the leg mechanism is of an inner knee-elbow structure; the machine body mechanism comprises a machine body side plate, a supporting rod and a machine body bottom plate, wherein the machine body side plate is connected with the end part of the supporting rod, and the machine body bottom plate is connected with the supporting rod; the hydraulic system comprises a hydraulic oil tank, a hydraulic pump and a hose, wherein the hydraulic oil tank is arranged on the machine body mechanism, the hydraulic oil tank and the hydraulic pump are connected through the hose, and the hydraulic pump is also connected with the hip joint hydraulic cylinder and the knee joint hydraulic cylinder; the control system comprises an oil pressure feedback system, an intelligent obstacle avoidance system and an automatic reset system; the amphibious module comprises an air bag, an air pump, an air valve and a control panel, and the air bag, the air valve and the air pump are connected in sequence.
Further, the hip assembly is connected with the fuselage mechanism through the side swing joint.
Further, the robot further comprises a side swing control cylinder, and the side swing joint is connected with the machine body mechanism through the side swing control cylinder.
Furthermore, the hip joint further comprises a side swing return spring, and two ends of the side swing return spring are respectively connected with the two hip assemblies.
Further, a hoof-shaped foot structure is provided at the bottom of the lower leg assembly.
Furthermore, the material of the hoof-shaped foot structure is a rubber pad.
Further, the shank component further comprises a spring fixing block, a spring and a foot connecting block, and the spring fixing block, the spring, the foot connecting block and the hoof-shaped foot structure are sequentially connected.
Furthermore, the supporting rods are arranged in parallel, and the end parts of the supporting rods form a trapezoidal structure.
Further, the oil pressure feedback system includes oil pressure sensor, the barrier system is kept away to intelligence includes angle sensor, linear displacement sensor, automatic re-setting system includes pressure sensor.
Furthermore, the hydraulic system also comprises a first tee joint and a second tee joint, wherein the first tee joint is connected with the hip joint hydraulic cylinder, and the second tee joint is connected with the knee joint hydraulic cylinder.
Compared with the prior art, the utility model has the following beneficial effects:
the quadruped robot provided by the utility model adopts a bionic leg structure design, and is suitable for various complex motion environments; the four legs are placed in the inner knee elbow type, so that the exercise structure is more reasonable; the hydraulic system is adopted for motion supply, so that the device is more stable and safer, and the motion efficiency is higher; the control system is more complete, the high intelligence of the intelligent four-footed bionic robot can be realized, and the functions of remote control, automatic cruise, automatic obstacle avoidance and the like are completed; the obstacle can be highly independently learned and recognized, and the safety and the stability of operation are greatly improved by combining the oil pressure control system.
Drawings
Other features, objects and advantages of the utility model will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a three-dimensional schematic diagram of an amphibious intelligent bionic robot provided by an embodiment of the utility model;
FIG. 2 is a vertical view of an amphibious intelligent bionic robot provided by an embodiment of the utility model;
FIG. 3 is a schematic diagram of a leg mechanism of an amphibious intelligent bionic robot provided by an embodiment of the utility model;
FIG. 4 is a three-dimensional schematic view of a body mechanism of the amphibious intelligent bionic robot provided by the embodiment of the utility model;
fig. 5 is a side view of a body mechanism of the amphibious intelligent bionic robot provided by the embodiment of the utility model.
In the figure:
1-a hip assembly;
2-a first fuselage side panel;
3-supporting rods;
4-a second fuselage side panel;
5-a hydraulic oil tank;
6-fuselage bottom plate;
7-side swing joint;
8-an ultrasonic sensor;
9-hip joint hydraulic cylinder;
10-a hip joint hydraulic cylinder positioning shaft;
11-an angle sensor;
12-a first tee;
13-a thigh assembly;
14-knee joint hydraulic cylinder positioning shaft;
15-knee joint hydraulic cylinder;
16-a leg connecting shaft;
17-a second tee;
18-linear displacement sensor fixed block;
19-connecting block;
20-a linear displacement sensor;
21-upper part of lower leg assembly;
22-spring fixing block;
23-a lower leg assembly;
24-a spring;
25-foot connecting block;
26-a three-dimensional force sensor;
27-a hoof-shaped foot structure;
28-an amphibious module;
29-leg telescopic cylinder;
30-side swing baffle;
31-side swing return spring;
32-side swing control cylinder.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the utility model, but are not intended to limit the utility model in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the utility model. All falling within the scope of the present invention.
Example 1
Fig. 1 is a three-dimensional schematic diagram of the amphibious intelligent bionic robot. As shown in fig. 2 and 3, the biomimetic robot of the present embodiment includes a body mechanism, a leg mechanism, and a hydraulic system. The leg mechanism is used for amphibious movement of the robot, the body mechanism is used for fixing the leg mechanism and can be used for carrying objects, and the hydraulic system is used for driving the leg mechanism to move.
As shown in fig. 2, 4 and 5, the body mechanism includes a body side plate, a support rod 3 and a body bottom plate 6, the body side plate is divided into a first body side plate 2 and a second body side plate 4, the first body side plate 2 and the second body side plate 4 are arranged in parallel, and two ends of the support rod 3 are respectively connected with the first body side plate 2 and the second body side plate 4.
In this embodiment, the side plates of the body may be provided in one or more groups. Five support rods 3 are connected to a group of side plates of the machine body, and the support rods 3 are distributed in an upper two and a lower three mode to form a trapezoidal structure. The supporting rods 3 are hollow steel tubes, the supporting rods 3 are arranged at the edge of the machine body mechanism, so that at least two supporting rods 3 can support the machine body mechanism from any angle, the bending resistance and the torsion resistance of the machine body mechanism are improved, and the machine body mechanism is a more stable whole.
The first machine body side plate 2 and the second machine body side plate 4 are of hollow structures, and the weight of the machine body mechanism is reduced.
The upper layer of support rods 3 is connected with a machine body bottom plate 6 to form a frame type structure which can be used for placing different objects. The machine body bottom plate 6 is also of a hollow structure, so that the weight is reduced, and meanwhile, a space is provided for installing other components.
As shown in fig. 2 and 3, the leg mechanism includes a hip assembly 1, a hip joint assembly, a thigh assembly 13, a knee joint assembly, and a lower leg assembly 23. The hip assembly 1, the thigh assembly 13 and the shank assembly 23 are connected in sequence to form an inner knee-elbow type structure which can be used for simulating leg movements of a person. The hip assembly 1 is connected with the thigh assembly 13 through a hip joint assembly, and is used for driving the movement of the thigh assembly 13. The thigh component 13 and the lower leg component 23 are connected through a knee joint component and used for driving the lower leg component 23 to move.
The hip joint component comprises a hip joint hydraulic cylinder 9, the knee joint component comprises a knee joint hydraulic cylinder 15, and the hydraulic cylinder provides driving force to drive the leg mechanism to move.
Specifically, one end of the hip assembly 1 is provided with a positioning pin, and the thigh assembly 13 is connected with the hip assembly 1 through the positioning pin; one end of the hip joint hydraulic cylinder 9 is connected with the hip assembly 1 through a hip joint hydraulic cylinder positioning shaft 10, and the other end of the hip joint hydraulic cylinder 9 is connected with the thigh assembly 13 through a first tee joint 12. The lower leg assembly 23 is connected with the thigh assembly 13 through a leg connecting shaft 16, one end of the knee joint hydraulic cylinder 15 is connected with the thigh assembly 13 through a knee joint hydraulic cylinder positioning shaft 14, and the other end of the knee joint hydraulic cylinder 15 is connected with the lower leg assembly 23 through a second tee joint 17.
In this embodiment, the lower leg assembly 23 comprises a connecting block 19, an upper part 21 of the lower leg assembly, a spring fixing block 22, a spring 24, a foot connecting block 25 and a hoof-shaped foot connecting structure 27 from top to bottom in sequence.
The shank component 23 is also provided with a linear displacement sensor fixing block 18, and the linear displacement sensor fixing block 18 can slide back and forth to realize the linear displacement motion of the shank component 23. The upper half part of the linear displacement sensor 20 is fixed on the linear displacement sensor fixing block 18, and the lower half part of the linear displacement sensor 20 is fixed on the upper part 21 of the lower leg assembly, so that the expansion and contraction amount of the spring 24 can be measured through the linear displacement sensor 20. The contact force of the hoof is estimated according to Hooke's law, and the precise position of the foot can be calculated by combining the compression amount of the spring 24.
The hoof-shaped foot structure 27 is made of a rubber pad, and the spring 24 and the body-shaped foot structure 27 form an impact-reducing energy-storing element to realize a buffering function, so that when the robot moves on uneven ground, impact can be absorbed to reduce pressure generated when the foot collides with the ground violently.
In this embodiment, a leg stretching cylinder 29 may be further provided on the lower leg assembly 23 for controlling the length of the lower leg assembly 23.
In this embodiment, the number of the leg mechanisms is four, and the four leg mechanisms are all arranged in an inner knee elbow type, and the inner knee elbows are located on the opposite inner sides of the leg mechanisms, so that the motion of a human body is simulated.
As shown in fig. 3, an amphibious module 28 is arranged on the thigh mechanism, the amphibious module 28 includes an air bag, an air pump, an air valve and a control panel, and the air bag, the air valve and the air pump are connected in sequence. The air pump inflates the air bag, so that the bionic robot can float from the water; the bionic robot can be restored to the non-inflated state by air valve deflation.
As shown in fig. 3, 4 and 5, the present embodiment further includes a roll joint 7 and a roll control cylinder 32, the roll control cylinder 32 is connected to the fuselage mechanism, the roll joint 7 is connected to the roll control cylinder 32, and the hip assembly 1 is connected to the roll joint 7. The lateral swing of the leg mechanism can be realized by the driving of the lateral swing control cylinder 32.
The lateral swing baffle 30 is arranged outside the lateral swing joint 7 and used for limiting the lateral swing amplitude and avoiding the overlarge swing amplitude. A lateral swing return spring 31 is connected between the two hip assemblies 1 parallel to each other, and is used for returning the hip assemblies 1 after the hip assemblies 1 swing.
Through the side swing joint 7, the bionic robot of the embodiment obtains richer freedom of movement, and the leg part is separated from simple plane movement, so that the movement of turning, impact resistance and the like is realized. The swing range can be up to + -25 deg. by using the side swing control cylinder 32.
In order to drive the hydraulic cylinder, a hydraulic system is provided in this embodiment, the hydraulic system includes a hydraulic oil tank 5, a hydraulic pump, and a hose, hydraulic oil is stored in the hydraulic oil tank 5, and the hydraulic oil is delivered to the hip joint hydraulic cylinder 9 and the knee joint hydraulic cylinder 15 through the hydraulic oil pump and the hose, so as to drive the hydraulic cylinder to move. In this embodiment, the hydraulic oil is supplied to the hip hydraulic cylinder 9 and the knee hydraulic cylinder 15 through the first tee joint 12 and the second tee joint 17, respectively.
As shown in fig. 2 and 3, the body structure is provided with the ultrasonic sensor 8, the thigh assembly 13 is provided with the angle sensor 11, and the three-dimensional force sensor 26 is provided between the foot connecting block 25 and the hoof-shaped foot structure 27. Through setting up ultrasonic sensor 8, angle sensor 11, linear displacement sensor 20, three-dimensional force sensor 26, monitor bionic robot's motion state to realize the intelligent control of robot.
In order to realize intelligent control, the bionic robot of the embodiment is provided with a control system, the control system comprises an oil pressure feedback system, and the motion process is monitored in real time to achieve the optimal effect of feedback control; the intelligent obstacle avoidance system monitors the complex environment in the motion process in real time, completes self planning of the optimal route, and meets the requirements of obstacle avoidance, cruising, remote monitoring and control; the automatic reset system helps the robot to automatically restore the standing pose state under various extreme conditions.
The automatic reset system is realized by using a Gazebo self-contained libgazebo _ ros _ imu _ sensor. The plug-in will issue a message with a format of sensor _ msgs/imu.msg to/imu topic according to a set frequency, wherein the data contained in the orientation item is the pose quaternion of the robot.
The intelligent obstacle avoidance system comprises a hardware circuit which comprises an ultrasonic transmitting circuit, an ultrasonic receiving circuit, a single chip microcomputer, a peripheral circuit, a conversion circuit and a robot walking control circuit. The obstacle avoidance software is realized by the steps of a main program, a distance measurement program, a display program and a motor steering control program.
The bionic robot further comprises a remote control and autonomous learning system, wherein the remote control and autonomous learning system is composed of a computer and a control box and is used for controlling the actual position of the tail end of the robot. The signal remote transmission system comprises a mobile phone terminal, a public network server, a control panel, a robot controller, a camera and the mobile phone terminal. The robot is remotely and wirelessly connected through an intelligent terminal and a mobile phone, and is controlled to complete various activities according to real-time images, and 4g wireless network transmission is adopted.
Example 2
The connecting part of the fuselage mechanism of this embodiment is connected with bolts and pins, and the total length of the fuselage is 720mm, the maximum width of both sides is 340mm, and the distance from the top of the fuselage to the ground is 150 mm. The fuselage adopts the trapezium structure, reaches more stable form, avoids the easy problem of warping of parallel square structure, makes the tough degree of organism improve greatly. Five hollow steel pipes with completely consistent structural size are arranged at the edge of the machine body, the diameter of the hollow steel pipes is 25mm, and the structural strength is improved. Therefore, at least two steel pipes can complete the support from any angle, and the bending resistance and the torsion resistance of the machine body are good. In order to fix the bearing seat of the side swing joint 7, a body bottom plate 6 for connecting the support rods 3 is respectively arranged at the front, middle and rear parts of the body. The middle of the machine body bottom plate 6 is designed in a hollow-out mode, so that the weight is reduced while materials are saved. The thickness of the fuselage bottom panel 6 is 10 mm. Providing space for installation of the hydraulic system.
The four legs of the bionic robot of the embodiment are placed in an inner knee-elbow type mode. All joints of the robot have 16 kinematic joints. The number of active components is 12, and the rest are passive components. The weight of the bionic robot is 100kg, wherein the weight of one leg is 7kg, and the weight of four legs accounts for about 28% of the total weight. This ratio slightly exceeds the ratio of the mass of the mammal's legs to the overall body weight. The robot can realize steady walking, the moving speed can reach 3.7km/h, and the slope of the robot capable of normally running does not exceed 20 degrees.
The present embodiment includes the following sensors: angle sensor 11, linear displacement sensor 20, oil pressure sensor, and pressure sensor. The angle sensor 11 can measure the joint angle, is a potentiometer, can reach 360 full angles at most, and can output low voltage of 0-4V. The linear displacement sensor 20 measures the relative displacement by using the magnetic induction principle, and is used for measuring the expansion degree of the spring 24, and the stroke is 45 mm. The oil pressure sensor calculates a thrust force by the oil pressure in the hydraulic cylinder by measuring the oil pressure in the hydraulic circuit. The pressure sensor arranged on the sole can measure various stresses generated by friction between the sole of the quadruped robot and the ground in real time, and the maximum pressure threshold value of the bottom of the quadruped robot is 7000N. Furthermore, a linear displacement sensor 20 is mounted in the leg beside the linear bearing.
The hydraulic system supplies oil to the hydraulic cylinder, the hydraulic pump supplies oil pressure, the hydraulic oil tank 5 is connected to the hydraulic cylinder through a hose to drive the leg to move, and the middle of the leg is controlled by the three-position four-way proportional valve. The hydraulic pump can provide the working pressure of 0.1-18 MPa interval, and the adjusting range of driving force is wide, can satisfy various motion demands. All proportional valves are fixed on a valve block, and a hydraulic pump is connected with the valve block to supply oil pressure. The cylinder diameter of the hydraulic cylinder is 45mm, the rod diameter of the piston rod is 15mm, the actual maximum stroke is 50mm, and the initial length is 225 mm.
The embodiment applies functional modules such as image processing, video capturing and remote signal transmission, can realize the automatic obstacle avoidance function and the remote control function of the intelligent four-footed bionic robot, and can complete the automatic cruise function by combining various oil pressure sensors.
The remote signal transmission module is selected for the embodiment, so that the remote transmission of signals can be carried out, and the remote monitoring and the remote control are completed.
The present embodiment uses a CCD camera (including a lens and other image capturing devices) to input a video signal to a computer and rapidly processes it by software. The treatment process comprises the following steps: and selecting a local image of the tracked object, wherein the step is equivalent to an off-line learning process, and establishing a coordinate system in the image and training a system to search for the tracked object. After learning is finished, the camera continuously collects images, tracking features are extracted, data identification and calculation are carried out, given values of the positions of all joints of the robot are obtained through inverse kinematics solution, and finally a high-precision end executing mechanism is controlled to adjust the pose of the robot.
Therefore, the vision positioning system combines the matching based on the region and the shape feature identification to carry out data identification and calculation, can quickly and accurately identify the boundary and the center of the object feature, obtains the corner error of each joint position of the robot through inverse kinematics solution by the robot control system, finally controls the high-precision end actuating mechanism, and adjusts the pose of the robot to eliminate the error. Therefore, the problem that the actual position of the tail end of the robot is far away from the expected position is solved, and the positioning precision of the traditional robot is improved.
The specific implementation method for avoiding the obstacles is as follows: the information of the obstacle includes the shortest distance from the center of the ultrasonic sensor 8 to the obstacle and the orientation of the obstacle with respect to the vehicle body. And in the running process of the robot, the boundary distance from the center of the ultrasonic sensor 8 to the obstacle in each direction is collected in real time, and the shortest distance and the shortest direction are found by comparison and division and are used as the shortest distance and the shortest direction from the vehicle body to the obstacle. The obstacle avoidance algorithm is as follows: the mobile robot is advanced at a speed, if a sensor detects a distance less than dc, which is a predefined programmed critical distance, the robot is deflected at an angle, thereby bypassing the obstacle; otherwise, the process continues.
Autonomous learning: the working area is shot by the CCD camera, the tracking characteristics are extracted by the computer through an image recognition method, data recognition and calculation are carried out, the position error value of each joint of the robot is obtained through inverse kinematics solution, and finally the high-precision end executing mechanism is controlled to adjust the pose of the robot.
Controlling an air bag: before entering water, the air valve opens the air bag and places the robot on the water surface. And then operating the control panel to control the air bag to slowly deflate, so that the robot slowly sinks to the water bottom to start working, operating the control panel to inflate the air bag after the working is finished, and after the robot slowly rises to the water surface, manually picking up and maintaining the air bag.
The robot main body goes up and down: the hydraulic cylinder of the shank part gives a control signal to the control valve through the control panel control controller, and controls the hydraulic cylinder to feed oil and discharge oil so as to control the robot to ascend and descend. And the displacement is calculated by the displacement sensor of the small leg part, and a feedback signal is transmitted to the controller, so that the controller controls the ascending and descending distance of the robot.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the utility model. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
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| Application Number | Priority Date | Filing Date | Title |
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| CN2021220912301 | 2021-08-31 | ||
| CN202122091230 | 2021-08-31 |
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| CN215621236U true CN215621236U (en) | 2022-01-25 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114872814A (en) * | 2022-04-15 | 2022-08-09 | 上海师范大学 | Bionic biped robot and stable gait planning method thereof |
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2021
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114872814A (en) * | 2022-04-15 | 2022-08-09 | 上海师范大学 | Bionic biped robot and stable gait planning method thereof |
| CN114872814B (en) * | 2022-04-15 | 2024-12-31 | 上海师范大学 | A bionic biped robot and its stable gait planning method |
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