Crawling robot leg device suitable for slope road surface and control method of crawling robot leg device

A crawling robot and leg technology, applied in the field of robotics, can solve the problems of lack of shock absorption mechanism, balance movement margin of legs, influence of leg movement coordination, and large energy loss of stepping motors.

Inactive Publication Date: 2019-07-26
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] The geographical environment of our country is mostly mountains and hills with complex road surfaces. When crawling robots replace humans for rescue and exploration work, they often walk on sloped roads. In the prior art, crawling robots have poor balance when traveling on sloped roads. It is related to the mechanism design and motion coordination control of crawling robots
[0003] When the crawling robot travels on a slope, due to the impact of the ground, the fuselage will fluctuate with the uneven slope terrain, the fuselage is unbalanced, and the energy loss of the stepping motor is large. The crawling robot cannot pass the slope efficiently, and the leg mechanism Many of the designs are pure bionics, such as imitating the leg mechanisms of geckos, spiders, crocodiles, etc., lacking effective shock absorption mechanisms and insufficient leg balance movement margins
[0004] For the control system, when the crawling robot is traveling on a slope, the input of a certain joint of the leg will be affected by the output of other joints. At the same time, the output of this joint will also be affected by the input of other joints. The coupling phenomenon between the joints It has an impact on the movement coordination of the legs and reduces the balance ability of the crawling robot. Although the decoupling control can obtain satisfactory control effects, when it is affected by the comprehensive disturbance of friction and temperature changes, the actual trajectory of the legs Deviation from desired trajectory, inability to efficiently traverse slopes

Method used

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  • Crawling robot leg device suitable for slope road surface and control method of crawling robot leg device
  • Crawling robot leg device suitable for slope road surface and control method of crawling robot leg device
  • Crawling robot leg device suitable for slope road surface and control method of crawling robot leg device

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Experimental program
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specific Embodiment approach 1

[0066] A crawling robot leg device suitable for slope roads, such as Figure 1-6 , Figure 10-13 As shown, it includes 1 hip joint, 2 knee joints, 3 leg mechanisms, 4 foot devices and 5 control systems; in the initial state, the 1 hip joint is connected to the 2 knee joints horizontally, and the 2 knee joints are connected to the 3 leg The mechanism forms a 90-degree connection, the 3 leg mechanism is connected vertically with the 4 foot device, and the 5 control system is placed on the 1 hip joint;

[0067] The 1 hip joint includes a 1-1 U-shaped support frame, a 1-2 first stepper motor, a 1-3 first metal plate, and a 1-4 hip joint support frame; the 1-2 first stepper motor and 1 - The 4 hip support frame is fixedly connected, and the 1-1U-shaped support frame is rotationally connected with the 1-3 first metal plate, and the 1-3 first metal plate is fixedly connected with the 1-1U-shaped support frame, and the 1-1 U-shaped support frame is fixedly connected. 4 The hip joint...

specific Embodiment approach 2

[0079] Such as figure 1 , Figure 7-9 As shown, on the basis of Embodiment 1, a crawling robot leg device suitable for slope road surfaces includes 1 hip joint, 2 knee joints, 3 leg mechanisms, 4 foot devices and 5 control systems, the 3 The leg mechanism includes a 3-1 shock absorbing mechanism and a 3-2 rotating mechanism, and the 4-foot device includes a 4-1 three-dimensional force sensor and a 4-2 foot structure; the 3-1 shock absorbing mechanism includes a 3-1A Leg connecting plate, 3-1B shaft cylinder, 3-1C central shaft, 3-1D two round nuts, 3-1E spring preload block, 3-1F spring; said 3-1A leg connecting plate is connected with 2 The first connection plate of the -5 knee joint, the second connection plate of the 2-6 knee joint, and the 3-1B shaft tube are fixedly connected. A round nut limit, the 3-1C center shaft adopts a hollow structure, the 3-1E spring preload block is coaxially matched with the 3-1C center shaft, and the 3-1E spring preload block is connected wi...

specific Embodiment approach 3

[0093] Such as Figure 14 , Figure 15 As shown, a control method of the leg device of a crawling robot suitable for slope road surfaces, when the right front leg is turned from the swing phase to the support phase, the right front leg lands and the other three legs are in the support state as an example, including the following steps:

[0094] Step S1. When the crawling robot is traveling on a slope, the three-dimensional force sensor measures the contact force in the X, Y, and Z directions of the end of the leg;

[0095] Step S2, the main control chip takes the received contact force information as a reference and obtains the actual control position P of the leg end according to the slope gradient θ p ;

[0096] Step S3, the main control chip controls the position P according to the actual leg end p Perform single-leg inverse kinematics to obtain the desired angle θ of the right front leg hip joint 11d , The desired angle θ of the knee joint of the right front leg 12d ,...

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Abstract

The invention relates to a crawling robot leg device suitable for a slope road surface and a control method of the crawling robot leg device, and belongs to the technical field of robots. The problemof poor balance capability of a crawling robot on the slope road surface in the prior art is solved. The crawling robot leg device suitable for the sloping road surface comprises a hip joint, a knee joint, a leg mechanism, a foot device and a control system. A double-row angular contact ball bearing is adopted in the leg mechanism, so that one rotational freedom degree is increased, and sufficientbalance motion margin is provided. A three-dimensional force sensor is adopted in the foot device , and the position of the leg can be adjusted according to the stress condition at the tail end of the leg, so that a machine body is parallel to a slope and the center of gravity is kept stable; force feedback-based anti-interference decoupling control is adopted in the control system aiming at thecoupling of each joint of the leg and the influence of the comprehensive disturbance of friction force and temperature change when a crawling robot travels on the slope, and the force magnitude at thetail end of the leg is taken as reference information of the anti-interference decoupling control input end, so that the control precision and the motion balance of the leg and the traveling efficiency of the crawling robot on the slope are improved.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a leg device and control of a crawling robot suitable for slope road surfaces. Background technique [0002] The geographical environment of our country is mostly mountains and hills with complex road surfaces. When crawling robots replace humans for rescue and exploration work, they often walk on sloped roads. In the prior art, crawling robots have poor balance when traveling on sloped roads. It is related to the mechanism design and motion coordination control of crawling robots. [0003] When the crawling robot travels on a slope, due to the impact of the ground, the fuselage will fluctuate with the uneven slope terrain, the fuselage is unbalanced, and the energy loss of the stepping motor is large. The crawling robot cannot pass the slope efficiently, and the leg mechanism Many of the designs are pure bionics, such as simulating leg mechanisms such as geckos, spid...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 王鹏宋春宵翟士朋刘孟琦陈巨辉张元张鹏
Owner HARBIN UNIV OF SCI & TECH
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