Multi-gait claw spider robot and motion control method thereof

Abstract

The application discloses a multi-gait claw spider robot and a motion control method thereof, relates to the technical field of claw spider robots, and comprises a main body assembly, a claw four-limb assembly and a driving assembly. The main body assembly comprises an upper carapace and a lower bottom plate. The upper carapace is connected to the lower bottom plate through a clamping plate, and a cavity is formed between the upper carapace and the lower bottom plate. The claw four-limb assembly comprises a shoulder joint, a connecting rod and a lower arm. The shoulder joint is connected to the connecting rod, and the connecting rod is connected to the lower arm. The end of the claw four-limb assembly is connected to an arc-shaped gripper. The driving assembly comprises a claw steering engine, a shoulder joint external steering engine, a shoulder joint steering engine and a rotary steering engine. The application adopts a multi-gait design, adjusts the opening and closing angle of the claw and the rotation angle of the shoulder joint, and realizes flexible and diverse motion control. Meanwhile, the combination of a solar panel and a friction nanometer generator effectively solves the energy supplement problem in long-term operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of claw-type spider robots, in particular to a multi-gait claw-type spider robot and a motion control method thereof. BACKGROUND

[0002] Currently, various tree climbing robots on the market mainly focus on single tree climbing function, and cannot simultaneously have the dual ability of land walking and tree trunk climbing. Due to the limitation of tree climbing function, these robots are often applied to simple tasks such as fruit picking, and in more complex application scenarios such as forest resource detection, the action range of the robots of the prior art cannot meet the needs. Therefore, how to broaden the application field and improve the adaptability has become a problem to be solved.

[0003] On the other hand, existing bionic quadruped robots can be divided into two categories: one is a quadruped robot simulating mammals, and the other is an intelligent quadruped robot simulating spiders. The quadruped robot simulating mammals usually moves in a way of vertically lifting the leg forward, although this way is suitable for the performance of gait, but the robot's center of gravity fluctuates violently up and down during the movement, which causes the sensors such as cameras to be unable to maintain stability, affecting the execution of the survey task.

[0004] And the quadruped robot simulating spiders adopts a way of lifting the leg sideways and rotating forward, which to some extent reduces the up-and-down fluctuation of the center of gravity, but when moving, the center of gravity deviates to the leg that is lifted in the horizontal direction, reducing the stability of the movement and the resistance to side impact. In view of the deficiencies of the prior art, there is an urgent need for a high-efficiency, stable and flexible tree climbing robot that can simultaneously have the ability of ground walking and tree trunk climbing. SUMMARY

[0005] The purpose of the present application is to provide a multi-gait claw-type spider robot and a motion control method thereof. The robot adopts a multi-gait design and uses a claw structure, which can both climb trees and walk on the ground. By adjusting the opening and closing angle of the claws and the rotation angle of the shoulder joint, flexible and diverse movement modes are realized. At the same time, combined with solar panels and friction nanogenerators, the problem of energy supply in long-term operation is effectively solved, and the endurance and working stability of the robot are significantly improved. In addition, the robot design has no beginning and end, and can directly reverse the rudder direction to realize turning, avoiding the problems of complex structure and difficult control that the traditional robot may face when turning, thereby greatly improving the flexibility of movement.

[0006] The application provides a multi-gait claw spider robot and a motion control method thereof, which comprises a main body assembly, claw type four-limb assemblies and a driving assembly, the main body assembly comprises an upper carapace and a lower bottom plate, the upper carapace is connected to the lower bottom plate through a clamping plate, and a cavity is formed between the upper carapace and the lower bottom plate; the claw type four-limb assembly comprises a shoulder joint, a connecting rod and a lower arm, the number of the claw type four-limb assemblies is four, and the four claw type four-limb assemblies are completely identical; the shoulder joint is connected to the connecting rod, and the connecting rod is connected to the lower arm; the end of the claw type four-limb assembly is connected to an arc-shaped gripper; the driving assembly comprises a claw steering engine, a shoulder joint external steering engine, a shoulder joint steering engine and a rotating steering engine, the claw steering engine is arranged between the arc-shaped gripper and the lower arm of the claw type four-limb assembly, the shoulder joint external steering engine is arranged between the shoulder joint and the connecting rod, the shoulder joint steering engine is arranged between the main body assembly and the shoulder joint, and the rotating steering engine is arranged below the lower arm; and the arc-shaped gripper comprises a left front arc-shaped gripper, a right front arc-shaped gripper, a left rear arc-shaped gripper and a right rear arc-shaped gripper.

[0007] Preferably, the arc-shaped gripper is internally provided with a pressure sensor, and the surface of the arc-shaped gripper is sawtooth-shaped.

[0008] Preferably, the lower arm is internally provided with a spring buffer.

[0009] Preferably, the pressure sensor is electrically connected to the claw steering engine, and one side of the pressure sensor is provided with a friction nanometer generator.

[0010] Preferably, the outer side of the upper carapace is provided with a solar panel.

[0011] Preferably, the method comprises the following steps: comprising a walking gait and a tree climbing gait.

[0012] The walking gait comprises the following steps: S1, first moving the left front claw type four-limb assembly, controlling the claw steering engine to make the arc-shaped gripper close to a semicircle, and locking the shoulder joint steering engine to fix the angle of the claw type four-limb assembly;

[0013] Controlling the claw steering engine to adjust the arc-shaped gripper to form a semicircle shape;

[0014] Locking the shoulder joint external steering engine to keep the angle between the shoulder joint and the connecting rod and the angle between the lower arm and the connecting rod unchanged;

[0015] S2, controlling the claw steering engine to open the arc-shaped gripper, driving the claw type four-limb assembly to rotate forward through the shoulder joint steering engine, and controlling the claw steering engine to restore the arc-shaped gripper to a semicircle shape;

[0016] Keeping the angle of the claw type four-limb assembly unchanged, then rotating the entire claw type four-limb assembly forward through the shoulder joint steering engine, and finally restoring the arc-shaped gripper to a semicircle shape through the claw steering engine;

[0017] Step S3, the left rear claw type four-limb assembly repeats steps S1-S2;

[0018] Step S4, the right front claw type four-limb assembly repeats steps S1-S2;

[0019] Step S5, the right rear claw type four-limb assembly repeats steps S1-S2;

[0020] Step S6, all shoulder joint rudders are turned by 90 degrees;

[0021] Step S7, the number of repetitions is determined according to the distance;

[0022] Tree climbing gait: Step S1, four sets of arc-shaped clamps are staggered to grab the tree in the order of left front, right front, left rear and right rear;

[0023] The four sets of arc-shaped clamps are staggered to grab the trunk in the order of left front arc-shaped clamp, right front arc-shaped clamp, left rear arc-shaped clamp and right rear arc-shaped clamp;

[0024] Step S2, the left front arc-shaped clamp is loosened, and the claw type four-limb assembly is rotated upward by the shoulder joint rudder, the rotation angle is fed back to the single-chip microcomputer, the left front arc-shaped clamp is rotated again by the rotating rudder, the rotation angle of the left front arc-shaped clamp is the same as that of the shoulder joint rudder but opposite in direction, and when the specified angle is reached, the left front arc-shaped clamp is clamped and self-locked after the pressure reaches the standard;

[0025] Step S3, then the right front arc-shaped clamp, the left rear arc-shaped clamp and the right rear arc-shaped clamp are moved in turn, and each movement of the arc-shaped clamp constitutes a gait; all shoulder joint rudders are turned by 90 degrees;

[0026] Step S4, the gaits of steps S2-S3 are repeated to finally realize upward climbing.

[0027] Therefore, the multi-gait claw type spider robot and the motion control method thereof greatly improve the endurance and working stability of the robot, the design has no beginning and end, the direction of the rudder can be directly reversed for turning, the complex problems that the traditional robot may encounter when turning are avoided, and the flexibility of motion is greatly improved.

[0028] The technical solutions of the present application will be further described in detail below with the aid of drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0029] Fig. 1 It is a whole schematic view of the multi-gait claw type spider robot and the motion control method thereof of the present application;

[0030] Fig. 2 It is a structural schematic view of the clamping plate of the multi-gait claw type spider robot and the motion control method thereof of the present application;

[0031] Fig. 3 This is a schematic diagram of the arc-shaped gripper of a multi-step claw-type spider robot and its motion control method according to the present invention.

[0032] Figure Labels

[0033] 1. Main body assembly; 2. Claw-shaped limb assembly; 3. Drive assembly; 11. Upper body shell; 12. Lower base plate; 13. Clamping plate; 14. Solar panel; 21. Shoulder joint; 22. Connecting rod; 23. Lower arm; 24. Arc-shaped gripper; 31. Claw servo; 32. External servo of shoulder joint; 33. Shoulder joint servo; 34. Rotation servo; 241. Left front arc-shaped gripper; 242. Right front arc-shaped gripper; 243. Left rear arc-shaped gripper; 244. Right rear arc-shaped gripper. Detailed Implementation

[0034] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0035] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0036] The terms "first," "second," and similar words used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0037] Example 1

[0038] like Figs. 1-3 As shown, the present invention discloses a multi-gait claw-type spider robot and its motion control method, comprising a main body component 1, claw-type limb components 2, and a drive component 3. The main body component 1 includes an upper body shell 11 and a lower base plate 12. The upper body shell 11 is connected to the lower base plate 12 through a clamping plate 13, and a cavity is formed between the upper body shell 11 and the lower base plate 12. The cavity can accommodate various sensors, cameras, and control boards. A solar panel 14 is provided on the outer side of the upper body shell 11 to provide additional power using solar energy and extend its outdoor working time.

[0039] The robot is equipped with an ultrasonic sensor at the front for automatic obstacle avoidance, and a camera is installed in the gap of the upper shell for real-time monitoring of the surrounding environment.

[0040] The left and right sides of the robot are equipped with infrared modules for measuring environmental temperature and other information, and the data of all sensors are transmitted to the terminal for analysis through the communication module.

[0041] The claw type four-limb assembly 2 includes a shoulder joint 21, a connecting rod 22, and a lower arm 23. The claw type four-limb assembly 2 has four identical components. The shoulder joint 21 and the connecting rod 22 are nested through joint concave-convex design and are connected through threaded holes for reinforcement. The connecting rod 22 and the lower arm 23 are nested through joint concave-convex design and are connected through threaded holes for reinforcement. The end of the claw type four-limb assembly 2 is connected to an arc-shaped gripper 24. The arc-shaped gripper 24 is equipped with a pressure sensor. When the pressure between the arc-shaped gripper 24 and the tree trunk reaches a set value, which is the critical value of the friction force that can enable the robot's claws to hold the tree trunk, the pressure sensor will feed back to the control system, causing the claw servo to self-lock, ensuring that the arc-shaped gripper 24 securely holds the tree trunk without damaging the claw servo due to excessive pressure. The surface of the arc-shaped gripper 24 is serrated, increasing the friction between the arc-shaped gripper 24 and the tree trunk, preventing slipping, enhancing stability and efficiency when climbing trees, and especially adapting to complex tree trunks.

[0042] A friction nanogenerator is provided on one side of the pressure sensor, which converts the mechanical energy of the opening and closing of the arc-shaped gripper 24 into electrical energy to power the infrared and ultrasonic sensors, solving the energy problem of long-term field operations. The surface of the arc-shaped gripper 24 is serrated, and the lower arm 23 is equipped with a spring buffer to increase the flexibility of the claw type four-limb assembly, which can alleviate the impact of the contact surface when climbing and walking, reduce damage to itself, and improve movement flexibility.

[0043] The driving assembly 3 includes a claw servo 31, a shoulder joint external servo 32, a shoulder joint servo 33, and a rotating servo 34. The claw servo 31 is provided between the arc-shaped gripper 24 and the lower arm 23 of the claw type four-limb assembly 2. The shoulder joint external servo 32 is provided between the shoulder joint 21 and the connecting rod 22, the shoulder joint servo 33 is provided between the main body assembly 1 and the shoulder joint 21, and the rotating servo 34 is provided below the lower arm 23. The pressure sensor and the claw servo 31 are electrically connected.

[0044] The arc-shaped gripper 24 includes a left front arc-shaped gripper 241, a right front arc-shaped gripper 242, a left rear arc-shaped gripper 243, and a right rear arc-shaped gripper 244.

[0045] Adopting highly symmetrical structure design, front and rear and left and right are equipped with cameras, ultrasonic and infrared detectors, which can intelligently identify the front situation and automatically switch walking or climbing mode according to the needs.

[0046] The robot has no head and tail, and needs no turning when moving, only reversing the rotation direction of the rudder can do. Selecting a 180-degree rudder and setting the initial value of the rudder to 90 degrees, the robot can rotate forward and backward, making the robot movement more flexible and avoiding the difficulties encountered by traditional robots when turning.

[0047] Equipped with wind speed sensor, when detecting that the wind speed exceeds the set value, the robot will automatically adjust the angle, increase the "lower disc" and slow down the movement speed, thereby enhancing the movement stability and preventing being blown down by the wind.

[0048] Including the following steps: including walking gait and tree climbing gait;

[0049] Walking gait: step S1, first move the left front claw type four-limb assembly, control the claw rudder 31 to make the arc-shaped gripper close to a semicircle, lock the shoulder joint rudder to fix the angle of the claw type four-limb assembly.

[0050] Control the claw rudder to adjust the arc-shaped gripper to form a semicircle shape; lock the shoulder joint outside rudder to keep the angle between the shoulder joint and the connecting rod and the angle between the lower arm and the connecting rod unchanged.

[0051] Step S2, control the claw rudder to open the arc-shaped gripper, through the arc-shaped gripper to open, so that one foot loses friction, the single-chip microcomputer can control the shoulder joint rudder 33 to drive one foot to turn, the shoulder joint rudder drives the claw type four-limb assembly to rotate forward, and the claw rudder 31 restores the arc-shaped gripper 24 to a semicircle shape.

[0052] Keep the angle of the claw type four-limb assembly unchanged, then the shoulder joint rudder 33 drives the entire claw type four-limb assembly 2 to rotate forward, and finally the claw rudder 31 restores the arc-shaped gripper 24 to a semicircle shape.

[0053] Step S3, the left rear claw type four-limb assembly repeats steps S1-S2;

[0054] Step S4, the right front claw type four-limb assembly repeats steps S1-S2;

[0055] Step S5, the right rear claw type four-limb assembly repeats steps S1-S2;

[0056] Step S6, all shoulder joint rudders 33 are turned 90 degrees;

[0057] Step S7, determine the number of repetitions according to the distance;

[0058] Climbing tree gait: step S1, four sets of arc-shaped clamps 24 are arranged in front left, front right, back left and back right in turn to stagger the tree.

[0059] The four sets of arc-shaped clamps 24 are staggered to hold the trunk, and are sequentially left front arc-shaped clamp 241, right front arc-shaped clamp 242, left back arc-shaped clamp 243, and right back arc-shaped clamp 244.

[0060] Step S2, the left front arc-shaped clamp 241 is loosened, and the claw-type limb assembly 2 is rotated upward by the shoulder joint rudder 33, the rotation angle is fed back to the single-chip microcomputer, and the left front arc-shaped clamp 241 is rotated by the rotating rudder 34. The rotation angle of the left front arc-shaped clamp 241 is the same as that of the shoulder joint rudder 33 but opposite in direction, and after reaching the specified angle, the left front arc-shaped clamp 241 is clamped and self-locked after the pressure reaches the standard.

[0061] Step S3, then sequentially move the right front arc-shaped clamp 242, the left back arc-shaped clamp 243 and the right back arc-shaped clamp 244, and each time the arc-shaped clamp 24 moves, it constitutes a gait, and all shoulder joint rudders 33 rotate 90 degrees.

[0062] Step S4, repeat the gaits of steps S2-S3 to finally realize upward climbing.

[0063] Therefore, the claw-type spider robot and the motion control method thereof are adopted, the opening and closing angle of the claw and the rotation angle of the shoulder joint are adjusted, flexible and diverse motion control is realized, and the energy supplement problem in long-term operation is effectively solved by combining the solar panel and the friction nanometer generator.

[0064] The above embodiments are only used to illustrate the technical solutions of the present application but not to limit it, and although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can still be modified or replaced by equivalents, and these modifications or replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present application.

Claims

1. A multi-gait claw-type spider robot, characterized in that, The device includes a main body assembly, claw-shaped limb assemblies, and a drive assembly. The main body assembly includes an upper shell and a lower base plate. The upper shell is connected to the lower base plate via a clamping plate, forming a cavity between the upper shell and the lower base plate. The claw-shaped limb assemblies include shoulder joints, connecting rods, and lower arms. There are four identical claw-shaped limb assemblies. The shoulder joints are connected to the connecting rods, and the connecting rods are connected to the lower arms. The ends of the claw-shaped limb assemblies are connected to arc-shaped grippers. The drive assembly includes claw servos, external shoulder joint servos, shoulder joint servos, and rotary servos. A claw servo is located between the arc-shaped gripper and the lower arm of the claw-shaped limb assembly. An external shoulder joint servo is located between the shoulder joint and the connecting rod. A shoulder joint servo is located between the main body assembly and the shoulder joint. A rotary servo is located below the lower arm. The arc-shaped gripper includes a left front arc-shaped gripper, a right front arc-shaped gripper, a left rear arc-shaped gripper, and a right rear arc-shaped gripper. This includes the following steps: including walking gait and tree-climbing gait; Walking gait: Step S1: First, move the left front claw-type limb assembly, control the claw servo to close the arc-shaped gripper into a semi-circle, and lock the shoulder joint servo to fix the angle of the claw-type limb assembly. Step S2: Control the claw servo to open the arc-shaped gripper, the shoulder joint servo to drive the claw-shaped limb assembly to rotate forward, and control the claw servo to restore the arc-shaped gripper to a semi-circular shape. Step S3: Repeat steps S1-S2 for the left hind paw type limb assembly; Step S4: Repeat steps S1-S2 for the right forepaw-type limb assembly; Step S5: Repeat steps S1-S2 for the right hind paw type limb assembly; Step S6: Rotate all shoulder joint servos 90 degrees; Step S7: Determine the number of repetitions based on the distance traveled; Tree climbing gait: Step S1, the four sets of arc-shaped grippers grip the tree alternately in the order of left front, right front, left rear and right rear; Four sets of arc-shaped grippers grip the tree trunk in an alternating pattern, namely, the left front arc-shaped gripper, the right front arc-shaped gripper, the left rear arc-shaped gripper, and the right rear arc-shaped gripper. Step S2: The left front arc-shaped gripper is released, and the claw-shaped limb assembly is rotated upward by the shoulder joint servo motor. The rotation angle is transmitted back to the microcontroller. The left front arc-shaped gripper is rotated again by the rotation servo motor. The rotation angle of the left front arc-shaped gripper is the same as that of the shoulder joint servo motor but in the opposite direction. After reaching the specified angle, the left front arc-shaped gripper grips tightly and self-locks after the pressure reaches the target. Step S3: Next, move the right front arc gripper, the left rear arc gripper and the right rear arc gripper in sequence. Each arc gripper moves once to form one gait. All shoulder joint servos rotate 90 degrees. Step S4: Repeat the gait of steps S2-S3 to finally achieve upward climbing.

2. The multi-gait claw-type spider robot according to claim 1, characterized in that, The arc-shaped clamp is equipped with a pressure sensor inside, and the surface of the arc-shaped clamp is serrated.

3. The multi-gait claw-type spider robot according to claim 1, characterized in that, The lower arm is equipped with a spring buffer.

4. A multi-gait claw-type spider robot according to claim 2, characterized in that, The pressure sensor and the claw servo motor are electrically connected, and a triboelectric nanogenerator is provided on one side of the pressure sensor.

5. A multi-gait claw-type spider robot according to claim 1, characterized in that, The outer side of the upper shell is equipped with solar panels.

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