CN101088835A - Modular mechanical crab - Google Patents
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- CN101088835A CN101088835A CN 200710072364 CN200710072364A CN101088835A CN 101088835 A CN101088835 A CN 101088835A CN 200710072364 CN200710072364 CN 200710072364 CN 200710072364 A CN200710072364 A CN 200710072364A CN 101088835 A CN101088835 A CN 101088835A
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Abstract
The modular mechanical crab includes one trunk and at least one pair of walking legs, the trunk has one mounted controller and one remote control device, and each of the walking legs consists of three modular structures, one front section, one middle section and one end section, connected serially. It has also fixed board for connecting the walking legs to the trunk, and damping modules and 3D force sensors mounted in the front sections of the walking legs. Each of the modular structures includes one DC servo motor, one transmission mechanism connected to the DC servo motor, and one transfer joint block connecting the transmission mechanism to other structural module. The modular mechanical crab in modular structure with self locking and adjustable motor protecting characteristic has function of self turning and walking in complicated conditions, capacity of moving and operating in amphibious environment, and other functions and advantages.
Description
(1) technical field
The invention belongs to the Robotics field, be specifically related to a kind ofly adopt modular construction design to have amphibious activity and the bionic mechanical crab of the ability of overturning certainly.
(2) background technology
Bionics (Bionics) is a comprehensive sidelines of science that occurs the sixties in 20th century, it by life science and engineering technology subject exchange penetration, mutually combining forms, by structure, function, principle of work and the controlling mechanism of learning, imitating, duplicating and reproducing biosystem, improve existing or creationary machinery, instrument, building and technological process.This subject of bio-robot produces and the prerequisite of existence just is, biology has passed through long-term natural selection and has evolved, and has reasonableness, science and the progressive of height in many-sides such as structure, function execution, information processing, environmental adaptation, autonomous learnings.The highly difficult task of non-structured, unknown working environment, complicated exquisiteness and then be that bio-robot proposes and the objective power of development for pinpoint accuracy, high flexibility, high reliability, high robust, high intelligent target requirement.
The type of bio-robot is a lot.For it there being clearly understanding, classify by its imitation characteristic.Wherein, the copy man arm type mainly is the combination of research 7 degree of freedom and multivariant revolute robot's motion arm, multi-finger clever hand and arm and Dextrous Hand; Apery biped type mainly is a research bipod walking robot mechanism; The imitative non-human being's robot of grand type mainly is research polypody walking robot (four-footed, six foots, eight foots), snake-shaped robot, and fish-shape robot etc. under water, its volume structure is bigger; Miniature imitative non-human being's robot mainly is all kinds of insect humanoid robots of research, as the advance climbing robot of mode of imitative looper worm, micromachine dog, cricket Micro-Robot, cockroach Micro-Robot, locust Micro-Robot etc.The principal feature of bio-robot: the one, mostly be the robot of redundant degree of freedom or ultra-redundant degree of freedom, mechanism's complexity; The 2nd, its type of drive is different from conventional revolute robot a bit, adopts rope or artificial muscle to drive.
Because the dexterity that bio-robot had action has great help for Human's production and scientific research activity, so, to come from the mid-80, the robot scientists has just begun the research of relevant bio-robot.The research level of walking robot is constantly to grow up along with the raising of controlling level, has experienced by early stage mechanical type, has had simple mode in the recent period till now by the process of automatic computer control.Be the bionical polypody walking robot of producing both at home and abroad below.
1.Lemur serial six-legged walking machine device people
American National aviation and space travel office (NASA) have succeeded in developing the six biped robot Lemur--Limbed Excursion Mechanical Utility Robot that are used to carry out multiple space task.This robot is the structure of imitation crab legs and the physical shapes characteristics design-calculated of octopus, and it has 6 manipulators " pin ", is equipped with collapsible instrument on the manipulator " pin ", and 6 " pin " links to each other with a circular shell.Every manipulator has four freedom of motions and an operation degree of freedom, is respectively the rotational freedom of three directions of shoulder, the degree of freedom of a pitching of ancon and mechanical paw step up degree of freedom.Entire machine people weighs 12 kilograms, every pin is equipped with one group and uses the instrument that solves different task, Lemur can be with three pin maintenance state of equilibrium of standing, at this moment it can be with other two pin operations, four pin support ground, a pin is twisted bolt again, and the another pin is equipped with flash light gives last pin illumination.By means of two stereocameras that are installed on the rotation platform, Lemur can not rotate circular shell and observes any direction.
2. autonomous under water running gear (ALUV)
In order to tackle the submarine mine on bank, U.S. rockwell company and IS robot company have developed a kind of being named as " autonomous running gear " (Autonomous Legged Underwater Vehicle under water under DARPA subsidizes, ALUV) robot, it is that the profile of copying crab is made.Its impact resistance, electronic unit all wrap in the water repellant body cavity, and every foot has two degree of freedom, has amphibious exercise performance.This machine crab can be hidden in below the wave, walks in water, passes through the wave district on bank rapidly.When stormy waves was too big, it can be imbedded pin in the silt, by vibration, even whole body all can be hidden in the silt.ALUV is about 56 centimetres, weighs 10.4 kilograms, comprises the ballast of one 3.17 kilogram weight.In order to carry sensor, its pin is bigger, is convenient to find target.When it runs into submarine mine, just it is caught, wait for the order of the control center on the landing barge of coastal waters then.In case receive signal, this pocket-handkerchief will oneself explode, and ignites submarine mine simultaneously.
3.Hamlet imitative insect six-legged walking machine device people
Zelanian University of Canterbury (University of Canterbury) succeeded in developing the six-legged walking machine device people that a kind of micro servo motor drives in the end of the year 2000, and it is to be the walking robot with comprehensive gait of biological simulated object with walkingstick.This robot has the walking leg in six three joints, and the Maxon motor-driven that single joint is 10W by a power is slowed down by gear case and exported the moment of torsion of 4.5Nm.The three-dimensional force sensor of a framework strain structure is equipped with in every walking leg end, and the protection sheath that uses carbon fiber to coat is protected the foot end of kiss the earth.This robot adopts the distributed control framework of secondary, and the integrated control integrated circuit board that hardware components has adopted 2 TMS320C44 chips integrated is handled computing to joint drive signal and power, attitude sensor signal.This robot is of a size of 650mm * 500mm * 400mm, and heavy 12.7kg can be with average velociity autonomous walking movement in complex-terrain of 0.2m/s, and has obstacle climbing ability.
4. Boston utility companies series robot
In July, 2006, Boston utility companies has been showed four robot legs---" the BIG DOG " of two up-to-date developments in " New River " base of United States Corps." towser " not only can walk and run, but also can cross over the obstacle of certain altitude.The power of this robot is from an engine petrol that has hydraulic efficiency pressure system.Four legs of " towser " imitate the four limbs design of animal fully, and inside is equipped with the purpose made shock absorption device.The length of robot is 1 meter, and is high 70 centimetres, and weight is 75 kilograms.The inside of " towser " robot is equipped with a computing machine, can be according to the variation adjustment of the environment attitude of advancing.A large amount of sensors can ensure that then operating personal follows the tracks of the position of " towser " in real time and monitor its system status.The gait of march of this robot can reach 5 kms/hour, the slopes that can climb up and over 35 degree, at most the portability weight are weapon and other goods and materials of 50 kilograms.
5. Spain's association of industries quadruped robot (SILO4)
Spain automation of industry association has developed quadruped robot---SILO4.This robot construction has following feature: volume: 310 * 300 * 300mm
3, gross weight: 30Kg, maximum speed: 1.5m/min, load-carrying capacity: 15Kg, across obstacle maximum height: 250mm.Every leg of SILO4 has 3 each joint that 3 degree of freedom are also just arranged, and is all driven by DC servo motor, and motor is embedded in body interior, and compact conformation adopts the transmission of anchor ring worm and gear.Its foot is passive gimbal suspension structure, and 3 degree of freedom are arranged, can be according to surface state automatic compensation attitude.On two joints of shank, add potentiometer in axis normal, be used for measurement of angle.
6. German Bremen learns scorpion eight feet walking robot havings greatly
Germany Bremen university has developed imitative scorpion eight feet walking robot havings.This robot length overall 65cm, wide 40cm.Heavy 11.5kg.Drive by 24V, 6W DC machine.Its design is in line with modularization idea, and the joint form is identical.Distal tip at it is equipped with elastic element, to reduce mechanical pressure.Measure the contact force of touchdown point endways by linear potentiometer.Control hardware adopts Motorola MPC555 micro controller and Xilinx Virtex E FPGA to do control chip.MPC555 is used to handle non-shank signal, and behavior layer control.Fpga chip is used to handle shank transducing signal (comprising that toe is stressed, the drive current of joint position and motor) and to the PID of joint position control.The advantage of comprehensive CPG and Reflex controlled reset has been set up behavior unit (RMB) and attitude control unit (PMB) based on conventional behavior act and feedback action on the control policy.
Domestic research in association area is started late, walking machine began one's study from the eighties in 20th century, there are scientific research institutions such as Beijing Institute of Aeronautics, Shanghai Communications University, Beijing University of Science ﹠ Technology, University of Science and Technology for National Defence, Southeast China University, Shenyang Institute of Automation and Harbin Institute of Technology being engaged in the research of bio-robot at present, and obtained a series of achievement.
1980, Changchun Optical and Precise Machinery Inst., Chinese Academy of Science adopted parallelogram and cam mechanism to develop one eight sufficient crab type walking machine, is mainly used in the habitata operation, and had done obstacle detouring, climbing and by test marshy.
1989, BJ University of Aeronautics ﹠ Astronautics was under Zhang Qixian professor's guidance, and doctor Sun Hanxu has carried out the research of quadrupled walking vehicle, trial-produces a quadrupled walking vehicle successfully, and has carried out the walking experiment; The Qian Jinwu doctor studies the dual-purpose six-legged walking machine device of ground wall people, has carried out the research of gait and kinematics aspect.
Nineteen ninety, Shenyang Inst of Automation, Chinese Academy of Sciences develops comprehensive six-legged walking machine, can not only can also go upstairs in the level land walking.This institute has also developed under water six-legged walking machine and has adopted connecting rod mechanism to realize the four feet walk machine model of dynamic walking.
2000, the Ma Peisun of Shanghai Communications University etc. improved miniature six biped robots that first generation marmem SMA drives, and develop the miniature three-leg walking robot MDTWR with omnibearing movable ability.
2004, Shanghai Communications University's robot research people such as Sun An based on bionics principle, observation and research by to the life habit of ecological tortoise, constructional feature, mode of motion design a kind of Amphibious bionic Mechanical tortoise.This robot has structural form and the mode of motion of ecological tortoise, can carry out the west, land and water and dwell and creep, and have good stability.
The supporting technology research of China's Crab-liked Robot is carried out, but in the present Crab-liked Robot, bevel drive mode, motor direct-drive joint and rope sheave type of drive were all used.First three humanoid robot has a common shortcoming: (1) transmitting ratio is little, and load-carrying capacity is poor; (2) drive gap is big; (3) no self-lock ability.
(3) summary of the invention
The objective of the invention is to disclose a kind of modularization transmission, package assembly design of bionical multi-foot robot and based on the Amphibious bionic mechanical crab of this structure design.
The object of the present invention is achieved like this: it comprises trunk and at least one pair of walking leg, controller and remote control equipment (RCE) are installed on the trunk, every walking leg all is composed in series by three modular construction front ends, middle-end and ends, trunk links to each other by adapter plate with walking leg, the walking leg front end is equipped with damping module and three-dimensional force sensor, each modular construction all comprises DC servo motor, transmission device and transmission joint block, connect by transmitting joint block between each modular construction, transmit joint block and connect transmission device, transmission device connects DC servo motor.
The present invention also has some technical characterictics like this:
1, described trunk is rectangle or circular frame formula;
2, described trunk and walking leg arranged outside have the colloid sealing sheath;
3, described modular construction also comprises: four connect copper post 2, butt flange 4, motor encoder 5, back end cover for motor 6, thrust baring 9, set pin 10, jump ring 11, copper backing 12, turbine support bearing 13, backup bearing 14, fixedly brace panel 16, adjustable end cap 18, steel ball 19, pin 20, the adjustable screw 21 that tightens up, jump ring 22, potentiometer 23, copper sheathing 24, potentiometer bracing frame 26, square box 28, coder fixed support 29, opto-electronic pickup 30 and grating 31, transmission device comprises turbine 25 and worm screw 27, motor DC servo deceleration motor 1 connects copper post 2 by four and connects firmly with butt flange 4, butt flange 4 connects firmly with back end cover for motor 6, motor encoder 5 is fixed on the butt flange 4 by coder fixed support 29, the front end of motor encoder 5 is provided with opto-electronic pickup 30, the rotor rear end output shaft of DC servo reducing motor 1 connects grating 31, DC servo reducing motor 1 connects firmly with square box 28, DC servo reducing motor 1 output shaft is distinguished installed thrust bearing 9 from inside to outside, worm screw 27, backup bearing 14, steel ball 19 and adjustable end cap 18, worm screw 27 connects firmly by set pin 10 and DC servo reducing motor 1 output shaft, adjustable end cap 18 links to each other with square box 28, worm screw 27 connects firmly by set pin 10 and DC servo reducing motor 1 output shaft, its axial rearward end is provided with thrust baring 9, front end is provided with steel ball 19, backup bearing 14 radially is set, turbine 25 is installed on the square box 28 by turbine support bearing 13 with its output shaft, wherein an end is equipped with a copper sheathing 24, copper sheathing 24 inside are a turbine support bearing, the outer end is provided with the adjustable screw 21 that tightens up, two are transmitted joint block 17 and connect firmly by pin 20 and turbine 25 output shafts, in outermost end of turbine 25 output shafts a potentiometer 23 is installed, potentiometer 23 is fixed on the square box 28 by potentiometer bracing frame 26, outermost end is fixed with jump ring 22, between transmission joint block 17 and square box 28 thin copper pad sheet 12 and jump ring 11 are installed, there is fixedly brace panel 16 inside of transmitting joint block 17;
4, the DC servo motor rear end of described walking leg front-end module drive mechanism connects manipulator, manipulator comprises: drive motor 47, machinery mount 48, pin 49, slide-bar 50, axle 51, pivot shaft 52, two fingers 53, leading screw 54 and axle 55, drive motor 47 is installed on the machinery mount 48, machinery mount 48 is connected with the modular construction motor rear end, leading screw 54 1 ends connect firmly by pin 49 and drive motor 47 output shafts, the other end is logical to be overlapped on the pivot shaft 52, slide-bar 50 is passed in the centre, in the middle of the slide-bar 50 is a nut, slide-bar 50 passes the in-line chute of machinery mount 48 in-line chutes and two fingers 53 simultaneously, and two fingers 53 are installed on the machinery mount 48 by axle 51 and axle 55 respectively;
5, the DC servo motor rear end of described walking leg front-end module drive mechanism connects the scissors hand, the scissors hand comprises: drive motor 47, machinery mount 48, pin 49, slide-bar 50, axle 51, pivot shaft 52, two fingers 53, leading screw 54 and axle 55, drive motor 47 is installed on the machinery mount 48, machinery mount 48 is connected with the modular construction motor rear end, leading screw 54 1 ends connect firmly by pin 49 and drive motor 47 output shafts, the other end is logical to be overlapped on the pivot shaft 52, slide-bar 50 is passed in the centre, in the middle of the slide-bar 50 is a nut, slide-bar 50 passes the in-line chute of machinery mount 48 in-line chutes and two scissors 56 simultaneously, and two scissors 56 are installed on the machinery mount 48 by axle 51 and axle 55 respectively;
6, described damping, buffering device comprises: connect limiting stopper 37, one-level spring 38, slide block 40, two-level spring 41, sliding cylinder 42, slide body 43 and three-dimensional force sensor 45, the damping, buffering device is connected with modularization drive mechanism motor rear end by connecting limiting stopper 37, slide body 43 and slide block 40 connect firmly and are installed in the sliding cylinder 42, slide block 40 be separately installed with one-level spring 38 and the two-level spring 41 that is in compressive state up and down, slide body 43 lower ends link to each other with three-dimensional force sensor 45.
All joints of bionic mechanical crab of the present invention are formed by the modularization drive mechanism, and theory of constitution is as follows: mechanical crab is made of eight walking leg parallel connections, and every walking leg is composed in series by three modularization drive mechanisms.Eight walking legs of mechanical crab are respectively six common walking legs and two multi-functional compound foots, and two multi-functional compound foots are respectively scissors hand and catching robot.Every walking leg of mechanical crab all has three walking joints, and the leg point has three-dimensional force sensor, detects the situation of landing of walking leg.
The present invention is according to existing biological crab bionics theory, design modular construction, have amphibious activity with this modular construction design-calculated again and the mechanical crab polypody bio-robot of the ability of overturning certainly by the adjustable transmission device of DC machine deceleration turbine and worm.Mechanical crab of the present invention has 8 walking legs, six common walking legs are wherein arranged, two walking legs can be common walking leg or multi-functional compound foot in addition, multi-functional compound foot is respectively scissors hand and catching robot walking leg, the front end of every common walking leg all is equipped with three-dimensional force sensor, the situation of landing of perception walking leg.Bionical crab can move ahead, retreat, walk crosswise, overturns, keep away barrier etc. by the control of micro controller system under amphibious environment.Entire machine people have volume little, be active in one's movements, advantage such as compatible with environment is strong.Through taking all factors into consideration, we have designed worm and gear modularization transmission device and have realized the transmission in shank joint.It has that compact conformation, transmitting ratio are big, stable drive and have advantage such as failure-free self-locking performance under certain conditions.
Meaning of the present invention is under existing multi-foot robot achievement in research; seek a kind of new high efficiency, easily processing, easy-maintaining, motor is had the mechanism driving mode of defencive function, thereby set up one small and exquisite to the adaptation of complex-terrain height, dependable performance, volume, have from overturning walking function and have mobility under the amphibious environment and carry out the microminiature climbing robot platform of particular task.It can serve as the carrier of communication system, replaces the people to enter some particular surroundings, finishes the task of civilian middle each side, all has very strong practical value in fields such as space flight detection, industry, archaeology, exploration and toy exploitations, has broad application prospects.
The advantage of robot of the present invention has: modular construction design, modular construction have self-locking and adjustable protection motor characteristic, robot have the walking function of upset certainly complex environment under, can amphibious environmental movement and operation, damping shock-resistance features, toe multidimensional sensing are arranged, have the compound sufficient manipulator of multiple degree of freedom and processing simply, assembling, control, easy to maintenance.
(4) description of drawings
Fig. 1 is a modularization drive mechanism birds-eye view;
Fig. 2 is a modularization drive mechanism front elevation;
Fig. 3 is a modularization drive mechanism oblique drawing;
Fig. 4 is a modularization drive mechanism backplan;
Fig. 5 is the common walking leg constructional drawing of mechanical crab;
Fig. 6 is a damping, buffering device constructional drawing;
Fig. 7 is the compound foot of bionic mechanical crab (huge legendary turtle foot) front end robot structure design;
Fig. 8 is the compound foot of bionic mechanical crab (huge legendary turtle foot) front end scissors hand structure design;
Fig. 9 is the compound foot of bionic mechanical crab (huge legendary turtle foot) front end robot and a scissors hand birds-eye view;
Figure 10 is the compound foot of bionic mechanical crab (huge legendary turtle foot) assembling scheme drawing (manipulator);
Figure 11 is the compound foot of bionic mechanical crab (huge legendary turtle foot) assembling scheme drawing (scissors hand);
Figure 12 is the compound foot of bionic mechanical crab (huge legendary turtle foot) oblique drawing (manipulator);
Figure 13 is the two walking leg scheme of installations of bionic mechanical crab;
Figure 14 is a modular mechanical crab whole implementation scheme 1;
Figure 15 is a modular mechanical crab whole implementation scheme 2;
Figure 16 is a modular mechanical crab whole implementation scheme 3;
Figure 17 is a modular mechanical crab whole implementation scheme 4;
Figure 18 is a modular mechanical crab whole implementation scheme 5;
Figure 19 is a modular mechanical crab initial condition scheme drawing;
Figure 20 is the modular mechanical crab scheme drawing that upwards overturns;
Figure 21 is that modular mechanical crab turns scheme drawing.
(5) specific embodiment
The present invention is further illustrated below in conjunction with the drawings and specific embodiments:
Every walking leg of modular mechanical crab of the present invention all is composed in series by three modularization drive mechanism front ends, middle-end and ends, only have two walking legs to be designed to the combined type walking leg for the needs of realizing particular task---the huge legendary turtle foot, and mechanical crab integral body is to be composed in parallel by eight walking legs.So the modularization drive mechanism is the elementary cell of mechanical crab, the advantage that this structure has highly versatile, output self-locking, adjustable protection motor, driving angle big (＜270 °), easy to control, easy processing, easily assembles and keep in repair.Modularization drive mechanism of the present invention not only can be applied on one's body the eight sufficient crabs, and every sufficient formula, climbing robot such as snakelike can use this mechanism, for example biped, four-footed, five foots, six biped robots etc.
In conjunction with Fig. 1, Fig. 2, Fig. 3 and Fig. 4, each modularization drive mechanism all by a DC servo motor through the retarder deceleration, transmission device adopts turbine and worm mechanism, makes input, exports orthogonal axe, and have self-locking and tunable characteristic.It specifically mainly comprises: DC servo reducing motor 1, four connect copper post 2, four check screws 3, butt flange 4, motor encoder 5, back end cover for motor 6, check screw 7, motor and casing check screw 8, thrust baring 9, set pin 10, jump ring 11, copper backing 12, turbine support bearing 13, backup bearing 14, check screw 15, fixedly brace panel 16, transmit joint block 17, adjustable end cap 18, steel ball 19, pin 20, the adjustable screw 21 that tightens up, jump ring 22, potentiometer 23, copper sheathing 24, turbine 25, potentiometer bracing frame 26, worm screw 27, square box 28, coder fixed support 29, opto-electronic pickup 30 and grating 31.
Modularization drive mechanism package assembly is as follows: DC servo reducing motor 1 provides power for whole module, motor DC servo deceleration motor 1 connects copper post 2 by four and four check screws 3 connect firmly with butt flange 4, and butt flange 4 connects firmly by screw and back end cover for motor 6 again.Motor encoder 5 is fixed on the butt flange 4 by coder fixed support 29 and check screw 7, the front end of motor encoder 5 has an opto-electronic pickup 30, the rotation of DC servo reducing motor 1 has driven the rotation of grating 31, and opto-electronic pickup 30 just can be measured the turned position of motor by the rotation of photometry grid 31, thereby motor is rotated produce feedback, instruct upper strata control.DC servo reducing motor 1 connects firmly by screw 8 and square box 28, what DC servo reducing motor 1 output shaft was installed from inside to outside is respectively thrust baring 9, worm screw 27, backup bearing 14, steel ball 19 and adjustable end cap 18, worm screw 27 connects firmly by set pin 10 and DC servo reducing motor 1 output shaft, adjustable end cap 18 links to each other with square box 28 by screw thread, and the effect of check screw 15 is to stop adjustable end cap 18 to relatively rotate after good with square box 28 position adjustments.After worm screw 27 connects firmly by set pin 10 and DC servo reducing motor 1 output shaft; its axial rearward end has the support of thrust baring 9; front end has the spacing of steel ball 19; the support of backup bearing 14 is radially arranged; so motor shaft can not be pressed into DC servo reducing motor 1 or extract DC servo reducing motor 1 under the effect of motive power; protect DC servo reducing motor 1 to be without prejudice with regard to actv. like this, prolonged service life.Turbine 25 is processed as one with its output shaft, be installed on the square box 28 by turbine support bearing 13, wherein an end is equipped with a copper sheathing 24, copper sheathing 24 inside are a turbine support bearing, the outer end has the adjustable screw 21 that tightens up to carry out position adjustments, copper sheathing 24 external diameters are larger than the external diameter of turbine 25, in order to turbine 25 is installed on the square box 28.Two are transmitted joint block 17 and connect firmly by pin 20 and turbine 25 output shafts, in outermost end of turbine 25 output shafts a potentiometer 23 is installed, potentiometer 23 is fixed on the square box 28 by potentiometer bracing frame 26, outermost end has jump ring 22 fixing, the effect of potentiometer 23 is initial positions of measuring the joint when DC servo reducing motor 1 powers on, be control system feedback initial control signal, control system serves as that zero starting point is calculated the angle that DC servo reducing motor 1 turns over by motor encoder 5 with this signal again.Between transmission joint block 17 and square box 28 thin copper pad sheet 12 and jump ring 11 are installed, copper backing 12 plays the effect of plain bearing, and jump ring 11 plays a part spacing and fixing.There is fixedly brace panel 16 inside of this external transmission joint block 17, plays and reinforces and the bonded assembly effect.
Modularization drive mechanism transmission principle: DC servo reducing motor 1 provides power, driving worm screw 27 rotates, worm screw 27 cooperates with turbine 25 makes motor power output direction change 90 degree, transmitting joint block 17 connects firmly with turbine 25, turbine 25 rotates to drive and transmits joint block 17 rotations, transmit joint block 17 other ends and link to each other with next joint modularization drive mechanism again, power has handed on regard to a section like this.
The main points of present embodiment are: a kind of modular construction by the adjustable transmission device of DC machine deceleration turbine and worm has amphibious activity with this modular construction design-calculated and the mechanical crab polypody bio-robot of the ability of overturning certainly again.Mechanical crab has numerous embodiments, wherein most typically a kind ofly is: mechanical crab has eight walking legs, is respectively six common walking legs and two multi-functional compound foots, and two multi-functional compound walking legs are respectively scissors hand and catching robot.Every walking leg of bionical crab all has three walking joints (three degree of freedom is promptly arranged), and the leg point has three-dimensional force sensor, the situation of landing of perception walking leg.The mechanical crab detail design is as follows:
1. mechanical crab list leg structure design:
In conjunction with Fig. 5, in the present embodiment, every common walking leg is composed in series by three modularization drive mechanisms 32,33 and 34, forms the thigh and the shank of mechanical crab list leg, and the shank root is linked to each other with thigh by the turbine and worm structure of modularization drive mechanism 34.Thigh root is linked to each other with mainframe by adapter plate 36 with 33 by modularization drive mechanism 32, constitutes two-freedom hipbone joint.So the whole piece leg has three degree of freedom, forming kneed one respectively lifts swing degree of freedom and one of degree of freedom, hipbone joint one up and down and lifts degree of freedom up and down, wherein two are lifted rotatable 270 ° of degree of freedom up and down, satisfy the needs of the turning walking of machine crab.The walking leg front end is equipped with damping module 35 and three-dimensional force sensor.
2. damping, buffering device design:
The machine crab in the process of walking; what every walking leg landed all is rigid collision with ground in a flash; rigid collision has been to having caused great injury the service life of machine crab, the bump when increasing the damping module and can alleviate walking leg and land, and actv. has been protected mechanical crab.The damping module is installed in every walking leg of mechanical crab foremost, and it is equipped with three-dimensional force sensor by the two-stage spring shock absorption at its front end, can detect mechanical crab walking leg stressing conditions in real time.
In conjunction with Fig. 6, the damping, buffering device comprises: connect limiting stopper 37, one-level spring 38, connecting screw 39, slide block 40, two-level spring 41, sliding cylinder 42, slide body 43, screw 44, three-dimensional force sensor 45 and screw 46.Scheme of installation such as Fig. 6, the damping, buffering device is connected with modularization drive mechanism motor rear end with screw 46 by connecting limiting stopper 37, after connecting firmly by connecting screw 39, slide body 43 and slide block 40 be installed in the sliding cylinder 42, and can in sliding cylinder 42, do small sliding up and down under the effect of power, slide block 40 be separately installed with one-level spring 38 and the two-level spring 41 that is in compressive state up and down, play the effect of damping.Slide body 43 lower ends link to each other with three-dimensional force sensor 45 by screw 44.
The three-dimensional force sensor 45 that robot uses comprises mechanical interface and electric interfaces two parts with the interface of robot.Sensor adopts roof-mounted to the mounting means of robot body.This sensor adopts embedded integrated SOC(system on a chip), and the entire process circuit is divided into signal amplification circuit and signal processing circuit two big modules, and wherein signal amplification circuit is integrated in sensor internal, and signal processing circuit is placed on the sensor outside.Electric interfaces is connected with robot control system by one 4 core interface, and wherein PIN1, PIN2 are used to realize the CAN bus, and PIN3, PIN4 are used for external source.
3. the compound foot of bionic mechanical crab (huge legendary turtle foot) structure design:
Article two, combined type walking leg (being the huge legendary turtle foot) is to be the particular task design-calculated under the machine crab execution specific environment, the function that this walking leg has walking concurrently, grasps and cuts off.The compound foot of tool crab (huge legendary turtle foot) is identical with three modular constructions installations of the common walking leg structure of mechanical crab, and different is common walking leg damping, buffering device 35 foremost to be changed into to have grasp or cut off the manipulator of function.Wherein a walking leg front end is catching robot (Fig. 7), and another walking leg front end is scissors hand (Fig. 8).Two some particular tasks that walking leg cooperatively interacts and can finish command request.
In conjunction with Fig. 7, manipulator comprises: drive motor 47, machinery mount 48, pin 49, slide-bar 50, axle 51, pivot shaft 52, two fingers 53, leading screw 54 and axles 55.Drive motor 47 is installed on the machinery mount 48, machinery mount 48 is connected with modularization drive mechanism motor rear end by screw, leading screw 54 1 ends connect firmly by pin 49 and drive motor 47 output shafts, the other end is overlapped on the pivot shaft 52 by bearing, slide-bar 50 is passed in the centre, in the middle of the slide-bar 50 is a nut, the rotation of leading screw 54 can drive slide-bar 50 up-and-down movements, slide-bar 50 passes the in-line chute of machinery mount 48 in-line chutes and two fingers 53 simultaneously, the up-and-down movement of slide-bar 50 will drive opening with closed of two fingers 53, reaches the function that grasps goods.Two fingers 53 are installed on the machinery mount 48 by axle 51 and axle 55 respectively.
Fig. 8 is the structure design of scissors hand, and basic structure is identical with manipulator shown in Figure 7, and different is two fingers 53 of front end to be changed made two scissors 56.Fig. 9 is the birds-eye view of front end robot and scissors hand.Figure 10 is the compound foot of bionic mechanical crab (huge legendary turtle foot) assembling scheme drawing (manipulator).Figure 11 is the compound foot of bionic mechanical crab (huge legendary turtle foot) assembling scheme drawing (scissors hand).Figure 12 is the compound foot of bionic mechanical crab (huge legendary turtle foot) oblique drawing (manipulator).
4. machine crab overall structural arrangement:
Mechanical crab integral body comprises trunk, common walking leg, multi-functional compound foot and colloid sealing sheath four parts, wherein eight walking legs each directly link to each other with rectangle or circular frame formula trunk (seeing Figure 14-18); Controller and remote control equipment (RCE) as bionical crab control center are housed on the trunk.Every walking leg all is made up of base pitch, meropodium, tibia three parts, and each part all is that modular construction is formed, and all has the control corresponding unit to realize action; Entire machine human colloid sheath wraps up, can normally operation in amphibious environment to guarantee mechanical crab.
Figure 13 has provided two common walking leg assembling scheme drawings.
Figure 14 is a modular mechanical crab whole implementation scheme 1, and eight walking legs of crab are common walking leg, and are distributed on the both sides of trunk, directly are connected by base pitch drive motor bearing and trunk, have constituted the integral body of crab.The mechanical crab of this kind structure has from functions such as upset walking, amphibious walkings.
Figure 15 is a modular mechanical crab whole implementation scheme 2, and eight walking leg squarelys of the machine crab of this kind layout arrange that wherein six walking legs are common walking leg, and two is multi-functional compound walking leg in addition, is respectively scissors hand and catching robot.The machine crab has from functions such as upset walking, amphibious walking, operations.
Figure 16 is a modular mechanical crab whole implementation scheme 3, and eight walking leg squarelys of the machine crab of this kind layout arrange that eight walking legs are multi-functional compound walking leg.The machine crab has from functions such as upset walking, amphibious walking, operations.
Figure 17 is a modular mechanical crab whole implementation scheme 4, and eight walking legs of the machine crab of this kind conceptual design are that radiation is arranged, the angle between every walking leg all designs according to the angle of biological crab walking leg.The machine crab has characteristics such as walking, upset, extracting concurrently.
Figure 18 is a modular mechanical crab whole implementation scheme 5, eight walking leg squarelys of the machine crab of this kind layout are arranged, whole and preceding four kinds of layouts are basic identical, different is to have increased by two modularization drive mechanisms 57 and 58 on the trunk of mechanical crab, trunk also is divided into three parts, first and third part are separately installed with two walking legs, second portion is equipped with four walking legs and two modularization drive mechanisms 57 and 58, two modularization drive mechanisms 57 and 58 effect are that first and third part rotation are lifted, and have increased the alerting ability of mechanical crab manipulator operation.
5. mechanical crab Seal Design:
What mechanical crab was taked is that integral sealing or each module are divided the leak free mode, and it can be moved and operation under amphibious environment.Integral sealing adopts the mode of the whole parcel of rubber coating, and the leak free mechanical crab is as a whole like this, and leak tightness is relatively good, is not easy to reveal.It is that each drive motor and control circuit are sealed that each module is divided the leak free mode, and other parts do not seal, and this kind sealing has characteristics easy to maintenance.
6. mechanical crab walking action description:
In bionical crab central control unit, stored instruction, the instruction when running into obstacle at the walking of different gaits.When desire allowed robot according to the walking of a certain gait, the sequence number of the instruction that will carry out by remote control equipment (RCE) was issued central control unit.Central control unit then can be according to each the bar walking leg action of concrete instruction control.When running into obstacle when advancing, after the three-dimensional force sensor perception that is installed on the walking leg, signal is issued central control unit, central control unit can call corresponding instruction, changes the joint swing angle that presets, and makes leg stride across obstacle.
7. mechanical crab is described from rotary movement:
Figure 19 is a modular mechanical crab initial condition scheme drawing, and Figure 20 is the modular mechanical crab scheme drawing that upwards overturns, and Figure 21 is that modular mechanical crab turns scheme drawing.It is because mechanical crab generally is applied in field, sandy beach or the area of wave is arranged that modular mechanical crab is designed to have characteristic from upset, mechanical crab is easy to overturn under such environment, characteristic from upset can guarantee still can walk on, work after mechanical crab is overturning, and strengthens its rough water quality when particularly moving under water.
Claims (7)
1, a kind of modular mechanical crab, it comprises trunk and at least one pair of walking leg, controller and remote control equipment (RCE) are installed on the trunk, it is characterized in that every walking leg is all by three modular construction front ends, middle-end and end are composed in series, trunk links to each other by adapter plate with the walking leg end, the walking leg front end is equipped with damping module and three-dimensional force sensor, each modular construction all comprises DC servo motor, transmission device and transmission joint block, transmit joint block and connect transmission device, transmission device connects DC servo motor, connects by transmitting joint block between each modular construction.
2, modular mechanical crab according to claim 1 is characterized in that described trunk is rectangle or circular frame formula.
3, modular mechanical crab according to claim 1 and 2 is characterized in that described trunk and walking leg arranged outside have the colloid sealing sheath.
4, modular mechanical crab according to claim 1 and 2, it is characterized in that described modular construction also comprises: four connect copper post (2), butt flange (4), motor encoder (5), back end cover for motor (6), thrust baring (9), set pin (10), jump ring (11), copper backing (12), turbine support bearing (13), backup bearing (14), fixing brace panel (16), adjustable end cap (18), steel ball (19), pin (20), the adjustable screw (21) that tightens up, jump ring (22), potentiometer (23), copper sheathing (24), potentiometer bracing frame (26), square box (28), coder fixed support (29), opto-electronic pickup (30) and grating (31), transmission device comprises turbine (25) and worm screw (27), motor DC servo deceleration motor (1) connects copper post (2) by four and connects firmly with butt flange (4), butt flange (4) connects firmly with back end cover for motor (6), motor encoder (5) is fixed on the butt flange (4) by coder fixed support (29), the front end of motor encoder (5) is provided with opto-electronic pickup (30), the rotor rear end output shaft of DC servo reducing motor (1) connects grating (31), DC servo reducing motor (1) connects firmly with square box (28), DC servo reducing motor (1) output shaft is distinguished installed thrust bearing (9) from inside to outside, worm screw (27), backup bearing (14), steel ball (19) and adjustable end cap (18), worm screw (27) connects firmly by set pin (10) and DC servo reducing motor (1) output shaft, adjustable end cap (18) links to each other with square box (28), worm screw (27) connects firmly by set pin (10) and DC servo reducing motor (1) output shaft, its axial rearward end is provided with thrust baring (9), front end is provided with steel ball (19), backup bearing (14) radially is set, turbine (25) is installed on the square box (28) by turbine support bearing (13) with its output shaft, wherein an end is equipped with a copper sheathing (24), copper sheathing (24) inside is a turbine support bearing, the outer end is provided with the adjustable screw (21) that tightens up, two are transmitted joint block (17) and connect firmly by pin (20) and turbine (25) output shaft, in outermost end of turbine (25) output shaft a potentiometer (23) is installed, potentiometer (23) is fixed on the square box (28) by potentiometer bracing frame (26), outermost end is fixed with jump ring (22), between transmission joint block (17) and square box (28) thin copper pad sheet (12) and jump ring (11) are installed, there is fixedly brace panel (16) inside of transmitting joint block (17).
5, according to claim 1 or 4 described modular mechanical crabs, the DC servo motor rear end that it is characterized in that described walking leg front-end module drive mechanism connects manipulator, manipulator comprises: drive motor (47), machinery mount (48), pin (49), slide-bar (50), axle (51), pivot shaft (52), two fingers (53), leading screw (54) and axle (55), drive motor (47) is installed on the machinery mount (48), machinery mount (48) is connected with the modular construction motor rear end, leading screw (54) one ends connect firmly by pin (49) and drive motor (47) output shaft, the other end is logical to be overlapped on the pivot shaft (52), slide-bar (50) is passed in the centre, in the middle of the slide-bar (50) is a nut, slide-bar (50) passes the in-line chute of machinery mount (48) in-line chute and two fingers (53) simultaneously, and two fingers (53) are installed on the machinery mount (48) by axle (51) and axle (55) respectively.
6, according to claim 1 or 4 described modular mechanical crabs, the DC servo motor rear end that it is characterized in that described walking leg front-end module drive mechanism connects the scissors hand, the scissors hand comprises: drive motor (47), machinery mount (48), pin (49), slide-bar (50), axle (51), pivot shaft (52), two fingers (53), leading screw (54) and axle (55), drive motor (47) is installed on the machinery mount (48), machinery mount (48) is connected with the modular construction motor rear end, leading screw (54) one ends connect firmly by pin (49) and drive motor (47) output shaft, the other end is logical to be overlapped on the pivot shaft (52), slide-bar (50) is passed in the centre, in the middle of the slide-bar (50) is a nut, slide-bar (50) passes the in-line chute of machinery mount (48) in-line chute and two scissors (56) simultaneously, and two scissors (56) are installed on the machinery mount (48) by axle (51) and axle (55) respectively.
7, modular mechanical crab according to claim 1, it is characterized in that described damping, buffering device comprises: connect limiting stopper (37), one-level spring (38), slide block (40), two-level spring (41), sliding cylinder (42), slide body (43) and three-dimensional force sensor (45), the damping, buffering device is connected with modularization drive mechanism motor rear end by connecting limiting stopper (37), slide body (43) and slide block (40) connect firmly and are installed in the sliding cylinder (42), slide block (40) be separately installed with one-level spring (38) and the two-level spring (41) that is in compressive state up and down, slide body (43) lower end links to each other with three-dimensional force sensor (45).
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| CNB2007100723640A CN100540385C (en) | 2007-06-15 | 2007-06-15 | Modular mechanical crab |
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|---|---|---|---|
| CNB2007100723640A CN100540385C (en) | 2007-06-15 | 2007-06-15 | Modular mechanical crab |
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| Publication Number | Publication Date |
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| CN101088835A true CN101088835A (en) | 2007-12-19 |
| CN100540385C CN100540385C (en) | 2009-09-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2007100723640A Expired - Fee Related CN100540385C (en) | 2007-06-15 | 2007-06-15 | Modular mechanical crab |
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