CN109367646A - A kind of modular reconfigurable multi-foot robot - Google Patents
A kind of modular reconfigurable multi-foot robot Download PDFInfo
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- CN109367646A CN109367646A CN201811377015.4A CN201811377015A CN109367646A CN 109367646 A CN109367646 A CN 109367646A CN 201811377015 A CN201811377015 A CN 201811377015A CN 109367646 A CN109367646 A CN 109367646A
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- pedipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The present invention provides a kind of modular reconfigurable multi-foot robot, including robot body, body frame, two pairs or more pedipulator and polypody coordinated movement of various economic factors control systems；There are the installation interfaces being fixedly connected with body frame on pedipulator, each pair of pedipulator is fixed in body frame as a module by the installation interface, two pairs or more pedipulators are along the longitudinally mounted realization reconstruct of body frame, and each pair of pedipulator is about robot body bilateral symmetry, polypody coordinated movement of various economic factors control system is installed on robot body, realizes robot ambulation by all pedipulator cooperative motions of polypody coordinated movement of various economic factors control system coordinated control.Pedipulator structure of the present invention is general, the degree of modularity is high, is reconstructed at low cost when multi-foot robot.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of modular reconfigurable multi-foot robot.
Background technique
Legged type robot can move in the landform of various complexity, due to its high degree of adaptability to non-structure environment,
Compared with traditional wheeled robot, the mankind can be replaced to be engaged in various non-predetermined tasks under complex environment, in people
The dangerous adverse circumstances that class is difficult to arrive at down to execute remote control operation or AUTONOMOUS TASK task.Since legged type robot is to ring
The high degree of adaptability in border and the high flexibility for executing task, it searches and rescues in energy extraction, nuclear power industry, extraterrestrial detection, disaster,
Agricultural felling and field study etc. have wide practical use.For different application scenarios and functional requirement, it is fixed to need
System develops different types of multi-foot robot, but due to often lacking general structure and component between multi-foot robot, and
And the degree of modularity is low, results in the need for design iterations, structure can not be multiplexed, and increase cost.
Summary of the invention
In view of this, the present invention provides a kind of modular reconfigurable multi-foot robot, pedipulator structure is general, modularization
Degree is high, is reconstructed at low cost when multi-foot robot.
A specific embodiment of the invention is as follows:
A kind of modular reconfigurable multi-foot robot, the multi-foot robot include robot body, body frame, two pairs
The above pedipulator and polypody coordinated movement of various economic factors control system；
There are the installation interface being fixedly connected with body frame on pedipulator, each pair of pedipulator passes through institute as a module
It states installation interface to be fixed in body frame, two pairs or more pedipulators are reconstructed along the longitudinally mounted realization of body frame, and each pair of machine
Tool leg symmetrically, is equipped with polypody coordinated movement of various economic factors control system on robot body, is assisted by polypody about robot body
It allocates and transports all pedipulator cooperative motions of autocontrol system coordinated control and realizes robot ambulation.
Further, the pedipulator include hip joint, knee joint, fixed plate, leg arm, pedipulator foot end buffer unit,
Retarder and motor；
Hip joint is made of perpendicular two revolute pairs of rotary shaft, and hip joint is connected by fixed plate with knee joint,
And the horizontal rotating shaft of hip joint is installed vertically in fixed plate, kneed shaft is parallel with the horizontal rotation shaft of hip joint；Institute
Stating retarder and motor has three groups, is arranged in fixed plate, respectively corresponds horizontal rotating shaft, vertical shaft and the knee of driving hip joint
The shaft in joint rotates, and fixed plate and leg arm are realized jointly under hip joint drive and turned in horizontal plane and in perpendicular
Dynamic, leg arm realizes rotation in perpendicular, leg arm end and machinery around kneed shaft under knee joint drive
Leg foot end buffer unit is fixedly connected.
Further, the pedipulator further comprises synchronous toothed belt, the output shaft of motor and the input shaft of retarder
Between using synchronous toothed belt be connected.
Further, the polypody coordinated movement of various economic factors control system uses Dual-loop feedback control control system, and hip joint level turns
The load end of axis, vertical shaft and knee joint shaft is respectively provided with rotary transformer and carries out position feedback, each motor input shaft end
Photoelectric encoder is set and carries out velocity feedback.
Further, the polypody coordinated movement of various economic factors control system includes multi-axis motion controller, motor servo driver, often
Three motor servo drivers, each electricity of the motor servo driver every group of pedipulator of corresponding driving are set on group pedipulator
Machine, all motor servo drivers are connect with multi-axis motion controller, and multi-axis motion controller is according to rotary transformer and light
The feedback of photoelectric coder is realized to the position control in each freedom degree motion process of pedipulator.
The utility model has the advantages that
1, the present invention uses the mechanical leg assembly of modularized design, can be according to application scenarios and functional requirement quick assembling
At quadruped robot, hexapod robot or other multi-foot robots, general test is provided for the motion control of multi-foot robot
Platform, pedipulator structure is general, without redesign, it is at low cost.
2, pedipulator of the invention realizes double reduction using synchronous toothed belt, retarder, compact-sized, greatlies simplify
Structure design.
3, the present invention uses Dual-loop feedback control control system, can be according to the feedback of rotary transformer and photoelectric encoder reality
Now to the accurate control of the position in each freedom degree motion process of pedipulator.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of pedipulator of the present invention.
Wherein, the front 1- machinery leg assembly, the mechanical leg assembly in the middle part 2-, the rear portion 3- machinery leg assembly, 4- body frame, 4-
1- floor, 5- polypody coordinated movement of various economic factors control system, 6- hip joint, 7- knee joint, 7-1- motor servo driver, 7-2- direct current without
Brush motor, 7-3- synchronous toothed belt, 7-4- harmonic speed reducer, 8- pedipulator foot end buffer unit, 9- rotary transformer, 10- light
Photoelectric coder.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The present invention provides a kind of modular reconfigurable multi-foot robots, by taking hexapod robot configuration as an example, such as Fig. 1 institute
Show, including robot body, front machinery leg assembly 1, middle part machinery leg assembly 2, rear portion machinery leg assembly 3, body frame 4,
Pedipulator foot end buffer unit 8 and polypody coordinated movement of various economic factors control system 5.
Front machinery leg assembly 1, middle part machinery leg assembly 2, rear portion 3 structures of machinery leg assembly are consistent, include left and right pair
Claim arrangement two groups of pedipulators, pedipulator have three degree of freedom, as shown in Fig. 2, include hip joint 6, knee joint 7, fixed plate,
Synchronous toothed belt 7-3, leg arm, pedipulator foot end buffer unit 8, harmonic speed reducer 7-4 and DC brushless motor 7-2, hip joint 6
There are two freedom degrees for tool, are made of perpendicular two revolute pairs of rotary shaft, and hip joint 6 is fixed between two fixed plates,
And it is connected by fixed plate with knee joint 7, and the horizontal rotating shaft of hip joint 7 is installed vertically between two fixed plates.Knee joint 7
With one degree of freedom, the shaft of knee joint 7 is parallel with the horizontal rotation shaft of hip joint 6.Harmonic speed reducer 7-4 and brush DC
Motor 7-2 has three groups, is arranged in fixed plate, respectively corresponds the horizontal rotating shaft of driving hip joint 6, the vertical of hip joint 6 turns
The rotation of the shaft of axis and knee joint 7, uses between the output shaft of DC brushless motor 7-2 and the input shaft of harmonic speed reducer 7-4
Synchronous toothed belt 7-3 is connected, and the input shaft of harmonic speed reducer 7-4 is fixed on the inner ring of harmonic speed reducer 7-4, and knee joint 7 turns
Axis is fixed on the outer ring of harmonic speed reducer 7-4, and the shaft of knee joint 7 and the input shaft of harmonic speed reducer 7-4 rotate synchronously.
Fixed plate and leg arm realize the rotation in horizontal plane and in perpendicular, leg jointly under the drive of hip joint 6
Shaft of the arm under the drive of knee joint 7 around knee joint 7 realizes rotation in perpendicular, and leg arm end and pedipulator foot end are slow
It rushes component 8 to be fixedly connected, hemispherical rubber or spring buffer component can be used in pedipulator foot end buffer unit 8, can also be in machine
Pressure sensor is set in tool leg foot end buffer unit 8 and acquires more feedback informations.
Two groups of pedipulators are linked together the mechanical leg assembly of composition one by connecting plate, on connecting plate there are with floor 4-
The 1 installation interface being fixedly connected, connecting plate and floor 4-1 collectively form the body frame 4 of robot.Front machinery leg assembly 1,
Middle part machinery leg assembly 2, rear portion machinery leg assembly 3 are longitudinally mounted along floor 4-1 by installation interface and about robot body
Symmetrically, polypody coordinated movement of various economic factors control system 5 is mounted in body frame 4.
Polypody coordinated movement of various economic factors control system 5 uses Dual-loop feedback control control system, including multi-axis motion controller, servo electricity
The load end of machine driver 7-1,7 shaft of 6 horizontal rotating shaft of hip joint, vertical shaft and knee joint are provided with rotary transformer 9
Position feedback is carried out, each DC brushless motor 7-2 input shaft end is provided with photoelectric encoder 10 and carries out velocity feedback.Every group of machine
Three motor servo driver 7-1, each direct current of motor servo driver 7-1 every group of pedipulator of corresponding driving are set on tool leg
Brushless motor 7-2, all motor servo driver 7-1 are connect with multi-axis motion controller, and multi-axis motion controller is according to rotation
Change the feedback information of depressor 9 and photoelectric encoder 10 to control motor servo driver 7-1, each freedom degree of pedipulator is transported
Position during dynamic is controlled, to realize robot ambulation by all pedipulator cooperative motions.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (5)
1. a kind of modular reconfigurable multi-foot robot, which is characterized in that the multi-foot robot includes robot body, ontology
Frame, two pairs or more pedipulator and polypody coordinated movement of various economic factors control systems；
There are the installation interface being fixedly connected with body frame on pedipulator, each pair of pedipulator passes through the peace as a module
Attaching mouth is fixed in body frame, and two pairs or more pedipulators are reconstructed along the longitudinally mounted realization of body frame, and each pair of pedipulator
About robot body bilateral symmetry, polypody coordinated movement of various economic factors control system is installed on robot body, coordinates to transport by polypody
All pedipulator cooperative motions of autocontrol system coordinated control realize robot ambulation.
2. modular reconfigurable multi-foot robot as described in claim 1, which is characterized in that the pedipulator includes that hip closes
Section, knee joint, fixed plate, leg arm, pedipulator foot end buffer unit, retarder and motor；
Hip joint is made of perpendicular two revolute pairs of rotary shaft, and hip joint is connected by fixed plate with knee joint, and hip
The horizontal rotating shaft in joint is installed vertically in fixed plate, and kneed shaft is parallel with the horizontal rotation shaft of hip joint；It is described to subtract
Fast device and motor have three groups, are arranged in fixed plate, respectively correspond horizontal rotating shaft, vertical shaft and the knee joint of driving hip joint
Shaft rotation, fixed plate and leg arm realize the rotation in horizontal plane and in perpendicular jointly under hip joint drive,
Leg arm realizes rotation in perpendicular, leg arm end and pedipulator foot around kneed shaft under knee joint drive
End buffer unit is fixedly connected.
3. modular reconfigurable multi-foot robot as claimed in claim 2, which is characterized in that the pedipulator further comprises
Synchronous toothed belt is connected between the output shaft of motor and the input shaft of retarder using synchronous toothed belt.
4. modular reconfigurable multi-foot robot as described in claim 1, which is characterized in that the polypody coordinated movement of various economic factors control
System uses Dual-loop feedback control control system, and the load end of hip joint horizontal rotating shaft, vertical shaft and knee joint shaft is respectively provided with
Rotary transformer carries out position feedback, and each motor input shaft end setting photoelectric encoder carries out velocity feedback.
5. modular reconfigurable multi-foot robot as claimed in claim 4, which is characterized in that the polypody coordinated movement of various economic factors control
System includes multi-axis motion controller, motor servo driver, and three motor servo drivers are arranged on every group of pedipulator, described
Each motor of motor servo driver every group of pedipulator of corresponding driving, all motor servo drivers are and Multi-axis motion control
Device connection, multi-axis motion controller are realized according to the feedback of rotary transformer and photoelectric encoder and are transported to each freedom degree of pedipulator
Position control during dynamic.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811377015.4A CN109367646A (en) | 2018-11-19 | 2018-11-19 | A kind of modular reconfigurable multi-foot robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811377015.4A CN109367646A (en) | 2018-11-19 | 2018-11-19 | A kind of modular reconfigurable multi-foot robot |
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| CN109367646A true CN109367646A (en) | 2019-02-22 |
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| CN201811377015.4A Pending CN109367646A (en) | 2018-11-19 | 2018-11-19 | A kind of modular reconfigurable multi-foot robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110962956A (en) * | 2019-11-28 | 2020-04-07 | 北京理工大学 | Reconfigurable wheel-foot robot based on parallel modular structure |
| CN114104229A (en) * | 2021-10-26 | 2022-03-01 | 中国船舶重工集团公司第七一九研究所 | Universal configuration method for mechanical leg joint angle amplitude limiting |
| CN114132407A (en) * | 2021-11-03 | 2022-03-04 | 深圳市坤易电子有限公司 | High-speed motion mode of hexapod robot |
| CN114348136A (en) * | 2022-01-18 | 2022-04-15 | 上海交通大学 | Multi-foot robot for curling |
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| CN107089277A (en) * | 2017-06-15 | 2017-08-25 | 河北工业大学 | A kind of novel bionic Hexapod Robot |
| WO2017189502A1 (en) * | 2016-04-25 | 2017-11-02 | Siemens Aktiengesellschaft | Agile manufacturing platform and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110962956A (en) * | 2019-11-28 | 2020-04-07 | 北京理工大学 | Reconfigurable wheel-foot robot based on parallel modular structure |
| CN110962956B (en) * | 2019-11-28 | 2020-10-20 | 北京理工大学 | Reconfigurable wheel-foot robot based on parallel modular structure |
| CN114104229A (en) * | 2021-10-26 | 2022-03-01 | 中国船舶重工集团公司第七一九研究所 | Universal configuration method for mechanical leg joint angle amplitude limiting |
| CN114104229B (en) * | 2021-10-26 | 2022-11-08 | 中国船舶重工集团公司第七一九研究所 | Universal configuration method for mechanical leg joint angle amplitude limiting |
| CN114132407A (en) * | 2021-11-03 | 2022-03-04 | 深圳市坤易电子有限公司 | High-speed motion mode of hexapod robot |
| CN114348136A (en) * | 2022-01-18 | 2022-04-15 | 上海交通大学 | Multi-foot robot for curling |
| CN114348136B (en) * | 2022-01-18 | 2023-08-22 | 上海交通大学 | Curling multi-legged robot |
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Application publication date: 20190222 |