CN102530120A - Six-user requirement specification (URS) six-foot walking robot - Google Patents

Abstract

A 6-URS hexapod walking robot, the upper and lower platforms are inversely hexagonal, and among the six URS branches with the same structure connecting the upper and lower platforms, one end of the upper link of each branch is fixed with a bolt The Hooke hinge pair U on the upper platform is connected, the other end of which is connected to one end of the lower connecting rod through the rotating pair R, and the other end of the lower connecting rod is connected to the lower platform through the ball pair S, and the ball pair S passes through the upper and lower The ball sleeve is connected to the lower platform by bolts, and the three branches in it can be disengaged from the connection with the lower platform, and the claws are installed at the ends. One end of three identical long support legs is connected on the upper platform, and its other end is placed on the ground, and one end of three short support legs is connected on the lower platform, and its other end is placed on the ground. The invention has high load-carrying capacity and stability, large scalability, and can cross uneven road surfaces. Three operators can coordinate operations to realize sample collection and other operations for surveying the environment.

Description

6-URS Hexapod Walking Robot

Technical Field The present invention belongs to a multi-legged walking robot, in particular to a robot with a 6-degree-of-freedom parallel waist mechanism and a three-branch manipulator.

BACKGROUND OF THE INVENTION So far, various walking robots have been researched. At the end of the 20th century, Delcomyn and Nelscon of the University of Illinois in the United States produced the famous biobot imitating cockroach robot. The "Spider-bot", a miniature crawling robot developed by NASA for the aviation field, looks like a spider, is only half the size of a human head, is light in weight, and can crawl on irregular planetary surfaces. Shanghai Jiaotong University has developed a small hexapod bionic robot; also developed a quadruped walking robot "JTUWM", which can walk with a diagonal gait. A PVDF force sensor is installed on the sole of the foot, and the upper computer uses the fuzzy neural network system to process the force feedback information, adjust the walking parameters, and improve the stability of walking. Shenyang Institute of Automation, Chinese Academy of Sciences successfully developed the underwater omnidirectional hexapod walking robot LR-1. Tsinghua University developed "DT-WM" - a frame-type dual-three-legged walking robot and a five-legged pole-climbing robot. The SMA-driven miniature bi-three-legged walking robot studied by Zhu Jie and others of Shanghai Jiaotong University and so on.

However, compared with industrial robots, the research progress of walking robots has been slow for more than 30 years, and most of the research and development work has basically not left the laboratory. At present, there is no research on multi-legged walking robots suitable for mines, an unstructured environment. And there are many problems in the current many-legged walking robot. First of all, the gaits of multi-legged walking robots are different according to the different robot structures. In some terrains, its walking efficiency is very low, and the research on dynamic walking of robots is relatively lacking. In addition, the working space of the robot will be limited in practical applications. It is necessary to develop small and efficient mechanical structures, control system hardware circuits, power systems, sensors, etc. Finally, it is necessary to improve the mechanical mechanism design of the existing multi-legged walking robot and improve the adaptability of the multi-legged walking robot research platform.

SUMMARY OF THE INVENTION The object of the present invention is to provide a hexapod walking robot with novel structure, high rigidity, strong bearing capacity and flexible movement. The invention mainly includes upper and lower platforms, 6 URS branches with the same structure connecting the upper and lower platforms, and 3 long support legs and 3 short support legs with the same structure. Both the upper platform and the lower platform are inverse hexagons, and the six identical URS branches are arranged on the circumference of the platform, corresponding to the six vertices of the upper and lower platforms of the inverse hexagon respectively. One end of the upper connecting rod of each URS branch is connected with the Hooke hinge pair U fixed on the upper platform by bolts, and the other end is connected with one end of the lower connecting rod through the rotating pair R, and the other end of the lower connecting rod is connected through the ball pair S Connected with the lower platform, the ball pair S is connected to the lower platform by bolts through the upper and lower ball sleeves. Three of the above six URS branches with the same structure can be disengaged from the connection with the lower platform, and then the gripper is installed at the end, which protrudes forward and outward to realize functions such as collecting, grabbing, and delivering objects. One end of three identical long support legs is connected on the circumference of the upper platform by an equal division of every 120°, corresponding to the middle positions of the three sidelines of the upper platform of the reverse hexagon respectively; its other end is placed on the ground; three short One end of the supporting leg is connected to the circumference of the lower platform in equal parts every 120°, corresponding to the middle positions of the other three sides of the hexagonal lower platform, staggered from the three long supporting legs of the upper platform, and the other end is placed on the ground superior. A drive motor can be installed on the R pair in the middle of each of the above URS, and the motor can drive the R pair to rotate, which can realize the alternate movement of the upper and lower platforms.

The upper and lower platforms of the 6-URS parallel mechanism used by the robot are alternately used as a fixed platform and a moving platform. In both cases, in order to realize the motion requirements of the moving platform, the corresponding moving platform is required to have three degrees of freedom of movement and three rotational degrees of freedom. Using the spiral theory to analyze the number of degrees of freedom and motion properties in these two cases, it can be known that the rank of the motion spiral system is 6, and the unconstrained anti-spiral, that is, the moving platform has three degrees of freedom for movement and three degrees of freedom for rotation . It shows that the mechanism meets the number of degrees of freedom and motion properties required for robot walking.

Compared with the prior art, the present invention has the following advantages:

1. Ensure that at least three legs are on the ground at the same time, so as to enhance its carrying capacity and stability.

2. When standing still, three of the six connecting feet between the upper and lower platforms can be disengaged from the connection with the lower platform, and stretch out forward and outward to realize functions such as collection, grasping, and delivery.

3. Due to the local symmetry of its structure, it can turn on the spot, and the distance between the upper and lower platforms is relatively large, so that the robot can cross higher stones and adapt to uneven roads.

Description of drawings

Fig. 1 is a three-dimensional schematic diagram of the present invention.

Fig. 2 is a three-dimensional schematic diagram of the single-branch operating hand of the present invention.

Fig. 3 is a three-dimensional schematic diagram of the dual-branch cooperative operator of the present invention.

Fig. 4 is a three-dimensional schematic diagram of the three-branch cooperative operator of the present invention.

Detailed ways

In the three-dimensional schematic diagram of the 6-URS hexapod walking robot shown in Figure 1, the upper platform 1 and the lower platform 5 are inversely hexagonal, and the six URS branches 3 with the same structure connecting the upper and lower platforms Among them, one end of the upper link of each URS branch is connected with the Hooke hinge U fixed on the upper platform by bolts, and the other end is connected with one end of the lower link through the rotating pair R, and the other end of the lower link is connected through the ball pair S is connected with the lower platform, and the ball pair S is connected to the lower platform by bolts through the upper and lower ball sleeves. One end of three identical long support legs 2 is connected on the circumference of the upper platform by every 120°, corresponding to the middle positions of three sidelines of the upper platform of the hexagon respectively, and its other end is placed on the ground, three One end of the short support leg 6 is connected to the circumference of the lower platform by every 120°, corresponding to the middle positions of the other three sidelines of the hexagonal lower platform, and staggered with the three support legs of the upper platform, and the other end is placed on the ground. The drive motor 4 is mounted on the R pair in the middle of each URS, and the motor drives the R pair to rotate, which can realize the alternate movement of the upper and lower platforms. When standing still, three of the six connecting branch chains between the upper and lower platforms can be disengaged from the connection with the lower platform, as shown in Figures 2, 3 and 4, and stretch out forward to realize collection and grasping. At this time, the rotating pairs in the universal joints of the other motion branches are locked to ensure the stability of the robot.

Claims (2)

1. 6-URS six-legged walking machine device people; It comprises upper mounting plate, lower platform, connection identical URS branch and identical 3 long support legs and 3 short supporting legs of structure of six structures of flat-bed up and down, and it is characterized in that: upper mounting plate and lower platform are hexagon anyway, and six identical URS branched layout are on the platform circumference; The difference correspondence is six summits of the upper and lower flat-bed of hexagon anyway; Boxed rod one end of each URS branch be connected by the secondary U of Hooke's hinge that is bolted to upper mounting plate, its other end is connected with an end of lower link through revolute pair R, the other end of this lower link passes through secondary S of ball and is connected with lower platform; Secondary S of this ball through upper and lower ball cover by bolted connection to lower platform; One end of three identical long support legs is connected on the upper mounting plate circumference by per 120 ° of five equilibriums, the corresponding respectively wherein midway location in three sidelines of hexagon upper mounting plate anyway, and its other end places on the ground; One end of three short supporting legs is connected on the lower platform circumference by per 120 ° of five equilibriums; The corresponding respectively midway location in other three sidelines of hexagon lower platform anyway staggers with three long support legs of upper mounting plate mutually, and its other end places on the ground.

2. 6-URS six-legged walking machine device people according to claim 1 is characterized in that: three branches in the identical URS branch of above-mentioned six structures can throw off with lower platform between be connected its terminal cleft hand of installing again.

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