CN102616295A - Multi-joint chain link-type robot based on modularization - Google Patents

Abstract

The invention is a multi-joint chain-link robot capable of realizing modular combination. The robot adopts a modular open-chain structure, each module has twelve degrees of freedom, and each degree of freedom is driven by a steering gear or a DC motor. Each moving foot of the robot is composed of four curved arm joints and a wheel foot, with a total of five active degrees of freedom. Two symmetrically arranged moving feet form a pair of joints, and the two pairs of joints are connected by chain-link waist joints. The lumbar joint has two active degrees of freedom and can flexibly rotate in four mutually perpendicular directions. Through modular combination, the robot can realize the organic fusion of wheeled and legged, straight-line and swinging motion characteristics, making it not only has the advantages of strong terrain adaptability of legged robots, but also the advantages of fast maneuvering speed of wheeled robots. At the same time, the waist width is designed so that the step length and motion of the robot can meet the non-interference condition when it is moving forward or backward. The coordination and cooperation between multiple pairs of moving feet can enable the robot to complete dozens of moving gaits and cross obstacles of a certain height.

Description

A modular multi-joint chain-link robot

technical field

The invention belongs to the application field of bionic robots, and in particular relates to a multi-joint chain-link robot based on modularization.

Background technique

With the gradual deepening of biological research on the nervous system and lifestyle of humans and other animals, the research of bionics technology is also advancing rapidly relying on the development of science and technology, creating a broad interdisciplinary research between science and technology and biological research field. Based on the analysis and reference of the structure and function of the biological nervous system, various research institutes at home and abroad have successively developed a series of bionic robots, which imitate living things and work on biological characteristics, and strive to achieve the highest possible biological similarity. Accuracy level, in order to achieve smooth and natural movements and nerve reflexes, to achieve a more perfect and reliable motion control effect.

In view of the fact that the current bionic robot research still has a lot of research space in terms of bionic effects, energy consumption, practical use, and technological applications, on the basis of bionic research, the wheeled movement of the machine itself is retained while combining the biological leg movement. According to the characteristics of motion, it is a work with high research value and application prospect to design an arthropod robot with the characteristics of wheeled fast movement and legged adaptability. Among them, the Halluc II eight-legged robot designed by Chiba Institute of Technology in Japan has the above-mentioned sports characteristics. However, since this robot only has innovations in the legs, the design of using a flat plate connection between the various sports feet cannot show swinging and undulating movements, which limits the posture display of this type of wheel-footed robot.

Adding the design of the lumbar spine structure, realizing the modular connection of each group of moving feet, so that each group of moving feet can achieve attitude changes in different angles and directions is exactly the research and completion of the multi-joint modular chain-link robot.

Contents of the invention

The invention is a multi-joint chain-link robot capable of realizing modular combination. The robot adopts a modular open-chain structure, each module has twelve degrees of freedom, and each degree of freedom is driven by a steering gear or a DC motor. Each moving foot of the robot is composed of four curved arm joints and a wheel foot, with a total of five active degrees of freedom. Two symmetrically arranged moving feet form a pair of joints, and the two pairs of joints are connected by chain-link waist joints. The lumbar joint has two active degrees of freedom and can flexibly rotate in four mutually perpendicular directions. Through modular combination, the robot can realize the organic fusion of wheeled and legged, straight and swinging motion characteristics, so that it has the advantages of strong terrain adaptability, good obstacle crossing characteristics and flexible and changeable body posture of the legged robot. , and the wheeled robot has the advantages of fast maneuvering speed and good balance ability. At the same time, the waist width is designed so that the step length and motion of the robot can meet the non-interference condition when it is moving forward or backward. The coordination and cooperation between multiple pairs of moving feet can enable the robot to complete dozens of moving gaits and cross obstacles of a certain height.

Among them, the modular design concept can realize the splicing of any group of modules with more than two groups of modules, and realize different gait display and movement routines through flexible addition and subtraction of modules; the design of module spacing, that is, the design of waist width, makes the robot in the The step length and movement when moving forward or backward can meet the design requirements, so that the front and rear legs will not conflict during movement; the distance between the joints of the moving foot is designed so that each joint of the robot can rotate within a predetermined angle range; the moving foot The slope design of the sole roller can make the bending angle of the legs of the robot when the robot walks sideways gait just so that the landing point of the roller is tangent to the ground. This device has the characteristics of compact structure, strong bearing capacity, wide reachable area of foot end, strong anti-interference ability, convenient control, flexible movement and so on.

In order to achieve the purpose of the above invention, the multi-joint modular combination chain-link robot design consists of multiple groups of the following components: curved arms at the front of the legs, curved arms at the rear of the legs, DC motor casings, motor extension sleeves, wheel casings, wheel cores, Leg shaft, foot plate, steering gear support frame 1, steering gear support frame 2, steering gear support frame 3, steering gear support frame 4, steering gear support frame 5, steering gear support frame 6, steering gear support frame 7, Buffer pad, waist horizontal plate, gear box, bearing cover, up and down rotating parts, lumbar spine, bearing end cover, gasket, left and right rotating parts, left and right connecting parts, countersunk head screws, left and right steering gear fixing frame, steering gear, gaskets, Cylindrical gears, steering wheel screws, steering gear screws, steering wheel, waist shaft, screws, 708c bearings, upper and lower connectors, upper and lower steering gear fixing frames. Wherein, the steering gear is installed in the steering gear support frame, the DC motor is installed in the DC motor casing, the motor bracket is fixed on the body by screws, and the bevel gear is connected with the motor shaft. The main design includes the following structures: ①Module spacing design: By measuring the distance between the bottommost steering gear axis and the rubber bottom of the foot and the motion analysis, it can be known that the movement foot must be able to rotate around the bottommost steering gear axis at a flat angle, so the design The distance from the steering gear axis to the rubber sole and the distance between the two feet are to ensure that the two feet can rotate at the same time without interference. ② Waist structure design: After checking the moment strength, a two-degree-of-freedom waist structure with two lumbar vertebrae fixed on one side and the direction of movement perpendicular to each other is designed. ③The design of the curved arm of the sports foot: Through the analysis of the design requirements of the movement of the sports foot, it can be seen that the curved arm is composed of two parts, and the corner is made to be a right angle by adjusting the size. ④ Surrounding structure of the steering gear: Determine the size of the enclosure of the surrounding structure according to the size of the steering gear. And through fine measurement to determine the position of the installation axis on the back plate and the symmetrical position of the steering gear, so as to ensure the symmetry. In addition, an installation gap within the allowable range of error is reserved on both sides during design for easy adjustment.

The advantages of the present invention are:

(1) The idea of modular design realizes the arbitrariness of robot assembly and splicing, and realizes the maximum degree of gait planning and expansion.

(2) Combining the characteristics of legged and wheeled bionic robots, the design of the kinematic foot and wheeled robot not only has the advantages of strong adaptability to terrain and flexible body of the legged robot, but also has the advantages of fast maneuvering speed and stable body of the wheeled robot. The advantage of strong balance control ability.

(3) The use of bevel gears prevents the motor from directly bearing radial loads, improves the service life of the motor, and increases the torque.

Description of drawings

Accompanying drawing 1 is an overall schematic diagram of a chain-link robot based on multi-joint modularization;

Accompanying drawing 2 is the front view of the chain-link robot based on multi-joint modularization;

Accompanying drawing 3 is the left view of the chain-link robot based on multi-joint modularization;

Accompanying drawing 4 is a top view of a chain-link robot based on multi-joint modularization;

Accompanying drawing 5 is the combined design diagram of the chain-link type robot movement foot and two feet based on multi-joint modularization;

Accompanying drawing 6 is the design and assembly exploded view of the chain-link robot waist based on multi-joint modularization;

Accompanying drawing 7 is the front view of the design of the waist of a chain-link robot based on multi-joint modularization;

Accompanying drawing 8 is the top view of the waist design of a chain-link robot based on multi-joint modularization;

In the accompanying drawings: 1-bracket, 2-bevel gear, 3-bearing, 4-No. 1 steering gear, 5-sleeve, 6-No. 1 shaft, 7-body, 8-key, 9-screw, 10-leg Front curved arm, 11-bearing, 12-steering gear support frame 1, 13-2 steering gear, 14-bearing, 15-steering gear support frame 1, 16-steering gear support frame 3, 17-3 steering gear , 18-steering gear support frame five, 19-steering gear support frame six, 20-No. 4 steering gear, 21-wheel jacket, 22-wheel core, 23-clamp, 24-cushion pad, 25-board, 26 - DC motor, 27- motor bracket, 28- steering gear support frame six, 29- steering gear support frame two, 30- steering gear support frame seven, 31- leg rear curved arm, 32- horizontal plate, 33- steering gear Support frame two, 34-nut, 35-rudder support frame four, 36-up and down rotating parts, 37-lumbar vertebra 2, 38-bearing end cover, 39-gasket, 40-left and right rotating parts, 41-left and right connecting parts, 42- countersunk head screw M3, 43- left and right steering gear fixing frame, 44- steering gear, 45- spacer, 46- cylindrical gear, 47- steering wheel screw M2, 48- steering gear screw M3, 49- steering wheel, 50 - waist shaft, 51 - screw M3, 52 - 708C bearing, 53 - lumbar vertebra 1, 54 - upper and lower connecting parts, 55 - upper and lower steering gear fixing frame.

Detailed ways

As shown in Figure 1, it is an overall schematic diagram of a chain-link robot based on multi-joint modularization, which is an eight-legged robot connected by four sets of waist and leg modules. There are 46 degrees of freedom in total, and each pair of feet is connected by three sets of waist connection modules.

As shown in Figure 3, the No. 1 steering gear is connected to the lower part through the No. 1 shaft, which prevents the motor shaft from directly bearing radial loads and improves the service life of the motor.

As shown in Figure 5, when installing the sports foot, the steering gear support frame 1 (12), the steering gear support frame 2 (33), and the steering gear support frame 3 (16) are fixedly connected by screws, and put into the No. 2 steering gear (13) The back is fixedly connected by screws with the four (35) of the steering gear support frame. After putting into the No. 3 steering gear (17), pass through another set of steering gear support frame one (15), steering gear support frame two (29), steering gear support frame five (18), steering gear support frame three (16 ) to fix No. 3 steering gear (17), and connect it by screws. Then connect the curved arm (10) at the front of the leg and the curved arm (31) at the rear of the leg to the steering gear brackets on both sides of No. 2 (13) and No. 3 steering gear (17) . Steering gear support frame five (18), steering gear support frame six (19), steering gear support frame six, steering gear support seven (30) fix No. 4 steering gear (20) by screws. Finally, fix the DC motor (26) with the DC motor casing, insert the plug-in plate (25) to fix it, put the clamp (23) and the hard rubber cushion (24) in the back, put the motor extension sleeve in the rear, and put the wheel in the front Core (22), dress wheel overcoat (21). In this way, the assembly of three steering gears as the active degree of freedom and one DC motor as the active degree of freedom is realized. Similar to this process, after completing another four-degree-of-freedom leg assembly, two parts of the mechanism can be connected through a connecting plate, and the upper part of the steering gear support frame is connected to the connecting plate through bearings, and the upper part of the connecting plate is fixed with screws through the bracket No. 1 The steering gear is used to mesh the No. 1 shaft with a bevel gear, and the No. 1 shaft is connected to the No. 2 steering gear through a bearing. In this way, five active degrees of freedom can be realized for a single movement foot, and the assembly of movement feet with ten active degrees of freedom connected by two feet can be realized. The No. 1 shaft is inserted into the inner ring of the bearing through the hole on the connecting plate, which avoids the direct bearing of radial load on the motor shaft and improves the service life of the motor. a stronger motivation.

As shown in Figure 6, when installing the lumbar structure, the lumbar vertebra 1 (53) is fixedly connected with the lumbar vertebra 2 (37) with four screws, and the lumbar vertebra 2 (37) is connected with the left and right rotating parts (40) through the lumbar shaft (50). The waist drives the module to move around the axis in the horizontal direction. The lumbar vertebra 2 (37) is connected with the upper and lower rotating parts (36) through bearings, so that the waist can drive the module to move around the axis in the vertical direction. The upper and lower rotating parts (36) are fixedly connected with the upper and lower connecting parts (54) by four screws, put into the steering gear (55) and then utilize the steering gear support frame to be connected to the supporting plate. Put into the steering gear (44) after the left and right rotating parts (40) are fixedly connected with the left and right connectors (41), and fix with the upper and lower steering gear fixing brackets (55). The column gear (46) is fixedly connected outside the waist shaft (50) to realize meshing plate gear. The lumbar connection parts are combined with the leg curved arm (10) and the wheel leg (21) structure of the sports foot through modular combination to realize the assembly and gait planning of different module numbers.

Claims (2)

1. one kind based on modular multi-joint chain link formula robot; Possess modular construction features; Its basic exercise unit can make up by modularization idea; Realizing any pack module splicing more than 2 pack modules, the suitable increase and decrease through module can make robot realize that different gaits shows and movement effects; The particular design of intermodule connection structure and transmission device; Guarantee robot connect firm, transmission is stablized, turn to flexibly under the prerequisite; Can make robot advance, retreat, attitude when turning to changes and motion characteristics meets design requirement, and limbs conflict and constructive interference do not take place.

2. one kind based on modular multi-joint chain link formula robot; It is characterized in that: lumbar vertebrae 1 (53) is connected with four screws with lumbar vertebrae 2 (37); Lumbar vertebrae 2 (37) links to each other through waist axle (50) with left-right rotation part (40), can make waist drive module realization horizontal direction and move around axle.Lumbar vertebrae 2 (37) links to each other through bearing with tumbler (36) up and down, can make waist drive module and realize that vertical direction moves around axle.Tumbler (36) is connected through four screws with attaching parts (54) up and down up and down, utilizes the steering wheel bracing frame to be connected on the support plate after putting into steering wheel (55).Left-right rotation part (40) is put into steering wheel (44) after being connected with left and right sides attaching parts (41), and it is fixing to use down steering wheel fixed mount (55).The cylindrical wheel (46) that outside waist axle (50), is connected is to realize and dull and stereotyped gear meshing.The lumbar vertebrae link is cranked arm (10) with the shank of motion foot and wheel leg type (21) structure is passed through modular combination, realizes the assembling and the gait planning of disparate modules quantity.

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