CN101423075A - Modular six freedom-degree initiative joint type bipod walking robot - Google Patents

Abstract

The invention discloses a modular six-degree-of-freedom active joint biped walking robot. The robot is mainly composed of six joint modules and two circular feet. Each joint module has a rotational degree of freedom driven by a DC servo motor. There are two types of joint modules, the joint shafts are respectively parallel and perpendicular to the axis of the joint connecting rod, which are called I-type and T-type. Each module is sequentially connected in series, and the sequence is: foot-I-type joint-T-type joint-T-type joint-T-type joint-T-type joint-I-type joint-foot. The axes of rotation of the four T-joints in the middle are parallel to each other and perpendicular to the axes of rotation of the I-shaped joints at both ends. The robot has several walking modes, including a twisting gait, a sideways gait, and a flipping gait. The invented robot has the characteristics of less freedom, active walking, simple structure and control, good adaptability to the environment, strong ability to overcome obstacles, and low energy consumption. It can be widely used in operations such as handling, detection, and disaster relief.

Description

A Modular Six-DOF Actively Articulated Biped Walking Robot

technical field

The invention relates to the technical field of robots, in particular to a biped walking robot with six degrees of freedom and all joints being active, which is constructed by a modular method.

Background technique

Humanoid robots are the most advanced and cutting-edge embodiment of today's robotics development. They have a human-like appearance and imitate humans in terms of structure and walking style. Its structure is complex, often consisting of upper body and lower limbs, with legs and hands, and often as many as 30 degrees of freedom. The core technology and the most challenging difficulty of humanoid robot is the realization of dynamic balance when biped walks. Since the early days of robotics, bipedal walking has been considered one of the most difficult challenges. In the thirty years before the appearance of the famous humanoid robots ASIMO, QRIO and HRP-2, bipedal walking has always been the focus and difficulty in the development of walking robots. The earliest research and platform development can be traced back to the work started by Ichiro Kato of Waseda University in 1966 and D.C.Witt of Oxford University in 1968. Ichiro Kato and others created the world's first computer-controlled humanoid robot WABOT-1 in 1973. Although a landmark achievement, WABOT-1 can only do static walking motion. Around 1980, a major research trend was to realize bipedal dynamic walking, and many domestic and foreign researchers began to actively engage in theoretical research and development of robot platforms. By 1986, many biped robots capable of dynamic walking movements had been developed. Even though humanoid robots have been successfully developed (marked by the launch of the humanoid robot P2 by Honda in 1996) for more than ten years, biped gait planning and control is still a research hotspot, and there are many research institutions at home and abroad to develop and Research various biped walking robots.

Most biped walking robots at home and abroad are relatively complex in structure, consisting of two legs, the joints are active, and there are many degrees of freedom. There are 8, 10, and often as many as 12 degrees of freedom for the biped. , the way of walking imitates the walking of human beings, and the control is more complicated. Another class of walking robots realizes dynamic walking through other methods, including passive walking robots that allow the robot to walk down a small slope under the action of potential energy, and BIPMAN2, a stilt-type biped robot that realizes strides through nonlinear oscillations. The evolutionary algorithm realizes the simple walking robot consisting of three connecting rods for bipedal walking, and a three-dimensional semi-passive walking machine equipped with four drivers developed by MIT, and so on. These biped robots have simpler structure, fewer degrees of freedom, and mostly passive or semi-passive joints. Because all or part of the joints are inactive, the robot often uses the characteristics of the external environment (such as slopes) to achieve walking. Therefore its range of activities and places are very small, and its walking ability is very limited.

Obviously, the development of a walking robot with few degrees of freedom, simple structure and strong walking ability is in line with people's needs and the development direction of walking robots.

Contents of the invention

The object of the present invention is to overcome the disadvantages of active walking robot such as complex structure and many degrees of freedom, and the limitations of passive walking robot such as weak walking ability, and provide a modular six-degree-of-freedom active joint type biped walking robot.

For realizing the purpose of the present invention, the technical scheme that the present invention adopts is as follows:

The robot uses six active joints, including two I-joints and four T-joints, with two feet at both ends. Each part is connected sequentially in series, the order is: foot-type I joint-T-type joint-T-type joint-T-type joint-T-type joint-I-type joint-foot, that is, four T-type joints are in the middle, Two Type I joints and feet at both ends. The rotation axes of the four T-joints are parallel to each other and perpendicular to the rotation axes of the I-type joints at both ends. The specific composition of the robot includes: two I-shaped joint modules, four T-shaped joint modules, two foot modules and a connecting sleeve. The robot is in an inverted U shape when standing, and the I-shaped joint modules are perpendicular to the ground. The foot module is in the shape of a ring or a wheel and contacts the ground through its end faces.

In the above-mentioned modularized six-degree-of-freedom active articulated bipedal walking robot, the I-type joint module refers to a joint module that has only one rotational degree of freedom and the joint rotation axis coincides with or is parallel to the axis of the connecting rod. The joint is driven by a DC servo motor. The rear end of the motor is directly connected to the photoelectric encoder used to detect the angular displacement and angular velocity, and the front end is connected to the harmonic reducer to decelerate and increase force. The harmonic reducer is output to a central spur gear through a shaft, and the central spur gear drives an internal spur gear through two symmetrically distributed transition wheels for further deceleration and boosting and maintains the transmission direction, and the internal gear drives the other part of the joint module Make relative rotation, and finally drive the output part of the joint. The specific structure includes servo motor and photoelectric encoder assembly 1-1, joint sleeve 1-2, motor shaft sleeve 1-3, motor seat 1-4, joint base 1-5, bearing end cover 1-6, bearing seat 1-7. Angular contact ball bearing and outer shaft sleeve 1-8, bearing cover 1-9, internal gear 1-10, joint output end connector 1-11, transition gear shaft 1-12, transition gear 1-13 , harmonic reducer output shaft 1-14, central gear 1-15, small bearing end cover 1-16, shaft sleeve 1-17, angular contact ball bearing 1-18, harmonic reducer output transition plate 1-19, Disc Harmonic Reducer Assemblies 1-20. The connection method of each component is: the servo motor and photoelectric encoder assembly 1-1 and the motor base 1-4 are fastened by axial screws; the motor shaft is connected to the disc harmonic reducer assembly 1-3 through the motor shaft sleeve 1-3 The wave generator of 20 is indirectly connected; the input and output rigid wheels of the disc harmonic reducer assembly 1-20 are respectively fastened with the motor base 1-4 and the output transition disc 1-19 of the harmonic reducer through axial screws , while the latter (1-19) is fastened and connected with the output shaft 1-14 of the harmonic reducer with axial screws; the joint sleeve 1-2 is set on the motor base 1-4 and tightened with radial screws along the circumferential direction solid; the motor seat 1-4 is fastened and connected with the joint base 1-5 through axial screws; the bearing seat 1-7 is supported on the joint base 1-5 through the angular contact ball bearing and the outer shaft sleeve 1-8; The contact ball bearing and the outer shaft sleeve 1-8 are positioned and preloaded by the bearing end cover 1-6; the output shaft 1-14 of the harmonic reducer is connected with the central gear 1-15 through two keys, and the central gear 1- 15 meshes with two transition gears 1-13 symmetrically distributed; the two transition gear shafts 1-12 are tightly connected with the joint base 1-5 through the threads on them, and are connected with the transition gear 1-13 through bearings; The two transition gears 1-13 mesh with the internal gear 1-10; the internal gear 1-10, the joint output end connector 1-11 and the bearing seat 1-7 are fastened and connected by axial screws.

In the above-mentioned modularized six-degree-of-freedom active articulated biped walking robot, the T-shaped joint module has only one rotational degree of freedom and the joint rotation axis is perpendicular to the axis of the connecting rod. The joint is driven by a DC servo motor. The rear end of the motor is directly connected to the photoelectric encoder used to detect the angular displacement and angular velocity, and the front end is connected to the harmonic reducer to decelerate and increase force. The harmonic reducer is output through a shaft, and then through a pair of bevel gears for further deceleration and boosting and changing the transmission direction. The large bevel gear drives the other part of the joint module to rotate relatively through a joint shaft to output speed and force. The specific structure includes servo motor and photoelectric encoder assembly 2-1, joint sleeve 2-2, motor seat 2-3, joint base 2-4, angular contact ball bearing 2-5, bearing collar 2-6, inner Shaft sleeve 2-7, small bevel gear 2-8, gear end cover 2-9, joint shaft end cover 2-10, joint shaft 2-11, joint cover 2-12, large bevel gear 2-13, joint output connection Parts 2-14, joint shaft angular contact ball bearing 2-15, joint shaft end cover 2-16, bearing end cover 2-17, bearing end cover 2-18, harmonic reducer output shaft 2-19, harmonic deceleration Output transition disc 2-20, disc harmonic reducer assembly 2-21, motor shaft sleeve 2-22. The connection method of each component is: the servo motor and photoelectric encoder assembly 2-1 and the motor base 2-3 are fastened by axial screws; the motor shaft is connected to the disc harmonic reducer assembly 2-2 through the motor shaft sleeve 2-22. 21 is indirectly connected to the wave generator; the input and output rigid wheels of the disc harmonic reducer assembly 2-21 are respectively tightly connected with the motor base 2-3 and the output transition plate 2-20 of the harmonic reducer through axial screws, The latter (2-20) is tightly connected with the output shaft 2-19 of the harmonic reducer with axial screws; the joint sleeve 2-2 is set on the motor base 2-3 and fastened with radial screws along the circumferential direction ; The motor seat 2-3 is tightly connected with the joint base 2-4 through axial screws; the output shaft 2-19 of the harmonic reducer is supported on the joint bearing through angular contact ball bearings and bearing rings 2-5 and 2-6 In the seat 2-4, the output end is connected with the bevel pinion gear 2-8, and fastened with the gear end cover 2-9; the bevel pinion gear 2-8 and the angular contact ball bearing 2-5 pass through the inner shaft sleeve 2-7 Axial spacing; the small bevel gear 2-8 meshes with the large bevel gear 2-13, and the latter is mounted on the joint shaft 2-11; the joint shaft 2-11 is supported on the joint base 2 by an angular contact ball bearing 2-15 -4, the two ends are fixedly connected with the joint connector 2-14 through the joint shaft end cover 2-10.

The annular foot module includes a wheel foot 3-1, a wheel shaft 3-2, a six-dimensional force/torque sensor 3-3 and a connecting transition piece 3-4. The wheel shaft 3-2 passes through the center hole of the wheel foot 3-1, and is fastened at the shaft end with gaskets and nuts; the end face of the other end is connected and fastened with screws to the end face of the force/torque sensor 3-3. The other end face of the force/torque sensor 3-3 is also fixedly connected with the sleeve-shaped connection transition piece 3-4 with screws. The circular part of the foot is made of rubber or foam plastic, has a certain degree of elasticity, is parallel to and in contact with the ground, acts as a buffer and shock absorber, and protects the robot from large impacts. The force/torque sensor is an outsourced part with six dimensions, and is used to detect the force along the x, y, and z axes of the sensor coordinate system and the torque around the x, y, and z axes.

Robot of the present invention has following characteristics:

1) The robot has six active joints, including two I-joints and four T-joints. The joints are connected sequentially in series, the order is: I-type joint-T-type joint-T-type joint-T-type joint-T-type joint-I-type joint, that is, there are four T-type joints in the middle, and one I-type joint at each end joint. The rotation axes of the four T-joints are parallel to each other and perpendicular to the rotation axes of the I-type joints at both ends. The robot is in an inverted U-shape or an arch when standing.

2) It mainly consists of eight modules, including two I-joint modules, four T-joint modules and two foot modules. The connection and fastening between the modules are realized by snap rings at both ends. The construction of the robot is simple, convenient and fast.

3) The bipeds of the robot are ring-shaped or wheel-shaped modules, which are in contact with the ground with a certain elastic circumferential part, which acts as a buffer and shock absorber.

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

(1) The robot has few degrees of freedom, only six, and realizes active walking with few degrees of freedom, and the robot structure and control are relatively simple;

(2) The present invention adopts a modular method to build a robot system. The main body is only composed of two joint modules, which is easy to construct, simple to design, manufacture and maintain, and low in cost;

(3) According to the structural characteristics of the robot, the present invention can adopt three special walking modes, including twisting gait, lateral movement gait and flipping gait, and has the advantages of simple control, easy implementation, good adaptability to the environment, Strong capacity and low energy consumption;

(4) The robot body created by the present invention is actually a mechanical arm with six degrees of freedom. After one end is fixed, the other end can realize various poses in its working space, so the robot has certain operating functions;

(5) The robot created by the present invention can be used as a mobile robot as long as it is equipped with a universal wheel, placed flat on the ground and adjusted for configuration.

Description of drawings

Fig. 1 is a robot external view of the present invention;

Fig. 2 is a schematic diagram of the robot mechanism of the present invention;

Fig. 3 is the exterior view of the I-type joint module of the present invention;

Fig. 4 is a sectional view of the I-type joint module of the present invention;

Fig. 5 is the exterior view of the T-shaped joint module of the present invention;

Fig. 6 is a sectional view of the T-shaped joint module of the present invention;

Fig. 7 is the appearance diagram of the ring-shaped foot module and its connection of the present invention;

Figure 8 is a sectional view of the annular foot module of the present invention and its connections;

Fig. 9 is a schematic top view of the first walking mode of the robot of the present invention - a reverse gait;

Fig. 10 is a schematic diagram of the second walking mode of the robot of the present invention-transverse gait;

Fig. 11 is a schematic diagram of the third walking mode of the robot of the present invention - flipping gait.

Detailed ways

In order to better understand the present invention, the present invention will be further described below in conjunction with the accompanying drawings, but the embodiments of the present invention are not limited thereto.

Fig. 1 and Fig. 2 respectively show the appearance diagram and mechanism schematic diagram of the robot constructed in the present invention. As shown in the figure, the robot has six degrees of freedom and a total of eight modules. The main body is composed of six joint modules 0-2 and 0-3, and a foot module 0-1 is connected to each end. Each module is sequentially connected in series, and the sequence is: foot—force sensor—I-type joint—T-type joint—T-type joint—T-type joint—T-type joint—I-type joint—force sensor—foot. There are four T-joint modules 0-3 in the middle, and a transition sleeve 0-4 in the middle to adjust the connection distance. Each joint module is connected with snap ring 0-4. The longitudinal section of the inner ring of the snap ring is a concave trapezoidal groove, the snap ring has an opening, and the opening part passes through the bolt, and the two connected parts can be tightly connected by tightening the bolt and the nut on the snap ring. The joint rotation axes of the four T-shaped joint modules 0-3 are parallel to each other and perpendicular to the joint axes of the I-shaped joint modules at both ends. They form a planar four-bar linkage. By simultaneously changing the angular displacement of the four T-shaped joints, the shape of the planar four-bar mechanism can be changed to adjust the center of gravity of the robot. When the robot is upright, the sides of the two wheel feet are in contact with the ground, and the two I-shaped joints are perpendicular to the ground. The configuration of the robot is an inverted U, and the two legs are identical and symmetrical.

Figure 3 and Figure 4 are the appearance view and section view of the I-type joint module, respectively. The rotation axis of the I-type joint module coincides with or is parallel to the axis of the joint connecting rod. Parts include: servo motor and photoelectric encoder assembly 1-1, joint sleeve 1-2, motor shaft sleeve 1-3, motor seat 1-4, joint base 1-5, bearing end cover 1-6, bearing Seat 1-7, angular contact ball bearing and outer shaft sleeve 1-8, bearing cover 1-9, internal gear 1-10, joint output end connector 1-11, transition gear shaft 1-12, transition gear 1- 13. Harmonic reducer output shaft 1-14, central gear 1-15, small bearing end cover 1-16, shaft sleeve 1-17, angular contact ball bearing 1-18, harmonic reducer output transition plate 1-19 And disc harmonic reducer assembly 1-20. The driving motor is a DC servo motor, and the motor is integrated with a photoelectric encoder for angular displacement and angular velocity detection, that is, the rear end of the motor shaft is directly connected to the photoelectric encoder to become a servo motor and photoelectric encoder assembly 1-1. The front end face of the motor is connected with the motor base 1-4 with screws (along the axial direction). One end of the joint sleeve 1-2 outside the motor is enclosed within on the motor base 1-4, and is connected with the motor base 1-4 with screws (in the radial direction) along the circumferential direction. The motor base 1-4 and the joint base 1-5 are also axially fastened with screws. The output shaft of the motor is connected with the motor shaft sleeve 1-3, and is fastened with two radial jackscrews. The motor shaft sleeve 1-3 is connected with the wave generator of the harmonic reducer 1-20, and transmits motion and power through a straight key. In order to obtain a smaller joint module length, the first-stage deceleration adopts three major parts 1-2 of a flat disc-shaped harmonic reducer, in which the input rigid wheel and the motor seat 1-4 are fastened axially with screws, and the output rigid wheel Screws are used to fasten and connect with the transition disc 1-19 of the harmonic reducer in the axial direction, and the transition disc 1-19 is connected with the output shaft 1-14 of the harmonic reducer through screws. The output shaft 1-14 of the wave reducer is supported in the joint base 1-5 through a pair of angular contact bearings 1-18. There is an inner ring sleeve 1-17 between the two bearings, and one end is positioned by a bearing sleeve 1-16 and Preload. A spur gear is installed on the output end of the output shaft 1-14 of the wave reducer as the sun gear 1-15, which transmits motion and power through two symmetrical straight keys. The central gear 1-15 meshes with two symmetrically distributed transitional spur gears 1-13. Each transition spur gear 1-13 is supported on its gear shaft 1-12 by the bearing in the inner hole, and the latter (1-12) is fixedly installed on the joint base 1-5 by the screw thread thereon. Transition spur gear 1-13 meshes with internal gear 1-10. The internal gear 1-10, the bearing seat 1-7 and the joint output end connector 1-11 are connected and fastened by axial screws, and become the final output part of the joint module. This output output component is supported on the joint base 1-5 through a pair of angular contact ball bearings and an outer shaft sleeve 1-8. Bearing cover 1-6 carries out axial positioning and preload to this pair of angular contact ball bearings. The working process and movement principle of the joint module are as follows: the output shaft of the motor drives the motor bushing 1-3 to rotate, and the motor bushing 1-3 drives the wave generator of the harmonic reducer 1-20. The harmonic reducer 1-20 decelerates and increases power, and transmits motion and power to the sun gear 1-15 through the output shaft 1-14. The central gear 1-15 drives the two transition gears 1-13, which in turn drive the internal gear 1-10. The internal gear 1-10 is fastened to the bearing seat 1-7 and the joint output end connector 1-11 to complete the movement and power output of the entire joint module.

Figure 5 and Figure 6 are the external view and section view of the T-joint module respectively. The rotating shaft of the T-shaped joint module is perpendicular to the axis of the joint connecting rod. Parts include: servo motor and photoelectric encoder assembly 2-1, joint sleeve 2-2, motor seat 2-3, joint base 2-4, angular contact ball bearing 2-5, bearing collar 2-6, Inner shaft sleeve 2-7, small bevel gear 2-8, gear end cover 2-9, joint shaft end cover 2-10, joint shaft 2-11, joint cover 2-12, large bevel gear 2-13, joint connection Parts 2-14, joint shaft angular contact ball bearing 2-15, joint shaft end cover 2-16, bearing end cover 2-17, bearing end cover 2-18, harmonic reducer output shaft 2-19, harmonic deceleration The output transition disc 2-20, the disc harmonic reducer assembly 2-21 and the motor shaft sleeve 2-22. The driving motor is a DC servo motor, and the motor is integrated with a photoelectric encoder for angular displacement and angular velocity detection, that is, the rear end of the motor shaft is directly connected to the photoelectric encoder, forming a servo motor and photoelectric encoder assembly 2-1. The front end face of the motor is connected with the motor base 2-3 with screws (along the axial direction). One end of the joint sleeve 2-2 outside the motor is enclosed within on the motor base 2-3, and is connected with the motor base 2-3 with screws (in the radial direction) along the circumferential direction. The motor seat 2-3 and the joint base 2-4 are also axially fastened with screws. The output shaft of the motor is connected with the motor shaft sleeve 2-22, and is fastened with two radial jackscrews. The motor shaft sleeve 2-22 is connected with the wave generator of the harmonic reducer 2-21, and transmits motion and power through a straight key. In order to obtain a smaller joint module length, the first-stage deceleration adopts a flat disc-shaped harmonic reducer 2-21, in which the input rigid wheel and the motor seat 2-3 are fastened axially with screws, and the output rigid wheel is used The screw is tightly connected with the transition disc 2-20 of the harmonic reducer in the axial direction, and the transition disc 2-20 is connected with the output shaft 2-19 of the harmonic reducer through screws. The output shaft 2-19 of the wave reducer is supported in the joint base 2-4 through a pair of angular contact bearings 2-5. There is a bearing sleeve 2-6 between the two bearings, and a bearing sleeve 2-18 is used for axial positioning at one end. and preload. A small bevel gear 2-8 is installed on the output end of the wave reducer output shaft 2-19, which transmits motion and power through two symmetrical straight keys, and is axially locked with the gear end cover 2-9. The inner shaft sleeve 2-7 is used as the axial interval between the bevel pinion gear 2-8 and the angular contact bearing 2-5. Small bevel gear 2-8 meshes with large bevel gear 2-13, and the latter is installed on the joint shaft 2-11, and transmits motion and power by a pair of straight keys. The joint shaft 2-11 is supported on the joint base 2-4 by a pair of angular contact ball bearings 2-15, and the two bearing end caps 2-17 are axially positioned and preloaded on the angular contact ball bearings 2-15. Both ends of the joint shaft 2-11 are fixedly connected with the joint connector 2-14 through two end covers 2-10, and are axially positioned and locked by the end covers 2-16. The working process and movement principle of the joint module are as follows: the output shaft of the motor drives the motor shaft sleeve 2-22 to rotate, and the motor shaft sleeve 2-22 drives the wave generator of the harmonic reducer 2-21. The harmonic reducer 2-21 decelerates and increases power, and transmits motion and power to the small bevel gear 2-8 through the output shaft 2-19. The small bevel gear 2-8 drives the large bevel gear 2-13 to realize a 90-degree change in the direction of motion. The large bevel gear 2-13 transmits motion and power to the joint shaft 2-11, and the latter is fixedly connected with the joint shaft end cover 2-10, and transmits motion and power to the joint connector 2-14. The motion and power of the entire joint module are output through the joint connector 2-14.

Figure 7 and Figure 8 show the appearance and cross-sectional views of the foot module and its connecting parts. The small wheel is used as an annular foot, and the wheel foot module includes a wheel foot 3-1, a wheel shaft 3-2, a six-dimensional force/torque sensor 3-3 and a connecting transition piece 3-4. The wheel shaft 3-2 passes through the center hole of the wheel hub of the wheel foot 3-1, and is fastened at the shaft end with gaskets and nuts; the end face of the other end is connected and fastened with screws to the end face of a force/torque sensor 3-3. The other end face of the force/torque sensor 3-3 is also fixedly connected with the sleeve-shaped connection transition piece 3-4 with screws. The circular part of the foot is made of rubber or foam plastic, has a certain degree of elasticity, is parallel to and in contact with the ground, acts as a buffer and shock absorber, and protects the robot from large impacts. The force/torque sensor is an outsourced part with six dimensions, and is used to detect the force along the x, y, and z axes of the sensor coordinate system and the torque around the x, y, and z axes.

The biped robot of the present invention has multiple gaits, that is, multiple walking modes, as shown in FIGS. 9 , 10 and 11 . As shown in Figure 9, it is a twisting gait (top view, the circle represents the position of the foot), and the numbers in the figure are the sequence numbers of the actions. The specific steps are: 1) The four T-joints T1-T4 at the upper end drive the movement of the planar four-bar mechanism formed by them, and adjust the center of mass or ZMP (zero moment point) of the robot to the support surface formed by the support feet ( For example, the left foot with serial number 2 in the picture); 2) the four T-shaped joints at the upper end continue to move, and lift the other foot (swimming foot, such as the right foot with serial number 1 in the picture) off the ground; 3) support The rotation of the ankle joint of the foot (such as I-type joint I1) makes the robot rotate around the ankle joint axis vertical to the ground, so that the position of the swimming foot changes (for example, from the position of the right foot with the serial number 1 in the figure to the right foot with the serial number 3 position); 4) The four T-shaped joints at the upper end move to place the swimming foot on the ground; 5) The roles of the supporting foot and the swimming foot are interchanged, repeat the above steps, the order of the front and back of the two feet is changed, and the robot can Realize various walking actions such as forward, backward, turning, turning and going up and down stairs.

As shown in Figure 10, it is a lateral movement gait (side view), and the numbers in the figure are the action sequence numbers. The specific steps are: 1) The four T-joints T1-T4 at the upper end drive the movement of the planar four-bar mechanism formed by them, and adjust the center of mass or ZMP (zero moment point) of the robot to the support surface formed by the support feet; 2) The four T-joints at the upper end continue to move, lifting the other foot (swimming foot) off the ground and moving it forward or backward, twisting the supporting foot (eg I-joint I1) if necessary to change Walking direction; 3) The four T-joints at the upper end continue to move, and the swimming foot is placed on the ground; 4) The roles of the supporting foot and the swimming foot are interchanged, and the order of the front and back of the two feet remains unchanged. Repeat the above steps, and the robot That is, various walking actions are realized.

Figure 11 shows the flip gait (side view). The numbers in the figure are the action sequence numbers. The specific steps are as follows: 1) The four T-joints T1-T4 on the upper end drive the four-bar mechanism to move the robot's center of mass. Or ZMP (Zero Momentum Point) is adjusted to the support surface formed by the support foot; 2) The four T-joints at the upper end continue to rotate, and the other foot (swimming foot) is lifted off the ground, raised, and around the support foot The T-joint at the upper end is turned over, and the supporting foot (such as I-joint I1) is twisted to change the walking direction if necessary; 3) The four T-joints at the upper end continue to move, and the swimming foot is lowered and placed on the ground; 4) Support The roles of the feet and the swimming feet are exchanged, the above steps are repeated, the order of the front and back of the two feet is changed, and the robot realizes various walking actions.

Claims (5)

1, a kind of modular six freedom-degree initiative joint type bipod walking robot, this robot has six initiatively joints, comprise two I type joints and four T type joints, described I type joint is meant to have only a rotational freedom and joint rotating shaft and connecting rod dead in line or parallel joint, described T type joint is meant the joint of having only a rotational freedom and joint rotating shaft and connecting rod axis normal, it is characterized in that this robot is by two I type joint modules, four T type joint modules and two foot modules are formed, joint module adopts series system to connect successively by snap ring, order passes through and is I type joint module-T type joint module-T type joint module-T type joint module-T type joint module-I type joint module, the I type joint module at two ends is connected by snap ring with two foot modules respectively again, the rotating shaft in four T type joints is parallel to each other, and it is orthogonal with the rotating shaft in the I type joint at two ends, it is inverted U-shaped that the robotic station is immediately, and I type joint module is perpendicular to the ground; Described foot module is circular or wheeled, and its end face contacts with ground.

2, modular six freedom-degree initiative joint type bipod walking robot according to claim 1, it is characterized in that described I type joint module comprises servomotor and photoelectric encoder component (1-1), joint sleeve (1-2), motor shaft sleeve (1-3), motor cabinet (1-4), joint pedestal (1-5), roller bearing end cap (1-6), bearing seat (1-7), angular contact ball bearing and outer shaft (1-8), roller bearing end cap (1-9), inner gear (1-10), joint mouth attaching parts (1-11), transition gear axle (1-12), transition gear (1-13), harmonic speed reducer output shaft (1-14), sun gear (1-15), little roller bearing end cap (1-16), axle sleeve (1-17), angular contact ball bearing (1-18), harmonic speed reducer output transition disc (1-19) and disc type harmonic speed reducer assembly (1-20), the connection mode of each parts is: servomotor and photoelectric encoder component (1-1) are fastening by axial bolt with motor cabinet (1-4); Motor shaft links to each other with the wave producer of disc type harmonic speed reducer assembly (1-20) indirectly by motor shaft sleeve (1-3); The input and output of disc type harmonic speed reducer assembly (1-20) just wheel are fastenedly connected with motor cabinet (1-4) and harmonic speed reducer output transition disc (1-19) respectively by axial bolt, and the latter (1-19) uses axial bolt and harmonic speed reducer output shaft (1-14) to be fastenedly connected again; Joint sleeve (1-2) is enclosed within motor cabinet (1-4) and upward also along the circumferential direction uses radial screw fastening; Motor cabinet (1-4) is fastenedly connected by axial bolt and joint pedestal (1-5); Bearing seat (1-7) is supported on the joint pedestal (1-5) by angular contact ball bearing and outer shaft (1-8); Predetermincd tension is located and applied to angular contact ball bearing and outer shaft (1-8) by roller bearing end cap (1-6); Harmonic speed reducer output shaft (1-14) is connected with sun gear (1-15) by two keys, and sun gear (1-15) and two transition gears (1-13) engagement that is symmetrically distributed; Two transition gear axles (1-12) are fastenedly connected by screw thread on it and joint pedestal (1-5), and are connected with transition gear (1-13) by bearing; Two transition gears (1-13) and inner gear (1-10) engagement; Inner gear (1-10), joint mouth attaching parts (1-11) and bearing seat (1-7) three are fastenedly connected by axial bolt.

3, modular six freedom-degree initiative joint type bipod walking robot according to claim 1, it is characterized in that described T type joint module comprises servomotor and photoelectric encoder component (2-1), joint sleeve (2-2), motor cabinet (2-3), joint pedestal (2-4), angular contact ball bearing (2-5), the bearing collar (2-6), internal axle sleeve (2-7), bevel pinion (2-8), gear end cap (2-9), joint shaft end cap (2-10), joint shaft (2-11), joint lid (2-12), bevel gear wheel (2-13), joint attaching parts (2-14), joint shaft angular contact ball bearing (2-15), joint shaft end cap (2-16), roller bearing end cap (2-17), roller bearing end cap (2-18), harmonic speed reducer output shaft (2-19), harmonic speed reducer output transition disc (2-20), disc type harmonic speed reducer assembly (1-21) and motor shaft sleeve (2-22), the connection mode of each parts is: servomotor and photoelectric encoder component (2-1) are fastening by axial bolt with motor cabinet (2-3); Motor shaft links to each other with the wave producer of disc type harmonic speed reducer assembly (2-21) indirectly by motor shaft sleeve (2-22); The input and output of disc type harmonic speed reducer assembly (2-21) just wheel are fastenedly connected with motor cabinet (2-3) and harmonic speed reducer output transition disc (2-20) respectively by axial bolt, and (2-19 is fastenedly connected and harmonic speed reducer output transition disc (2-20) is used axial bolt and harmonic speed reducer output shaft again; Joint sleeve (2-2) is enclosed within motor cabinet (2-3) and upward also along the circumferential direction uses radial screw fastening; Motor cabinet (2-3) is fastenedly connected by axial bolt and joint pedestal (2-4); Harmonic speed reducer output shaft (2-19) is supported in the joint bearing block (2-4) by angular contact ball bearing and the bearing collar (2-5) with (2-6), and mouth is connected with bevel pinion (2-8), and is fastening with gear end cap (2-9); Make axially spaced-apart by internal axle sleeve (2-7) between bevel pinion (2-8) and the angular contact ball bearing (2-5); Bevel pinion (2-8) and bevel gear wheel (2-13) engagement, and the latter is installed on the joint shaft (2-11); Joint shaft (2-11) is supported on the joint pedestal (2-4) with angular contact ball bearing (2-15), and two ends are connected by joint shaft end cap (2-10) and joint attaching parts (2-14).

4, modular six freedom-degree initiative joint type bipod walking robot according to claim 1, it is characterized in that described foot module is by wheel foot (3-1), wheel shaft (3-2), sextuple power/torque sensor (3-3) be connected transition piece (3-4) and form, wheel shaft (3-2) passes the centre hole of wheel foot (3-1), and is fastening with pad and nut at axle head; The end face of other end is connected with screw with the end face of power/torque sensor (3-3) and is fastening; The other end of power/torque sensor (3-3) then be connected that transition piece (3-4) connects with screw and fastening.

5, modular six freedom-degree initiative joint type bipod walking robot according to claim 1, the center of gravity or the point of zero moment that it is characterized in that described robot are adjusted by the shape that upper end four T types joint motions change the four-bar mechanism of joint connecting rod formation, double feet walking realizes that by three kinds of gaits these three kinds of gaits comprise reverses gait, traversing gait and upset gait.

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