CN103231751A - Single-joint-sealed amphibious multi-legged robot - Google Patents
Single-joint-sealed amphibious multi-legged robot Download PDFInfo
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- CN103231751A CN103231751A CN2013101177381A CN201310117738A CN103231751A CN 103231751 A CN103231751 A CN 103231751A CN 2013101177381 A CN2013101177381 A CN 2013101177381A CN 201310117738 A CN201310117738 A CN 201310117738A CN 103231751 A CN103231751 A CN 103231751A
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Abstract
The invention relates to a single-joint-sealed amphibious multi-legged robot. The multi-legged robot comprises a body bottom plate and eight walking legs which have the same structure and are provided with three sections of sealed joints; a sealed control box body containing a controller and a remote control device is mounted on the body bottom plate; threaded holes allowing watertight joints to be screwed in are formed in the control box body and the sealed joints; the controller communicates with a motor encoder through the watertight joints and a connecting device; each walking leg comprises a modularized sealed shank section, a modularized sealed thigh section and a modularized sealed root section, which are connected in series, and a six-axis force sensor is mounted at the top of the walking leg; a micro DC servo motor, a worm couple is sealed in each sealed joint, and a waterproof potentiometer for measuring the rotation angle of the sealed joint is arranged on the outer side of the sealed joint; and the sealed joints are connected through joint connection plates. The single-joint-sealed amphibious multi-legged robot provided by the invention can move and work in amphibious environment and overcomes the defect that the movement of the joints of an overall packed sealed robot is limited.
Description
Technical field
A kind of simple joint seals amphibious multi-foot robot, belongs to have many walking machine fields to leg.
Background technology
Have at earth top that to surpass 50% area be destructuring environment such as rugged massif or marsh, the mankind are difficult to utilize existing wheeled and crawler type move mode to realize exploration to nature.By contrast, the mode that biology conquers nature then is to finish by the evolution of self, and therefore, most biologies can move freely in the environment of imperfectization, and same, this thought also can expand in the legged type robot.The Amphibious bionic robot is to simulate the robot that the amphibian mode of motion is the basis, though bio-robot development in recent years rapidly, various new structures emerge in an endless stream, and divide from sufficient number, and five foots of four-footed, six foots, eight foots and odd number etc. are arranged; Divide by novel driving methods such as motor-driven, hydraulic-driven, pneumatic actuation and memorial alloys from driving method, also have structures such as wheel-walking combined in addition, but only have the minority robot can under amphibious environment, carry out work.
The mid-90, developed a kind of robot Ariel that tackles the bank submarine mine at shoal landing operations U.S. rockwell company, it is bionical original shape with crab, has amphibious exercise performance, is imitative crab robot the earliest.Ariel can realize crab shape skidding, has resistance to capsizing, even overturned by wave, still can walk freely under the situation of not doing any machinery adjustment.The researchist of Tokyo polytechnical university carries professional tool by a walking leg submarine mine is operated, 1 meter of its operating depth at the quadruped robot at the development of detection submarine mine in 1998.
China starts late to the research of amphibious walking robot, begin one's study walking robot from 21 century since, obtained a series of achievement:
Shanghai Communications University's robot in 2003 the researchist by observation and research to the life habit of ecological tortoise, constructional feature, mode of motion, designed a kind of bionic machine tortoise.This tortoise has configuration state and the mode of motion of ecological tortoise, can carry out amphibious creeping, and have good stable.The concrete structure design plan of Mechanical tortoise has been applied for national inventing patent (application number: 200310108109.9).The researchist of Postgraduate School, Chinese Academy of Sciences and Shenyang automation research institute has developed the integrated amphibious robot of a kind of employing wheel oar leg in 2008, this robot adopts the mode that propeller, drive wheel and the leg of creeping are combined as a whole, and has the ability that can swim under water, automatically switch between the land crawling exercises pattern.
The research that Harbin Engineering University carried out at Crab-liked Robot since 1999, the present product of having developed multiple model.That has wherein applied for patent of invention has " modular mechanical crab " (application number is 200710072364.0) and " reversible and amphibious multi-legged robot with variable postures " (number of patent application is 200910072283.7).Tool crab in " modular mechanical crab " is adopted modular design; modular construction has self-locking and adjustable protection motor characteristic, robot have the walking function of upset certainly under the complex environment, can amphibious environmental movement and operation, damping shock-resistance features, toe multidimensional sensor arranged, have the compound sufficient manipulator of multiple degree of freedom.Multi-foot robot in " reversible and amphibious multi-legged robot with variable postures " is made of many walking leg parallel connections, regulate motor by the control attitude and can realize that robot is stood and the real time altering of athletic posture, improve it and adapt to complicated amphibious environment capacity, every walking leg is composed in series by unidirectional input vertical output module and shank mechanism two parts.The foot end is installed three-dimensional force sensor, to stressed feedback of motion process mesopodium end, to realize the stressed closed loop control of robot shank.
The weak point of above-mentioned these two kinds of model robots is: all do not carry out encapsulation process on the structure, its waterproof adopts whole packaging type sealing means, namely when putting on one deck water proof rubber coat to robot before the water under the robot, the sealing coat of this kind sealing means is subjected to hydraulic pressure effect meeting generation gross distortion when robot is in the deep water, thereby limited the movement travel of joint of robot, and the rubber coat very easily is subjected to the corrosion of seawater, and cracky leaks.
Summary of the invention
The objective of the invention is to disclose a kind of simple joint and seal amphibious multi-foot robot, comprise that body base plate and eight structures are identical and have the walking legs in three sections sealing joints; The sealing control box that includes controller and remote control equipment (RCE) is housed on the body base plate, is processed with tapped bore on control box and the sealing joint, be used for screwing in water tight joint; Controller carries out communication by water tight joint and adaptor union and joint driver and motor encoder.Walking leg is composed in series by modular sealing tibia, sealing meropodium and sealing root joint, and toe is installed six-dimension force sensor.Minisize dc servomotor and worm couple are enclosed in the sealing joint; The waterproof potentiometer that is installed in the outside, sealing joint is used for measuring joint rotation angle, and each seals the joint and links to each other by articular link plate.The present invention can carry out motion and the operation under the amphibious environment, has overcome the shortcoming of whole environmental sealing formula joint of robot limitation of movement.
A kind of simple joint seals amphibious multi-foot robot and is made of body base plate, control box and eight walking legs; Control box is connected in the top of body base plate by bolt; Article eight, walking leg is evenly distributed in the both sides of body base plate, and walking leg and body base plate are connected by bolt.The casing of described control box is made up of upper box lid and lower box, and the lower box upper end has seal groove, is used for placing seal ring, and the both sides of lower box have for the tapped bore that screws in water tight joint, and upper box lid is connected with the lower box screw; Described walking leg is in series by the sealing joint of three root moduleizations (namely sealing tibia, sealing meropodium and sealing root joint) and by the fixing articular link plate of one end, and the foot of walking leg is held six-dimension force sensor is installed.Described sealing joint is made up of minisize dc servomotor, the worm and gear transmission of joint upper box lid, joint lower box and interior dress; The minisize dc servomotor is fixed in the described sealing joint by socket head cap screw and flange; Worm shaft one end is connected with the output shaft straight pin of minisize dc servomotor, the other end and angular contact ball bearing interference fit; Angular contact ball bearing, adjustable pad, the general plug envelope of rotation and roller bearing end cap have been formed the rotary supporting part of worm shaft jointly; Rotate between general plug envelope and the worm shaft and form dynamic seal.The two ends of worm-wheel shaft are installed in the described sealing joint by rolling ball bearing or copper sheathing and rolling ball bearing respectively, and use holding screw that copper sheathing is located; Two mouths of worm-wheel shaft are settled the general plug envelope of rotation and roller bearing end cap respectively, are used for constituting dynamic seal with S. A.; Roller bearing end cap is connected by socket head cap screw with described sealing joint; A mouth of worm-wheel shaft links to each other with waterproof potentiometer axle; Waterproof potentiometer outer ring is fixed on the outside in described sealing joint by the potentiometer link span; Screw connects after installing seal ring between joint upper box lid and the joint lower box additional; The joint upper box lid has tapped bore, is used for laying water tight joint.
Robot provided by the present invention need not to wear waterproof coat just can directly descend water; the range of movement of shank is not subjected to the restriction of hydraulic pressure; adaptive capacity for amphibious environment is strong, has the characteristic of self-locking and adjustable protection motor, can move and operation under amphibious environment.
Description of drawings
A kind of simple joint of Fig. 1 seals amphibious multi-foot robot integral structure figure
A kind of simple joint of Fig. 2 seals amphibious multi-foot robot integral structure front view
A kind of simple joint of Fig. 3 seals the front view of amphibious multi-foot robot walking leg
A kind of simple joint of Fig. 4 seals the front view in amphibious multi-foot robot sealing joint
The specific embodiment
Providing the specific embodiment of the present invention below also is illustrated by reference to the accompanying drawings.
As shown in Figure 1, 2, a kind of simple joint seals amphibious multi-foot robot and is made of body base plate 46, the parallel walking leg that is distributed in the body both sides with eight of control box; Wherein, control box comprises lower box 42, upper box lid 47 and internal controller and remote control equipment (RCE); Article eight, walking leg is composed in series successively by six-dimension force sensor 37, sealing tibia 35, sealing meropodium 32 and sealing root joint 33; Independent modular sealing joint is the elementary cell that constitutes this robot walking leg.
Be processed with the mounting hole that is used in conjunction mutually with walking leg on the body base plate 46, body base plate 46 is connected by hex bolt 40 with the lower box 42 of control box, installs seal ring additional between lower box 42 and the upper box lid 47, and connects by socket head screw; The both sides of lower box 42 have for the casing tapped bore 41 that water tight joint is installed.Body base plate 46 is connected by the body link span 34 of socket bolt and single walking leg, article eight, parallel both sides that are distributed in body of walking leg, lay controller and remote control equipment (RCE) in the described control box, controller and joint driver module are by the watertight connector transmission of control signals.
Shown in Fig. 3,4, the structure in sealing joint is as follows: DC servo reducing motor 3 links to each other with joint lower box 2 with motor flange by screw as the propulsion source in each sealing joint; The output shaft of DC servo reducing motor 3 is connected by straight pin 22 with worm shaft 18, the other end of worm shaft 18 and angular contact ball bearing 12 interference fit, be placed in the bearing seat of joint lower box 2, and limit its axial location by roller bearing end cap, adjustment pad; Install the general plug envelope of rotation simultaneously additional and form dynamic seal with worm shaft 18, form static seal with joint lower box 2 outer walls; Worm-wheel shaft 20 supports by paired deep groove ball bearing 10, and one of them deep groove ball bearing 10 is installed in the bearing seat of joint lower box 2, and another deep groove ball bearing 10 is installed in the copper sheathing 16, and is connected by holding screw 17 and joint lower box 2; The two ends of worm-wheel shaft 20 install two general plug envelopes of rotation in addition respectively additional, constitute dynamic seal, and are connected with joint lower box 2 with screw with roller bearing end cap; A mouth of worm-wheel shaft 20 links to each other with the axle of waterproof potentiometer 19, and waterproof potentiometer 19 is fixed on the outside of potentiometer bracing frame 21; The other end of joint lower box 2 is connected with articular link plate 1 screw; Install seal ring additional between joint lower box 2 and the joint upper box lid 24 and be connected by screw; Joint upper box lid 24 has a joint tapped bore 26 that is used for installing water tight joint.
During work, DC servo reducing motor 3 provides power, drives worm shaft 18 and rotates, worm shaft 18 is meshed with worm-wheel shaft 20, rotate thereby drive worm-wheel shaft 20, the two ends of worm-wheel shaft 20 link to each other with the articular link plate 1 in another sealing joint, and power has gone down with regard to a section transmission like this.
As shown in Figure 3, every walking leg is composed in series successively by six-dimension force sensor 37, sealing tibia 35, sealing meropodium 32 and sealing root joint 33; U-shaped groove on the articular link plate 1 of sealing root joint 33 matches with the flat axle head at worm-wheel shaft 20 two ends of sealing meropodium 32, and by hex screw, hexagonal nut, pad and U-shaped groove block 28 worm-wheel shaft 20 and articular link plate 1 is fixed together; Sealing meropodium 32 adopts and top identical connection mode with sealing tibia 35; The joint lower box 2 of sealing meropodium 32 and six-dimension force sensor 37 are connected by socket head cap screw, and the U-shaped groove on the body link span 34 matches and by hex screw, hexagonal nut, pad and two pairs of U-shaped groove blocks 28 worm-wheel shaft 20 and body link span 34 is fixed together with the flat axle head at worm-wheel shaft 20 two ends of sealing root joint 33.Six-dimension force sensor 37 is used for gathering external environment information.
The walking leg of the amphibious multi-foot robot that the present invention is designed adopts independent sealing joint connection mode, controller and remote control equipment (RCE) are sealed in the control box of body, robot does not need to wear waterproof coat from the land entry, more convenient for being operated under the amphibious frequent alternately operating environment, reduce the operating personal overwork, overcome the shortcoming of whole environmental sealing formula joint of robot limitation of movement.
Claims (3)
1. a simple joint seals amphibious multi-foot robot, comprise body, control box and the walking leg that is composed in series by three sections joints, it is characterized in that: described control box comprises lower box (42), upper box lid (47) and internal controller and remote control equipment (RCE), is installed on the body base plate (46) as described body; Article eight, parallel both sides that are distributed in body base plate (46) of the described walking leg that structure is identical; Wherein, the described walking leg of each bar is in series by six-dimension force sensor (37) the sealing joint identical with three-stage structure; And described sealing joint comprises sealing tibia (35), sealing meropodium (32) and sealing root joint (33); Body base plate (46) is connected by hex bolt (40) with lower box (42), installs seal ring additional between lower box (42) and the upper box lid (47), and connects by screw; The both sides of lower box (42) have for the casing tapped bore (41) that water tight joint is installed; Body base plate (46) is connected by the body link span (34) of bolt and each described walking leg.
2. a kind of simple joint according to claim 1 seals amphibious multi-foot robot, it is characterized in that: the DC servo reducing motor (3) in the described sealing joint links to each other with joint lower box (2) with motor flange by screw as the propulsion source in each joint; The output shaft of DC servo reducing motor (3) is connected by straight pin (22) with worm shaft (18); The other end of worm shaft (18) and angular contact ball bearing (12) interference fit, be installed in the bearing seat of joint lower box (2), and by roller bearing end cap, adjust pad and limit its axial location, install the general plug envelope of rotation simultaneously additional, form dynamic seal with worm shaft (18), with the outer wall formation static seal of joint lower box (2); Worm-wheel shaft (20) supports by paired deep groove ball bearing (10), one of them deep groove ball bearing (10) is installed in the bearing seat of joint lower box (2), another deep groove ball bearing (10) is installed in the copper sheathing (16), and is connected by holding screw (17) and joint lower box (2); The two ends of worm-wheel shaft (20) install two general plug envelopes of rotation in addition respectively additional, constitute dynamic seal, and are connected with joint lower box (2) with screw with roller bearing end cap; One end of worm-wheel shaft (20) links to each other with the axle of waterproof potentiometer (19); Waterproof potentiometer (19) is fixed on the outside of potentiometer bracing frame (21); The other end of joint lower box (2) is connected with articular link plate (1) screw; Install seal ring additional between joint lower box (2) and the joint upper box lid (24) and be connected by screw; Joint upper box lid (24) has a joint tapped bore (26) that is used for installing water tight joint.
3. simple joint according to claim 1 seals amphibious multi-foot robot, it is characterized in that: every described walking leg is composed in series successively by six-dimension force sensor (37), sealing tibia (35), sealing meropodium (32) and sealing root joint (33); U-shaped groove on the articular link plate (1) of sealing root joint (33) matches with the flat part at worm-wheel shaft (20) two ends of sealing meropodium (32), and is fixed together by bolt and U-shaped groove block (28); Sealing meropodium (32) adopts connection mode same as described above with sealing tibia (35); The joint lower box (2) of sealing tibia (35) is connected by screw with six-dimension force sensor (37); The flat part at worm-wheel shaft (20) two ends of the U-shaped groove on the body link span (34) and sealing root joint (33) matches to merge and is fixed together by bolt and U-shaped groove block (28).
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| CN201310117738.1A CN103231751B (en) | 2013-04-07 | 2013-04-07 | Single-joint-sealed amphibious multi-legged robot |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104773042A (en) * | 2015-04-03 | 2015-07-15 | 西北工业大学 | Amphibious robot with transformable structure |
| CN104908836A (en) * | 2014-06-06 | 2015-09-16 | 苏州晓炎自动化设备有限公司 | Six-legged laser robot |
| CN105773597A (en) * | 2016-05-02 | 2016-07-20 | 邢永安 | Multifunctional bionic crab-like robot |
| CN106737669A (en) * | 2016-12-12 | 2017-05-31 | 杭州宇芯机器人科技有限公司 | Consider the multi-foot robot energy margin computational methods of external impacts interference and damping |
| CN106926995A (en) * | 2017-01-22 | 2017-07-07 | 浙江大学 | It is a kind of to be suitable to the walking robot of environments such as subsea |
| CN107825432A (en) * | 2017-10-24 | 2018-03-23 | 西安航空学院 | Imitative spider-type robot for rescue |
| CN109795577A (en) * | 2019-03-29 | 2019-05-24 | 韶关学院 | A kind of bionic 6-leg robot |
| CN110077487A (en) * | 2019-05-15 | 2019-08-02 | 河海大学常州校区 | A kind of eight biped robot of imitative spider |
| CN110194229A (en) * | 2019-06-29 | 2019-09-03 | 哈尔滨工业大学 | Novel imitation crab robot |
| CN110775179A (en) * | 2018-07-31 | 2020-02-11 | 吉林大学 | Bionic bearing robot device and method for selecting gait mode |
| CN110920334A (en) * | 2019-12-13 | 2020-03-27 | 哈尔滨工程大学 | Foot paddle-wing hybrid drive type amphibious operation bionic robot and movement method |
| CN113148076A (en) * | 2021-04-25 | 2021-07-23 | 哈尔滨工程大学 | Underwater bionic spherical/hemispherical robot and motion control method thereof |
| CN113703467A (en) * | 2021-08-04 | 2021-11-26 | 电子科技大学 | Multi-foot robot for detecting turbine blades |
| WO2022135077A1 (en) * | 2020-12-25 | 2022-06-30 | 杭州宇树科技有限公司 | Robot joint having dynamic sealing structure and quadruped robot applying same |
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| CN104908836A (en) * | 2014-06-06 | 2015-09-16 | 苏州晓炎自动化设备有限公司 | Six-legged laser robot |
| CN104773042A (en) * | 2015-04-03 | 2015-07-15 | 西北工业大学 | Amphibious robot with transformable structure |
| CN105773597A (en) * | 2016-05-02 | 2016-07-20 | 邢永安 | Multifunctional bionic crab-like robot |
| CN105773597B (en) * | 2016-05-02 | 2017-08-25 | 青岛农业大学 | A kind of Multi-purpose bionic crab robot |
| CN106737669A (en) * | 2016-12-12 | 2017-05-31 | 杭州宇芯机器人科技有限公司 | Consider the multi-foot robot energy margin computational methods of external impacts interference and damping |
| CN106737669B (en) * | 2016-12-12 | 2019-10-18 | 杭州宇芯机器人科技有限公司 | Consider the multi-foot robot energy margin calculation method of external impacts interference and damping |
| CN106926995A (en) * | 2017-01-22 | 2017-07-07 | 浙江大学 | It is a kind of to be suitable to the walking robot of environments such as subsea |
| CN106926995B (en) * | 2017-01-22 | 2018-07-17 | 浙江大学 | A kind of walking robot suitable for environments such as subsea |
| CN107825432A (en) * | 2017-10-24 | 2018-03-23 | 西安航空学院 | Imitative spider-type robot for rescue |
| CN110775179A (en) * | 2018-07-31 | 2020-02-11 | 吉林大学 | Bionic bearing robot device and method for selecting gait mode |
| CN110775179B (en) * | 2018-07-31 | 2024-01-30 | 吉林大学 | Bionic bearing robot device and gait mode selection method thereof |
| CN109795577A (en) * | 2019-03-29 | 2019-05-24 | 韶关学院 | A kind of bionic 6-leg robot |
| CN109795577B (en) * | 2019-03-29 | 2023-08-25 | 韶关学院 | Six-foot bionic robot |
| CN110077487A (en) * | 2019-05-15 | 2019-08-02 | 河海大学常州校区 | A kind of eight biped robot of imitative spider |
| CN110194229A (en) * | 2019-06-29 | 2019-09-03 | 哈尔滨工业大学 | Novel imitation crab robot |
| CN110194229B (en) * | 2019-06-29 | 2021-08-03 | 哈尔滨工业大学 | Novel crab-imitating robot |
| CN110920334B (en) * | 2019-12-13 | 2020-12-18 | 哈尔滨工程大学 | Foot paddle-wing hybrid drive type amphibious operation bionic robot and movement method |
| CN110920334A (en) * | 2019-12-13 | 2020-03-27 | 哈尔滨工程大学 | Foot paddle-wing hybrid drive type amphibious operation bionic robot and movement method |
| WO2022135077A1 (en) * | 2020-12-25 | 2022-06-30 | 杭州宇树科技有限公司 | Robot joint having dynamic sealing structure and quadruped robot applying same |
| CN113148076A (en) * | 2021-04-25 | 2021-07-23 | 哈尔滨工程大学 | Underwater bionic spherical/hemispherical robot and motion control method thereof |
| CN113148076B (en) * | 2021-04-25 | 2022-09-02 | 哈尔滨工程大学 | Underwater bionic spherical/hemispherical robot and motion control method thereof |
| CN113703467A (en) * | 2021-08-04 | 2021-11-26 | 电子科技大学 | Multi-foot robot for detecting turbine blades |
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