CN105730546A - 3D printing technology-based minitype bionic six-legged robot - Google Patents
3D printing technology-based minitype bionic six-legged robot Download PDFInfo
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- CN105730546A CN105730546A CN201610074526.3A CN201610074526A CN105730546A CN 105730546 A CN105730546 A CN 105730546A CN 201610074526 A CN201610074526 A CN 201610074526A CN 105730546 A CN105730546 A CN 105730546A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The present invention provides a 3D printing technology-based minitype bionic six-legged robot, comprising a body bearing component, six three degree-of-freedom foot mechanisms, an onboard control circuit board and driving motors. The onboard control circuit board is assembled in the body bearing component and the three degree-of-freedom foot mechanisms are assembled on six vertexes; the three degree-of-freedom foot mechanisms comprise hip bone components connected with the body bearing component, thigh components, shank components, and dual-connecting rod mechanisms linked with the shank components; the body bearing component, the hip bone components, the thigh components, the shank components and the dual-connecting rod mechanisms are manufactured through the 3D printing technology. The 3D printing technology-based minitype bionic six-legged robot is small in size, light in weight, concentrated in mass load, high in motion control precision, low in price and high in environment adapting ability, and can be widely used in the fields of teaching and entertainment after a control circuit and the robot body topology are further optimized; the 3D printing technology is used, thus all kinds of robot body components complex in structure can be manufactured, and the appearance ornamental value and the modification convenience of the robot are improved.
Description
Technical field
The present invention relates to Mechatronics control systems technology and field in intelligent robotics, in particular it relates to a kind of minitype bionic Hexapod Robot based on 3D printing technique.
Background technology
Fast development along with modern processing, the addition process technology constructed object such as 3D printing technique utilizes photocuring, ply of paper folded, compare traditional machining process, this technology is capable of quick complex mechanism molding, is widely used to biologic medical, industrial design and national defense industry field at present.The invention of 3D printing technique, facilitates the user processing to complex component and uses, and user can realize the rapid shaping of component processing according to interest and purposes, thus greatly simplifiing the complexity of industrial design, shortens the prototype design cycle.
Hexapod Robot, is polypody series-parallel robot configuration, is also amusement, one of robot modeling comparatively classical in teaching robot, the multi-foot robot of integrated pose motion sensor, it is possible to be suitable for complicated landform environmental movement neatly.Hexapod Robot configuration can be divided into two classes, and a class is similar to insecticide structure, and six Ge Zu mechanisms divide two groups parallel to be distributed in fuselage both sides；The another kind of radial pattern Hexapod Robot being similar to Asterias amurensis Lutken structure, six Ge Zu mechanisms are distributed in six drift angle places of regular hexagon fuselage uniformly and equidistantly.The robot of two class configurations compares, and radial pattern Hexapod Robot motor control is more flexible, and mobility is good.Adopt the robot body that Conventional machining methods makes, due to the limitation of process technology and instrument, it is impossible to realize the microminiaturization of Hexapod Robot, and also there is the shortcomings such as processing cost height, body construction intensity is low, assembly precision is poor.Different from serial machine robot mechanism, its Mass Distribution of series-parallel robot is more concentrated, and control stability is also more high, and traditional Hexapod Robot often have ignored this characteristic.
Publication number is Hexapod Robot involved in CN104960591A patent, adopting the reptile configuration simplified, each sufficient mechanism has two degree of freedom drive motors, and six Ge Zu mechanisms adopt a motor to be driven by chain or leather strap, this robot volume is relatively big, and adaptive capacity to environment is poor；Publication number is Hexapod Robot involved in CN104859747A patent, adopt servo driving 6 stempoda mechanism, every stempoda mechanism has 3 degree of freedom, because the limitation of servo driving power performance limits movement velocity and the control accuracy of robot, but the program controls cost and power source supply method is very convenient；Low energy consumption Hexapod Robot involved by publication number CN104443105A patent, adopts rope type of drive to drive 18 joints, and owing to rope has obvious elastic deformation, therefore its control accuracy is also poor, and easy to wear, and the robot life-span is poor.
Summary of the invention
For defect of the prior art, it is an object of the invention to provide a kind of minitype bionic Hexapod Robot based on 3D printing technique, adopt 3D printing technique, whole robot volume is little, light weight, control accuracy are high, adaptable, outward appearance is beautiful.
For realizing object above, the present invention provides a kind of minitype bionic Hexapod Robot based on 3D printing technique, including:
Fuselage bearing carrier, it is made up of the regular hexagon web of two-layer center hollow out, the apex of two-layer web is provided with six support columns, two-layer web is linked into an integrated entity by six support columns, the geometric center of six support columns is equipped with drive motor, and fuselage bearing carrier is connected with six Three Degree Of Freedom foot mechanisms respectively by six described drive motors；
Three Degree Of Freedom foot mechanism, for Three Degree Of Freedom cascade machine mechanical arm, including the double connecting rod connecting the hipbone component of fuselage bearing carrier, leg member, little leg member and the little leg member that links, wherein: one end of hipbone component is by drive motor is connected with fuselage bearing carrier, the other end is connected with leg member, the little leg member of terminal tandem of leg member the quadric chain with double connecting rod composition Guan Bi, thus by robot overall mass in the center set of fuselage geometric center and described fuselage bearing carrier；Leg member, double connecting rod are respectively fitted with drive motor；
Airborne control circuit plate, is used for receiving motion control instruction and driving each drive motor to rotate, it is achieved the coordination exercise of six Three Degree Of Freedom foot mechanisms；
The robot body of described robot fuselage bearing carrier, hipbone component, leg member, little leg member and double connecting rod composition, all adopts 3D printing technique to make.
Preferably, described two-layer web, wherein one layer is upper strata web, this web center, upper strata is provided with circular hollow out, another layer is bottom web, and this bottom web center is provided with regular hexagon hollow out, and regular hexagon hollow out is provided around the installing hole for installing airborne control circuit plate, the geometric center of six support columns is provided with the ladder hole for assembling drive motor, and fuselage bearing carrier is connected with six Three Degree Of Freedom foot mechanisms respectively by being assemblied in the drive motor of support column center ladder hole.
Preferably, described fuselage bearing carrier adopts 3D printing technique to realize the regular hexagon web of two-layer center hollow out and the one-shot forming of six support columns, enhances structural strength, significantly alleviates robot fuselage weight.
Preferably, the outward flange of described two-layer web is equipped with installing hole, installs, for coordinating, the shell that 3D printing technique makes.
Preferably, described Three Degree Of Freedom foot mechanism and fuselage bearing carrier are radiation symmetric, and are respectively equipped with the ladder hole installing drive motor on leg member, double connecting rod；The geometric center of six support columns is provided with the ladder hole for assembling drive motor.
Preferably, described drive motor, it is equipped with encoder and decelerator, according to the installation site in Three Degree Of Freedom foot mechanism and rotation direction, described drive motor is divided into: motor shaft is perpendicular to the hip joint fuselage drive motor of fuselage bearing carrier, motor shaft is parallel to the hip joint thigh drive motor of fuselage bearing carrier and motor shaft is parallel to fuselage bearing carrier the knee joint drive motor driving knee joint to rotate by double connecting rod, wherein: hip joint fuselage drive motor is installed in the ladder hole at support column center, for driving the swing in the leg member plane that presently described fuselage bearing carrier web is parallel in fact；In ladder hole on hip joint thigh drive motor leg member, it is used for driving leg member to rotate around motor shaft to realize leg member lift action；Knee joint drive motor is installed in the ladder hole on double connecting rod, and drives the hinge mounted hole that little leg member is arranged on little leg member to swing by double connecting rod.
It is highly preferred that the sidewall of described support column is provided with the screwed hole installing holding screw, it is used for fixing hip joint fuselage drive motor.
More preferably, the 2nd D type through hole that described hipbone component is provided with the D type through hole coordinating hip joint fuselage drive motor output shaft, coordinates hip joint thigh drive motor output shaft, and it is respectively equipped with tightening hip joint fuselage drive motor and the screwed hole of hip joint thigh drive motor output shaft, in order to coordinate installation hip joint fuselage drive motor and hip joint thigh drive motor.
It is highly preferred that described hipbone component further respectively has the limiting through hole installing hip joint fuselage drive motor and hip joint thigh drive motor, each through hole central shaft respectively with to D type through hole coaxial.
It is highly preferred that one end of described leg member is provided with for coordinating the installation ladder hole of knee joint drive motor, the other end to be provided with the hinged installing hole for hinged little leg member；Described leg member adopts hollow out to process, the side of leg member hollow part is provided with knee joint drive motor output shaft mating holes, opposite side is provided with knee joint drive motor limiting through hole, is additionally provided with tightening simultaneously and installs the clamp screw pit of knee joint drive motor output shaft.
Preferably, described little leg member is triangular pyramidal, and trigonal pyramidal structure is provided with the hollow out of triangular-section；One end of little leg member be provided with the first pilot hole with leg member coordination hinge and with the cone angle foot end that the second pilot hole of double connecting rod coordination hinge, the other end are point cantact, little leg member is hinged to passive rotation pair by the installing hole on the first pilot hole and leg member.
Preferably, described double connecting rod is double link, including connecting knee joint drive motor connecting rod, connecting shank member linkage, wherein: knee joint drive motor be connected knee joint drive motor connecting rod, connect shank member linkage and being connected by articulated manner with little leg member, and form, with leg member, the quadric chain closed.
It is highly preferred that one end central part hollow out of described connection knee joint drive motor connecting rod forms bar linkage structure plate, bar linkage structure plate is provided with hinge mounted hole；The other end connecting knee joint drive motor connecting rod is provided with the ladder hole coordinating assembling knee joint drive motor；
The two ends of described connection shank member linkage are circular arc hollow out formation structural slab, the center of structural slab is provided with square-section connecting rod hollow out, one end of structural slab is provided with the first hinge mounted hole, the other end is provided with the second hinge mounted hole, little leg member is hinged to passive rotation pair by the second pilot hole and the first hinge mounted hole, the second hinge mounted hole and the hinged cooperation in hinge mounted hole being connected on knee joint drive motor connecting rod.
Preferably, described airborne control circuit plate, it is installed on the bottom web center hollow part of fuselage bearing carrier, for controlling drive motor, reception and feeding back machine human body posture information described in the motion control instruction of described robot and kinestate, perception.
More preferably, described airborne control circuit plate is integrated with motor motion control device, communication module, pose fortune control sensor, wherein: the motion control instruction of robot adopts wirelessly or non-wirelessly mode to send to motor motion control device through communication module, movement instruction is converted into motor drive pulses to generate motor driving instruction by motor motion control device, controls drive motor coordination exercise respectively；Pose motion sensor Real-time Feedback robot motion's state.
It is highly preferred that described airborne control circuit plate is provided with the through hole that the bottom web installing hole with fuselage bearing carrier matches, airborne control circuit plate is arranged between the two-layer web of fuselage bearing carrier, and is connected by screw with bottom web.
In the present invention: the motor shaft direction vector of described hip joint fuselage drive motor and hip joint thigh drive motor is mutually perpendicular to.Described knee joint drive motor is arranged in the ladder hole connected on knee joint drive motor connecting rod, knee joint drive motor output shaft coordinates with the knee joint drive motor output shaft mating holes on leg member, retrained by the electric machine spacing through hole on leg member simultaneously, swing by connecting knee joint drive motor connecting rod, connecting the shank member linkage little leg member of driving the first pilot hole on little leg member；
Described hip joint thigh drive motor is arranged in the hip joint thigh drive motor ladder hole on leg member, hip joint thigh drive motor output shaft coordinates with the 2nd D type through hole on hipbone component, and retrained by the hip joint thigh drive motor spacing hole on hipbone component, order about leg member to rotate around hip joint thigh drive motor axle, it is achieved leg member lift action；
Described hip joint fuselage drive motor is assemblied in the ladder hole at the support column center on fuselage bearing carrier, hip joint fuselage drive motor output shaft coordinates with the D type through hole on hipbone component, and retrained by the hip joint fuselage electric machine spacing hole on hipbone component, thus swing in realizing big leg mechanism plane.Therefore, described Hexapod Robot be capable of in space flexibly six-freedom motion control, and there is obstacle crossing function.
Compared with prior art, the present invention has following beneficial effect:
The present invention adopts 3D printing technique can customize and makes robot body variously-shaped, topological structure, while ensureing main body mechanism intensity, improve the appreciative value of robot body outward appearance, adopt the sufficient mechanism of the Three Degree Of Freedom that complex road condition conformability is superior, and adopt four-bar linkage structure optimization foot mechanism topology configuration, the knee joint drive motor installation site of quality Relatively centralized is located at leg member as far as possible near the position of fuselage bearing carrier, relies on fuselage attitude, motion sensor to substantially increase motion planning and robot control precision simultaneously；The present invention has the advantages such as volume is little, lightweight, quality load concentration, motion control accuracy high, price is low, accommodative ability of environment is strong, and control circuit can be widely applied to teaching and entertainment field after optimizing further with robot body topology.
Accompanying drawing explanation
By reading detailed description non-limiting example made with reference to the following drawings, the other features, objects and advantages of the present invention will become more apparent upon:
Fig. 1 is the overall perspective view of one embodiment of the invention；
Fig. 2 is the axonometric chart of the Three Degree Of Freedom foot mechanism of one embodiment of the invention；
Fig. 3 is the axonometric chart of the little leg member of one embodiment of the invention；
Fig. 4 is the axonometric chart of the leg member of one embodiment of the invention；
Fig. 5 is the axonometric chart of the hipbone component of one embodiment of the invention；
Fig. 6 is the axonometric chart of the connection knee joint drive motor connecting rod of one embodiment of the invention；
Fig. 7 is the axonometric chart connecting shank member linkage of one embodiment of the invention；
Fig. 8 is the axonometric chart of the fuselage bearing carrier of one embodiment of the invention；
In figure:
Airborne control circuit plate 1, double connecting rod 2, little leg member 3, leg member 4, hipbone component 5, drive motor 6, fuselage bearing carrier 7, connect knee joint drive motor connecting rod 8, connect shank member linkage 9；
Little leg member hollow out 301, little leg member cone angle 302, the first hinge mounted hole 303, the second hinge mounted hole 304；
Leg member hollow out 401, knee joint drive motor output shaft mating holes 402, thigh structural slab 403, the hinged installing hole 404 of leg member, knee joint drive motor limiting through hole 405, hip joint thigh drive motor installs ladder hole 406；
Hip joint fuselage drive motor limiting through hole 501, hipbone floor 502, hipbone structural slab 503, hip joint thigh drive motor output shaft mating holes 504, hipbone component hollow out 505, hip joint thigh drive motor limiting through hole 506, hipbone structural slab 507, hip joint fuselage drive motor output shaft mating holes 508, hipbone component hollow part 509；
Knee joint drive motor 601, hip joint thigh drive motor 602, hip joint fuselage drive motor 603, bar linkage structure plate 604, rod hinge connection pilot hole 605, connecting rod hollow out 606, knee joint drive motor installs ladder hole 607；
Connecting rod hollow out 701, structural slab 702, little leg member hinge mounted hole 703, rod hinge connection pilot hole 704；
Hip joint fuselage drive motor installs ladder hole 801, control circuit plate installing hole 802, chamfering 803, hollow out 804, support column 805, structure web 806,807.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following example will assist in those skilled in the art and are further appreciated by the present invention, but do not limit the present invention in any form.It should be pointed out that, to those skilled in the art, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement.These broadly fall into protection scope of the present invention.
As shown in Figure 1, the present embodiment provides a kind of minitype bionic Hexapod Robot based on 3D printing technique, including airborne control circuit plate 1, Three Degree Of Freedom foot mechanism, drive motor 6 and fuselage bearing carrier 7, wherein: the airborne control circuit plate 1 of mounted inside of fuselage bearing carrier 7, a Three Degree Of Freedom foot mechanism is assembled on six summits of fuselage bearing carrier 7 respectively；Drive motor 6 is installed in Three Degree Of Freedom foot mechanism and drives Three Degree Of Freedom foot mechanism to realize the motion of robot space six degree of freedom；Airborne control circuit plate 1 for controlling drive motor 6, receive and feed back machine human body posture information described in the motion control instruction of described robot and kinestate, perception.
In the present embodiment, described fuselage bearing carrier 7, hipbone component 5, leg member 4, little leg member 3 and double connecting rod 2 form robot body, all adopt 3D printing technique to realize, it is possible to realize the processing and fabricating of complex configuration.For alleviating robot body quality, above-mentioned each member center is provided with hollow out through hole.
In the present embodiment, the 3D printed material of employing is photosensitive resin, and this material has good mechanical strength, and its density is very low, for 1.12gcm3。
In the present embodiment, described airborne control circuit plate 1, it is integrated with motor motion control device, communication module, pose fortune control sensor；Wherein: the motion control instruction of robot adopts wirelessly or non-wirelessly mode to send to motor motion control device through communication module, movement instruction is converted into motor drive pulses to generate motor driving instruction by motor motion control device, controls drive motor coordination exercise respectively；Pose motion sensor Real-time Feedback robot motion's state.
As shown in Figure 1 and Figure 2, in the present embodiment, described Three Degree Of Freedom foot mechanism, can be considered Three Degree Of Freedom cascade machine mechanical arm, including hipbone component 5, leg member 4, little leg member 3 and by connecting knee joint drive motor connecting rod 8, connecting the double connecting rod 2 that constitutes of shank member linkage, wherein: hipbone component 5 connects leg member 4 and fuselage bearing carrier 7；The little leg member 3 of terminal tandem of leg member 4, and be connected knee joint drive motor connecting rod 8, connect shank member linkage 9 composition Guan Bi quadric chain, robot overall mass is concentrated to the geometric center of fuselage bearing carrier 7.
As shown in Figure 5, described hipbone component 5 includes the hipbone floor 502 of one, hipbone structural slab 503 and 507, wherein: on hipbone floor 502, be provided with hip joint fuselage drive motor limiting through hole 501 and hip joint fuselage drive motor output shaft mating holes 508, hipbone structural slab 503 is provided with motor output shaft mating holes 504, hipbone structural slab 507 is provided with hip joint thigh drive motor limiting through hole 506.
As further improvement, for expanding the leg member 4 rotation space relative to hipbone component 5, described hipbone component 5 sets hipbone component hollow out 505 with concave surfaces, for coordinating the arc surface at leg member 4 two ends.For expanding the hipbone component 5 rotation space relative to fuselage bearing carrier 7, fuselage bearing carrier 7 thickness is less than the height of hipbone component upper limit through hole 501 with the hollow part 509 in D type through hole 508, and fuselage bearing carrier 7 can pass through hip joint fuselage motor 603 and be arranged on hipbone component hollow part 509.
As shown in Figure 4, the two ends of described leg member 4 are the circular arc two grades that radius is different, it is provided with leg member hollow out 401, thigh structural slab 403 is formed after leg member hollow out 401, thigh structural slab 403 is provided with knee joint drive motor 601 output shaft mating holes 402, the hinged installing hole 404 of leg member, knee joint drive motor limiting through hole 405, and is provided with hip joint thigh drive motor installation ladder hole 406 in bigger one end of leg member 4.
As further improvement, for preventing leg member 4 and little leg member 3 movement interference, little leg member 3 is hinged with leg member 4 by the hinged installing hole 404 of leg member, and leg member 4 is provided with hinged installing hole 404 end and is provided with the space of hollow out increase leg member.The floor arm that hollow part is formed is provided with knee joint drive motor limiting through hole 405.For ensureing the knee joint drive motor link component 8 space in leg member 4, leg member 4 sets hollow part 401 on leg member, produces oblique section, thus ensureing the space of double leval jib.
As it is shown on figure 3, described little leg member 3 is in trigonal pyramidal structure, it is the little leg member hollow out 301 of triangular-section in the middle part of it, to alleviate weight under the premise ensureing structural strength；One end of little leg member 3 is respectively equipped with in order to the first hinge mounted hole 303 hinged with leg member 4 and the second hinge mounted hole 304 hinged with double connecting rod 2, and little leg member 3 is hinged to passive rotation pair by the first hinge mounted hole 303, is hinged to passive rotation pair by the second hinge mounted hole 304 with the little leg member hinge mounted hole 703 on the structural slab 702 being connected shank member linkage 9 with the hinged installing hole of leg member 404；The other end of little leg member 3 is little leg member cone angle 302, and little leg member cone angle 302 is the sufficient end of point cantact.
As shown in Figure 2, in the present embodiment, described drive motor 6 installs encoder and decelerator additional, according to the installation site in Three Degree Of Freedom foot mechanism and rotation direction, be divided into motor shaft to be perpendicular to the hip joint fuselage drive motor 603 of fuselage bearing carrier 7, motor shaft is parallel to the hip joint thigh drive motor 602 of fuselage bearing carrier 7, and motor shaft is parallel to fuselage bearing carrier 7 the knee joint drive motor 601 driving knee joint to rotate by double connecting rod 2.
As shown in Figure 8, described fuselage bearing carrier 7 is the regular hexagon structure web 806,807 by two-layer center hollow out and is connected by six support columns 805, wherein: the center of the web 806 on upper strata is provided with circular hollow out；The center of the web 807 of bottom is provided with regular hexagon hollow out 804, and regular hexagon hollow out 804 place is provided around control circuit plate installing hole 802, is used for installing airborne control circuit plate 1；The geometric center of six support columns 805 is equipped with hip joint fuselage drive motor and installs ladder hole 801, is used for coordinating assembling hip joint fuselage drive motor 603；Fuselage bearing carrier 7 is installed the hip joint fuselage drive motor 603 of ladder hole 801 be connected with six Three Degree Of Freedom foot mechanisms by being assemblied in support column 805 center hip joint fuselage drive motor.
3D printing technique is adopted, it may be achieved integrated molding as further improvement, the regular hexagon structure web 806,807 of described fuselage bearing carrier 7, and six support columns 805.
As further improvement, the sidewall of described support column 805 is provided with the holding screw screwed hole of fixing hip joint fuselage drive motor 603.
As shown in Figure 6, the cross section of described connection knee joint drive motor connecting rod 8 is two is the different semi-circular arc of radius, dual-side symmetric figure, wherein: one end central part hollow out connecting knee joint drive motor connecting rod 8 forms bar linkage structure plate 604, and bar linkage structure plate 604 is provided with rod hinge connection pilot hole 605；The other end connecting knee joint drive motor connecting rod 8 is provided with knee joint drive motor installation ladder hole 607；The center connecting knee joint drive motor connecting rod 8 is provided with the connecting rod hollow out 606 of square-section.
As shown in Figure 7, the two ends of described connection shank member linkage 9 are circular arc hollow out formation structural slab 702, one end of structural slab 702 is provided with little leg member hinge mounted hole 703, the other end is provided with rod hinge connection pilot hole 704, and the center of structural slab 702 is provided with the connecting rod hollow out 701 of square-section.
In the present embodiment, described airborne control circuit plate 1 is arranged on fuselage load carrier 7, motion control instruction adopts wirelessly or non-wirelessly mode to send to motor motion control device through communication module, and motor motion control device generates motor driving instruction, controls each drive motor coordination exercise respectively.Concrete:
As shown in Fig. 4, Fig. 6, described knee joint drive motor 601 is arranged on knee joint drive motor and installs in ladder hole 607, knee joint drive motor output shaft coordinates with knee joint drive motor output shaft mating holes 402, retrained by knee joint drive motor limiting through hole 405 simultaneously, drive little leg member 3 to swing around the first hinge mounted hole 303 by connecting knee joint drive motor connecting rod 8, connecting shank member linkage 9；
As shown in Figure 4, Figure 5, described hip joint thigh drive motor 602 is arranged on hip joint thigh drive motor and installs in ladder hole 406, hip joint thigh drive motor output shaft coordinates with hip joint thigh drive motor output shaft mating holes 504, and retrained by hip joint thigh drive motor limiting through hole 506, order about leg member 4 to rotate around hip joint thigh drive motor axle, it is achieved leg member 4 lift action；
As shown in Figure 5, Figure 8, the hip joint fuselage drive motor at support column 805 center that described hip joint fuselage drive motor 603 is assemblied on fuselage bearing carrier 7 is installed in ladder hole 801, hip joint fuselage drive motor output shaft coordinates with hip joint fuselage drive motor output shaft mating holes 508, and retrained by hip joint fuselage drive motor limiting through hole 501, thus swing in realizing big leg mechanism 4 plane；Therefore, described robot be capable of in space flexibly six-freedom motion control, and there is obstacle crossing function.
In the present embodiment, all drive motors all adopt micro direct current brushless motor, this integrated absolute value encoder of motor end, and motor output end installs 64:1 times of decelerator additional increases motor input torque.
In the present invention: described robot fuselage bearing carrier, hipbone component, leg member, the robot body of little leg member and double connecting rod composition, 3D printing technique is all adopted to make, the fuselage body component of customizable arbitrary dimension and ratio, i.e. fuselage bearing carrier, hipbone component, leg member, little leg member and double connecting rod, adjust work space and robot motion's performance parameter of Three Degree Of Freedom foot mechanism, robot receives motion control instruction by the communication module of airborne control circuit plate and drives drive motor to rotate to realize the coordination exercise of six Three Degree Of Freedom foot mechanisms, and according to pose motion sensor and motor encoder feedback modifiers robot motion's parameter, keep straight on thus realizing described robot space six degree of freedom, the motion of rotation and obstacle detouring.
The present invention has the advantages such as volume is little, lightweight, quality load concentration, motion control accuracy high, price is low, accommodative ability of environment is strong, and control circuit can be widely applied to teaching and entertainment field after optimizing further with robot body topology.The described minitype bionic Hexapod Robot based on 3D printing technique, utilizes 3D printer technology, it is possible to produces all kinds of baroque robot body component, and improves the sight of light outside robot and the convenience of repacking.
Above specific embodiments of the invention are described.It is to be appreciated that the invention is not limited in above-mentioned particular implementation, those skilled in the art can make various deformation or amendment within the scope of the claims, and this has no effect on the flesh and blood of the present invention.
Claims (15)
1. the minitype bionic Hexapod Robot based on 3D printing technique, it is characterised in that including:
Fuselage bearing carrier, it is made up of the regular hexagon web of two-layer center hollow out, the apex of two-layer web is provided with six support columns, two-layer web is linked into an integrated entity by six support columns, the geometric center of six support columns is equipped with drive motor, and fuselage bearing carrier is connected with six Three Degree Of Freedom foot mechanisms respectively by six described drive motors；
Three Degree Of Freedom foot mechanism, for Three Degree Of Freedom cascade machine mechanical arm, including the double connecting rod connecting the hipbone component of fuselage bearing carrier, leg member, little leg member and the little leg member that links, wherein: one end of hipbone component is by drive motor is connected with fuselage bearing carrier, the other end is connected with leg member, the little leg member of terminal tandem of leg member the quadric chain with double connecting rod composition Guan Bi, thus by robot overall mass in the center set of fuselage geometric center and described fuselage bearing carrier；Leg member, double connecting rod are respectively fitted with drive motor；
Airborne control circuit plate, is used for receiving motion control instruction and driving each drive motor to rotate, it is achieved the coordination exercise of six Three Degree Of Freedom foot mechanisms；
Institute's fuselage bearing carrier, hipbone component, leg member, little leg member and double connecting rod composition robot body, adopt 3D printing technique to make.
2. a kind of minitype bionic Hexapod Robot based on 3D printing technique according to claim 1, it is characterized in that, described two-layer web, wherein one layer is upper strata web, this web center, upper strata is provided with circular hollow out, another layer is bottom web, this bottom web center is provided with regular hexagon hollow out, regular hexagon hollow out is provided around the installing hole for installing airborne control circuit plate, the geometric center of six support columns is provided with the ladder hole for assembling drive motor, fuselage bearing carrier is connected with six Three Degree Of Freedom foot mechanisms respectively by being assemblied in the drive motor of support column center ladder hole.
3. a kind of minitype bionic Hexapod Robot based on 3D printing technique according to claim 1, it is characterised in that described fuselage bearing carrier adopts 3D printing technique to realize the regular hexagon web of two-layer center hollow out and the one-shot forming of six support columns；The outward flange of web described in two-layer is equipped with installing hole, installs, for coordinating, the shell that 3D printing technique makes.
4. a kind of minitype bionic Hexapod Robot based on 3D printing technique according to claim 1, it is characterized in that, described Three Degree Of Freedom foot mechanism and fuselage bearing carrier are radiation symmetric, and are respectively equipped with the ladder hole installing drive motor on leg member, double connecting rod；The geometric center of six support columns is provided with the ladder hole for assembling drive motor.
5. a kind of minitype bionic Hexapod Robot based on 3D printing technique according to claim 4, it is characterized in that, described drive motor, it is equipped with encoder and decelerator, according to the installation site in Three Degree Of Freedom foot mechanism and rotation direction, described drive motor is divided into: motor shaft is perpendicular to the hip joint fuselage drive motor of fuselage bearing carrier, motor shaft is parallel to the hip joint thigh drive motor of fuselage bearing carrier and motor shaft is parallel to fuselage bearing carrier the knee joint drive motor driving knee joint to rotate by double connecting rod, wherein: hip joint fuselage drive motor is installed in the ladder hole at support column center, for driving the swing in the leg member plane that presently described fuselage bearing carrier web is parallel in fact；In ladder hole on hip joint thigh drive motor leg member, it is used for driving leg member to rotate around motor shaft to realize leg member lift action；Knee joint drive motor is installed in the ladder hole on double connecting rod, and drives the hinge mounted hole that little leg member is arranged on little leg member to swing by double connecting rod.
6. a kind of minitype bionic Hexapod Robot based on 3D printing technique according to claim 5, it is characterised in that the sidewall of described support column is provided with the screwed hole installing holding screw, is used for fixing hip joint fuselage drive motor.
7. a kind of minitype bionic Hexapod Robot based on 3D printing technique according to claim 5, it is characterized in that, the 2nd D type through hole that described hipbone component is provided with the D type through hole coordinating hip joint fuselage drive motor output shaft, coordinates hip joint thigh drive motor output shaft, and it is respectively equipped with tightening hip joint fuselage drive motor and the screwed hole of hip joint thigh drive motor output shaft, in order to coordinate installation hip joint fuselage drive motor and hip joint thigh drive motor.
8. a kind of minitype bionic Hexapod Robot based on 3D printing technique according to claim 7, it is characterized in that, described hipbone component further respectively has the limiting through hole installing hip joint fuselage drive motor and hip joint thigh drive motor, each through hole central shaft respectively with through hole to D type through hole coaxial.
9. a kind of minitype bionic Hexapod Robot based on 3D printing technique according to claim 5, it is characterized in that, one end of described leg member is provided with for coordinating the installation ladder hole of knee joint drive motor, the other end to be provided with the hinged installing hole for hinged little leg member；Described leg member adopts hollow out to process, the side of leg member hollow part is provided with knee joint drive motor output shaft mating holes, opposite side is provided with knee joint drive motor limiting through hole, is additionally provided with tightening simultaneously and installs the clamp screw pit of knee joint drive motor output shaft.
10. a kind of minitype bionic Hexapod Robot based on 3D printing technique according to any one of claim 1-9, it is characterised in that described little leg member is triangular pyramidal, and trigonal pyramidal structure is provided with the hollow out of triangular-section；One end of little leg member be provided with the first pilot hole with leg member coordination hinge and with the cone angle foot end that the second pilot hole of double connecting rod coordination hinge, the other end are point cantact, little leg member is hinged to passive rotation pair by the installing hole on the first pilot hole and leg member.
11. a kind of minitype bionic Hexapod Robot based on 3D printing technique according to any one of claim 1-9, it is characterized in that, described double connecting rod is double link, including connecting knee joint drive motor connecting rod, connecting shank member linkage, wherein: knee joint drive motor be connected knee joint drive motor connecting rod, connect shank member linkage and being connected by articulated manner with little leg member, and form, with leg member, the quadric chain closed.
12. a kind of minitype bionic Hexapod Robot based on 3D printing technique according to claim 11, it is characterised in that one end central part hollow out of described connection knee joint drive motor connecting rod forms bar linkage structure plate, and bar linkage structure plate is provided with hinge mounted hole；The other end connecting knee joint drive motor connecting rod is provided with the ladder hole coordinating assembling knee joint drive motor；
The two ends of described connection shank member linkage are circular arc hollow out formation structural slab, the center of structural slab is provided with square-section connecting rod hollow out, one end of structural slab is provided with the first hinge mounted hole, the other end is provided with the second hinge mounted hole, little leg member is hinged to passive rotation pair by the second pilot hole and the first hinge mounted hole, the second hinge mounted hole and the hinged cooperation in hinge mounted hole being connected on knee joint drive motor connecting rod.
13. a kind of minitype bionic Hexapod Robot based on 3D printing technique according to any one of claim 1-9, it is characterized in that, described airborne control circuit plate, it is installed on the bottom web center hollow part of fuselage bearing carrier, for controlling drive motor, reception and feeding back machine human body posture information described in the motion control instruction of described robot and kinestate, perception.
14. a kind of minitype bionic Hexapod Robot based on 3D printing technique according to claim 13, it is characterized in that, described airborne control circuit plate is integrated with motor motion control device, communication module and pose fortune control sensor, wherein: the motion control instruction of whole robot adopts wirelessly or non-wirelessly mode to send to motor motion control device through communication module, movement instruction is converted into motor drive pulses to generate motor driving instruction by motor motion control device, control drive motor coordination exercise, pose motion sensor Real-time Feedback robot motion's state respectively.
15. a kind of minitype bionic Hexapod Robot based on 3D printing technique according to claim 14, it is characterized in that, described airborne control circuit plate is provided with the through hole that the bottom web installing hole with fuselage bearing carrier matches, airborne control circuit plate is arranged between the two-layer web of fuselage bearing carrier, and is connected with bottom web.
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