CN108127654A - A kind of brothers' current mechanism for multi-foot robot - Google Patents
A kind of brothers' current mechanism for multi-foot robot Download PDFInfo
- Publication number
- CN108127654A CN108127654A CN201711405314.XA CN201711405314A CN108127654A CN 108127654 A CN108127654 A CN 108127654A CN 201711405314 A CN201711405314 A CN 201711405314A CN 108127654 A CN108127654 A CN 108127654A
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- module
- drive
- connecting rod
- brothers
- foot robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of brothers' current mechanism for multi-foot robot, it is related to a kind of multi-foot robot, to solve the problems, such as that traditional multi-foot robot leg end only possesses walking function and operational capacity is not good enough, it includes leg, to connection module, drive module, passive compliance module and underactuated hand module；The end of leg is mounted on to connection module, drive module is mounted on realizes linear motion on connection module, passive compliance module is driven by drive module, and underactuated hand module is driven by passive compliance module and realizes open and close movement.The present invention is for multi-foot robot walking and object crawl.
Description
Technical field
The present invention relates to a kind of multi-foot robots, and in particular to a kind of by traditional multi-foot robot leg end passive compliance
Brothers' current mechanism that mechanism is merged with underactuated hand height.
Background technology
In bio-robot field, current most of multi-foot robot leg ends are equipped with passive compliance mechanism to adapt to
Complicated non-structural landform, this structure design are conducive to robot and preferably walk, but also therefore make multi-foot robot leg last
End loses operating function, in order to realize that multi-foot robot substitutes the target that the mankind work in dangerous area, part polypody machine
People is mounted with hand claw to realize the operating function of multi-foot robot on trunk or leg branch；But this mode only solves
Part engineering problem, the target pursued with bionics greatly differ from each other, after all the biological for polypody of widely known such as crab, leg
Portion can also carry out flexible operation task while locomotor activity is possessed using leg end.
In order to improve the quality distribution of multi-foot robot, usually require that robot leg from trunk to leg end side
To spatially with it is less and less in quality, so as to improve multi-foot robot movement flexibility and stability.
Invention content
The present invention is to solve that traditional multi-foot robot leg end only possesses walking function and operational capacity is not good enough
Problem, and then a kind of brothers' current mechanism for multi-foot robot is provided.The mechanism is by traditional multi-foot robot leg end
Passive compliance module merged with underactuated hand module height, which possesses the adaptability for complicated non-structural landform
Meanwhile, it is capable to it adapts to variously-shaped object and performs grasping manipulation task.
The present invention in order to solve the above problem the technical solution adopted is that：
A kind of brothers' current mechanism for multi-foot robot includes leg, to connection module, drive module, passive compliance mould
Block and underactuated hand module；
The end of leg is mounted on to connection module, drive module is mounted on on connection module, passive compliance module is by driving
Module drive realizes linear motion, and underactuated hand module is driven by passive compliance module and realizes open and close movement.
Further, drive module includes direct current generator, speed reducer and lead screw；Direct current generator output terminal and retarder
Input terminal connects, and the output terminal of retarder is connect with lead screw.
Further, passive compliance module includes feed screw nut and drive rod, and feed screw nut is screwed on leading screw, drive rod
It is hinged with feed screw nut.
Further, a pair of of preloading spring is there also is provided between feed screw nut and drive rod.
Further, underactuated hand module includes side link, connecting rod, drive lacking connecting rod, refers to root and finger tip；Drive rod two
End is separately installed with a set of underactuated hand module, and side link is hinged with drive rod, and connecting rod is hinged with side link, drive lacking connecting rod
Both ends with connecting rod and finger tip articulation, refer to root and finger tip articulation respectively, and connecting rod and finger root are hinged respectively with pedestal.
Further, drive lacking spring is there also is provided between connecting rod and drive lacking connecting rod.
Present invention advantageous effect compared with prior art is：
Underactuated hand possesses the advantages that mechanism is simple, driving number is few and output is big, is adapted to be mounted within multi-foot robot
Leg end performs grasping manipulation task.In addition, underactuated hand can capture the target of irregular shape with its high-adaptability
Object neatly selects Grasp Modes, and the spirit of multi-foot robot grasping manipulation can be improved mounted on multi-foot robot leg end
Activity.Therefore, the present invention designs a kind of that traditional multi-foot robot leg end is passively soft according to bionic mentality of designing
Along the mechanism that mechanism is merged with underactuated hand height, which is not destroying multi-foot robot leg end for complicated non-knot
While structure terrain adaptability, robot leg end is made to possess good grasping manipulation ability.Specially：Utilize feed screw nut
The opening and closing motion of the passive compliance module drive underactuated hand module formed with drive rod, in this course, quilt
The respective function of dynamic submissive module and underactuated hand module is all retained, so that multi-foot robot is made really to possess one
The general mechanism of money brothers.In addition, the present invention changes the drive lacking position of traditional underactuated hand, while optimize drive lacking
The rod piece parameter of each component part of gripper unit so that drive lacking spring captures mesh in brothers' current mechanism as hand claw envelope
It can be stretched during mark, realize envelope crawl function of the mechanism as hand claw；Simultaneously, brothers' current mechanism is as machine
The foot module of people, in Contact reaction-force of the finger tip by ground, drive lacking spring can still be stretched, so as to mitigate polypody
Robot leg and the rigid shock on ground realize pooling feature of the mechanism as foot.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the A-A sectional views of Fig. 1；
Fig. 3 is underactuated hand module enlarged drawing；
Fig. 4 is the bottom view of Fig. 1；
Fig. 5 is the axis side explosive view of the present invention；
Fig. 6 captures complicated shape object delineation for envelope of the present invention；
Fig. 7 is accurately pinched for the present invention and is taken small objects schematic diagram；
Fig. 8 is the complicated non-structural landform schematic diagram of present invention contact；
Fig. 9 is the schematic diagram of mechanism that Fig. 6 envelopes capture complicated shape target；
Figure 10 accurately pinches the schematic diagram of mechanism for taking small objects for Fig. 7；
Figure 11 is the schematic diagram of mechanism of the complicated non-structural landform of Fig. 8 contacts.
Specific embodiment
Technical scheme of the present invention is further described with reference to the accompanying drawings and examples.
Illustrate referring to Fig. 1, Fig. 2 and Fig. 3, a kind of brothers' current mechanism for multi-foot robot includes leg 1, docking mould
Block 2, drive module 3, passive compliance module 4 and underactuated hand module 6；
The end of leg 1 is mounted on to connection module 2, drive module 3 is mounted on on connection module 2, passive compliance module 4 by
Linear motion is realized in the driving of drive module 3, and underactuated hand module 6 drives realization open and close movement by passive compliance module 4.
To mechanical connection of the connection module 2 for brothers' current mechanism and electrical connection；Passive compliance module 4 is in drive module
Under 3 driving, the opening and closure of underactuated hand module 6 are driven；Other than driving function, passive compliance module 4 is simultaneously
It being capable of the adaptively object of asymmetrically shape and complicated non-structural landform；Drive lacking module 6 is except multi-mode crawl object
Except function, drive lacking spring therein can be utilized to mitigate ground shock, increase contact area, make the contact of its envelope complicated non-
Structure landform reduces sufficient end sliding probability as possible.
Illustrate referring to Fig. 1 and Fig. 5, in above-described embodiment, in order to further improve the reliability of movement.Passive compliance module
4 include feed screw nut 9 and drive rod 16, and feed screw nut 9 is screwed on leading screw 5, and drive rod 16 is hinged with feed screw nut 9.Driving
Bar 16 and feed screw nut 9 there also is provided a pair of of preloading spring C using constraint connection is twisted between feed screw nut 9 and drive rod 16.Make
With the degree of freedom of two identical symmetrical preloading spring C limitations therebetween, only left and right is encountered in underactuated hand module 6 not
During symmetrical effect counter-force, the rotational freedom between feed screw nut 9 and drive rod 16 shows, and is adapted to not so as to passive compliance
Regular shape target；The present embodiment can also arrange that Hall switch is used for limiting the extreme position of drive rod in 16 side of drive rod；
In addition, being symmetrically arranged respectively foil gauge in the both sides of the upper and lower surface of drive rod 16, force snesor is formed.When the mechanism captures
It can be evaluated whether grasp force during object, after finger tip 13 is contacted with ground, force snesor can be immediately detected ground effects
Counter-force simultaneously estimates its size, so as to provide good hardware device for the feedback control needed for the walking of Hexapod Robot.
Illustrate referring to Fig. 3, underactuated hand module 6 includes side link 10, connecting rod 11, drive lacking connecting rod 15, refers to 14 and of root
Finger tip 13；16 both ends of drive rod are separately installed with a set of underactuated hand module 6, and side link 10 is hinged with drive rod 16, connecting rod
11 is hinged with side link 10, and 15 both ends of drive lacking connecting rod are hinged with connecting rod 11 and finger tip 13 respectively, refers to root 14 and is hinged with finger tip 13,
Connecting rod 11 and finger root 14 are hinged with pedestal 12 respectively.Wherein, 10 both ends of side link constrain connection drive rod 16 and connecting rod by twisting
11, so as to which the moving movement of drive rod 16 to be converted into the rotary motion of connecting rod 11,15 both ends of drive lacking connecting rod respectively with finger tip
13 and connecting rod 11 by twist constraint connection, so as to drive the opening and closing of the finger tip 13 of underactuated hand module 6.Except this it
Outside, drive lacking connecting rod 15 forms drive lacking by drive lacking spring D and mechanical position limitation with connecting rod 11 and constrains, 15 He of drive lacking connecting rod
The rotational freedom of connecting rod 11 shows in envelope crawl target and the contact non-structural landform of complexity, realizes adaptive irregular shape
The object of shape and complicated non-structural landform.In order to adapt to varying environment in order to capture object or contact complicated landform,
Mounted LED lamp 17 and camera 18 are distinguished in 12 bottom of pedestal, so can efficiently obtain external image, be real-time transmitted to control
System, to ensure that current mechanism fast and accurately captures target, especially small objects.
Operation principle
Illustrate referring to Fig. 1-Fig. 5 and Fig. 9-Figure 11, direct current generator 8 drives and slides after the deceleration of planetary reducer 7
5 rotary motion of dynamic leading screw, lead screw 5 have auto-lock function, ensure that the mechanism reliably keeps seized condition.Lead screw 5
Feed screw nut 9 is driven to move up and down, feed screw nut 9 drives drive rod 16 to move up and down, due to 6 each group of underactuated hand module
Into, by twisting constraint connection, 10 both ends of side link constrain connection drive rod 16 and connecting rod 11 by twisting, so as to drive between part
The moving movement of bar 16 is converted into the rotary motion of connecting rod 11, and 15 both ends of drive lacking connecting rod pass through respectively with finger tip 13 and connecting rod 11
Constraint connection, connecting rod 11 and finger root 14 are twisted with pedestal 12 by twisting constraint connection, so as to drive the finger tip of underactuated hand module 6
13 closure and opening.The present invention passive compliance module 4 also can when performing grasping manipulation task adaptively asymmetry shape
The object of shape.It is driven except other than cutting with scissors and constraining, also existing between this connecting rod 11 and drive lacking connecting rod 15 by mechanical position limitation with owing
The drive lacking constraint that the spring D that moves is formed, when underactuated hand module 6 is not by the effect counter-force on object or ground, limitation connects
The relative rotation degree of freedom of bar 11 and drive lacking connecting rod 15, and acted in underactuated hand module 6 by object or ground
During counter-force, drive lacking spring D can be stretched, and with drive lacking connecting rod 15 relative rotary motion occurs for connecting rod 11, so as to fulfill the machine
Crawl flexibility of the structure under grasp mode, while the mechanism is more as lenitively facing in walking mode sum still owing driving spring
The rigid shock of biped robot leg, while its envelope is made to contact ground, increase its contact area with ground, reduce toe and slide
The probability of shifting.Fig. 6 captures complicated shape object delineation for the present invention for envelope, Fig. 7 for the present invention for it is accurate pinch take it is micro-
The schematic diagram of Small object, it can be seen from the above, the present invention has the envelope crawl function as hand claw.Fig. 8 is multiple for present invention contact
Miscellaneous non-structural landform schematic diagram.From the foregoing, it will be observed that the present invention has captures general utility functions for the envelope of multi-foot robot.
The present invention is disclosed as above with preferable case study on implementation, however is not limited to the present invention, any to be familiar with this profession
Technical staff, without departing from the scope of the present invention, technical spirit according to the present invention is to more than case study on implementation institute
Any simple modification, equivalent change and modification done, still belongs to technical solution of the present invention range.
Claims (8)
1. a kind of brothers' current mechanism for multi-foot robot, it is characterised in that：It include leg (1), to connection module (2),
Drive module (3), passive compliance module (4) and underactuated hand module (6)；
To connection module (2) mounted on the end of leg (1), drive module (3) is on to connection module (2), passive compliance mould
Block (4) is driven by drive module (3) realizes linear motion, and underactuated hand module (6) is driven by passive compliance module (4) and realized
Open and close movement.
2. a kind of brothers' current mechanism for multi-foot robot according to claim 1, it is characterised in that：Drive module
(3) including direct current generator (8), speed reducer (7) and lead screw (5)；Direct current generator (8) output terminal and retarder (7) input terminal
Connection, the output terminal of retarder (7) are connect with lead screw (5).
3. a kind of brothers' current mechanism for multi-foot robot according to claim 2, it is characterised in that：Passive compliance mould
Block (4) includes feed screw nut (9) and drive rod (16), and feed screw nut (9) is screwed on leading screw (5), drive rod (16) and leading screw
Nut (9) is hinged.
4. a kind of brothers' current mechanism for multi-foot robot according to claim 3, it is characterised in that：Feed screw nut
(9) it there also is provided a pair of of preloading spring (C) between drive rod (16).
5. according to a kind of brothers' current mechanism for multi-foot robot of claim 3 or 4, it is characterised in that：Drive lacking
Gripper unit (6) including side link (10), connecting rod (11), drive lacking connecting rod (15), refer to root (14) and finger tip (13)；Drive rod
(16) both ends are separately installed with a set of underactuated hand module (6), and side link (10) is hinged with drive rod (16), connecting rod (11) with
Side link (10) is hinged, and drive lacking connecting rod (15) both ends are hinged with connecting rod (11) and finger tip (13) respectively, refer to root (14) and finger tip
(13) hinged, connecting rod (11) and finger root (14) are hinged with pedestal (12) respectively.
6. a kind of brothers' current mechanism for multi-foot robot according to claim 5, it is characterised in that：Connecting rod (11) with
It there also is provided drive lacking spring (D) between drive lacking connecting rod (15).
7. according to a kind of brothers' current mechanism for multi-foot robot of claim 3,4 or 6, it is characterised in that：Driving
The both sides of the upper and lower surface of bar (16) are symmetrically arranged respectively foil gauge.
8. a kind of brothers' current mechanism for multi-foot robot according to claim 7, it is characterised in that：The speed reducer
(7) it is planet-gear speed reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711405314.XA CN108127654B (en) | 2017-12-22 | 2017-12-22 | A hand and foot universal mechanism for polypod robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711405314.XA CN108127654B (en) | 2017-12-22 | 2017-12-22 | A hand and foot universal mechanism for polypod robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108127654A true CN108127654A (en) | 2018-06-08 |
| CN108127654B CN108127654B (en) | 2021-05-04 |
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ID=62391489
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711405314.XA Active CN108127654B (en) | 2017-12-22 | 2017-12-22 | A hand and foot universal mechanism for polypod robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108127654B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110978028A (en) * | 2020-01-13 | 2020-04-10 | 郑州轻工业大学 | Hand and foot combination device for walking robot |
| CN111015635A (en) * | 2020-01-08 | 2020-04-17 | 郑州轻工业大学 | Walking and fetching composite function execution device for walking robot |
| CN113696204A (en) * | 2020-05-22 | 2021-11-26 | 清瑞博源智能科技河北有限责任公司 | Under-actuated gripper, robot and method for gripping object |
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| JPS61200069A (en) * | 1985-03-01 | 1986-09-04 | Tokyo Gas Co Ltd | Walking type wall surface moving device |
| CN101850797A (en) * | 2010-01-07 | 2010-10-06 | 郑州轻工业学院 | Modularized multiped walking robot capable of realizing functional shift between hands and feet |
| CN103433932A (en) * | 2013-08-16 | 2013-12-11 | 江苏大学 | Self-adaptive pneumatic flexible grabbing mechanical gripper based on metamorphic mechanism |
| CN205928654U (en) * | 2016-04-26 | 2017-02-08 | 江南大学 | Two motor drive cooperative control's underactuated manipulator |
| CN107140055A (en) * | 2017-07-05 | 2017-09-08 | 山东大学 | Electronic Hexapod Robot is merged in trick |
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2017
- 2017-12-22 CN CN201711405314.XA patent/CN108127654B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61200069A (en) * | 1985-03-01 | 1986-09-04 | Tokyo Gas Co Ltd | Walking type wall surface moving device |
| CN101850797A (en) * | 2010-01-07 | 2010-10-06 | 郑州轻工业学院 | Modularized multiped walking robot capable of realizing functional shift between hands and feet |
| CN103433932A (en) * | 2013-08-16 | 2013-12-11 | 江苏大学 | Self-adaptive pneumatic flexible grabbing mechanical gripper based on metamorphic mechanism |
| CN205928654U (en) * | 2016-04-26 | 2017-02-08 | 江南大学 | Two motor drive cooperative control's underactuated manipulator |
| CN107140055A (en) * | 2017-07-05 | 2017-09-08 | 山东大学 | Electronic Hexapod Robot is merged in trick |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111015635A (en) * | 2020-01-08 | 2020-04-17 | 郑州轻工业大学 | Walking and fetching composite function execution device for walking robot |
| CN110978028A (en) * | 2020-01-13 | 2020-04-10 | 郑州轻工业大学 | Hand and foot combination device for walking robot |
| CN110978028B (en) * | 2020-01-13 | 2021-02-09 | 郑州轻工业大学 | Hand and foot combination device for walking robot |
| CN113696204A (en) * | 2020-05-22 | 2021-11-26 | 清瑞博源智能科技河北有限责任公司 | Under-actuated gripper, robot and method for gripping object |
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| Publication number | Publication date |
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| CN108127654B (en) | 2021-05-04 |
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