CN112026951A - Multi-legged robot with modular tensioning overall structure - Google Patents

Abstract

The invention discloses a multi-legged robot with a modular tension integral structure, comprising a plurality of modular tension integral structure legs rigidly or flexibly connected with a mobile platform. The modular tension integral structure legs include a frame, The moving steering module, the leg module and three sets of driving winding modules with the same structure; the driving winding module includes a winding wheel and three shafts rotatably connected with the frame; the follow-up steering module includes a clamp that can be changed The three universal joints of the corners, the tensile structure in the foot and leg module includes connected ropes and springs, and the three drive motors drive the reel to change the length of the ropes on both sides of the frame, thereby driving the upper platform and the foot end. The lower platform realizes three-degree-of-freedom motion in space. The traditional leg structure is greatly simplified, the flexibility, adaptability and dynamic performance of the leg are improved, the manufacturing cost is reduced, and the utility model has the advantages of flexible movement, simple operation and convenient maintenance.

Description

Modular tensegrity multi-legged robot

technical field

The invention relates to a multi-legged robot, in particular to a multi-legged robot with a tensioned integral structure.

Background technique

Traditional multi-legged robots usually use rigid mechanisms such as multi-joint deceleration drives or hydraulic drives as their leg structures. The legs have complex structure, high self-weight and weak bearing capacity. The overall structure of tensioning is mainly composed of ropes and rods, with simple structure, high stiffness/weight ratio, and strong adaptability, which is more suitable for robot leg structures with high dynamic performance requirements.

SUMMARY OF THE INVENTION

In view of the above-mentioned prior art, the present invention proposes a multi-legged robot with a modular tensioned integral structure, which has the advantages of simple structure, light weight, high load-bearing capacity, good dynamic performance, strong environmental adaptability and low manufacturing cost compared with the traditional legged robot. and many other advantages.

In order to solve the above technical problems, the present invention proposes a multi-legged robot with a modular tensioned integral structure, including a mobile platform and no less than two modular tensioned integral structure legs. The structure of the legs is the same, and the mobile platform is rigid or flexible fixed connection with all the legs of the modular tension integral structure;

The legs of the modular tensioned integral structure include a frame, three groups of drive winding modules with the same structure, a follow-up steering module and a leg module; the frame is rigidly or flexibly connected to the mobile platform. ;

The driving winding module includes a motor bracket, a driving motor, a winding wheel and a rotating shaft, the driving motor and the winding wheel are mounted on the motor bracket, and the winding wheel is rotatably connected to the motor bracket , the drive motor drives the reel to rotate through a transmission mechanism, the rotating shafts in each group are rotatably mounted on the frame through bearings, and the axes of the rotating shafts in the three groups intersect at one point;

The follow-up steering module includes a shaft sleeve, a main universal joint and two auxiliary universal joints, and the main universal joint and the two auxiliary universal joints pass through a pair of cylindrical pins or a pair of rotating shafts respectively. It is rotatably connected with the shaft sleeve, and the two auxiliary universal joints are provided with transverse grooves at the connection with the shaft sleeve; the main universal joint is consolidated with a rotating shaft in the drive winding module, and the two Each auxiliary universal joint is respectively fixed with the other two rotating shafts in the driving winding module;

The foot leg module includes a spline shaft sleeve, a spline shaft, an upper platform at the foot end, a lower platform at the foot end and three sets of tensile structures; the spline shaft sleeve and the The shaft sleeve is fixedly installed, the spline shaft and the spline shaft sleeve are slidably installed, and the foot end lower platform and the foot end upper platform are respectively fixed to both ends of the spline shaft; The extension structure includes a rope, one end of the rope is connected with a spring, each rope in the three groups of tension structures is wound on the winding wheels in the three groups of driving winding modules, and the two ends of the tension structure are respectively connected with the upper platform of the foot end and the lower platform of the foot end;

In the legs of the modular tensioning overall structure, three driving motors drive the reel to change the length of the ropes on both sides of the frame. The lower platform realizes three-degree-of-freedom motion in space.

Further, in the multi-legged robot with a modular tensioned overall structure according to the present invention, in the follow-up steering module, six penetrating shaft sleeves are evenly arranged in the circumferential direction of the shaft sleeve. The cylindrical pins or rotating shafts of the wall, two opposite cylindrical pins or rotating shafts form a pair, one pair of which is rotatably connected with the main universal joint, and the other two pairs are respectively connected with the two auxiliary universal joints, which are connected with the said main universal joint. The cylindrical pin or the rotating shaft connected with the auxiliary universal joint rotates and slides in the transverse groove, so as to realize the change of the angle between the three universal joints including one main universal joint and two auxiliary universal joints.

In the present invention, in each group of tensile structures of the foot and leg module, the other end of the rope is fixedly connected to the upper platform of the foot end, and the other end of the spring is connected to the lower platform of the foot end. Or, the other end of the rope is fixedly connected to the lower platform of the foot end, and the other end of the spring is connected to the upper platform of the foot end.

In the present invention, the number of legs of the modular tensioned integral structure is 4, and the four modular tensioned integral structure legs are fixedly connected to the mobile platform, and the movement of the quadruped robot is realized through cooperative control.

Compared with the prior art, the beneficial effects of the present invention are:

The advantages and positive effects of the present invention are as follows: the present invention applies the tensioning integral structure as the driving module of the multi-legged robot, which greatly simplifies the traditional leg structure, improves the flexibility, adaptability and dynamic performance of the legs, reduces the The manufacturing cost also has the advantages of flexible movement, simple operation and convenient maintenance.

Description of drawings

1 is a schematic structural diagram of a quadruped robot with a modular tensioned overall structure in Embodiment 1;

Fig. 2 is the structural representation of the leg of the modular tension integral structure in the present invention;

3 is a schematic structural diagram of a follow-up steering module in the present invention;

Fig. 4 is the position schematic diagram of the center shaft sleeve and three pairs of cylindrical pins of the follow-up steering module shown in Fig. 3;

In the picture:

100-Mobile Platform 200-Modular Tensioned Overall Structure Legs 1-Rack

2-motor bracket 3-winding wheel 4-drive motor

5-Foot end lower platform 6-Spring 7-Secondary universal joint

8-Main universal joint 9-Rotating shaft 10-Shaft sleeve

11-Spline bushing 12-Rope 13-Foot end platform

14-spline shaft 15-transverse groove

Detailed ways

The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the following embodiments do not limit the present invention by any means.

As shown in FIG. 1, a multi-legged robot with a modular tension integral structure proposed by the present invention includes a mobile platform 100 and no less than two modular tension integral structure legs 200. All the modular tension integral structure The structures of the structural legs 200 are the same, and the mobile platform 100 is rigidly or flexibly connected with all the modular tensioned integral structural legs 100 .

The modular tensioned overall structure leg 200 includes a frame 1, three groups of drive winding modules with the same structure, a follow-up steering module and a leg module; the frame 1 and the mobile platform 100 are rigid or flexible fixed connections, as shown in Figures 1 and 2.

As shown in FIG. 2 , the driving winding module includes a motor bracket 2 , a driving motor 4 , a winding wheel 3 and a rotating shaft 9 , and the driving motor 4 and the winding wheel 3 are mounted on the motor bracket 2 , the reel 3 is rotatably connected with the motor bracket 2, and the drive motor 4 drives the reel 3 through a transmission mechanism (for example, directly or indirectly connected through a coupling, a timing belt, a gear, etc.) , the rotating shaft 9 in each group is rotatably mounted on the frame 1 through a bearing, one end of the rotating shaft 9 is fixedly connected with the motor bracket 2, and the other end of the rotating shaft 9 is connected with the follow-up steering The three universal joints in the module are connected, and the rotating shafts 9 in the three groups intersect at one point.

As shown in Figures 2 and 3, the follow-up steering module includes a shaft sleeve 10 and three universal joints, and the three universal joints include a main universal joint 8 and two auxiliary universal joints 7, The main universal joint 8 and the two auxiliary universal joints 7 are both rotatably connected to the shaft sleeve 10 through a pair of cylindrical pins or a pair of rotating shafts, and the two auxiliary universal joints 7 are connected to the shaft sleeve. The connection of 10 is provided with a transverse groove 15; the main universal joint 8 is consolidated with a rotating shaft 9 in the driving winding module, and the two auxiliary universal joints 7 are respectively connected with the other two in the driving winding module. The shaft 9 is consolidated.

As shown in FIG. 4 , in the follow-up steering module, six cylindrical pins or rotating shafts penetrating the cylindrical wall of the shaft sleeve 10 are evenly arranged in the circumferential direction of the shaft sleeve 10, as shown in a, b, c, d, e, f are shown; two opposite cylindrical pins or shafts form a pair, which is divided into three pairs, a, d is a pair in the figure, b, e is a pair, c, f is a pair One pair, one of the a, d pair is connected with the main universal joint 8 in rotation, and the other two pairs of b, e and c, f are respectively connected with the two auxiliary universal joints 7, because in each auxiliary universal joint A transverse groove 15 is opened on the side of the joint 7 (as shown in FIG. 3 ), so the cylindrical pin or the rotating shaft connected with the auxiliary universal joint 7 can rotate and slide in the transverse groove 15, so as to realize The change of the included angle between the three universal joints (including a main universal joint 8 and two auxiliary universal joints 7) is shown as A and B in Figure 3. As shown in FIG. 2 , the main universal joint 8 is consolidated with one rotating shaft 9 in the driving winding module, and the two auxiliary universal joints 7 are respectively consolidated with the other two rotating shafts 9 in the driving winding module .

As shown in FIG. 2 , the foot leg module includes a spline shaft sleeve 11, a spline shaft 14, an upper platform 14 at the foot end, a lower platform 5 at the foot end and three sets of tensile structures; the spline shaft sleeve 11 and the The shaft sleeve 10 in the follow-up steering module is fixedly installed, the spline shaft 14 and the spline shaft sleeve 11 are slidably installed, the foot end lower platform 5 and the foot end upper platform 13 are respectively fixed to the two ends of the spline shaft 14; each group of tensile structures includes a rope 12, one end of the rope 12 is connected with a spring 6, and each rope in the three groups of tensile structures is wound around three groups of On the winding wheel 3 in the driving winding module, the two ends of the tensile structure are respectively connected to the foot end upper platform 13 and the foot end lower platform 5, that is, all the tensile structures in each group are connected. The other end of the rope 12 is fixedly connected to the foot end upper platform 13 (or the foot end lower platform 5 ), and the other end of the spring 6 is connected to the foot end lower platform 5 (or the foot end upper platform 13 ). In the embodiment shown in FIG. 2 , one end of the rope 12 in each group is fixedly connected to the upper platform 13 on the foot end, and the other end of the rope 12 goes around the corresponding winding wheel 3 in the driving winding module, and It is connected with one end of the spring 6 , and the other end of the spring 6 is connected with the lower platform 5 of the foot end.

The three drive motors 4 in the legs 200 of each modular tension integral structure drive the reel 3, thereby changing the lengths of the ropes 12 on both sides of the frame 1, thereby driving the upper platform 13 on the foot end and the feet The end-under-platform 5 realizes three-degree-of-freedom motion in space. After connecting two or more modules with the mobile platform, the motion of bipedal, tripedal, quadrupedal and multi-legged robots can be realized through cooperative control. FIG. 1 shows an example of having four modular tension integral structure legs 200 , and the four modular tension integral structure legs 200 are fixedly connected to the mobile platform 100 . Through cooperative control, four Foot robot movement.

The present invention uses the overall tension structure as the leg drive module of the multi-legged robot, which greatly simplifies the complexity of the traditional leg structure, improves the flexibility, adaptability and dynamic performance of the legs, reduces the manufacturing cost, and has the advantages of flexible movement. , Simple control, easy maintenance and many advantages.

Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments. Under the inspiration of the present invention, without departing from the spirit of the present invention and the protection scope of the claims, personnel can also make many forms, which all fall within the protection scope of the present invention.

Claims (5)

1. The multi-legged robot with the modular tensioning overall structure is characterized by comprising a moving platform (100) and at least two modular tensioning overall structure leggings (200), wherein the structures of all the modular tensioning overall structure leggings (200) are the same, and the moving platform (100) is fixedly connected with all the modular tensioning overall structure leggings (100) in a rigid or flexible mode;

the modular tensioning integral structure foot leg (200) comprises a rack (1), three groups of driving winding modules with the same structure, a follow-up steering module and a foot leg module; the frame (1) is fixedly connected with the mobile platform (100) in a rigid or flexible way;

the driving winding module comprises a motor support (2), a driving motor (4), reels (3) and rotating shafts (9), wherein the driving motor (4) and the reels (3) are installed on the motor support (2), the reels (3) are rotationally connected with the motor support (2), the driving motor (4) drives the reels (3) to rotate through a transmission mechanism, the rotating shafts (9) in each group are rotationally installed on the rack (1) through bearings, and the axes of the rotating shafts (9) in the three groups intersect at one point;

the follow-up steering module comprises a shaft sleeve (10), a main universal joint (8) and two auxiliary universal joints (7), wherein the main universal joint (8) and the two auxiliary universal joints (7) are respectively in rotating connection with the shaft sleeve (10) through a pair of cylindrical pins or a pair of rotating shafts, and transverse grooves (15) are formed in the connection positions of the two auxiliary universal joints (7) and the shaft sleeve (10); the main universal joint (8) is fixedly connected with one rotating shaft (9) in the driving winding module, and the two auxiliary universal joints (7) are respectively fixedly connected with the other two rotating shafts (9) in the driving winding module;

the foot leg module comprises a spline shaft sleeve (11), a spline shaft (14), a foot end upper platform (13), a foot end lower platform (5) and three groups of stretching structures; the spline shaft sleeve (11) is fixedly installed with the shaft sleeve (10) in the follow-up steering module, the spline shaft (14) is slidably installed with the spline shaft sleeve (11), and the foot end lower platform (5) and the foot end upper platform (13) are fixedly connected to two ends of the spline shaft (14) respectively; each group of stretching structures comprises a rope (12), one end of the rope (12) is connected with a spring (5), each rope in the three groups of stretching structures is wound on a reel (3) in the three groups of driving winding modules, and two ends of each stretching structure are respectively connected with the foot end upper platform (13) and the foot end lower platform (5);

in modularization stretch-draw overall structure sufficient leg (200), three driving motor (4) drive reel (3) change the length of frame (1) both sides rope (12), under three tensile structure's of group drive, platform (5) realize the three degree of freedom motions in space under foot end upper platform (13) and the foot end.

2. The modular tensegrity-structure multi-legged robot according to claim 1, characterized in that six cylindrical pins or rotating shafts penetrating through the cylinder wall of the shaft sleeve (10) are uniformly arranged in the circumferential direction of the shaft sleeve (10) in the follow-up steering module, and two opposite cylindrical pins or rotating shafts form one pair, one pair is rotatably connected with the main universal joint (8), the other two pairs are respectively connected with two secondary universal joints (7), and the cylindrical pins or rotating shafts connected with the secondary universal joints (7) rotate and slide in the transverse groove (15), so as to realize the change of the included angles between three universal joints including one main universal joint (8) and two secondary universal joints (7).

3. A modular tensegrity robot according to claim 1, characterized in that the other end of said rope (12) in each set of tensile structures is fixedly connected to said foot end upper platform (13) and the other end of said spring (6) is connected to foot end lower platform (5).

4. A modular tensegrity robot according to claim 1, characterized in that the other end of said rope (12) in each group of tensile structures is fixedly connected to said foot end lower platform (5) and the other end of said spring (6) is connected to foot end upper platform (13).

5. The modular tensegrity structure multi-legged robot according to claim 1, characterized in that the number of the modular tensegrity structure legs (200) is 4, and 4 modular tensegrity structure legs (200) are fixedly connected with the moving platform (100), and the quadruped robot motion is realized through cooperative control.

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