CN115848529A - Multi-legged robot working at high torque and working method - Google Patents

Abstract

The application discloses polypod robot and operation method of big moment of torsion operation, polypod robot includes: the device comprises an operation table, an operation structure and a plurality of mechanical legs, wherein the operation structure is arranged in the operation table, the outside of an operation end of the operation structure is not shielded, and the mechanical legs are connected with the operation table; the operation structure includes: the device comprises a driving element, an operating end and a force sensor, wherein the driving element, the operating end and the force sensor are arranged in a shell, the operating end is connected with the driving element through a connecting piece, and the force sensor is arranged between the driving element and the shell. The operation method comprises the following steps: calculating the expected value of toe contact force according to the torque value of the large-torque operation to be executed; the multi-legged robot moves to the vicinity of an object to be operated, and an operation end of the multi-legged robot is connected with the object to be operated; part of the mechanical legs are kept standing, and the rest of the mechanical legs are lifted to be in contact with an external object; the contact force reaches a desired value through an admittance control algorithm; the operation structure provides continuous rotation motion to complete large-torque operation; and the lifted mechanical legs are recovered to stand and move to the vicinity of a new object to be operated.

Description

Multi-legged robot working at high torque and working method

Technical Field

The application belongs to the technical field of robots, and particularly relates to a multi-legged robot for high-torque operation and an operation method.

Background

The large-torque screwing operation requirements such as bolt screwing, valve screwing and the like exist in the scenes of industrial plants, nuclear power stations, vehicle chassis, pipelines and the like. The robot has the characteristics of narrow space, severe environment and the like, and is easy to reach, and workers are difficult to reach. Therefore, the robot is adopted to replace manual operation, and the operation efficiency is improved. In addition, after an accident, the robot is also required to enter to perform disaster relief work. The operation in disaster scenes often also needs large torque output, and the existing related robot technology mainly depends on the high rigidity and the large weight of the robot to provide enough output torque, so that the requirements of flexible movement operation and large torque operation are difficult to be met. Therefore, the research of the robot equipment for working with large torque has important practical significance.

The existing hexapod robot with operation function generally uses mechanical arms to operate or mechanical legs and operation arms work in a coordinated mode. The mechanical arm is composed of a plurality of joints and has a certain length, the output torque is related to the rigidity and the capacity of the tail end motor, the rigidity is required to be large due to large torque output, and the torque of the tail end motor is large, so that the mechanical arm is thick in size and heavy in weight and is difficult to adapt to the flexible moving operation requirement. When the mobile robot is screwed, the reaction force generated by screwing is balanced by the gravity of the mobile robot and the friction force of the ground, the gravity and the friction force of the mobile robot are not enough to balance the screwing reaction force in the large-torque operation, so that a screwing object does not move, and the robot moves reversely, so that the robot is difficult to finish the operation.

Disclosure of Invention

In view of the above-mentioned drawbacks and deficiencies of the prior art, the present application provides a multi-legged robot and a method for operating the same.

In order to solve the technical problem, the application is realized by the following technical scheme:

the application provides a polypod robot of big moment of torsion operation, includes: the device comprises an operation table, an operation structure and a plurality of mechanical legs, wherein the operation structure is arranged in the operation table, the outside of an operation end of the operation structure is not shielded, and the mechanical legs are connected with the operation table; the operation structure includes: the device comprises a driving element, an operating end and a force sensor, wherein the driving element, the operating end and the force sensor are arranged in a shell, the operating end is connected with the driving element through a connecting piece, and the force sensor is arranged between the driving element and the shell.

Further, the multi-legged robot for high torque operation described above, wherein the mechanical legs include: the thigh rod piece and the shank rod piece are connected with the operating platform; the driving structure includes: the side pendulum driving device comprises a side pendulum driving device, a thigh driving device, a shank driving device and a transmission assembly, wherein the side pendulum driving device is arranged on the operating platform and connected with the thigh rod piece, the transmission assembly is connected with the thigh rod piece and the shank driving device, the thigh driving device is connected with the thigh rod piece, and the shank driving device is connected with the shank rod piece through the transmission assembly.

Further, the multi-legged robot for high torque operation described above, wherein the driving structure further includes: and the torque sensors are respectively arranged on the output shaft driven by the side pendulum, the output shaft driven by the thigh and the output shaft driven by the shank.

Further, the multi-legged robot for high torque operation described above, wherein the robot leg further includes: the encoder and the zero position switch are connected with the control module, and the zero position switch and the encoder are arranged on the outer surface of the driving structure.

Further, the robot operating with large torque described above, wherein the force sensor comprises: at least one-dimensional force and one-dimensional torque are detected.

Further, the multi-legged robot for high torque operation described above, wherein the transmission assembly comprises: a link drive assembly, a gear drive assembly, a chain drive assembly, or a belt drive assembly.

Further, the multi-legged robot for high torque operation described above, wherein the link transmission assembly comprises: first connecting rod, second connecting rod, first eccentric wheelset, second eccentric wheelset, first bearing and second bearing, first connecting rod with second connecting rod parallel arrangement, first eccentric wheelset set up in first connecting rod with the first end of second connecting rod, second eccentric wheelset set up in first connecting rod with the second end of second connecting rod, first bearing the second bearing with thigh member is connected, first eccentric wheelset with shank driven output shaft, second eccentric wheelset with shank member connects.

Further, in the multi-legged robot for high torque operation, the toe of the mechanical leg is a spherical toe.

Further, in the multi-legged robot for high torque operation, an angle range of relative rotation between the shank link and the thigh link is 20 ° to 340 °.

The application also provides an operation method, which comprises the following steps:

calculating the expected value of toe contact force of the mechanical leg according to the torque value of the large-torque operation to be executed;

the multi-legged robot moves to the vicinity of an object to be operated;

the operating end of the multi-legged robot is connected with an object to be operated;

part of mechanical legs of the multi-legged robot maintain standing, and the rest of mechanical legs are lifted to be in contact with an upper object or a side object;

increasing the contact force between the toe of the lifted mechanical leg and the contact object to a desired value through an admittance control algorithm;

the operation structure provides continuous rotation motion and executes and finishes large-torque operation;

after the multi-legged robot finishes the operation, the lifted mechanical legs restore to the standing state and move to the position near a new object to be operated.

Compared with the prior art, the method has the following technical effects:

compared with the prior art, the method and the device reduce the participation of the mechanical arm in the large-torque operation, so that the rigidity requirement of the large-torque operation can be better met, and meanwhile, the structure is simplified, so that the method and the device are suitable for large-torque operations such as bolt screwing, valve screwing and the like in scenes such as industrial plants, nuclear power stations, vehicle chassis, pipelines and the like;

this application can lift partial mechanical leg of robot and top or side object contact, utilizes to lift up mechanical leg and stand mechanical leg simultaneously to top object and ground application of force for form mutual extruded situation between each mechanical leg, the toe of increase mechanical leg and the contact force of contact surface, and then improve frictional force in order to balance big operation moment of torsion.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

FIG. 1: a schematic structural diagram of an embodiment of the present application;

FIG. 2: a schematic diagram of an operation structure in an embodiment of the present application;

FIG. 3: a partial schematic view of the structure shown in FIG. 2;

FIG. 4: a first schematic diagram of a robot leg according to an embodiment of the present application;

FIG. 5: a second schematic diagram of a mechanical leg in an embodiment of the present application;

FIG. 6: the structure of the connecting rod transmission component in one embodiment of the application is schematic;

FIG. 7: in an embodiment of the present application, a schematic diagram of a mechanical leg being lifted to contact an object above;

FIG. 8: in an embodiment of the present application, a schematic diagram of a mechanical leg being lifted to contact a lateral object;

FIG. 9: the structure of the thigh drive or the shank drive in one embodiment of the application is shown as a first diagram;

FIG. 10: a second structural diagram of a thigh drive or a shank drive in an embodiment of the present application;

FIG. 11: schematic diagram in an application of an embodiment of the present application;

FIG. 12: a schematic structural diagram of an embodiment of the present application;

in the figure: the device comprises an operating platform 1, a mechanical leg 2, an operating structure 3, a side swing drive 4, a thigh drive 5, a shank drive 6, a thigh rod 7, a shank rod 8, a connecting rod transmission assembly 9, a spherical toe 10, a hip joint axis 11, a knee joint axis 12, a side swing joint axis 13, a second bearing 14, an operating end 15, a side object 16, an upper object 17, a shell 18, a driving element 19, a force sensor 20, a connecting piece 21, an operating part 22, a valve 23, a first eccentric wheel set 24, a second eccentric wheel set 25, a first connecting rod 26, a second connecting rod 27, a first bearing 28, a connecting flange 29, a zero position switch 30, a torque sensor 31, a speed reducer 32, a motor 33 and an encoder 34.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

As shown in fig. 1 to 3, one embodiment of the present application provides a large torque multi-legged robot, including: the device comprises an operation table 1, an operation structure 3 and a plurality of mechanical legs 2, wherein the operation structure 3 is arranged in the operation table 1, the outside of an operation end 15 of the operation structure 3 is not shielded, and the mechanical legs 2 are connected with the operation table 1; the operation structure 3 includes: the device comprises a driving element 19, an operating end 15 and a force sensor 20, wherein the driving element 19 is arranged in a shell 18, the operating end 15 is connected with the driving element 19 through a connecting piece 21, and the force sensor 20 is arranged between the driving element 19 and the shell 18.

In the present embodiment, the console 1 is configured as a symmetrical hexagonal console 1, the number of the robot legs 2 is six, and the robot legs are connected to each corner of the symmetrical hexagonal console, but it is needless to say that a person skilled in the art will have an incentive to configure the shape of the console 1 as a regular hexagonal or other non-regular hexagonal shape, to adaptively increase or decrease the number of the robot legs 2, or to adjust the connection position between the robot legs 2 and the console 1. The operation structure 3 is arranged inside the operation table 1, and the outside of the operation end 15 of the operation structure 3 is not shielded, so that the operation end 15 is externally connected with operation equipment, such as an operation part 22 matched with the shape of a valve 23, and the operation part 22 is arranged on the operation end 15, so that the robot can perform large-torque operation under different scenes. The housing 18 of the operating mechanism 3 is fixedly connected to the interior of the console 1, the operating end 15 of the operating mechanism 3 is connected to the drive element 19 via a connecting piece 21, and a force sensor 20 is arranged between the bottom of the drive element 19 and the housing 18. Through the setting, this embodiment has compared prior art and has reduced the arm and has participated in big moment of torsion operation to more can satisfy the rigidity demand of big moment of torsion operation, still simplified the structure simultaneously, it is applicable in big moment of torsion operations such as screwing bolt, valve 23 under scenes such as industry factory building, nuclear power station, vehicle chassis, pipeline.

Optionally, the drive element 19 includes, but is not limited to, a motor.

Alternatively, the force sensor 20 includes, but is not limited to, a multi-dimensional force sensor, including at least one-dimensional force and one-dimensional torque sensing capabilities, i.e., at least capable of sensing a force along the manipulation end 15 and a torque rotating about the manipulation end 15.

As shown in fig. 4 and 5, the robot leg 2 includes: the thigh rod piece 7 and the shank rod piece 8 are connected with the operating platform 1; the driving structure includes: the side swing type leg exercise machine comprises a side swing drive 4, a thigh drive 5, a leg drive 6 and a transmission assembly, wherein the side swing drive 4 is arranged on the operating platform 1 and is connected with a thigh rod piece 7, the transmission assembly is connected with the thigh rod piece 7 and the leg drive 6, the thigh drive 5 is connected with the thigh rod piece 7, and the leg drive 6 is connected with a leg rod piece 8 through the transmission assembly.

In the present embodiment, each mechanical leg 2 uses the lateral swing drive 4, the thigh drive 5 and the shank drive 6 to realize three-dimensional movement of the toe in the space, so that in the present embodiment, when the three mechanical legs 2 are lifted and the three mechanical legs 2 stand, the operation table 1 can perform six-dimensional movement, and six-dimensional adjustment of the position and the posture between the operation structure 3 and the object to be worked is realized. The side swing drive 4 is arranged on the operating platform 1 and is connected with the thigh rod piece 7, and an output shaft of the side swing drive 4 is vertical to the table top of the operating platform 1; the transmission assembly is connected with the thigh rod 7 and the shank drive 6, the output shaft of the thigh drive 5 and the output shaft of the shank drive 6 are in the same line, namely on the hip joint axis 11, and the hip joint axis 11 and the side swing joint axis 13 of the side swing drive 4 are arranged perpendicularly; the thigh drive 5 is connected to the thigh lever 7 such that the thigh lever 7 rotates about the hip axis 11; the shank driver 6 is connected with the shank rod 8 through the transmission assembly, so that the shank rod 8 rotates around a knee joint axis 12 formed at the joint of the thigh rod 7 and the shank rod 8.

Optionally, the transmission assembly includes, but is not limited to, a link transmission assembly 9, a gear transmission assembly, a chain transmission assembly, or a belt transmission assembly.

As shown in fig. 6, in the present embodiment, the transmission assembly is a connecting rod transmission assembly 9, which includes: a first connecting rod 26, a second connecting rod 27, a first eccentric wheel set 24, a second eccentric wheel set 25, a first bearing 28 and a second bearing 14, wherein the first connecting rod 26 and the second connecting rod 27 are equal in length and are arranged in parallel, two different eccentric positions of the first eccentric wheel set 24 are respectively connected with a first end of the first connecting rod 26 and a first end of the second connecting rod 27, two different eccentric positions of the second eccentric wheel set 25 are respectively connected with a second end of the first connecting rod 26 and a second end of the second connecting rod 27, and therefore the rotation of the first eccentric wheel set 24 around the hip joint axis 11 is transmitted to the rotation of the second eccentric wheel set 25 around the knee joint; the first end is connected with the thigh lever 7 through the outer ring of the first bearing 28, the inner ring of the first bearing 28 is connected with the first eccentric wheel set 24, the second end is connected with the thigh lever 7 through the outer ring of the second bearing 14, and the inner ring of the second bearing 14 is connected with the second eccentric wheel set 25; an output shaft of the thigh drive 5 is fixedly connected with a thigh rod 7; an output shaft of the shank driver 6 is fixedly connected with the first eccentric wheel set 24, the shank driver 6 drives the first eccentric wheel set 24 to rotate along the hip joint axis 11, and the shank rod 8 is fixedly connected with the second eccentric wheel set 25, so that the shank rod 8 rotates along with the second eccentric wheel set 25, namely rotates around a knee joint; through the arrangement, the separation of the movement of the first eccentric wheel set 24, the second eccentric wheel set 25 and the thigh rod piece 7, the transmission of the shank rod piece 8 and the independent movement of the thigh rod piece 7 and the shank rod piece 8 are realized.

Alternatively, the yaw drive 4 can rotate the mechanical leg 2 within ± 45 °.

In the present embodiment, the yaw drive 4 is capable of rotating the mechanical leg 2 within ± 30 °.

Optionally, the relative rotation angle between the shank rod 8 and the thigh rod 7 is 20 ° to 340 °, that is, the rotation angle of the knee joint is 20 ° to 340 °, and the shank rod 8 can perform a turning motion relative to the thigh rod 7. As shown in fig. 7, in the present embodiment, three mechanical legs 2 of the robot can be upturned to contact with an upper object 17, and the three mechanical legs 2 lifted above and the three mechanical legs 2 standing below apply force to the upper object 17 and the ground at the same time, so that a mutual pressing situation is formed between the mechanical legs 2, contact forces between toes of the six mechanical legs 2 and a contact surface are increased, and friction is further increased to balance a large operation torque. The maximum working torque is related to the friction force, which is related to the contact force of the toe and the contact surface, and thus the maximum working torque can be adjusted by adjusting the contact force of the toe and the contact surface. Similarly, as shown in fig. 8, the three mechanical legs 2 may be lifted to contact the lateral object 16, and the three lifted mechanical legs 2 and the three underlying mechanical legs 2 may be used to simultaneously apply force to the lateral object and the ground, so that a mutual pressing state is formed between the mechanical legs 2, the friction force is increased to balance the large working torque, and the maximum working torque may be adjusted by adjusting the contact force.

Specifically, the driving structure further includes: and the torque sensors 31 are respectively arranged on the output shaft of the side swing drive 4, the output shaft of the thigh drive 5 and the output shaft of the shank drive 6 so as to obtain force feedback values of the side swing joint, the hip joint and the knee joint.

Specifically, the robot leg 2 further includes: the drive structure comprises a control module (not shown in the figure), an encoder 34 and a zero position switch 30, wherein the encoder 34 and the zero position switch 30 are both connected with the control module, and the zero position switch 30 and the encoder 34 are both arranged on the outer surface of the drive structure.

As shown in fig. 9 and 10, in the present embodiment, the thigh drive 5 or the shank drive 6 specifically includes: the device comprises a connecting flange 29, an output shaft, a torque sensor 31, a speed reducer 32 and a motor 33, wherein the speed reducer 32 is connected with the motor 33 and the output shaft, the output shaft is connected with the connecting flange 29, the torque sensor 31 is arranged on the output shaft, and the connecting flange 29 is fixedly connected with the thigh rod piece 7. For intelligent control operation, a control module, an encoder 34 and a zero position switch 30 are further arranged, the encoder 34 and the zero position switch 30 are both in communication connection with the control module, and the zero position switch 30 and the encoder 34 are both arranged on the outer surface of the driving structure; the zero position switch 30 sends a signal when the motor 33 rotates to a certain angle, and is used for positioning the zero position of the motor 33; the torque sensor 31 can measure the torque received on the connection flange 29; the speed reducer 32 reduces the speed of the motor 33 according to the reduction ratio; the motor 33 realizes rotation driving; the encoder 34 is used to measure the rotation angle of the motor 33.

Preferably, the toe of the mechanical leg 2 adopts a spherical toe 10, the spherical toe 10 can provide more contact angles with the contact surfaces, and the distance from the center of sphere to each contact surface is equal, so that the motion planning of the robot is simple.

Alternatively, the ball-shaped toe 10 is made of a hard plastic, and polytetrafluoroethylene is used in this embodiment.

In another aspect, the present application further provides a method for high torque operation, comprising the following steps:

calculating an expected value of toe contact force of the mechanical leg 2 according to the torque value of the large-torque operation to be executed;

the multi-legged robot moves to the vicinity of an object to be operated;

the operation end 15 of the multi-legged robot is connected with an object to be operated;

part of the mechanical legs 2 of the multi-legged robot are kept standing, and the rest of the mechanical legs 2 are lifted to be in contact with an upper object 17 or a side object 16;

increasing the contact force between the toe of the lifted mechanical leg 2 and the contact object to a desired value by an admittance control algorithm;

the operation structure 3 provides continuous rotation motion to execute and finish large-torque operation;

after the multi-legged robot completes the operation, the lifted mechanical leg 2 returns to the standing state and moves to the vicinity of a new object to be operated.

In particular, the polypod robot is described in detail above and will not be described here.

As shown in fig. 11, the following embodiment will be described by taking the operation of screwing the valve 23 as an example, and arranging the operation end 15 of the operation structure 3 on the upper surface of the operation table 1:

calculating the expected value of toe contact force of the mechanical legs 2 according to the torque value of the large-torque operation to be executed, assuming that the torque required for screwing the operating end 15 of the operating structure 3 is T, the axial distance from the toe of each leg to the operating structure 3 is d, and the friction coefficient between the three standing mechanical legs 2 and the lower plane is u ₁ The coefficient of friction between the three mechanical lifting legs 2 and the upper plane is u ₂ The contact force of the single lifting mechanical leg 2 with the upper object 17 has three components in the contact surface coordinate system F _X 、F _Y 、F _Z In which F _Z Is a component in the direction perpendicular to the contact surface, the robot gravity is G, F _Z The expected value calculation formula of (1) is as follows:

the multi-legged robot moves to the vicinity of the valve 23 to be operated.

The operation end 15 of the multi-legged robot is connected with a working part 22 matched with a valve 23 and is connected with the valve 23.

Three mechanical legs 2 arranged at intervals of the multi-legged robot keep standing, and the other three mechanical legs 2 are lifted to be in contact with an upper object 17 or a side object 16.

The contact force between the toe of the lifted mechanical leg 2 and the contact object is increased to a desired value by an admittance control algorithm, which is as follows:

the single mechanical leg 2 is a three-degree-of-freedom mechanism, according to the theory of mechanics, the Jacobian matrix J of the single mechanical leg 2 in the coordinate system of the operating platform and the rotation matrix R from the coordinate system of the operating platform to the coordinate system of the contact surface can be obtained through derivation, and the measured values of the torque sensors 31 on the side pendulum driver 4, the thigh driver 5 and the shank driver 6 are tau respectively ₁ ,τ ₂ ,τ ₃ Then F is _Z The calculation formula of the actual measurement value of (a) is as follows:

f is to be _Z,desire And F _Z,actual Utilizes admittance control algorithm to form a closed-loop control system to realize toe F _Z,desire To output of (c).

The operating structure 3 provides continuous rotary motion to perform high torque operations.

After the multi-legged robot completes the operation, the lifted mechanical leg 2 returns to the standing state and moves to the vicinity of a new object to be operated.

As shown in fig. 8, the Z-axis direction of the table coordinate system is perpendicular to the plane of the table 1, and the Z-axis direction of the contact surface coordinate system is perpendicular to the contact surface. Assuming that the axial distance of the standing mechanical leg 2 to the handling structure 3 is still d, the axial distance of the lifted mechanical leg 2 to the handling structure 3 is d ₂ F is a contact force between the raised mechanical leg 2 and the side object 16 which is different from each other _Z1 、F _Z2 、F _Z3 ，F _Z1 、F _Z2 、F _Z3 The included angles with the X axis of the coordinate system of the operating platform are respectively theta ₁ ,θ ₂ ,θ ₃ Then F is _Z1 、F _Z2 、F _Z3 The expected value of (c) is calculated as follows:

step F of performing subsequent operation _Z1 、F _Z2 、F _Z3 The actual measurement value calculation method is the same as that described above, and will not be described herein.

In another embodiment of the present application, as shown in fig. 12, the operation end 15 of the operation structure 3 can be disposed at the side of the operation table 1, and even if the operation end 15 of the operation structure 3 is disposed obliquely with respect to the operation table 1, the same high torque operation can be performed.

Besides the screwing operation, the multi-legged robot can also perform the push-pull operation in the horizontal direction, and the application is also applicable to the situation, and only the force sensing capability of the corresponding dimension of the multi-dimensional force sensor 20 of the operation structure 3 needs to be increased.

This application machinery leg 2 has the function of turning up for the robot has the output torque who stands and can provide far away among the prior art six feet, thereby this application can realize big moment of torsion operation, and its theory of particularity is as follows:

in the prior method, the upturning mechanical legs 2 do not prop against the upper object 17 or the side objects 16, F _Z =0, so the output torque is provided only by the friction force formed by the robot weight acting on the ground, and the maximum torque is: t is ₁ ＝u ₁ Gd。

This application has had to lift up mechanical leg 2 after, and top plane and below plane all provide frictional force, and the maximum torque is: t is ₂ ＝u ₁ (G+F _Z )d+u ₂ F _Z d＝u ₁ Gd+(u ₁ +u ₂ )F _Z d. Or the side plane and the lower plane both provide friction force, and the maximum torque is as follows: t is ₂ ＝u ₁ Gd+u ₂ (F _Z1 +F _Z2 +F _Z3 )d ₂ 。

Is obviously T ₂ Following contact force F _Z May be much larger than T ₁ And the force can be adjusted according to the method, so that the working torque of the robot becomes larger and adjustable.

In the description of the present application, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation of the first and second features not being in direct contact, but being in contact with another feature between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. "beneath," "under" and "beneath" a first feature includes the first feature being directly beneath and obliquely beneath the second feature, or simply indicating that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to be limiting.

The above embodiments are merely to illustrate the technical solutions of the present application and are not limitative, and the present application is described in detail with reference to preferred embodiments. It will be understood by those skilled in the art that various modifications and equivalent arrangements may be made in the present invention without departing from the spirit and scope of the present invention and shall be covered by the appended claims.

Claims (10)

1. A multi-legged robot for high torque operation, comprising: the device comprises an operation table, an operation structure and a plurality of mechanical legs, wherein the operation structure is arranged in the operation table, the outside of an operation end of the operation structure is not shielded, and the mechanical legs are connected with the operation table;

the operation structure includes: the device comprises a driving element, an operating end and a force sensor, wherein the driving element, the operating end and the force sensor are arranged in a shell, the operating end is connected with the driving element through a connecting piece, and the force sensor is arranged between the driving element and the shell.

2. The large torque working multi-legged robot according to claim 1, characterized in that the mechanical legs include: the thigh rod piece and the shank rod piece are connected with the operating platform through the driving structure;

the driving structure includes: the side pendulum driving device comprises a side pendulum driving device, a thigh driving device, a shank driving device and a transmission assembly, wherein the side pendulum driving device is arranged on the operating platform and connected with the thigh rod piece, the transmission assembly is connected with the thigh rod piece and the shank driving device, the thigh driving device is connected with the thigh rod piece, and the shank driving device is connected with the shank rod piece through the transmission assembly.

3. The large torque working multi-legged robot according to claim 2, characterized in that said driving structure further comprises: and the torque sensors are respectively arranged on the output shaft driven by the side pendulum, the output shaft driven by the thigh and the output shaft driven by the shank.

4. The large torque working multi-legged robot according to claim 2, characterized in that said mechanical legs further comprise: the encoder and the zero position switch are connected with the control module, and the zero position switch and the encoder are arranged on the outer surface of the driving structure.

5. A large torque working multi-legged robot according to any one of claims 1 to 4, characterized in that the force sensor comprises: at least one-dimensional force and one-dimensional torque are detected.

6. A large torque working multi-legged robot according to any one of claims 2 to 4, characterized in that the transmission assembly comprises: a link drive assembly, a gear drive assembly, a chain drive assembly, or a belt drive assembly.

7. A large torque working multi-legged robot according to claim 6, characterized in that said link transmission assembly comprises: first connecting rod, second connecting rod, first eccentric wheelset, second eccentric wheelset, first bearing and second bearing, first connecting rod with second connecting rod parallel arrangement, first eccentric wheelset set up in first connecting rod with the first end of second connecting rod, second eccentric wheelset set up in first connecting rod with the second end of second connecting rod, first bearing the second bearing with thigh member is connected, first eccentric wheelset with shank driven output shaft, second eccentric wheelset with shank member connects.

8. A large-torque multi-legged robot as claimed in any one of claims 1 to 4, wherein the mechanical legs are spherical in shape.

9. The large torque operation multi-legged robot of any one of claims 2 to 4, characterized in that the angle of relative rotation of the shank link and the thigh link is in the range of 20 ° to 340 °.

10. A working method of the multi-legged robot working based on a large torque according to any one of claims 1 to 9, comprising the steps of:

calculating the expected value of toe contact force of the mechanical leg according to the torque value of the large-torque operation to be executed;

the multi-legged robot moves to the vicinity of an object to be operated;

the operation end of the multi-legged robot is connected with an object to be operated;

part of mechanical legs of the multi-legged robot maintain standing, and the rest of mechanical legs are lifted to be in contact with an upper object or a lateral object;

increasing the contact force between the toe of the lifted mechanical leg and the contact object to a desired value through an admittance control algorithm;

the operation structure provides continuous rotation motion and executes and finishes large-torque operation;

after the multi-legged robot finishes the operation, the lifted mechanical legs are restored to the standing state and move to the position near a new object to be operated.

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