CN206781912U - A kind of novel bionic Hexapod Robot - Google Patents
A kind of novel bionic Hexapod Robot Download PDFInfo
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- CN206781912U CN206781912U CN201720693222.5U CN201720693222U CN206781912U CN 206781912 U CN206781912 U CN 206781912U CN 201720693222 U CN201720693222 U CN 201720693222U CN 206781912 U CN206781912 U CN 206781912U
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Abstract
It the utility model is related to a kind of novel bionic Hexapod Robot, including body platform and six mutually isostructural modular mechanical foots, the body platform is the sufficient frame of six machineries of connection, it is characterized in that the body platform includes frame upper plate, frame lower plate and connecting plate, frame upper plate is identical with the geomery of frame lower plate, frame upper plate is connected with frame lower plate by connecting plate, six machinery foots have been arranged symmetrically by flange between the frame upper plate of both sides and frame lower plate along its length in frame upper plate, the distance between two machinery foots of arbitrary neighborhood are equal；The machinery foot includes base pitch unit, meropodium unit and tibia unit, and base pitch unit and tibia unit are separately fixed at the both ends of meropodium unit, and the top of base pitch unit is connected with body platform.The robot foot end sensor-based system and multi-motion modes, realize the dynamic sensing of the omnibearing ambulation and terrain environment in robot complex environment.
Description
Technical field
Robot technology is the utility model is related to, specially a kind of novel bionic Hexapod Robot.
Background technology
The fast development of robot technology has promoted application of the robot in every field significantly, especially in some Special Rings
Under border, robot turns into indispensable equipment.Mobile platform controls as the most basic unit of mobile robot for carrying
The parts such as system, detecting system and manipulator arrive at operation field and perform specific job task, and its performance quality directly affects
The overall performance of robot.
Typical Representative of the Hexapod Robot as bionical mobile robot, there is the limbs knot of abundant gait and redundancy
Structure, motion is flexible, and reliability is high.Compared to it is traditional it is wheeled, carry out formula mobile robot, although Hexapod Robot translational speed compared with
It is low, but contactless obstacle avoidance, obstacle leap, up/down steps and out-of-flatness can be realized using discrete ground supports
Ground motion, there is extremely strong adaptability to complicated landform and unpredictable environmental change.Therefore, domestic and foreign scholars are for six foots
A large amount of further investigations have been carried out in robot architecture's design, devise more money typical case model machines, such as《Hexapod Robot HITCR-'s I grinds
System and walk test》(Zhao Jie etc., South China Science ＆ Engineering University's journal, the tenth 2012 second phases) is for complex environment and six foot under task
Robot flexible motion and autonomous adaptability demand, based on compound quadric chain, devise Hexapod Robot machinery
Sufficient structure, and construct a kind of new six sufficient machines for meeting unstructured landform walking needs and possessing good exercise performance
People, but its structure is relative complex, and structural parameters lack further investigation so that bionical degree is more primary in bionical angle；《It is bionical
Beetle Hexapod Robot structure design and gait analysis》(Jiang Shuhai etc., Nanjing Forestry University's journal, the 6th 2012 phases) is with first
Worm is prototype, uses for reference beetle structural parameters, using centrosymmetric octagon body arrangement form, based on servo-drive joint,
A kind of relatively flexible Hexapod Robot of motion is devised, but its cost is of a relatively high, lacks necessary sensor-based system, so that difficult
To realize the perception to terrain environment；Six involved by patent document " bionical regular hexagon Hexapod Robot (CN105905187A) "
Biped robot uses servo driving, and structure control is relatively easy, but by steering wheel Mechanical course performance impact, causes its bearing capacity
Poor, joint orientation precision is not good enough；Patent document " a kind of Hexapod Robot (CN1061844558A) driven by parallel connecting rod "
To improve robot load capacity, involved robot is driven using parallel connecting rod, is reducing joint drive motor load
Improving the bearing capacity of leg structure, but its structure, control excessively complexity to a certain extent simultaneously, cost is of a relatively high,
Kinematic dexterity is not good enough, and lacks necessary sensor-based system, it is difficult to realizes the perception to terrain environment.
In summary, existing Hexapod Robot is primarily present following deficiency：Though robot is based on bionics principle on the whole
Design, but involved specific biomimetic features parameter lacks further investigation in design process, so that at present at the beginning of robot bionic degree
Level, it is difficult to give full play to the mechanism advantage of Hexapod Robot；Though robotic foot structure is rich and varied, it is no lack of deficiency, or
Structure control is excessively complicated, with high costs, or joint orientation precision deficiency, lacks a kind of structure control simply and takes into account positioning accurate
The low-cost mechanical foot structure of degree；Though robot can tentatively realize the walking of robot at present, its motor pattern is single, is only capable of
Imitate a certain bio-gait (creep, walking, row), it is difficult to merge a variety of gaits realize it is comprehensive in robot complex environment
Walking；Robot lacks necessary sensor-based system, it is difficult to realizes the dynamic sensing to terrain environment.Therefore, deep imitation is needed badly
Six sufficient biological physiology structures, research and develop a kind of cheap cost, simple in construction, easy to control, joint orientation precision height, possess sufficient end biography
The novel bionic Hexapod Robot of sensing system and multi-motion modes, realize omnibearing ambulation and ground in robot complex environment
The dynamic sensing of shape environment, solve Hexapod Robot bionic structure bottleneck problem in root, promote the development of Hexapod Robot with
Using.
Utility model content
In view of the shortcomings of the prior art, the technical problems to be solved in the utility model is：There is provided that a kind of cost is cheap, structure
Simply, easy to control, joint orientation precision height, the six sufficient machine of novel bionic for possessing sufficient end sensor-based system and multi-motion modes
People, realize the dynamic sensing of the omnibearing ambulation and terrain environment in robot complex environment.
Technical scheme is used by the utility model solves the technical problem：Design a kind of six sufficient machine of novel bionic
People, including body platform and six mutually isostructural modular mechanical foots, the body platform are the sufficient machine of six machineries of connection
Frame, it is characterised in that the body platform includes frame upper plate, frame lower plate and connecting plate, frame upper plate and the shape of frame lower plate
Size is identical, and frame upper plate is connected with frame lower plate by connecting plate, the frame upper plate in frame upper plate both sides along its length
The distance between six machinery foots, two machinery foots of arbitrary neighborhood have been arranged symmetrically homogeneously by flange between frame lower plate
Deng；
The machinery foot includes base pitch unit, meropodium unit and tibia unit, and base pitch unit and tibia unit are fixed respectively
At the both ends of meropodium unit, the top of base pitch unit is connected with body platform；
The base pitch unit includes " trunk-base pitch " joint shaft, base pitch worm type of reduction gearing, base pitch stepper motor, base
Save absolute type encoder, base pitch encoder support, base pitch left socle, base pitch right support and base pitch shaft end nut；
The upper and lower end face of the base pitch worm type of reduction gearing respectively by flange coordinate with the lower surface of frame upper plate and
The upper surface of frame lower plate is fixedly connected, and the output shaft of base pitch stepper motor connects with the input of base pitch worm type of reduction gearing
Connect；" trunk-base pitch " joint shaft passes through frame lower plate and frame upper plate, and the bottom of " trunk-base pitch " joint shaft is base pitch
Flange arrangement, it is rigidly connected by screw and base pitch left socle, a base pitch keyway is opened up in the middle part of " trunk-base pitch " joint shaft, should
The output shaft of keyway and base pitch worm type of reduction gearing is in mating connection, and the outer surface of upper of " trunk-base pitch " joint shaft opens up
One section of base pitch external screw thread, coordinated by external screw thread and base pitch shaft end nut, realize " trunk-base pitch " joint shaft and base pitch worm gear snail
The axially position of bar reducer output shaft and locking, axis centre is provided with base on " trunk-base pitch " joint shaft upper surface
Counterbore is saved, and the base pitch screwed hole to be connected with counterbore is offered along the radial direction of " trunk-base pitch " joint shaft；The base pitch is absolute
Formula encoder is fixed on frame upper plate by base pitch encoder support, and is closed by counterbore and screwed hole with " trunk-base pitch "
Nodal axisn is connected, and realizes that " trunk-base pitch " joint shaft is rigidly connected with base pitch absolute type encoder input shaft；The base pitch
Left socle and base pitch right support form " n " type structure, and top and the flange arrangement of " trunk-base pitch " joint shaft are connected, under
End connection meropodium unit；
The meropodium unit includes meropodium support, plate muscle and is in both ends symmetrical structure centered on plate muscle, the meropodium
Support is made up of left plate and right panel, and meropodium support connects left plate and right panel, both ends symmetrical structure difference centrally through plate muscle
On the meropodium support of plate muscle both sides, each symmetrical structure includes a meropodium joint shaft, meropodium worm and gear subtracts
Fast device, meropodium stepper motor, meropodium absolute type encoder, meropodium shaft end nut and meropodium encoder support, the meropodium worm gear
Worm reducer is connected with left plate and right panel respectively by the flange at meropodium worm type of reduction gearing shell both ends, meropodium step
Stepper motor and the input of meropodium worm type of reduction gearing are connected, while meropodium stepper motor is fixed with meropodium support；Institute
State meropodium joint shaft one end and sequentially pass through through hole and meropodium worm and gear that diameter on meropodium support is more than meropodium joint shaft flange
Through hole on reducer output shaft, meropodium joint shaft is fixed on by the defeated of meropodium worm type of reduction gearing by meropodium shaft end nut
On shaft, realize axially position and the locking of meropodium joint shaft and meropodium worm type of reduction gearing output shaft, meropodium joint shaft this
End outer surface opens up one section of meropodium external screw thread；A meropodium keyway is opened up in the middle part of meropodium joint shaft, passes through key and meropodium worm gear snail
Bar decelerator connects；The other end of meropodium joint shaft is provided with meropodium flange arrangement, while the meropodium with meropodium flange arrangement closes
The end face of nodal axisn is provided with the meropodium counterbore that is engaged with the output shaft of meropodium absolute type encoder, and along the footpath of meropodium joint shaft
To being provided with the meropodium screwed hole that is connected with meropodium counterbore, by meropodium counterbore and meropodium screwed hole by meropodium absolute type encoder
Fixed with meropodium joint shaft, while meropodium absolute type encoder is fixed on meropodium support by meropodium encoder support；
One of meropodium joint shaft is being connected on the both ends of meropodium bracket outer by base pitch left socle and the base pitch right side
The lower end of " n " type structure that support is formed, is defined as " base pitch-meropodium " joint shaft；Another meropodium joint shaft and tibia unit
Connection, is defined as " meropodium-tibia " joint shaft；
It is single that the tibia unit includes tibia left socle, tibia right support, Flexible element lid, Flexible element sliding block, elasticity
First frame, pressure sensor, tibia connecting rod, tibia end cap and sufficient end；
The top of the tibia left socle and tibia right support on " meropodium-tibia " joint shaft with being located at meropodium bracket outer
Both ends connection, tibia left socle and tibia right support and the meropodium joint shaft synchronous axial system are right in tibia left socle and tibia
Flexible element lid is installed, the lower end of Flexible element lid connects the Flexible element frame of hollow uncovered, and elasticity is single between the middle part of support
The inside installation Flexible element sliding block of first frame, installs pressure sensor, elasticity is single between Flexible element sliding block and Flexible element lid
The outer surface of first sliding block is engaged with the inwall of Flexible element frame, forms prismatic pair, and Flexible element sliding block bottom is hollow cylinder,
The outer surface of hollow cylinder and the upper end of the tibia connecting rod are connected through a screw thread；The tibia connecting rod is hollow cylinder
Body, lower end are rigidly connected by screw thread and the tibia end cap；The tibia end cap is a cylinder block, and is connected positioned at tibia
In the cavity of bar, the lower end of tibia end cap is realized by screw with sufficient end to be rigidly connected；
The axle center for the meropodium joint shaft that the distance of shaft centers of two meropodium joint shafts of meropodium unit is connected with tibia unit is extremely
The ratio of distances constant of tibia unit minimum point is 0.42:0.58-0.48:0.52.
Compared with prior art, the beneficial effect of the utility model novel bionic Hexapod Robot is：
(1) the utility model early stage has carried out extensive depth for the typical six sufficient biologies such as Camponotus jamponicus, Allomyrina dichotoma
The six sufficient biological structure general character observation experiment researchs entered, through conformational analysis, consider mass motion performance, according to biological observation experiment
The concrete arrangement of the body platform that data obtain and machinery foot, and the proportionate relationship of each joint between centers length of machinery foot,
It is rectangular arrangement to choose body platform structure, and six " trunk-base pitch " joint shafts are in two separate ranks along parallel with rectangle body long side
Direction equidistant placement, the arrangement distance (L) of adjacent upper " trunk-base pitch " joint shaft of two machinery foot is equal, the sufficient meropodium unit of machinery
Two meropodium joint axle bases and tibia unit joint shaft to the length ratio at sufficient end be preferably 0.46:0.54, meet six foots
Biological observation experiment result, the exercise performance of mechanical foot is angularly ensure that from kinematic dexterity, energy consumption, realizes that depth is bionical,
Give full play to the structural advantage of Hexapod Robot.
(2) the utility model robot base pitch unit and meropodium unit are driven using worm type of reduction gearing, are being born
It is cheap relative to the kind of drive cost such as harmonic wave speed reducing machine in the case of identical load, it is simple in construction, and there is latching characteristics, make
Robot can also keep intrinsic posture in the case of power-off or motor are idle, in view of respectively being closed in robot kinematics
Section is in intermittent movement state, can significantly reduce robot entirety energy consumption.
(3) robot unit uses driving stepper motor, and configures absolute type encoder in joint shaft output end,
Joint of robot Full Closed-loop Position Servo System is formed, compared to traditional open loop servo-drive joint, is reducing hardware cost control
While difficulty processed, joint orientation precision greatly improved, and (traditional servo-drive joint is open cycle system, i.e., at motor end
End arrangement encoder, but because reductor has the driving errors such as backlash, cause joint orientation precision directly by reductor performance
Influence, at present using the reductor positioning precision of high cost also only at 0.1 degree or so, and increase with the raising cost index of precision
Add, the Full Closed-loop Position Servo System that the application uses directly detects joint shaft outgoing position, and its precision is by absolute type encoder
Precision determine, using the encoder of lowermost level be that can reach 0.08 degree of positioning precision in the present embodiment)；Compiled using absolute type
Code device can make robot to directly read the joint rotation angle position of each joint shaft of robot at any time, avoid tradition from watching
Joint rotation angle information can not be obtained and the drawbacks of joint rotation angle need to be computed obtaining by taking during non-back to zero position after electricity on joint, energy
Enough realize real-time monitoring of the robot to each unit location status with perceiving.
(4) robotic foot tibia unit configures sufficient end pressure sensor-based system, and specially Flexible element its center is opened
If a connection through hole for being used to connect pressure sensor, four sides coordinate with Flexible element frame inwall, a prismatic pair, pressure are formed
Force snesor upper and lower ends face respectively opens up a screwed hole, rigid with Flexible element lid and Flexible element sliding block respectively by screw
Connection, for detecting Flexible element sliding block and Flexible element frame are formed in robot kinematics prismatic pair due to microdisplacement
And caused pressure, the dynamic detection to robot kinematics mesopodium end pressure is realized, to determine robot foot end position
State realizes dynamic sensing of the robot to terrain environment with falling whether foot point is reasonable.
(5) the utility model machine human organism platform uses rectangular arrangement form, and " trunk-base pitch " joint is using biasing
Arrangement form, it effectively prevent the mechanical interference between mechanical foot and body platform and mechanical foot so that " trunk-base pitch " joint
Angle range has reached 360 degree, and robot " base pitch-meropodium " joint shaft and " meropodium-tibia " joint shaft are left by using base pitch
The mutually nested mounting means of right support, meropodium support and tibia or so support, at utmost avoids mechanical interference in structure,
So that the joint rotation angle scope of robot " base pitch-meropodium " joint shaft and " meropodium-tibia " joint shaft is close to 360 °, due to machine
People is rational in infrastructure, and each joint shaft is respectively provided with larger angle range, causes mechanical foot motion versatile and flexible, therefore, robot tool
It is standby creep, walking, the multi-motion modes such as row, the comprehensive flexible motion in robot complex environment can be realized.
Brief description of the drawings
Fig. 1 is a kind of general structure schematic diagram of embodiment of the utility model novel bionic Hexapod Robot；
Fig. 2 is a kind of stereochemical structure signal of the body platform 1 of embodiment of the utility model novel bionic Hexapod Robot
Figure；
Fig. 3 is a kind of main structure diagram of the machinery foot 2 of embodiment of the utility model novel bionic Hexapod Robot；
Fig. 4 is a kind of front view structure signal of the base pitch unit 21 of embodiment of the utility model novel bionic Hexapod Robot
Figure；
Fig. 5 is a kind of the vertical of " trunk-base pitch " joint shaft 211 of embodiment of the utility model novel bionic Hexapod Robot
Body structural representation；
Fig. 6 is a kind of plan structure signal of the meropodium unit 22 of embodiment of the utility model novel bionic Hexapod Robot
Figure；
Fig. 7 is a kind of stereochemical structure of the meropodium joint shaft 222 of embodiment of the utility model novel bionic Hexapod Robot
Schematic diagram；
Fig. 8 is a kind of stereochemical structure signal of the tibia unit 23 of embodiment of the utility model novel bionic Hexapod Robot
Figure；
Fig. 9 is that a kind of left view cross-section structure of tibia unit 23 of embodiment of the utility model novel bionic Hexapod Robot shows
It is intended to；
Figure 10 is the utility model novel bionic Hexapod Robot crawling exercises mode process schematic diagram.
Figure 11 is the utility model novel bionic Hexapod Robot walking movement mode process schematic diagram.
Figure 12 is the utility model novel bionic Hexapod Robot row motor pattern process schematic.
In figure, 1 body platform, 2 mechanical foots, 11 frame upper plates, 12 frame lower plates, 13 connecting plates, 21 base pitch units, 211
" trunk-base pitch " joint shaft, 212 base pitch worm type of reduction gearings, 213 base pitch stepper motors, 214 base pitch absolute type encoders,
215 base pitch encoder supports, 216 base pitch left socles, 217 base pitch right supports, 218 base pitch shaft end nuts；22 meropodium units, 221
Meropodium joint shaft, 222 meropodium worm type of reduction gearings, 223 meropodium stepper motors, 224 meropodium absolute type encoders, 225 meropodium
Encoder support, 226 plate muscle, 227 meropodium shaft end nuts, 228 meropodium supports；23 tibia units, 231 tibia left socles, 232
Tibia right support, 233 Flexible element lids, 234 Flexible element sliding blocks, 235 Flexible element framves, 236 pressure sensors, 237 tibias
Connecting rod, 238 tibia end caps, 239 sufficient ends；2111 base pitch flange arrangements, 2112 base pitch keyways, 2113 base pitch external screw threads, 2114
Base pitch counterbore, 2115 base pitch screwed holes, 2211 meropodium flange arrangements, 2212 meropodium keyways, 2213 meropodium external screw threads, 2214 meropodium
Counterbore, 2215 meropodium screwed holes.
Embodiment
The utility model is described in detail with reference to embodiment and its accompanying drawing.Embodiment is with technology described in the utility model
The specific implementation carried out premised on scheme, give detailed embodiment and process.But the right of the present utility model application will
Protection domain is asked to be not limited to following embodiment descriptions.
The novel bionic Hexapod Robot (abbreviation robot, referring to Fig. 1-9) of the utility model design includes body platform 1
With six mutually isostructural modular mechanical foots 2；The body platform 1 is six mechanical sufficient 2 frames of connection, including in frame
Plate 11, frame lower plate 12 and connecting plate 13, frame upper plate 11 is identical with the geomery of frame lower plate 12, frame upper plate 11 with
Frame lower plate 12 is connected by connecting plate 13, in frame upper plate 11 along its length between the frame upper plate of both sides and frame lower plate
Six machinery foots 2 are arranged symmetrically by flange, two machinery foots the distance between 2 of arbitrary neighborhood are equal, times here
Anticipate adjacent two machinery foot on adjacent finger length direction and width；
The machinery foot 2 includes base pitch unit 21, meropodium unit 22 and tibia unit 23, base pitch unit 21 and tibia unit
23 are separately fixed at the both ends of meropodium unit 22, and the top of base pitch unit 21 is connected with body platform 1；
The base pitch unit 21 (referring to Fig. 4) includes " trunk-base pitch " joint shaft 211, base pitch worm type of reduction gearing
212nd, base pitch stepper motor 213, base pitch absolute type encoder 214, base pitch encoder support 215, base pitch left socle 216, base pitch
Right support 217 and base pitch shaft end nut 218；
The upper and lower end face of the base pitch worm type of reduction gearing 212 coordinates the following table with frame upper plate 11 by flange respectively
Face is fixedly connected with the upper surface of frame lower plate 12, and is fixed by screw, realizes that the rigidity of body platform and mechanical foot 2 connects
Connect, the output shaft of base pitch stepper motor 213 is connected with the input of base pitch worm type of reduction gearing 212, for passing through base pitch snail
Worm and gear decelerator 212, " trunk-base pitch " joint shaft 211 driving meropodium unit 22, the horizontal direction of tibia unit 23 rotate, and enter
And realize the forward-reverse of machinery foot 2；" trunk-base pitch " joint shaft 211 (referring to Fig. 5) is passed through in frame lower plate and frame
Plate, the bottom of " trunk-base pitch " joint shaft 211 is base pitch flange arrangement 2111, passes through screw and the rigidity of base pitch left socle 216
Connection, the middle part of " trunk-base pitch " joint shaft 211 open up a base pitch keyway 2112, the keyway and base pitch worm type of reduction gearing 212
Output shaft it is in mating connection, " trunk-base pitch " joint shaft 211 and base pitch worm type of reduction gearing 212 are realized by key connection
Output shaft is rigidly connected, and the outer surface of upper of " trunk-base pitch " joint shaft 211 opens up one section of base pitch external screw thread 2113, passes through
External screw thread coordinates with base pitch shaft end nut 218, realizes that " trunk-base pitch " joint shaft 211 and base pitch worm type of reduction gearing 212 are defeated
The axially position of shaft and locking, " trunk-base pitch " joint shaft 211 are provided with base pitch counterbore along axis centre on upper surface
2114, and offer the base pitch screwed hole 2115 to be connected with counterbore along the radial direction of " trunk-base pitch " joint shaft 211；The base
Section absolute type encoder 214 is fixed on frame upper plate 11 by base pitch encoder support 215, and by counterbore and screwed hole with
" trunk-base pitch " joint shaft 211 is connected, and realizes " trunk-base pitch " joint shaft and the input shaft of base pitch absolute type encoder 214
Be rigidly connected, the input shaft of base pitch absolute type encoder 214 is rigidly connected with " trunk-base pitch " joint shaft 211, for reality
When detect joint rotation angle, with base pitch stepper motor 213 coordinate form Full Closed-loop Position Servo System, greatly improve joint orientation essence
Degree；The base pitch left socle 216 and base pitch right support 217 form " n " type structure, top and " trunk-base pitch " joint shaft 211
Flange arrangement is connected, lower end connection meropodium unit 22；
The base pitch encoder support 215 is a L-shaped connecting plate, and some connection through holes are opened up in one right-angle side bottom,
It is rigidly connected by screw and frame upper plate 11, another right-angle side end face is rigidly connected with base pitch absolute type encoder 214；It is described
Base pitch left socle 216 is a L-shaped connecting plate, including right angle end face and right-angled side faces, right angle end face and " trunk-base pitch " joint shaft
211 flange arrangement is connected by flange, and right-angled side faces are provided with " base pitch-meropodium " joint shaft flange mounting hole；The base
Section right support 217 is a straight panel, its lower end profile semicircular in shape, and home position is provided with " base pitch-meropodium " joint shaft installation square hole,
Couple by shape and (also referred to as Profile Connection, refer to the connecting mode that the hole axle of not rounded odd-shaped cross section coordinates) and closed with " base pitch-meropodium "
Nodal axisn 221 is rigidly connected, and the side on the top of base pitch right support 217 and the right angle end face of base pitch left socle 216 is rigidly connected；
The meropodium unit 22 (referring to Fig. 6) includes meropodium support 228, plate muscle 226 and is in both ends pair centered on plate muscle
The structure of title, the meropodium support 228 are made up of left plate and right panel, meropodium support 228 centrally through plate muscle connect left plate and
Right panel, both ends symmetrical structure are separately mounted on the meropodium support of plate muscle both sides, and each symmetrical structure includes a personal share
Save joint shaft 221, meropodium worm type of reduction gearing 222, meropodium stepper motor 223, meropodium absolute type encoder 224, meropodium axle
End nut 227 and meropodium encoder support 225, the meropodium worm type of reduction gearing 222 pass through meropodium worm type of reduction gearing
The flange at shell both ends is connected with left plate and right panel respectively, the input of meropodium stepper motor and meropodium worm type of reduction gearing
End is connected, while meropodium stepper motor 223 is fixed with meropodium support 228；The meropodium joint shaft 221 (referring to Fig. 7) one
End sequentially passes through diameter on meropodium support and is more than on the through hole and meropodium worm type of reduction gearing output shaft of meropodium joint shaft flange
Through hole, meropodium joint shaft is fixed on the output shaft of meropodium worm type of reduction gearing by meropodium shaft end nut 227, realize
Meropodium joint shaft 221 opens up one section with the axially position of the output shaft of meropodium worm type of reduction gearing 222 and locking, this end outer surface
Meropodium external screw thread 2213；The middle part of meropodium joint shaft 221 opens up a meropodium keyway 2212, is slowed down by key and meropodium worm and gear
Device 222 connects；The other end of meropodium joint shaft 221 is provided with meropodium flange arrangement 2211, while has the stock of meropodium flange arrangement
The end face of section joint shaft is provided with the meropodium counterbore 2214 that is engaged with the output shaft of meropodium absolute type encoder 224, and along stock
The radial direction of section joint shaft is provided with the meropodium screwed hole 2215 to be connected with meropodium counterbore, passes through meropodium counterbore 2214 and meropodium screw thread
Meropodium absolute type encoder 224 and meropodium joint shaft are fixed in hole 2215, while meropodium absolute type encoder 224 passes through meropodium
Encoder support 225 is fixed on meropodium support；
One of meropodium joint shaft is being connected by base pitch left socle 216 and base pitch on the both ends of meropodium bracket outer
The lower end of " n " type structure that right support 217 is formed, is defined as " base pitch-meropodium " joint shaft；Another meropodium joint shaft and shin
Section unit 23 connects, and is defined as " meropodium-tibia " joint shaft；
The tibia unit 23 (referring to Fig. 8-9) includes tibia left socle 231, tibia right support 232, Flexible element lid
233rd, Flexible element sliding block 234, Flexible element frame 235, pressure sensor 236, tibia connecting rod 237, tibia end cap 238 and foot
End 239；
(meropodium left socle passes through flange and " meropodium-shin on the top of the tibia left socle 231 and tibia right support 232
Section " joint axis connection, meropodium right support passes through square hole and " meropodium-tibia " joint axis connection) and " meropodium-tibia " joint shaft on
Connected positioned at the both ends of meropodium bracket outer, tibia left socle 231 and synchronous with the meropodium joint shaft turn of tibia right support 232
It is dynamic, Flexible element lid 233 is installed between the middle part of tibia left socle 231 and tibia right support 232, Flexible element lid 233
Lower end connects the Flexible element frame 235 of hollow uncovered, and the inside installation Flexible element sliding block 234 of Flexible element frame 235, elasticity is single
Pressure sensor 236, the outer surface of Flexible element sliding block and Flexible element are installed between first sliding block 234 and Flexible element lid 233
The inwall of frame 235 is engaged, and forms prismatic pair, Flexible element sliding block bottom is hollow cylinder, the outer surface of hollow cylinder and institute
The upper end for stating tibia connecting rod 237 is connected through a screw thread；The tibia connecting rod 237 is hollow cylinder, and lower end passes through screw thread
It is rigidly connected with the tibia end cap 238；The tibia end cap 238 is a cylinder block, and positioned at the sky of tibia connecting rod 237
Intracavitary, the lower end of tibia end cap 238 is realized by screw with sufficient end 239 to be rigidly connected；The sufficient end 239 is by rubber or poly- ammonia
Part prepared by ester material, for reduce contact with ground caused by frictional force between rigid shock, raising and ground, sufficient end
239 upper ends are a cavity, and lower end is hemisphere, and hemisphere inner surface is realized by screw to be connected with the rigidity of tibia end cap 238
Connect；
The axle for the meropodium joint shaft that the distance of shaft centers of two meropodium joint shafts of meropodium unit 22 is connected with tibia unit 23
The heart to the ratio of distances constant of sufficient end minimum point is 0.42:0.58-0.48:0.52, the setting of the ratio meets six foot biology observations in fact
Result is tested, mechanical sufficient exercise performance has angularly been effectively ensured from kinematic dexterity, energy consumption.
Of the present utility model to be further characterized by the metal derby that the force snesor 236 is S-shaped, its upper and lower ends face is each
A screwed hole is opened up, is rigidly connected respectively with Flexible element lid 233 and Flexible element sliding block 234 by screw, for detecting
In robot kinematics caused by the microdisplacement for the prismatic pair that Flexible element sliding block 234 and Flexible element frame 235 are formed
Pressure, the dynamic detection of the pressure of robot kinematics mesopodium end 239 is realized, to determine the location status of robot foot end 239
With falling whether foot point is reasonable, and then realize dynamic sensing of the robot to terrain environment.
The distance of shaft centers of two meropodium joint shafts of the present utility model for being further characterized by meropodium unit 22 and and tibia
The axle center for the meropodium joint shaft that unit 23 connects to the ratio of distances constant of sufficient end minimum point is 0.46:0.54.
Of the present utility model to be further characterized by the frame upper plate 11 be round rectangle flat board, length-width ratio 2:1,
6 flanges are arranged on frame upper plate, the center of 6 flanges is located at four summits and the square of the rectangle of a frame upper plate respectively
The position at the midpoint of shape long side, above-mentioned flange arrangement form cause the " trunk-base of any two adjacent machines foot in 6 mechanical foots
Section " joint axle base is equal, and the distance between " trunk-base pitch " joint shaft 211 of two neighboring machinery foot is L, meets life
Object configuration, interfering between mechanical foot is avoided, can hoisting machine people's mass motion performance.
The operation principle and process of the utility model robot be：For ease of illustrating the operation principle and process of robot,
" trunk-base pitch " joint shaft of definition connection body platform and base pitch unit is " trunk-base pitch " joint, similarly, definition connection
" base pitch-meropodium " joint shaft of base pitch unit and meropodium unit is " base pitch-meropodium " joint, definition connection meropodium unit and tibia
" meropodium-tibia " joint shaft of unit is " meropodium-tibia " joint, therefore each machinery foot of robot has 3 joints, six
Mechanical sufficient totally 18 joints.Robot carries out gait planning, body movement planning, sufficient end rail according to current working and specific tasks
Mark is planned and forward and inverse kinematics operation, generates the angle data of each joint motions of robot in real time, robot is according to each joint
The expectation angle data of motion, each joint motor of real time control machine device people, each joint is driven through corresponding worm type of reduction gearing
Move, and the high precision position servo in each joint is realized using each joint absolute type encoder, and then drive each joint of robot
The coordinated movement of various economic factors, realize the omnibearing movable of robot in complicated environment.Robot according to different terrain, task it is changeable creep,
The multi-motion modes such as walking and row, below only to creep, exemplified by walking and row Three models, briefly introduce robot fortune
Dynamic process.For ease of illustrating robot kinematics, as six modular mechanicals of Hexapod Robot are enough the inverse time by Figure 10-12
Pin direction (looked down above machine human organism's platform, in artificial regulation Figure 10 on be before, under be after, as defined in artificial before
The upward left front foot in rear is starting point counter clockwise direction) serial number is 01-06, wherein 01,03,05 is divided into A groups enough, 02,
04th, 06 it is divided into B groups foot.
During crawling exercises pattern, robot coordinates " base pitch-stock mainly by the swing in " trunk-base pitch " joint
Drop movements are lifted at sufficient end caused by section " joint and " meropodium-tibia " joint routing motion, realize the motion of robot, are such as schemed
Shown in 10, a, b, c, d link up a process for illustrating crawling exercises pattern in Figure 10.Six machinery foots of robot are distributed in
Body platform both sides, A groups are in swing phase enough, make under the synchronous driving in " base pitch-meropodium " joint and " meropodium-tibia " joint
Robot foot end is lifted away from ground, and B groups are in support phase enough, and support body platform is contacted with ground (referring to Figure 10 a)；A groups foot exists
The lower realization machinery foot of synchronous driving in " trunk-base pitch " joint forward take a step by (rear), meanwhile, B groups foot closes at " trunk-base pitch "
Make body platform (rear) mobile forward under section, " base pitch-meropodium " joint and the synchronous driving in " meropodium-tibia " joint, until six
Foot reaches the limit of position (referring to Figure 10 b)；When six foots reach the limit of position, A groups contact ground enough, are converted to support
Phase, B groups foot make robot foot end be lifted away from ground, turned under the synchronous driving in " base pitch-meropodium " joint and " meropodium-tibia " joint
Turn to swing phase (referring to Figure 10 c)；B groups foot is realized that machinery foot is (rear) forward under the synchronous driving in " trunk-base pitch " joint and stepped
Step, while A groups foot makes under the synchronous driving in " trunk-base pitch " joint, " base pitch-meropodium " joint and " meropodium-tibia " joint
Body platform is (rear) mobile forward, until reaching the limit of position (referring to Figure 10 d)；Said process is repeated, and then realizes robot
Crawling exercises.In view of during robot crawling motor pattern, six foots are respectively positioned on body platform both sides, by support phase foot end structure
Supporting zone is larger, thus robot motion has stronger stability.
During walking movement pattern, robot coordinates " meropodium-shin mainly by the swing in " base pitch-meropodium " joint
Sufficient end caused by the routing motion of joint lifts drop movements to section ", realizes the motion of robot, as shown in figure 11, a, b in Figure 11,
C, d links up a process for illustrating walking movement pattern.As shown in figure 11, six of robot machinery foots " trunk-
Move to below body platform, and make residing for the sufficient base pitch unit of each machinery, meropodium unit and tibia unit under base pitch " joint drive
Plane and body platform diameter parallel, A groups are in swing phase enough, in " base pitch-meropodium " joint and " meropodium-tibia " joint
Robot foot end is set to be lifted away from ground under synchronous driving, B groups are in support phase enough, and support body platform is contacted with ground (referring to figure
11a)；A groups foot is realized that machinery foot is (rear) forward under the synchronous driving in " base pitch-meropodium " joint and " meropodium-tibia " joint and stepped
Step, meanwhile, B groups foot makes body platform (rear) forward under the synchronous driving in " base pitch-meropodium " joint and " meropodium-tibia " joint
It is mobile, until six foots reach the limit of position (referring to Figure 11 b)；When six foots reach the limit of position, A groups contact ground enough,
Support phase is converted to, B groups foot makes robot foot end under the synchronous driving in " base pitch-meropodium " joint and " meropodium-tibia " joint
Be lifted away from ground, be converted into swing phase (referring to Figure 11 c)；B groups foot is in the same of " base pitch-meropodium " joint and " meropodium-tibia " joint
Machinery foot is realized under step driving, and (rear) takes a step forward, while A groups foot is in " base pitch-meropodium " joint and " meropodium-tibia " joint
Make body platform (rear) mobile forward under synchronous driving, until reaching the limit of position (referring to Figure 11 d)；Said process is repeated, is entered
And realize the walking movement of robot.In view of during robot walking movement pattern, six foots are respectively positioned on below body platform and each machine
Plane of movement residing for tool foot base pitch unit, meropodium unit and tibia unit with body platform diameter parallel, therefore robot
Shared space width is smaller in motion process, is easy to by elongated zones such as passageways.
During row motor pattern, robot is mainly swung by " base pitch-meropodium " joint, and coordinates " meropodium-shin
Sufficient end caused by the routing motion of joint lifts drop movements to section ", realizes the motion of robot, as shown in figure 12, a, b in Figure 12,
C, d links up a process for illustrating row motor pattern.Six machinery foots of robot are distributed in body platform both sides,
Put down the plane residing for the sufficient base pitch unit of each machinery, meropodium unit and tibia unit and body under " trunk-base pitch " joint drive
Platform axis is vertical, and A groups are in swing phase enough, makes machine under the synchronous driving in " base pitch-meropodium " joint and " meropodium-tibia " joint
Device people's foot end is lifted away from ground, and B groups are in support phase enough, and support body platform is contacted with ground (referring to Figure 12 a)；A groups foot is in " base
The lower realization machinery foot of synchronous driving in section-meropodium " joint and " meropodium-tibia " joint to the left take a step by (right side), meanwhile, B groups foot exists
Making body platform under the synchronous driving in " base pitch-meropodium " joint and " meropodium-tibia " joint, (right side) is mobile to the left, until six foots are
Reach the limit of position (referring to Figure 12 b)；When six foots reach the limit of position, A groups contact ground enough, are converted to support phase, B groups
Foot makes robot foot end be lifted away from ground under the synchronous driving in " base pitch-meropodium " joint and " meropodium-tibia " joint, is converted into pendulum
Dynamic phase (referring to Figure 12 c)；B groups foot realizes machinery foot under the synchronous driving in " base pitch-meropodium " joint and " meropodium-tibia " joint
(right side) takes a step to the left, while A groups foot puts down body under the synchronous driving in " base pitch-meropodium " joint and " meropodium-tibia " joint
(right side) is mobile to the left for platform, until reaching the limit of position (referring to Figure 12 d)；Said process is repeated, and then realizes the row of robot
Motion.In view of during robot row motor pattern, six foots are respectively positioned on body platform both sides, the Support built by support phase foot end
Domain is larger, thus robot motion has stronger stability, and can realize moving left and right for robot, is especially suitable for hiding
Keep away robot preceding object.
Embodiment 1
The present embodiment novel bionic Hexapod Robot includes body platform 1 and six mutually isostructural modular mechanical foots 2；
The body platform 1 is to connect six mechanical sufficient 2 frames, including frame upper plate 11, frame lower plate 12 and connecting plate 13, frame
Upper plate 11 is identical with the geomery of frame lower plate 12, and frame upper plate 11 is connected with frame lower plate 12 by connecting plate 13, in machine
Frame upper plate 11 has been arranged symmetrically six machinery foots 2 between the frame upper plate of both sides and frame lower plate by flange along its length,
Two of arbitrary neighborhood machinery foots the distance between 2 are equal, i.e. two adjacent mechanical foots of length direction and width
Between distance L it is all equal；
The machinery foot 2 includes base pitch unit 21, meropodium unit 22 and tibia unit 23, base pitch unit 21 and tibia unit
23 are separately fixed at the both ends of meropodium unit 22, and the top of base pitch unit 21 is connected with body platform 1；
The base pitch unit 21 includes " trunk-base pitch " joint shaft 211, base pitch worm type of reduction gearing 212, base pitch stepping
Motor 213, base pitch absolute type encoder 214, base pitch encoder support 215, base pitch left socle 216, base pitch right support 217 and base
Nodal axisn end nut 218；
The upper and lower end face of the base pitch worm type of reduction gearing 212 coordinates the following table with frame upper plate 11 by flange respectively
Face is fixedly connected with the upper surface of frame lower plate 12, and is fixed by screw, realizes that the rigidity of body platform and mechanical foot 2 connects
Connect, the output shaft of base pitch stepper motor 213 is connected with the input of base pitch worm type of reduction gearing 212, for passing through base pitch snail
Worm and gear decelerator 212, " trunk-base pitch " joint shaft 211 driving meropodium unit 22, the horizontal direction of tibia unit 23 rotate, and enter
And realize the forward-reverse of machinery foot 2；" trunk-base pitch " joint shaft 211 passes through frame lower plate and frame upper plate, " trunk-
The bottom of base pitch " joint shaft 211 is base pitch flange arrangement 2111, is rigidly connected by screw and base pitch left socle 216, " trunk-
The middle part of base pitch " joint shaft 211 opens up a base pitch keyway 2112, the output shaft phase of the keyway and base pitch worm type of reduction gearing 212
It is connected, the firm of " trunk-base pitch " joint shaft 211 and the output shaft of base pitch worm type of reduction gearing 212 is realized by key connection
Property connection, the outer surface of upper of " trunk-base pitch " joint shaft 211 opens up one section of base pitch external screw thread 2113, passes through external screw thread and base
Nodal axisn end nut 218 coordinates, and realizes the axle of " trunk-base pitch " joint shaft 211 and the output shaft of base pitch worm type of reduction gearing 212
To positioning and locking, " trunk-base pitch " joint shaft 211 is provided with base pitch counterbore 2114, and edge along axis centre on upper surface
The radial direction of " trunk-base pitch " joint shaft 211 offers the base pitch screwed hole 2115 to be connected with counterbore；The base pitch absolute type is compiled
Code device 214 is fixed on frame upper plate 11 by base pitch encoder support 215, and passes through counterbore and screwed hole and " trunk-base
Section " joint shaft 211 is connected, and realizes the rigidity of " trunk-base pitch " joint shaft and the input shaft of base pitch absolute type encoder 214
Connection, the input shaft of base pitch absolute type encoder 214 are rigidly connected with " trunk-base pitch " joint shaft 211, are closed for detecting in real time
Corner is saved, coordinates with base pitch stepper motor 213 and forms Full Closed-loop Position Servo System, greatly improve joint orientation precision；It is described
Base pitch left socle 216 and base pitch right support 217 form " n " type structure, top and the flange knot of " trunk-base pitch " joint shaft 211
Structure is connected, lower end connection meropodium unit 22；
The base pitch encoder support 215 is a L-shaped connecting plate, and some connection through holes are opened up in one right-angle side bottom,
It is rigidly connected by screw and frame upper plate 11, another right-angle side end face is rigidly connected with base pitch absolute type encoder 214；It is described
Base pitch left socle 216 is a L-shaped connecting plate, including right angle end face and right-angled side faces, right angle end face and " trunk-base pitch " joint shaft
211 flange arrangement is connected by flange, and right-angled side faces are provided with " base pitch-meropodium " joint shaft flange mounting hole；The base
Section right support 217 is a straight panel, its lower end profile semicircular in shape, and home position is provided with " base pitch-meropodium " joint shaft installation square hole,
Couple by shape and (also referred to as Profile Connection, refer to the connecting mode that the hole axle of not rounded odd-shaped cross section coordinates) and closed with " base pitch-meropodium "
Nodal axisn 221 is rigidly connected, and the side on the top of base pitch right support 217 and the right angle end face of base pitch left socle 216 is rigidly connected；
The meropodium unit 22 includes meropodium support 228, plate muscle 226 and is in both ends symmetrical structure centered on plate muscle,
The meropodium support 228 is made up of left plate and right panel, and meropodium support 228 connects left plate and right panel, both ends centrally through plate muscle
Symmetrical structure is separately mounted on the meropodium support of plate muscle both sides, and each symmetrical structure includes a meropodium joint shaft
211st, meropodium worm type of reduction gearing 222, meropodium stepper motor 223, meropodium absolute type encoder 224, meropodium shaft end nut 227
With meropodium encoder support 225, the meropodium worm type of reduction gearing 222 passes through meropodium worm type of reduction gearing shell both ends
Flange is connected with left plate and right panel respectively, and meropodium stepper motor is connected solid with the input of meropodium worm type of reduction gearing
It is fixed, while meropodium stepper motor 223 is fixed with meropodium support 228；Described one end of meropodium joint shaft 221 sequentially passes through meropodium support
Upper diameter is more than the through hole on the through hole and meropodium worm type of reduction gearing output shaft of meropodium joint shaft flange, passes through meropodium shaft end
Meropodium joint shaft is fixed on the output shaft of meropodium worm type of reduction gearing by nut 227, realizes meropodium joint shaft 221 and stock
The axially position and locking, this end outer surface for saving the output shaft of worm type of reduction gearing 222 open up one section of meropodium external screw thread 2213；Stock
The middle part of section joint shaft 221 opens up a meropodium keyway 2212, is connected by key with meropodium worm type of reduction gearing 222；Meropodium closes
The other end of nodal axisn 221 is provided with meropodium flange arrangement 2211, while has on the end face of meropodium joint shaft of meropodium flange arrangement
The meropodium counterbore 2214 being engaged provided with the output shaft with meropodium absolute type encoder 224, and opened along the radial direction of meropodium joint shaft
There is the meropodium screwed hole 2215 to be connected with meropodium counterbore, it is by meropodium counterbore 2214 and meropodium screwed hole 2215 that meropodium is absolute
Formula encoder 224 is fixed with meropodium joint shaft, while meropodium absolute type encoder 224 is fixed by meropodium encoder support 225
On meropodium support；
One of meropodium joint shaft is being connected by base pitch left socle 216 and base pitch on the both ends of meropodium bracket outer
The lower end of " n " type structure that right support 217 is formed, is defined as " base pitch-meropodium " joint shaft；Another meropodium joint shaft and shin
Section unit 23 connects, and is defined as " meropodium-tibia " joint shaft；
The meropodium turbine and worm decelerator 222 is cuboid, and its defeated end axle both sides configures adpting flange, with meropodium branch
Frame 228 is engaged, and is connected by screw and is realized and be rigidly connected with meropodium support 228, meropodium turbine and worm decelerator 222
Input intersects vertically with output end axis, input configuration adpting flange, coordinates with the adpting flange of meropodium stepper motor 223,
It is connected by screw, realizes being rigidly connected for meropodium turbine and worm decelerator 222 and meropodium stepper motor 223；The meropodium step
Stepper motor 223 is connected with meropodium turbine and worm decelerator 222, for being closed by meropodium turbine and worm decelerator 222, meropodium
Nodal axisn 221 drives the vertical direction of meropodium unit 22 to rotate, and then realizes that lifting for machinery foot 2 falls；The meropodium absolute type is compiled
Code device 224 is used to detect joint rotation angle in real time, coordinates with meropodium stepper motor and forms Full Closed-loop Position Servo System, significantly carries
High joint orientation precision；The meropodium encoder support 225 is a L-shaped connecting plate, if opening up involvement in one right angle flank side surface
Hole is connected, is rigidly connected by screw and meropodium support 228, another right-angle side end face opens up and meropodium encoder frame connection method
The flange that orchid is engaged, is connected by screw, and realization is rigidly connected with meropodium absolute type encoder 224；
The meropodium support 228 is rectangular flat, and middle part opens up the rectangular opening for loss of weight, some is used for connecting plate muscle
226 through hole and two symmetrical flanges, and the spiral shell being connected with meropodium encoder support 225 is offered on the inside of two flanges
Line mounting hole, it is rigidly connected by screw and meropodium encoder support 225；The plate muscle 226 is rectangular flat, plate muscle 226
Left and right ends open up screwed hole, are rigidly connected by screw and meropodium support 228, for strengthening the strength rigid of meropodium support 228.
The tibia unit 23 includes tibia left socle 231, tibia right support 232, Flexible element lid 233, Flexible element
Sliding block 234, Flexible element frame 235, pressure sensor 236, tibia connecting rod 237, tibia end cap 238 and sufficient end 239；
The top of the tibia left socle 231 and tibia right support 232 on " meropodium-tibia " joint shaft with being located at meropodium branch
Both ends connection outside frame, tibia left socle 231 and tibia right support 232 and meropodium joint shaft (" meropodium-tibia " joint
Axle) synchronous axial system, Flexible element lid 233 is installed between the middle part of tibia left socle 231 and tibia right support 232, elasticity is single
The lower end of first lid 233 connects the Flexible element frame 235 of hollow uncovered, the inside installation Flexible element sliding block of Flexible element frame 235
234, pressure sensor 236, the outer surface of Flexible element sliding block are installed between Flexible element sliding block 234 and Flexible element lid 233
It is engaged with the inwall of Flexible element frame 235, forms prismatic pair, Flexible element sliding block bottom is hollow cylinder, hollow cylinder
Outer surface and the upper end of the tibia connecting rod 237 are connected through a screw thread；The tibia connecting rod 237 is hollow cylinder, under
End is rigidly connected by screw thread with the tibia end cap 238；The tibia end cap 238 is a cylinder block, and is connected positioned at tibia
In the cavity of extension bar 237, the lower end of tibia end cap 238 is realized by screw with sufficient end 239 to be rigidly connected；The sufficient end 239 is
The part prepared by rubber or polyurethane material, for reduce contacted with ground caused by between rigid shock, raising and ground
Frictional force, the sufficient upper end of end 239 are a cavity, and lower end is hemisphere, and hemisphere inner surface is realized and tibia end cap by screw
238 are rigidly connected；
The axle for the meropodium joint shaft that the distance of shaft centers of two meropodium joint shafts of meropodium unit 22 is connected with tibia unit 23
The heart to the ratio of distances constant of sufficient end minimum point is 0.46:0.54.
The tibia left socle 231 is the flat board of rectangle, and the middle part of tibia left socle 231 opens up the rectangular opening for loss of weight,
The lower end of tibia left socle 231 opens up some connection through holes for being used to connect Flexible element frame 235 and one is used to arrange that pressure passes
The cable of sensor 236 walks line three-way hole with what the side through hole of Flexible element frame 235 was engaged；The tibia right support 232 is one and shin
The profile identical rectangular flat of left socle 231 is saved, the upper end of tibia right support 232 configures square with " meropodium-tibia " joint shaft
The square hole that shaft part is engaged, coupled by shape and be rigidly connected with " meropodium-tibia " joint shaft 226, realize tibia support and joint
Axle synchronous axial system, its middle part of tibia right support 232 open up the rectangular opening for loss of weight, and the lower end of tibia right support 232 opens up some
For connecting the connection through hole of Flexible element frame 235；The Flexible element lid 233 is a rectangular flat, and its center opens up
One connection through hole for being used to connect pressure sensor 236, corner are arranged symmetrically four companies for being used to connect Flexible element frame 235
Connect hole；
The upper end of the Flexible element sliding block 234 is a rectangular flat, and its center opens up one and is used to connect pressure sensing
The connection through hole of device 236, four sides coordinate with the inwall of Flexible element frame 235, form a prismatic pair, and lower end is a hollow cylinder,
Cylindrical outer surface opens up external screw thread, is connected through a screw thread, and realization is rigidly connected with tibia connecting rod 237；The Flexible element frame
235 be hollow uncovered cuboid framework, and Flexible element frame upper end opens up the spiral shell for being connected through hole with Flexible element lid 233 and being engaged
Pit, it is connected by screw, realization is rigidly connected with Flexible element lid 233, and there is a manhole its bottom, with Flexible element
The face of cylinder of sliding block 234, which coordinates, forms a prismatic pair, in addition, Flexible element frame left and right sides are opened up and are connected with tibia support
The screwed hole that through hole is engaged, is connected by screw, and realization is rigidly connected with tibia support；The force snesor is S-shaped
Metal derby, its upper and lower ends face respectively open up a screwed hole, by screw respectively with Flexible element lid 233 and Flexible element sliding block
234 are rigidly connected, and prismatic pair is formed for detecting Flexible element sliding block 234 and Flexible element frame 235 in robot kinematics
Pressure caused by microdisplacement, the dynamic detection of the pressure of robot kinematics mesopodium end 239 is realized, to determine robot foot
239 location status are held with falling whether foot point is reasonable, and then realize dynamic sensing of the robot to terrain environment.
Body uses rectangular arrangement mode in the present embodiment, and six foots are evenly distributed on long and wide respectively 1000mm, 500mm
Rectangular flat on, the length of robot meropodium unit and tibia unit is respectively 290mm and 340mm.Involved by the present embodiment
And the models of all stepper motors be 57BYGH7601, two-phase four-wire system, rated current 3A, output torque 1.8mN, step pitch
1.8 ° of angle, the speed reducing ratio for controlling the meropodium worm type of reduction gearing of " trunk-base pitch " joint shaft to select are 50:1, " base pitch-stock
The speed reducing ratio that section " and " meropodium-tibia " meropodium worm type of reduction gearing are selected is 90:1.Involved all absolute type encoders
Model be Omron E6C3-AG5C, the output of input voltage 12V-24V, NPN open collector, response frequency 20KHz,
Resolution ratio is 1024, and output code is Gray code.Pressure sensor model is DYLY-103, range 500N, precision 0.05%.
It is it should be added that described in the utility model " forward and backward；It is left and right；It is upper and lower " etc. the noun of locality be to retouch
State it is clear, only there is relative meaning.Generally, the direction advanced forward using robot is used as other nouns of locality before
Benchmark.
The utility model does not address part and is applied to prior art.
Claims (5)
1. a kind of novel bionic Hexapod Robot, including body platform and six mutually isostructural modular mechanical foots, the machine
Body platform is the sufficient frame of six machineries of connection, it is characterised in that the body platform includes frame upper plate, frame lower plate and connection
Plate, frame upper plate is identical with the geomery of frame lower plate, and frame upper plate is connected with frame lower plate by connecting plate, in frame
Plate has been arranged symmetrically six machinery foots, arbitrary neighborhood between the frame upper plate of both sides and frame lower plate by flange along its length
Two machinery foot the distance between it is equal；
The machinery foot includes base pitch unit, meropodium unit and tibia unit, and base pitch unit and tibia unit are separately fixed at stock
The both ends of unit are saved, the top of base pitch unit is connected with body platform；
It is exhausted that the base pitch unit includes " trunk-base pitch " joint shaft, base pitch worm type of reduction gearing, base pitch stepper motor, base pitch
To formula encoder, base pitch encoder support, base pitch left socle, base pitch right support and base pitch shaft end nut；
The upper and lower end face of the base pitch worm type of reduction gearing is coordinated and the lower surface of frame upper plate and frame by flange respectively
The upper surface of lower plate is fixedly connected, and the output shaft of base pitch stepper motor is connected with the input of base pitch worm type of reduction gearing；Institute
State " trunk-base pitch " joint shaft and pass through frame lower plate and frame upper plate, the bottom of " trunk-base pitch " joint shaft is base pitch flange knot
Structure, be rigidly connected by screw and base pitch left socle, open up a base pitch keyway in the middle part of " trunk-base pitch " joint shaft, the keyway with
The output shaft of base pitch worm type of reduction gearing is in mating connection, and the outer surface of upper of " trunk-base pitch " joint shaft opens up one section of base
External screw thread is saved, is coordinated by external screw thread and base pitch shaft end nut, realizes that " trunk-base pitch " joint shaft slows down with base pitch worm and gear
The axially position of device output shaft and locking, base pitch counterbore is provided with along axis centre on " trunk-base pitch " joint shaft upper surface,
And offer the base pitch screwed hole to be connected with counterbore along the radial direction of " trunk-base pitch " joint shaft；The base pitch absolute encoding
Device is fixed on frame upper plate by base pitch encoder support, and is connected by counterbore and screwed hole with " trunk-base pitch " joint shaft
Fixation is connect, realizes that " trunk-base pitch " joint shaft is rigidly connected with base pitch absolute type encoder input shaft；The base pitch left socle
" n " type structure is formed with base pitch right support, top and the flange arrangement of " trunk-base pitch " joint shaft are connected, lower end connection
Meropodium unit；
The meropodium unit includes meropodium support, plate muscle and is in both ends symmetrical structure centered on plate muscle, the meropodium support
It is made up of left plate and right panel, meropodium support is installed respectively centrally through plate muscle connection left plate and right panel, both ends symmetrical structure
On the meropodium support of plate muscle both sides, each symmetrical structure include a meropodium joint shaft, meropodium worm type of reduction gearing,
Meropodium stepper motor, meropodium absolute type encoder, meropodium shaft end nut and meropodium encoder support, the meropodium worm and gear subtract
Fast device is connected with left plate and right panel respectively by the flange at meropodium worm type of reduction gearing shell both ends, meropodium stepper motor
It is connected with the input of meropodium worm type of reduction gearing, while meropodium stepper motor is fixed with meropodium support；The meropodium
Joint shaft one end sequentially passes through the through hole and meropodium worm type of reduction gearing that diameter on meropodium support is more than meropodium joint shaft flange
Through hole on output shaft, meropodium joint shaft is fixed on to the output shaft of meropodium worm type of reduction gearing by meropodium shaft end nut
On, axially position and the locking of meropodium joint shaft and meropodium worm type of reduction gearing output shaft are realized, outside this end of meropodium joint shaft
Surface opens up one section of meropodium external screw thread；A meropodium keyway is opened up in the middle part of meropodium joint shaft, is subtracted by key and meropodium worm and gear
Fast device connection；The other end of meropodium joint shaft is provided with meropodium flange arrangement, while has the meropodium joint shaft of meropodium flange arrangement
End face be provided with the meropodium counterbore that is engaged with the output shaft of meropodium absolute type encoder, and opened along the radial direction of meropodium joint shaft
There is the meropodium screwed hole to be connected with meropodium counterbore, by meropodium counterbore and meropodium screwed hole by meropodium absolute type encoder and stock
Section joint shaft is fixed, while meropodium absolute type encoder is fixed on meropodium support by meropodium encoder support；
One of meropodium joint shaft is being connected by base pitch left socle and base pitch right support on the both ends of meropodium bracket outer
The lower end of " n " the type structure formed, is defined as " base pitch-meropodium " joint shaft；Another meropodium joint shaft is connected with tibia unit,
It is defined as " meropodium-tibia " joint shaft；
The axle center for the meropodium joint shaft that the distance of shaft centers of two meropodium joint shafts of meropodium unit is connected with tibia unit is to tibia
The ratio of distances constant of unit minimum point is 0.42:0.58-0.48:0.52.
2. novel bionic Hexapod Robot according to claim 1, it is characterised in that two meropodium joints of meropodium unit
The axle center for the meropodium joint shaft that the distance of shaft centers of axle is connected with tibia unit to the ratio of distances constant of tibia unit minimum point is 0.46:
0.54。
3. novel bionic Hexapod Robot according to claim 1, it is characterised in that it is left that the tibia unit includes tibia
Support, tibia right support, Flexible element lid, Flexible element sliding block, Flexible element frame, pressure sensor, tibia connecting rod, tibia
End cap and sufficient end；
The top of the tibia left socle and tibia right support is with being located at the two of meropodium bracket outer on " meropodium-tibia " joint shaft
End connection, tibia left socle and tibia right support and the meropodium joint shaft synchronous axial system, in tibia left socle and tibia right support
Middle part between Flexible element lid is installed, the lower end of Flexible element lid connects the Flexible element frame of hollow uncovered, Flexible element frame
Inside installation Flexible element sliding block, pressure sensor is installed, Flexible element is slided between Flexible element sliding block and Flexible element lid
The outer surface of block is engaged with the inwall of Flexible element frame, forms prismatic pair, Flexible element sliding block bottom is hollow cylinder, hollow
The outer surface of cylinder and the upper end of the tibia connecting rod are connected through a screw thread；The tibia connecting rod is hollow cylinder, under
End is rigidly connected by screw thread and the tibia end cap；The tibia end cap is a cylinder block, and positioned at tibia connecting rod
In cavity, the lower end of tibia end cap is realized by screw with sufficient end to be rigidly connected.
4. novel bionic Hexapod Robot according to claim 3, it is characterised in that the sufficient end upper end is a cavity,
Lower end is hemisphere, and hemisphere inner surface is realized by screw and is rigidly connected with tibia end cap.
5. novel bionic Hexapod Robot according to claim 3, it is characterised in that the force snesor is the metal of S-shaped
Block, metal derby upper and lower ends face respectively open up a screwed hole, firm with Flexible element lid and Flexible element sliding block respectively by screw
Property connection.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107089277A (en) * | 2017-06-15 | 2017-08-25 | 河北工业大学 | A kind of novel bionic Hexapod Robot |
| CN109696824A (en) * | 2019-03-01 | 2019-04-30 | 哈尔滨理工大学 | A kind of leg moves the fault-tolerant gait control method of hexapod robot leg missing |
| CN109795577A (en) * | 2019-03-29 | 2019-05-24 | 韶关学院 | A kind of bionic 6-leg robot |
| CN110450879A (en) * | 2019-07-10 | 2019-11-15 | 北京交通大学 | A kind of polypody climbing robot based on Schatz mechanism |
| CN117242958A (en) * | 2023-11-16 | 2023-12-19 | 龙门实验室 | Transplanting robot suitable for greenhouse |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107089277A (en) * | 2017-06-15 | 2017-08-25 | 河北工业大学 | A kind of novel bionic Hexapod Robot |
| CN109696824A (en) * | 2019-03-01 | 2019-04-30 | 哈尔滨理工大学 | A kind of leg moves the fault-tolerant gait control method of hexapod robot leg missing |
| CN109696824B (en) * | 2019-03-01 | 2022-02-11 | 哈尔滨理工大学 | Fault-tolerant gait control method for leg loss of hexapod robot with movable leg |
| CN109795577A (en) * | 2019-03-29 | 2019-05-24 | 韶关学院 | A kind of bionic 6-leg robot |
| CN109795577B (en) * | 2019-03-29 | 2023-08-25 | 韶关学院 | Six-foot bionic robot |
| CN110450879A (en) * | 2019-07-10 | 2019-11-15 | 北京交通大学 | A kind of polypody climbing robot based on Schatz mechanism |
| CN117242958A (en) * | 2023-11-16 | 2023-12-19 | 龙门实验室 | Transplanting robot suitable for greenhouse |
| CN117242958B (en) * | 2023-11-16 | 2024-02-02 | 龙门实验室 | Transplanting robot suitable for greenhouse |
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