Multi-joint chain link-type robot based on modularization

A modular, robotic technology, applied in motor vehicles, transportation and packaging, etc., can solve the problems of restricting the posture display of wheeled robots, unable to display swing, undulating actions, etc., and achieve the effect of increasing torque and improving service life.

Inactive Publication Date: 2012-08-01
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, since this robot only has the innovation of the legs, the design of using a flat plate connection between the various sports feet cannot show swinging and undulating movements, which limits the posture display of this type of wheel-footed robot

Method used

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  • Multi-joint chain link-type robot based on modularization
  • Multi-joint chain link-type robot based on modularization
  • Multi-joint chain link-type robot based on modularization

Examples

Experimental program
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Effect test

Embodiment Construction

[0021] Such as figure 1 As shown, it is an overall schematic diagram of a chain-link robot based on multi-joint modularization, which is an eight-legged robot connected by four sets of waist and leg modules. There are 46 degrees of freedom in total, and each pair of feet is connected by three sets of waist connection modules.

[0022] Such as image 3 As shown, the No. 1 steering gear is connected to the lower part through the No. 1 shaft, which prevents the motor shaft from directly bearing radial loads and improves the service life of the motor.

[0023] Such as Figure 5 As shown, when installing the sports foot, the steering gear support frame 1 (12), the steering gear support frame 2 (33), and the steering gear support frame 3 (16) are fixedly connected by screws, put the No. Machine supporting frame four (35) are fixedly connected by screw. After putting into the No. 3 steering gear (17), pass through another set of steering gear support frame one (15), steering gear...

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Abstract

The invention discloses a multi-joint chain link-type robot capable of implementing modular combination. The robot is in a modularized open chain structure; and each module has twelve degrees of freedom, each of which is finished through the drive of a steering engine or a direct current motor. Each sport leg of the robot is composed of four crank arm joints and a wheel leg and has five active degrees of freedom; two symmetrically arranged sport legs form a pair of joints, and two joints are connected via a chain link-type waist joint; and two active degrees of freedom are formed at the waist joint so that the waist joint can flexibly rotate in four vertical directions. Through the modular combination, the robot can implement organic combination of characteristics of wheel-type, leg-type, straight traveling and swinging movements so that the robot has the advantages of strong terrain adaptation ability of a leg-type robot and high maneuvering speed of a wheel-type robot. Meanwhile, through the design of the width of the waist, the step length and the motion of the robot can meet a condition of noninterference when the robot moves forwards or backwards. Through the coordination among several pairs of sport legs, the robot can finish dozens of movement gaits and can span barriers at a certain height.

Description

technical field [0001] The invention belongs to the application field of bionic robots, and in particular relates to a multi-joint chain-link robot based on modularization. Background technique [0002] With the gradual deepening of biological research on the nervous system and lifestyle of humans and other animals, the research of bionics technology is also advancing rapidly relying on the development of science and technology, creating a broad interdisciplinary research between science and technology and biological research field. Based on the analysis and reference of the structure and function of the biological nervous system, various research institutes at home and abroad have successively developed a series of bionic robots, which imitate living things and work on biological characteristics, and strive to achieve the highest possible biological similarity. Accuracy level, in order to achieve smooth and natural movements and nerve reflexes, to achieve a more perfect an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02
Inventor 罗庆生韩宝玲魏天骐莫洋赵佳馨毛明哲
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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