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Novel six-foot robot

A hexapod robot and robot technology, applied in the field of bionic robots, can solve the problems of low integration of robots, lack of self-state perception ability, weak environmental perception ability of hexapod robot, etc., and achieve a good external environment and self-balanced perception ability , light weight and compact structure

Active Publication Date: 2013-06-05
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention aims to solve the problem that the existing hexapod robot has weak environmental perception ability and no ability to perceive its own state, and at the same time, the integration degree of the robot is not high

Method used

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specific Embodiment approach 1

[0013] Specific implementation mode one: combine figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 , Image 6 with Figure 8 Describe this embodiment, a new type of hexapod robot described in this embodiment, the robot includes a torso 45, a mechanical leg 46, a sensing system and a control system, and there are 6 mechanical legs 46 in total, and the 6 mechanical legs 46 are evenly distributed. Distributed on both sides of the lower end of the torso 45 and fixedly connected to the lower end of the torso 45, each mechanical leg 46 is composed of a connecting piece 5, a trunk-base joint 6, a base beam 43, and a base-femoral joint 8 , femoral beam 10, femoral-tibial joint 12 and tibial beam 44 are sequentially connected to form;

[0014] Described sensing system comprises vision sensor 47, pose sensor 48, the first one-dimensional torque sensor 7, the second one-dimensional torque sensor 9, three-dimensional force sensor 16, joint angle position sensor 49, data acquis...

specific Embodiment approach 2

[0017] Specific implementation mode two: combination Figure 4 , Figure 5 with Image 6 Describe this embodiment, the robot described in this embodiment also includes a base joint packaging shell 1, a plurality of wire retaining plates 2, a thigh joint packing shell 3 and a tibia joint packing shell 4, and the base joint packing shell 1 is arranged on the torso - On the base joint 6, the femoral joint packaging shell 3 is arranged on the base joint-femoral joint 8, the tibial joint packaging shell 4 is arranged on the femur-tibial joint 12, the trunk-base joint 6, the base joint - Both ends of the femoral joint 8 and the femoral-tibial joint 12 are respectively provided with a wire retaining plate 2 , which can effectively protect the internal structures of the mechanical leg 46 , and other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0018] Specific implementation mode three: combination Figure 10 To illustrate this embodiment, six interface boards 55 are fixedly arranged in the torso 45 of this embodiment, and each interface board 55 is provided with a single-leg control module 52 and 3 corresponding to one of the mechanical legs 46. The joint drivers 53 are arranged in this way, so that the overall structure of the hexapod robot is more reasonable and compact, which is convenient for maintenance and use. The other components and connections are the same as those in the first embodiment.

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Abstract

The invention discloses a novel six-foot robot, and belongs to the field of bionic robots. The novel six-foot robot solves the problems that an existing six-foot robot is poor in environment sensing ability, and has no ability to sense self states, and the integration degree is not high. The novel six-foot robot comprises a body, mechanical legs, a sensing system and a control system, wherein each mechanical leg comprises connecting elements, a body-coxa joint, a coxa beam, a coxa-femur joint, a femur beam, a femur-tibia joint and a tibia beam which are sequentially connected. The control system comprises a computer terminal, a main control board, single-leg control modules, joint drivers and a controller area network (CAN) bus, wherein the computer terminal and the main control board are connected through the Ethernet, the number of the single-leg control modules is six, the single-leg control modules and the joint drivers are arranged in the body, the main control board is connected with the single-leg control modules through the CAN bus, and the joint drivers on six mechanical legs are connected with the CAN bus. The novel six-foot robot is used for transportation, detection and extreme environment work and the like.

Description

technical field [0001] The invention relates to a novel hexapod robot, which belongs to the field of bionic robots. Background technique [0002] As a typical representative of multi-legged bionic robots, hexapod bionic robots are characterized by strong climbing ability and fault tolerance, and are suitable for performing tasks that require high autonomy and reliability in complex natural environments, such as: Planet transportation, field detection and extreme environment operations, etc. [0003] The application background of the hexapod robot determines that it must be able to meet the autonomous walking of unstructured terrain. However, the existing hexapod robots have the problems of weak perception of the environment and no perception of their own state, and at the same time, the integration of the robot is not high. Contents of the invention [0004] The invention aims to solve the problem that the existing hexapod robot has weak environmental perception ability ...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 张赫赵杰刘玉斌周自维
Owner HARBIN INST OF TECH
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