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

Method used

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Examples

Experimental program
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Example Embodiment

[0013] Specific embodiment one: combination figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 , Image 6 with Picture 8 To explain this embodiment, the new type of hexapod robot described in this embodiment includes a torso 45, a mechanical leg 46, a sensing system and a control system. There are 6 mechanical legs 46, and the 6 mechanical legs 46 are uniform. Distributed on both sides of the lower end of the torso 45 and fixedly connected to the lower end of the torso 45, each of the mechanical legs 46 is composed of a connector 5, a trunk-basal joint 6, a basic joint beam 43, and a basic joint-femoral joint 8 , The femoral beam 10, the femoral-tibial joint 12 and the tibial beam 44 are connected in sequence;

[0014] The sensing system includes a vision sensor 47, a pose sensor 48, a first one-dimensional torque sensor 7, a second one-dimensional torque sensor 9, a three-dimensional force sensor 16, a joint angle position sensor 49, a data acquisition module 17 and force i...

Example Embodiment

[0017] Specific implementation manner two: combination Figure 4 , Figure 5 with Image 6 To explain this embodiment, the robot in this embodiment also includes a base section packaging housing 1, a plurality of wire baffles 2, a femoral section packaging housing 3, and a tibial section packaging housing 4. The base section packaging housing 1 is set on the torso -On the base section joint 6, the femoral section packaging shell 3 is set on the base section-high joint joint 8, the tibial section packaging shell 4 is set on the femoral section-tibial joint 12, the trunk-base section joint 6, the base section -The femoral joint 8 and the femoral-tibial joint 12 are respectively provided with a wire baffle plate 2 at both ends. This arrangement effectively protects the internal structures of the mechanical leg 46. The other components and connection relationships are the same as those in the first embodiment.

Example Embodiment

[0018] Specific implementation mode three: combination Picture 10 To explain this embodiment, the trunk 45 of this embodiment is also fixedly provided with 6 interface boards 55, 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 two joint drivers 53 are arranged in this way to make the overall structure of the hexapod robot more reasonable and compact, which is convenient for maintenance and use. The other components and connection relationships 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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