Integrated modular leg system for hexapod robot

A hexapod robot and integrated module technology, applied in the field of integrated modular leg system, can solve problems such as complex mechanical structure and inaccurate positioning, and achieve the effect of simple mechanical structure, great flexibility and convenient use

Active Publication Date: 2013-06-12
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problems of complex mechanical structure and inaccur

Method used

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  • Integrated modular leg system for hexapod robot
  • Integrated modular leg system for hexapod robot
  • Integrated modular leg system for hexapod robot

Examples

Experimental program
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Effect test

Example Embodiment

[0014] Specific implementation mode 1: Combination Figure 1 to Figure 3 with Figure 8 To explain this embodiment, an integrated modular leg system for a hexapod robot of this embodiment includes a mechanical mechanism and a control part, and the control part is mounted on the mechanical mechanism.

[0015] The mechanical mechanism includes a triangular connecting piece 5, a trunk-basal joint 6, a basic joint beam 43, a basic joint-femoral joint 8, a femoral beam 10, a femoral-tibial joint 12, a connecting piece 13, and a flange 14. , Spring 15, foot end frame 44 and foot end rubber sleeve 18, triangular connector 5, trunk-basal joint 6, basic joint beam 43, basic joint-femoral joint 8, femoral joint beam 10 and femoral-tibia The joints 12 are connected in order from left to right, the flange 14 is connected to the femoral-tibial joint 12 through the connecting piece 13, the upper end of the foot end frame 44 is set in the flange hole of the flange 14, and the spring 15 is sleev...

Example Embodiment

[0020] Specific implementation manner two: combination figure 1 To illustrate this embodiment, the integrated modular leg system of this embodiment also includes a base section packaging shell 1, a plurality of wire slats 2, a femoral section packaging shell 3, and a tibial section packaging shell 4. 1 is set on the trunk-basal joint 6, the femoral section packaging shell 3 is set on the base section-femoral joint 8, the tibial section packaging shell 4 is set on the femoral-tibial joint 12, and the trunk-basal joint 6. Both ends of the base section-femoral joint 8 and the femoral section-tibial joint 12 are respectively provided with a wire retaining plate 2. This arrangement not only effectively protects various components of the leg system, but also makes the leg system more beautiful and compact. The other composition and connection relationship are the same as in the first embodiment.

Example Embodiment

[0021] Specific implementation mode three: combination Figure 4 with Image 6 To illustrate the present embodiment, the trunk-basal joint 6, the base-hitter joint 8 and the femoral-tibial joint 12 of this embodiment all include a joint housing 26, a first bearing seat 23, a second bearing seat 24, and The internal transmission system 25 is arranged in the joint housing 26, and both ends of the joint housing 26 are respectively provided with a first bearing seat 23 and a second bearing seat 24. This setting makes it more convenient to repair and replace when a situation occurs, and it is more convenient to use. Other components and connection relationships are the same as those in the first or second embodiment.

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Abstract

The invention relates to an integrated modular leg system, in particular to an integrated modular leg system for a hexapod robot. The integrated modular leg system solves the problems that the existing robot leg system is complicated in mechanical structure and inaccurate in positioning. a control part of the integrated modular leg system is mounted on a mechanical mechanism; a triangular connecting piece, a trunk-coxa joint, a coxa beam, a coxa-femur joint, a femur beam and a femur-tibia joint are sequentially connected; a flange is connected with the femur-tibia joint; the upper end of a foot end frame is arranged in a flange hole of the flange; a first one-dimensional force sensor is arranged on the coxa beam; a second one-dimensional force sensor is arranged between the femur beam and the coxa-femur joint; a three-dimensional force sensor is arranged on the foot end frame; a data acquisition card is fixed on the three-dimensional force sensor; a first angular position sensor is arranged on the trunk-coxa joint; the second angular position sensor is arranged on the coxa-femur joint; and a third angular position sensor is arranged on the femur-tibia joint. The integrated modular leg system is suitable for the hexapod robot.

Description

technical field [0001] The invention relates to an integrated modular leg system, in particular to an integrated modular leg system for a hexapod robot. Background technique [0002] Wheeled and tracked robots can perform well on flat ground, but most of the ground on the earth and outer planets is non-flat and unstructured. At this time, wheeled and tracked robots The athletic ability of the child cannot be played well, and even some terrains cannot be walked. Legged robots, especially hexapod robots, can well overcome the above-mentioned shortcomings of wheeled and tracked robots, and can realize stable walking in complex and unstructured ground environments. [0003] The leg of a hexapod robot is a key component of a hexapod robot, and its design has a great impact on the overall performance of the robot. However, the existing robot leg system has the problems of complex mechanical structure and inaccurate positioning. Contents of the invention [0004] The purpose o...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 张赫刘玉斌赵杰尹晓琳
Owner HARBIN INST OF TECH
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