An Integrated Modular Leg System for Hexapod Robots

A hexapod robot and integrated module technology, applied in the field of integrated modular leg system, can solve the problems of lack of omni-directional force perception function, lack of integration of legs, low flexibility, etc., and achieve light weight and compact structure , The effect of simple mechanical structure

Active Publication Date: 2015-09-09
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 that the legs of the existing hexapod robot have low flexibility, poor integration, no omnidirectional force perception function in the activity space, and no integrated independent control unit for the legs, and then Provides an integrated modular leg system for hexapod robots

Method used

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  • An Integrated Modular Leg System for Hexapod Robots
  • An Integrated Modular Leg System for Hexapod Robots
  • An Integrated Modular Leg System for Hexapod Robots

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specific Embodiment approach 1

[0014] Specific implementation mode one: combine Figure 1 to Figure 3 with Figure 8 Describe this embodiment, an integrated modular leg system for a hexapod robot in this embodiment The integrated modular leg system includes a mechanical mechanism and a control part, the control part is installed on the mechanical mechanism,

[0015] The mechanical mechanism includes a triangular connector 5, a trunk-base joint 6, a base beam 43, a base-femur joint 8, a femoral beam 10, a femur-tibial joint 12, a connector 13, and a flange 14 , spring 15, foot-end frame 44 and foot-end rubber cover 18, triangle connector 5, trunk-base joint 6, base beam 43, base-femur joint 8, femur beam 10 and femur-shin The joints 12 are connected sequentially from left to right, the flange 14 is connected with the femur-tibia joint 12 through the connector 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 set on the foot end The top of frame 44, ...

specific Embodiment approach 2

[0020] Specific implementation mode two: combination figure 1 Describe this embodiment, the integrated modular leg system of 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 tibial joint packing shell 4, the base joint packing shell 1 is arranged on the trunk-base joint 6, the femur packing shell 3 is set on the base-femur joint 8, the tibial packing shell 4 is set on the femur-tibia joint 12, the trunk-base joint 6. The two ends of the base joint-femoral joint 8 and the femoral joint 12 are respectively provided with a line guard 2 . Such setting not only effectively protects various components of the leg system, but also makes the leg system more beautiful and compact. Other compositions and connections are the same as in the first embodiment.

specific Embodiment approach 3

[0021] Specific implementation mode three: combination Figure 4 with Image 6 To illustrate this embodiment, the trunk-base joint 6, base-femur joint 8 and femur-tibia 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 casing 26, and the two ends of the joint casing 26 are respectively provided with a first bearing seat 23 and a second bearing seat 24. Such setting makes it more convenient to maintain and replace when a situation occurs, and it is more convenient to use. Other compositions and connections are the same as those in Embodiment 1 or Embodiment 2.

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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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Patent Type & Authority Patents(China)
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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