Modularized robot based on tensioned integral structure

Abstract

The invention relates to a modularized robot based on a tensioned integral structure. The modularized robot is characterized in that six pressing rods are arranged and are divided into three groups, the two pressing rods in each group are parallel to each other, the plane where the axial center line of the two pressing rods in each of the three groups is located is perpendicular to the plane wherethe axial center line of the two pressing rods of each of the other two groups is located, each pressing rod is divided into two sections with the same structures, a support is arranged between the every two sections, two rotating motors for correspondingly controlling the two sections of each pressing rod to stretch and retract are mounted in the corresponding support, output shafts of the rotating motors are connected with ball screws, lead screw nuts are in threaded connection with the ball screws to form spiral pairs, one ends of extension rods are connected with the lead screw nuts, theother ends of the extension rods are connected with rubber end covers, and the other end of the extension rod of any pressing rod of each group is connected with the other ends of the extension rods in the other two groups through four elastic inhaul cables. According to the modularized robot, the service life of the robot can be prolonged, the two sections of each pressing rod can stretch out anddraw back, and the movement stability of the modularized robot can be improved when rolling is carried out; and the robot can be used in a complex environment in the ground, and particularly relatesto the fields of field rescue, planet detection and the like.

Description

Technical field [0001] The invention belongs to the field of robots, and specifically is a modular robot based on a tensioned integral structure. Background technique [0002] The overall tension structure is composed of continuous elastic cables and discrete rigid compression rods, which are light in weight, deformable, and able to absorb impact. Under normal circumstances, the rod is only subjected to pressure, and the elastic cable is only subjected to tension. At first, this structure was used in construction, civil engineering, and deployable mechanisms, but it was rarely used in robotics. The principle of tensioning the whole robot for rolling motion is that when the projection of the center of the robot is not in the area of ​​the bottom triangle, the robot will roll. [0003] After extensive research, it is found that the structure of the overall tensioning robot mainly includes: [0004] 1. The rods are pneumatic artificial muscles, and the elastic cable is composed of sp...

AI Technical Summary

Problems solved by technology

But when the contraction of the cable is slow, the movement efficiency of the robot is low; when the contraction is too fast, the stability of the robot will be reduced, and the movement is not easy to predict

[0006] 3. The pressure rod adopts linear motor or electric push rod, and the cable adopts springs and other components; when the robot is moving, the pressure rod receives a large impact and is easily damaged

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