Modular composite robot

A robotic and modular technology, applied in the field of robotics, can solve problems such as poor flexibility, limited usage scenarios, and single function, and achieve the effects of reducing energy consumption, reducing foot end inertia, and improving movement speed

Active Publication Date: 2021-10-08
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The quadruped robot imitates the structure of the animal body, with fast forward speed, stable motion, and strong load capacity, but its function is relatively single, the flexibility is poor, and there are certain restrictions on the use scene.

Method used

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Embodiment Construction

[0059] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0060] The invention provides a modular composite robot, such as figure 1 As shown, the robot includes: an operating arm module, a tail structure 2 and a biped module that can walk independently;

[0061] Such as Figure 11 As shown, the operating arm module includes two mechanical arms 32 and a splicing fuselage 33, and the two robotic arms 32 are respectively fixedly connected to both sides of the splicing fuselage 33.

[0062] Such as figure 1 As shown, the bipedal module includes a fuselage 1 and two legs symmetrically installed on both sides of the fuselage 1; the rear end of the fuselage 1 and the Figure 11 Both ends of the spliced ​​fuselage 33 shown are provided with connection structures for fixed connection with the tail vertebra structure 2 . In a specific embodiment, the link structure may be a thread structure.

[0063] Such as Image 6...

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Abstract

The invention discloses a modular composite robot which comprises an operation arm module, a caudal vertebra structure and a double-foot module capable of walking independently, the operation arm module comprises two mechanical arms and a spliced machine body, and the caudal vertebra structure comprises a plurality of bone type structures, a steel rope set, a plurality of connecting joints, a motor set and a manipulator. The connecting structures are arranged at the two ends of the caudal vertebra structure, can be connected with a mechanical arm to achieve the grabbing function and can serve as the caudal vertebra structure to increase additional balance control for the robot, and therefore the robot can flexibly and reliably work in various complex environments. According to the robot, the foot end suite and the wheel type component are integrated, free switching between a foot type motion state and a wheel type motion state is achieved, the motor is arranged on the robot body and is driven through the connecting rod system, the inertia of the foot end is reduced, the motion speed is increased, and energy consumption is reduced; according to the robot, composite robots with different working modes can be formed through mutual combination of all the modules, so that different functional requirements are met.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a modular composite robot. Background technique [0002] Biped walking robot --- walking upright, it has a good degree of freedom, flexible, free and stable movements. A biped robot is a bionic type of robot that can realize bipedal walking and related actions of the robot. As a dynamic system controlled by machinery, biped robots contain rich dynamic characteristics. In future production and life, humanoid biped walking robots can help humans solve many problems, such as carrying objects, emergency rescue and a series of dangerous or heavy tasks. [0003] However, the existing biped robots have poor stability, low load capacity, and slow speed, which limit their development to a certain extent. During the single-support stage and the vacant stage, the biped robot is always in an underactuated state, and the robot is almost uncontrollable at this time. In addition to the chara...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 钱义肇宋文杰孙双园冯思源曾林之
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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