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Integrated joint variable body multi-foot robot capable of being rapidly disassembled and assembled

A multi-legged robot and joint technology, applied in the field of robotics, can solve problems such as difficult rapid maintenance or replacement, poor interchangeability, difficult installation, etc., to avoid interference and avoid affecting the appearance

Pending Publication Date: 2019-09-20
CHANGAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The structure of each joint of the traditional legged robot is not the same, which not only makes the types of parts more complicated, but also difficult to install, and the intercha

Method used

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  • Integrated joint variable body multi-foot robot capable of being rapidly disassembled and assembled
  • Integrated joint variable body multi-foot robot capable of being rapidly disassembled and assembled
  • Integrated joint variable body multi-foot robot capable of being rapidly disassembled and assembled

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Example Embodiment

[0032] The present invention will be further described below in conjunction with the drawings:

[0033] The invention uses a hexapod robot as an example to illustrate the robot's quick-release structure characteristics, joint module integration characteristics and variable body functional characteristics. The single leg of the robot is composed of hip joint module 1, knee joint module 2, ankle joint module 3, tibia 4 and foot end 5.

[0034] The hip joint module 1 is used for lateral swing of a single leg. It is composed of a housing 6, a brushless DC motor 7 and its driver 8, a joint angle encoder 9, a harmonic gear transmission mechanism 10, a transverse mechanical interface 11 and an electrical contact interface 12. Choose a disc brushless DC motor, which has the characteristics of small size, high power and good torque characteristics. Considering the limitation of the structure size, the motor is arranged along the axial direction. In order to make the structure of the reduc...

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Abstract

The invention discloses an integrated joint variable body multi-foot robot capable of being rapidly disassembled and assembled. The robot comprises a trunk and supporting legs. The supporting legs are arranged at the bottom of the trunk. Each supporting leg comprises a hip joint module, a knee joint module, an ankle joint module, a shank and a foot end, wherein one end of the hip joint module is fixedly arranged at the bottom of the trunk, the axis of the hip joint module is perpendicular to the ground, the other end of the hip joint module is connected with one end of the knee joint module, the other end of the knee joint module is connected with one end of the ankle joint module, the other end of the ankle joint module is connected with one end of the shank, and the other end of the shank is connected with the foot end. The integrated joint variable body multi-foot robot is capable of being rapidly disassembled and assembled, and compared with a common robot, the hip joint, the knee joint and the ankle joint are designed in a modular design and meet interchangeability. The modules are connected through a pluggable mechanical connecting port and an electrical contact interface, the modules can be rapidly disassembled and assembled, the number of the joint modules can be increased or reduced, and the requirements of different degrees of freedom can be met.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a multi-legged multi-legged robot with integrated joints that can be quickly disassembled and assembled. Background technique [0002] At present, legged robots are widely used in many fields such as emergency rescue and disaster relief, field exploration, alien exploration, military affairs, and nuclear energy industry. As a type of robot, footed robots have the advantages that traditional tracked or wheeled robots lack. Although tracked or wheeled robots can achieve high moving speeds on flat ground and are relatively convenient to control, they cannot adapt to extreme conditions. structured natural environment. Although the walking speed of the legged robot is relatively slow, it has a stronger adaptability to unstructured ground and can move flexibly on complex terrain that wheeled or tracked robots cannot reach. Legged robots can walk smoothly in various unstructured enviro...

Claims

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Application Information

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IPC IPC(8): B25J17/00B25J9/08B62D57/032
CPCB25J9/08B25J17/00B62D57/032
Inventor 刘琼朱雅光姬子恒程炎陈海江
Owner CHANGAN UNIV
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