Biped robot and multi-configuration robot capable of being spliced autonomously, and control method of multi-configuration robot
Disclosed is a biped robot and multi-configuration robot capable of being spliced autonomously, and a control method of the multi-configuration robot. The biped robot comprises a torso, arms, legs, a tolerance docking sleeve, and a torso docking device. The arms are correspondingly arranged at the left and right sides of the torso, and two legs are arranged at the lower side of the torso. The tolerance docking sleeve is movably arranged at the rear side of the torso through a base, and the torso docking device is fixed to the front side of the torso. Single biped robots in the present disclosure can form a multi-configuration legged combined body in a self-organization and reconstruction mode so as to achieve bipedal, quadrupedal, hexapodal and other multi-legged configurations. The motion stability and the load capacity of the legged robot are improved through the splicing combination of the modular legged robots.
1. A biped robot capable of being spliced autonomously, comprising a torso, arms, legs, a tolerance docking sleeve, and a torso docking device;
the arms are correspondingly arranged on a left side and a right side of the torso, and two legs are arranged on a lower side of the torso;
the tolerance docking sleeve is movably arranged on a rear side of the torso through a base, and the torso docking device is fixed to a front side of the torso; and
the base comprises a base body, a pitching motion link, and a rolling motion link; the base body is provided with a connecting space, and in the connecting space, the base body is connected to the pitching motion link by a pitch torsion spring, and the pitching motion link is connected to the rolling motion link by a rolling torsion spring.
2. The biped robot capable of being spliced autonomously according to claim 1 , wherein the tolerance docking sleeve comprises a tolerance guide sleeve connected to one end, away from the base, of the rolling motion link, a docking sleeve cap connected to the tolerance guide sleeve, and an electromagnet arranged in the tolerance guide sleeve.
3. The biped robot capable of being spliced autonomously according to claim 2 , wherein the tolerance guide sleeve is provided with a conical accommodation space, an end, away from the torso, of the torso docking device is provided to be conical, and a conical size corresponds to a size of the conical accommodation space of the tolerance guide sleeve; and a docking iron sheet is arranged at a top end of the torso docking device.
4. The biped robot capable of being spliced autonomously according to claim 1 , wherein the legs each are provided with a thigh link and a shank link; first leg rotating parts are correspondingly fixed to two ends of the lower side of the torso, second leg rotating parts are perpendicularly fixed to the first leg rotating parts and are connected to the thigh links, and third leg rotating parts are fixed to the thigh links and are connected to the shank links by links.
5. The biped robot capable of being spliced autonomously according to claim 1 , wherein the arms each are provided with an upper arm link and a forearm link; upper arm rotating parts are respectively fixed to both sides of the torso by steel wire traction torsion springs, and are connected to the upper arm links; and forearm rotating parts are fixed to the upper arm links, and the forearm rotating parts are connected to the forearm links by drive links.
6. The biped robot capable of being spliced autonomously according to claim 5 , wherein an arm traction motor is fixed into the torso, a steel wire is wound around an output shaft of the arm traction motor, and both ends of the steel wire are fixed to the steel wire traction torsion springs on the both sides of the torso.
7. A multi-configuration robot capable of being spliced autonomously, comprising a plurality of biped robots capable of being spliced autonomously according to claim 1 , wherein two adjacent biped robots capable of being spliced autonomously are connected by the tolerance docking sleeve and the torso docking device.
8. The multi-configuration robot capable of being spliced autonomously according to claim 7 , wherein the tolerance docking sleeve comprises a tolerance guide sleeve connected to one end, away from the base, of the rolling motion link, a docking sleeve cap connected to the tolerance guide sleeve, and an electromagnet arranged in the tolerance guide sleeve.
9. The multi-configuration robot capable of being spliced autonomously according to claim 8 , wherein the tolerance guide sleeve is provided with a conical accommodation space, an end, away from the torso, of the torso docking device is provided to be conical, and a conical size corresponds to a size of the conical accommodation space of the tolerance guide sleeve; and a docking iron sheet is arranged at a top end of the torso docking device.
10. The multi-configuration robot capable of being spliced autonomously according to claim 7 , wherein the legs each are provided with a thigh link and a shank link; first leg rotating parts are correspondingly fixed to two ends of the lower side of the torso, second leg rotating parts are perpendicularly fixed to the first leg rotating parts and are connected to the thigh links, and third leg rotating parts are fixed to the thigh links and are connected to the shank links by links.
11. The multi-configuration robot capable of being spliced autonomously according to claim 7 , wherein the arms each are provided with an upper arm link and a forearm link; upper arm rotating parts are respectively fixed to both sides of the torso by steel wire traction torsion springs, and are connected to the upper arm links; and forearm rotating parts are fixed to the upper arm links, and the forearm rotating parts are connected to the forearm links by drive links.
12. The multi-configuration robot capable of being spliced autonomously according to claim 11 , wherein an arm traction motor is fixed into the torso, a steel wire is wound around an output shaft of the arm traction motor, and both ends of the steel wire are fixed to the steel wire traction torsion springs on the both sides of the torso.
13. The multi-configuration robot capable of being spliced autonomously according to claim 7 , wherein a controllable electromagnet is installed at a tail end of the arm, and the arms of the two adjacent biped robots capable of being spliced autonomously are connected by controllable electromagnets.
14. The multi-configuration robot capable of being spliced autonomously according to claim 8 , wherein a controllable electromagnet is installed at a tail end of the arm, and the arms of the two adjacent biped robots capable of being spliced autonomously are connected by the controllable electromagnets.
15. The multi-configuration robot capable of being spliced autonomously according to claim 9 , wherein a controllable electromagnet is installed at a tail end of the arm, and the arms of the two adjacent biped robots capable of being spliced autonomously are connected by the controllable electromagnets.
16. A control method of the multi-configuration robot capable of being spliced autonomously according to claim 7 , comprising the following steps:
energizing the electromagnet in tolerance guide sleeve, and inserting the torso docking device into the conical accommodation space on the tolerance guide sleeve;
adsorbing, by the electromagnet in the tolerance guide sleeve, the docking iron sheet at a top end of the torso docking device, and enabling the conical accommodation space to be in fit with the conical structure on the torso docking device to achieve tolerance docking; and
energizing the controllable electromagnets on the arms, and connecting, by the controllable electromagnets, the arms of the two adjacent biped robots capable of being spliced autonomously.
17. The control method according to claim 16 , wherein a controllable electromagnet is installed at a tail end of the arm, and the arms of the two adjacent biped robots capable of being spliced autonomously are connected by the controllable electromagnets.