CN111942491B - Parallel connection mechanism wheel foot mobile robot based on UP and UPS - Google Patents
Parallel connection mechanism wheel foot mobile robot based on UP and UPS Download PDFInfo
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- CN111942491B CN111942491B CN202010751693.3A CN202010751693A CN111942491B CN 111942491 B CN111942491 B CN 111942491B CN 202010751693 A CN202010751693 A CN 202010751693A CN 111942491 B CN111942491 B CN 111942491B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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Abstract
The invention provides a UP and UPS based parallel connection mechanism wheel foot mobile robot which comprises a rack and six mechanical leg assemblies, wherein a supporting plate is arranged on the rack, each mechanical leg assembly comprises a power telescopic device and a walking foot end, a wheel folding and unfolding device is arranged on each power telescopic device, wheels are arranged on each wheel folding and unfolding device, one end of each power telescopic device is movably matched with each walking foot end, and the other end of each power telescopic device is arranged on the supporting plate. The robot comprises a wheel type movement mode and a foot type movement mode, and can be switched between the wheel type movement mode and the foot type movement mode according to different scenes.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a UP and UPS based parallel connection mechanism wheel foot mobile robot.
Background
The autonomous mobile robot can carry some specific equipment to go deep into to carry out the operation in abominable or even dangerous environment, accomplishes work such as environment exploration, personnel search and rescue and goods and materials transportation. Common mobile robots include wheeled, foot, tracked, and compound mechanisms. The single-form mobile robot has outstanding limitation and insufficient adaptability to complex terrains, and the wheel-foot combined robot integrates the advantages of high motion speed of the wheel type robot, strong obstacle crossing capability of the foot type robot, small turning radius and the like, and has good terrain adaptability and maneuverability. A common wheel-foot combined type robot adopts a series mechanism, has the advantage of simple mechanism, but has poor bearing capacity and cannot meet the transportation work under the condition of heavy load. Therefore, the research on the six-wheel-foot mobile robot with the parallel structure has important practical significance.
The prior literature is searched to find that the Chinese patent application numbers are as follows: 201810765511.0, the name is: a parallel type compliant wheel foot device for a wheel foot robot, which is composed of an inverted parallel six-degree-of-freedom motion structure and a foot end driving wheel component, comprises: the electric control device comprises a driving motor, a machine body, an upper hook hinge, a transmission connecting rod, an electric cylinder, a lower hook hinge, a foot end wheel fixing base, a speed reducer, a spring damper, a tire, a key sleeve, a via hole and a key rod. Wherein: each electric cylinder in the inverted parallel six-degree-of-freedom motion structure is connected with a robot part machine body through an upper hook hinge, connected with a foot end wheel fixing base through a lower hook hinge, and driven to move in six degrees of freedom through telescopic control over the electric cylinders; the driving motor in the foot end driving wheel component is fixedly connected to the robot body, the driving motor drives the speed reducer to move through the transmission component, the output shaft of the speed reducer is coaxially and fixedly connected with the tire, and the spring damper is hinged with the speed reducer body and the foot end wheel fixing base to form a single-degree-of-freedom spring-damping suspension. However, six degrees of freedom of the leg of the robot need six independent motors to control, the control is complex, the system stability is poor, the rolling power of the wheels is transmitted through the middle transmission shaft, the power loss is large, the mechanical structure is complex, and the reliability is low.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a UP and UPS based parallel linkage wheel-foot mobile robot.
The parallel connection mechanism wheel-foot mobile robot based on the UP and the UPS comprises a frame and a plurality of mechanical leg assemblies;
the mechanical leg assembly is provided with a wheel retraction device, one end of the mechanical leg assembly is movably matched with the rack, and the other end of the mechanical leg assembly is a free end;
the robot comprises a wheeled motion mode and a foot type motion mode, and the robot can be switched between the wheeled motion mode and the foot type motion mode according to different scenes.
Preferably, the number of the mechanical leg assemblies is six, and the six mechanical leg assemblies are symmetrically arranged in a hexagon at one end connected with the rack;
the number of the wheel retraction devices is matched with the number of the mechanical leg assemblies.
Preferably, the mechanical leg assembly comprises a walking foot end and a power telescopic device, and a support plate is arranged on the rack;
one end of the power telescopic device is movably matched with the walking foot end through a first connecting piece, and the other end of the power telescopic device is arranged on the supporting plate.
Preferably, the power telescopic device comprises a first telescopic mechanism, a second telescopic mechanism and a third telescopic mechanism;
the first telescopic mechanism comprises a first UPS branched chain lower end connecting rod, a second connecting piece and a first UPS branched chain upper end connecting rod, one end of the first UPS branched chain lower end connecting rod is movably matched with the first connecting piece, the other end of the first UPS branched chain lower end connecting rod extends into the first UPS branched chain upper end connecting rod from one end of the first UPS branched chain upper end connecting rod and is in driving connection with the first UPS branched chain upper end connecting rod, and the other end of the first UPS branched chain upper end connecting rod is movably matched with the supporting plate through the second connecting piece;
the second telescopic mechanism comprises a second UPS branched chain lower end connecting rod, a third connecting piece and a second UPS branched chain upper end connecting rod, one end of the second UPS branched chain lower end connecting rod is movably matched with the first connecting piece, the other end of the second UPS branched chain lower end connecting rod extends into the inner part of the second UPS branched chain upper end connecting rod from one end of the second UPS branched chain upper end connecting rod and is in driving connection with the second UPS branched chain upper end connecting rod, and the other end of the second UPS branched chain upper end connecting rod is movably matched with the supporting plate through the third connecting piece;
the third telescopic mechanism comprises a UP branched chain lower end connecting rod, a fourth connecting piece and a UP branched chain upper end connecting rod, one end of the UP branched chain lower end connecting rod is connected with the walking foot end, the other end of the UP branched chain lower end connecting rod extends into the UP branched chain upper end connecting rod from one end of the UP branched chain upper end connecting rod and is in driving connection with the UP branched chain upper end connecting rod, and the other end of the UP branched chain upper end connecting rod is in movable fit with the supporting plate through the fourth connecting piece.
Preferably, the wheel folding and unfolding device comprises a wheel connecting piece, a wheel motor, a wheel, a transmission rod, a wheel folding and unfolding driving motor, a first connecting bracket and a second connecting bracket;
one end of the first connecting support is mounted at the lower end of the connecting rod at the upper end of the UP branched chain, one end of the wheel connecting piece is rotatably connected with the other end of the first connecting support, the wheel motor is mounted at one side of the other end of the wheel connecting piece, one end of the transmission rod is movably matched with the other side of the other end of the wheel connecting piece, the other end of the transmission rod is in driving connection with the wheel retraction driving motor, and the wheel retraction driving motor is mounted at the upper end of the connecting rod at the upper end of the UP branched chain through the second connecting support;
the wheels are mounted on an output shaft of the wheel motor.
Preferably, the UP branched chain upper end connecting rod, the second UPs branched chain upper end connecting rod, and the first UPs branched chain upper end connecting rod respectively adopt any one of the following driving methods:
-a pneumatic drive;
-a hydraulic drive;
-a motor drive.
Preferably, the first connecting bracket and the second connecting bracket both adopt hinges;
the transmission rod is connected with the wheel connecting piece through a hinge;
the transmission rod is connected with the wheel retraction driving motor through a screw pair;
The first connecting piece adopts a spherical hinge;
the second connecting piece, the third connecting piece and the fourth connecting piece are respectively provided with Hooke hinges.
Preferably, the walking foot end is of a hemispherical structure and is made of solid rubber.
Preferably, force sensors are respectively arranged on the connecting rod at the upper end of the UP branched chain, the connecting rod at the upper end of the second UPS branched chain and the connecting rod at the upper end of the first UPS branched chain.
Preferably, when the robot is in a foot type motion mode, the wheel retraction driving motor is started to rotate so that the wheel motor on each power expansion device is retracted and the wheel retraction driving motor and the wheel motor are locked, the spatial three-degree-of-freedom motion of the walking foot end relative to the rack under a specific gait is resolved into eighteen P pairs of displacement control on six power expansion devices through an inverse solution algorithm of the parallel three-degree-of-freedom mechanism, and then the foot end is driven to move according to a given track by controlling the expansion motion on the first expansion mechanism, the second expansion mechanism and the third expansion mechanism, so that a foot type motion effect is achieved, wherein the foot type motion mode comprises straight line walking, in-situ steering and jumping motion;
when the robot is in a wheel type motion mode, a wheel retraction driving motor is started to rotate, so that a wheel motor on each power expansion device is put down to enable wheels to be in contact with the ground, the expansion motion of a first expansion mechanism, a second expansion mechanism and a third expansion mechanism on each power expansion device is controlled to ensure that the walking foot end is not in contact with the ground in the wheel type motion mode, the rotating speed of the wheel motor on each power expansion device is controlled to control the motion direction and speed of the robot, and steering control, wheel track adjustment, axle distance adjustment and body height adjustment can be achieved by controlling the pose of six parallel power expansion devices in the motion process of the robot.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention adopts a parallel mechanical structure, has high mechanical rigidity, can meet the requirement of large bearing, has no serial relation among joints, avoids the defect of position error accumulation in a serial mechanism, can determine and uniquely control the corresponding stretching amount of the hemispherical walking foot end relative to the pose of the rack through calculation, and has high control precision and strong stability.
2. The wheel device can be folded and unfolded to ensure that the wheels are not contacted with the ground in a foot type movement mode, and the wheels are perfectly attached to the ground in a wheel type movement mode, so that the ineffective abrasion to the wheels in the foot type movement mode can be effectively reduced.
3. The wheel motor is directly connected with the wheel, so that intermediate transmission links are reduced, and mechanical loss caused by transmission is greatly reduced.
4. In the invention, the linear drive of the P pair is provided with a corresponding sensor, and the corresponding bearing condition of the three branched chains can be read, so that the active vibration reduction of the mechanical leg in a wheel type motion mode is realized.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic view of the structure of the present invention;
FIG. 2 is a schematic diagram of a mechanical leg assembly;
fig. 3 is a schematic structural diagram of a hooke joint.
The figures show that:
second connecting piece 25 of upper end connecting rod 10 of 1 UP branched chain at walking foot end
First UPS branch lower end link 2, second UPS branch upper end link 11, and third connection 26
Second UPS branch lower end link 3 first UPS branch upper end link 12 fourth connector 27
UP branched chain lower end connecting rod 4 rack 13 wheel retraction device 30
Wheel link 5 forked hinge mounts 31 on multiple mechanical leg assemblies 20
Wheel 7 first connector 22 apex block 33
First connecting bracket 23 of transmission rod 8
Second connecting bracket 24 of wheel retraction driving motor 9
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The invention provides a UP and UPS based parallel connection wheel-foot-constructed mobile robot, which comprises a frame 13 and a plurality of mechanical leg assemblies 20, wherein a wheel retraction device 30 is arranged on each mechanical leg assembly 20, one end of each mechanical leg assembly 20 is movably matched with the frame 13, the other end of each mechanical leg assembly is a free end, the robot comprises a wheel type motion mode and a foot type motion mode, the robot can be switched between the wheel type motion mode and the foot type motion mode according to different scenes, in a preferred example, the number of the mechanical leg assemblies 20 is six, the six mechanical leg assemblies 20 and one end connected with the frame 13 are arranged in a hexagonal symmetry mode, and the number of the wheel retraction devices 30 is matched with the number of the mechanical leg assemblies 20.
Specifically, as shown in fig. 1 and fig. 2, the mechanical leg assembly 20 includes a walking foot end 1 and a power telescopic device, a support plate 21 is disposed on the frame 13, one end of the power telescopic device is movably engaged with the walking foot end 1 through a first connecting member 22, and the other end of the power telescopic device is mounted on the support plate 21. In a preferred embodiment, the power expansion device includes a first expansion mechanism, a second expansion mechanism and a third expansion mechanism, forming a three-degree-of-freedom parallel platform.
Further, as shown in fig. 2, the first telescoping mechanism includes a first UPS branch lower end link 2, a second connecting member 25 and a first UPS branch upper end link 12, one end of the first UPS branch lower end link 2 is movably engaged with the first connecting member 22, the other end of the first UPS branch lower end link 2 extends from one end of the first UPS branch upper end link 12 to the inside of the first UPS branch upper end link 12 and is drivingly connected to the first UPS branch upper end link 12, and the other end of the first UPS branch upper end link 12 is movably engaged with the support plate 21 through the second connecting member 25; the second telescopic mechanism comprises a second UPS branched chain lower end connecting rod 3, a third connecting piece 26 and a second UPS branched chain upper end connecting rod 11, one end of the second UPS branched chain lower end connecting rod 3 is movably matched with the first connecting piece 22, the other end of the second UPS branched chain lower end connecting rod 3 extends into the interior of the second UPS branched chain upper end connecting rod 11 from one end of the second UPS branched chain upper end connecting rod 11 and is in driving connection with the second UPS branched chain upper end connecting rod 11, and the other end of the second UPS branched chain upper end connecting rod 11 is movably matched with the supporting plate 21 through the third connecting piece 26; the third telescopic mechanism comprises a UP branched chain lower end connecting rod 4, a fourth connecting piece 27 and a UP branched chain upper end connecting rod 10, wherein one end of the UP branched chain lower end connecting rod 4 is connected with the walking foot end 1, and in a preferred embodiment, the UP branched chain lower end connecting rod 4 is tightly connected with the walking foot end 1. The other end of the UP branched chain lower end connecting rod 4 extends into the UP branched chain upper end connecting rod 10 from one end of the UP branched chain upper end connecting rod 10 and is in driving connection with the UP branched chain upper end connecting rod 10, and the other end of the UP branched chain upper end connecting rod 10 is in movable fit with the supporting plate 21 through a fourth connecting piece 27.
Furthermore, in a preferred embodiment, the first connecting bracket 23 and the second connecting bracket 24 are both hinged; the first connecting part 22 adopts a spherical hinge, and the second connecting part 25, the third connecting part 26 and the fourth connecting part 27 respectively adopt a Hooke hinge.
Specifically, U, P, S respectively represents a hooke hinge, a sliding pair and a ball hinge, and the first telescoping mechanism, the second telescoping mechanism and the third telescoping mechanism in the present invention respectively adopt P pairs of linear motion modes, for example, in the motion control of the first UPS branched chain lower end link (2) and the first UPS branched chain upper end link (12) in the first telescoping mechanism, the first UPS branched chain upper end link (12) can drive the first UPS branched chain lower end link (2) to retract into the first UPS branched chain upper end link (12) or extend out from the first UPS branched chain upper end link (12) to finally achieve the effect of extending or shortening the first telescoping mechanism.
Further, as shown in fig. 3, the hooke hinge of the present invention is a split hooke hinge, and includes an upper forked hinge seat 31, a lower forked hinge seat 32, a tip block 33, and four ejector pins, wherein two pairs of opposite outer surfaces of the tip block 33 are respectively provided with a conical tip hole, and the small diameter ends of each two conical tip holes are opposite and the center lines thereof coincide; the four thimbles are respectively in threaded connection with the side walls of the forked bodies of the upper and lower forked hinge seats, and the conical head parts of the thimbles are respectively arranged in the conical tip holes of the tip block 33. The two-dimensional relative rotation is realized by two transmission pairs formed by four ejector pins and an ejector pin block 33, so that the upper fork-shaped hinge seat 31 rotates along two independent axes relative to the lower fork-shaped hinge seat 32.
Specifically, the wheel retraction device 30 includes a wheel connecting member 5, a wheel motor 6, a wheel 7, a transmission rod 8, a wheel retraction driving motor 9, a first connecting bracket 23 and a second connecting bracket 24, one end of the first connecting bracket 23 is installed at the lower end of the UP branched chain upper end connecting rod 10, one end of the wheel connecting member 5 is rotatably connected to the other end of the first connecting bracket 23, the wheel motor 6 is installed at one side of the other end of the wheel connecting member 5, one end of the transmission rod 8 is movably matched with the other side of the other end of the wheel connecting member 5, the other end of the transmission rod 8 is in driving connection with the wheel retraction driving motor 9, the wheel retraction driving motor 9 is installed at the upper end of the UP branched chain upper end connecting rod 10 through the second connecting bracket 24, and the wheel 7 is installed on an output shaft of the wheel motor 6.
Specifically, the lower end connecting rod 2 of the first UPS branched chain, the lower end connecting rod 3 of the second UPS branched chain and the lower end connecting rod 4 of the UP branched chain can extend out of or retract into the upper end connecting rod 12 of the first UPS branched chain, the upper end connecting rod 11 of the second UPS branched chain and the upper end connecting rod 10 of the UP branched chain respectively, so that the distance between the walking foot end 1 and the rack 13 can be adjusted.
Further, when the lower end connecting rod 2 of the first UPS branched chain, the lower end connecting rod 3 of the second UPS branched chain and the lower end connecting rod 4 of the UP branched chain respectively extend out of the upper end connecting rod 12 of the first UPS branched chain, the upper end connecting rod 11 of the second UPS branched chain and the upper end connecting rod 10 of the UP branched chain, the transmission rod 8 retracts into the wheel retraction driving motor 9 and enters a foot type motion mode; when the lower end connecting rod 2 of the first UPS branched chain, the lower end connecting rod 3 of the second UPS branched chain and the lower end connecting rod 4 of the UP branched chain are respectively retracted into the upper end connecting rod 12 of the first UPS branched chain, the upper end connecting rod 11 of the second UPS branched chain and the upper end connecting rod 10 of the UP branched chain, the transmission rod 8 enters a wheel type movement mode when extending out of the wheel retraction driving motor 9.
Specifically, the UP branch chain upper end connecting rod 10, the second UPs branch chain upper end connecting rod 11, and the first UPs branch chain upper end connecting rod 12 can respectively adopt a plurality of driving methods, in a preferred example, a motor drive is adopted, and in a variation, an air pressure drive is adopted; in another variant, a hydraulic drive is used.
Specifically, in a preferred embodiment, the transmission rod 8 is connected with the wheel connecting piece 5 through a hinge, the transmission rod 8 is connected with the wheel retraction driving motor 9 through a screw pair, a screw driving mode is adopted, the screw pair connection can control retraction of wheels and has a self-locking characteristic, and the wheel retraction device of the robot cannot fail in a wheel type motion mode;
specifically, the walking foot end 1 is of a hemispherical structure, and the walking foot end 1 is made of solid rubber, so that the friction force between the walking foot end 1 and the ground can be increased.
Specifically, force sensors are respectively arranged on the UP branch chain upper end connecting rod 10, the second UPs branch chain upper end connecting rod 11, and the first UPs branch chain upper end connecting rod 12, and can detect corresponding bearing conditions of the three branch chains.
The invention adopts a parallel mechanism six-wheel-foot mobile robot. The robot can walk in a foot type manner under the condition that the wheels 7 are folded, is a six-foot parallel robot, and can realize the movement of complex terrains under the condition of large load of the robot. The six mechanical legs are arranged in a hexagonal symmetrical mode relative to the rack 13, a strict positive direction is not formed, and the robot takes any direction as a forward moving positive direction. The wheel-type walking can be carried out under the condition that the wheels 7 are placed, and different wheel-type walking modes can be adopted for different six-wheel arrangement modes, for example, a turning frame and driving wheel separation structure moving mode in an automobile mode or a differential moving mode in which six wheels are uniformly arranged can be adopted to meet different terrain movement requirements.
The parallel mechanical leg is formed by connecting two UPS mechanism branched chains and one UP mechanism branched chain in parallel, the hemispherical walking foot end 1 of each mechanical leg is a three-degree-of-freedom end effector which moves relative to a rack 13, and the three-degree-of-freedom motion of the hemispherical walking foot end 1 is driven through telescopic control of three P pairs on each mechanical leg, so that the spatial movement of the walking foot end 1 is realized, the foot end track is further controlled, and the leg motion of the robot is realized. And three P pairs of active inputs are arranged on each leg to completely decouple the spatial three degrees of freedom, and the spatial three degrees of freedom motion of the mechanical legs can be realized by controlling the length expansion change of the three P pairs. The retraction of the wheel device can be controlled by controlling the rotation of the wheel retraction driving motor 9, so that the conversion between the wheel type motion state and the foot type motion state of the robot is realized.
In one embodiment of the invention, the robot body operation space is as follows: 1300 mm × 600 mm; the variation range of the effective length of the P pair in the two UPS branched chains and the UP branched chains is 350-600 mm, the maximum step length of the robot during foot type walking is 300mm, the maximum bearing capacity is 500kg, the climbing capacity is 30 degrees, and the obstacle crossing height is 0.5 m.
The working principle of the invention is as follows:
When the robot is in a foot type motion mode, the wheel retraction driving motor 9 is started to rotate so that the wheel motor 6 on each leg is retracted, so that the wheels 7 cannot interfere with the ground in the foot type motion mode, and the wheel retraction driving motor 9 and the wheel motor 6 are locked. The spatial three-degree-of-freedom motion of the hemispherical walking foot end 1 relative to the rack 13 under a specific gait is resolved into eighteen P pairs of displacement control of six legs through an inverse solution algorithm of a parallel three-degree-of-freedom mechanism, and then the foot end is driven to move according to a given track by controlling the telescopic motion on the P pairs, so that a foot type motion effect is achieved, and complex motions such as linear walking, pivot steering, jumping and the like can be performed.
When the robot is in a wheel type motion mode, the wheel retraction driving motor 9 is started to rotate so that the wheel motor 6 on each leg is retracted, and therefore the wheels 7 are enabled to be in contact with the ground in a foot type motion mode. The P pairs of telescopic motion on each leg is controlled to ensure that the hemispherical walking foot end 1 can not contact the ground in the wheel type motion mode. The rotation speed of the wheel motor 6 on each leg is controlled to control the moving direction and speed of the robot. In the moving process of the robot, steering control, wheel track adjustment, wheel base adjustment and machine body height adjustment can be achieved by controlling the pose of six parallel mechanical legs, in addition, active suspension vibration isolation can be performed on legs, and machine body posture stability maintenance under uneven road conditions is achieved.
The parallel three-degree-of-freedom mechanism is adopted, the mechanical rigidity is high, and the requirement for large bearing capacity can be met; the parallel mechanical structure is adopted, the serial relation among joints is avoided, the position error accumulation defect in the serial mechanism is avoided, the inverse solution of the P pair expansion and contraction quantity corresponding to the pose of the stander at the hemispherical foot end is determined and unique, the control precision is high, and the stability is strong; the wheel device can be folded and unfolded so as to ensure that the wheels are not contacted with the ground in a foot type movement mode, and the wheels are perfectly attached to the ground in a wheel type movement mode, so that the invalid abrasion to the wheels in the foot type movement mode can be effectively reduced; the wheel motor 6 is directly connected with the wheel 7, so that intermediate transmission links are reduced, and mechanical loss caused by transmission is greatly reduced; the P pair of linear drives is provided with a corresponding sensor, and the corresponding bearing conditions of the three branched chains can be read, so that the active vibration reduction of the mechanical leg in the wheel type mode is realized.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, are not to be construed as limiting the present application.
The foregoing description has described specific embodiments of the present invention. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (7)
1. A UP and UPS based parallel linkage wheel-foot mobile robot is characterized by comprising a frame (13) and a plurality of mechanical leg assemblies (20);
a wheel retraction device (30) is arranged on the mechanical leg assembly (20), one end of the mechanical leg assembly (20) is movably matched with the rack (13), and the other end of the mechanical leg assembly (20) is a free end;
the robot comprises a wheeled motion mode and a foot type motion mode, and can be switched between the wheeled motion mode and the foot type motion mode according to different scenes;
the mechanical leg assembly (20) comprises a walking foot end (1) and a power telescopic device, and a support plate (21) is arranged on the rack (13);
one end of the power telescopic device is movably matched with the walking foot end (1) through a first connecting piece (22), and the other end of the power telescopic device is arranged on the supporting plate (21);
The power telescopic device comprises a first telescopic mechanism, a second telescopic mechanism and a third telescopic mechanism;
the first telescopic mechanism comprises a first UPS branched chain lower end connecting rod (2), a second connecting piece (25) and a first UPS branched chain upper end connecting rod (12), one end of the first UPS branched chain lower end connecting rod (2) is movably matched with the first connecting piece (22), the other end of the first UPS branched chain lower end connecting rod (2) extends to the inside of the first UPS branched chain upper end connecting rod (12) from one end of the first UPS branched chain upper end connecting rod (12) and is in driving connection with the first UPS branched chain upper end connecting rod (12), and the other end of the first UPS branched chain upper end connecting rod (12) is movably matched with the supporting plate (21) through the second connecting piece (25);
the second telescopic mechanism comprises a second UPS branched chain lower end connecting rod (3), a third connecting piece (26) and a second UPS branched chain upper end connecting rod (11), one end of the second UPS branched chain lower end connecting rod (3) is movably matched with the first connecting piece (22), the other end of the second UPS branched chain lower end connecting rod (3) extends to the inside of the second UPS branched chain upper end connecting rod (11) from one end of the second UPS branched chain upper end connecting rod (11) and is in driving connection with the second UPS branched chain upper end connecting rod (11), and the other end of the second UPS branched chain upper end connecting rod (11) is movably matched with the supporting plate (21) through the third connecting piece (26);
The third telescopic mechanism comprises a UP branched chain lower end connecting rod (4), a fourth connecting piece (27) and a UP branched chain upper end connecting rod (10), one end of the UP branched chain lower end connecting rod (4) is connected with the walking foot end (1), the other end of the UP branched chain lower end connecting rod (4) extends into the UP branched chain upper end connecting rod (10) from one end of the UP branched chain upper end connecting rod (10) and is in driving connection with the UP branched chain upper end connecting rod (10), and the other end of the UP branched chain upper end connecting rod (10) is in movable fit with the supporting plate (21) through the fourth connecting piece (27);
the wheel folding and unfolding device (30) comprises a wheel connecting piece (5), a wheel motor (6), a wheel (7), a transmission rod (8), a wheel folding and unfolding driving motor (9), a first connecting bracket (23) and a second connecting bracket (24);
one end of the first connecting support (23) is arranged at the lower end of the connecting rod (10) at the upper end of the UP branched chain, one end of the wheel connecting piece (5) is rotatably connected with the other end of the first connecting support (23), the wheel motor (6) is arranged on one side of the other end of the wheel connecting piece (5), one end of the transmission rod (8) is movably matched with the other side of the other end of the wheel connecting piece (5), the other end of the transmission rod (8) is in driving connection with the wheel retraction driving motor (9), and the wheel retraction driving motor (9) is arranged at the upper end of the connecting rod (10) at the upper end of the UP branched chain through the second connecting support (24);
The wheels (7) are arranged on an output shaft of the wheel motor (6).
2. The UP and UPS based parallel configuration wheel foot mobile robot according to claim 1, wherein the number of the mechanical leg assemblies (20) is six, and the six mechanical leg assemblies (20) are arranged in a hexagonal symmetry at the end connected with the frame (13);
the number of the wheel retraction devices (30) is matched with the number of the mechanical leg assemblies (20).
3. The UP and UPS based parallel linkage mechanism wheel foot mobile robot according to claim 1, wherein the UP branched chain upper link (10), the second UPS branched chain upper link (11) and the first UPS branched chain upper link (12) respectively adopt any one of the following driving modes:
-a pneumatic drive;
-a hydraulic drive;
-a motor drive.
4. The UP and UPS based parallel coupling mechanism wheel-foot mobile robot according to claim 1, wherein the first connecting bracket (23) and the second connecting bracket (24) both adopt hinges;
the transmission rod (8) is connected with the wheel connecting piece (5) through a hinge;
the transmission rod (8) is connected with a wheel retraction driving motor (9) through a screw pair;
The first connecting piece (22) adopts a spherical hinge;
the second connecting piece (25), the third connecting piece (26) and the fourth connecting piece (27) are Hooke hinges respectively.
5. The UP and UPS based parallel coupling mechanism wheel foot mobile robot according to claim 1, wherein the walking foot end (1) is of a hemispherical structure, and the walking foot end (1) is made of solid rubber.
6. The UP and UPS based parallel linkage mechanism wheel foot mobile robot according to claim 1, wherein force sensors are respectively arranged on the UP branch chain upper end connecting rod (10), the second UPS branch chain upper end connecting rod (11) and the first UPS branch chain upper end connecting rod (12).
7. The UP and UPS based parallel linkage mechanism wheel-foot mobile robot is characterized in that when the robot is in a foot type motion mode, a wheel retraction driving motor (9) is started to rotate to retract a wheel motor (6) on a power expansion device and lock the wheel retraction driving motor (9) and the wheel motor (6), the robot outputs spatial three-degree-of-freedom motion of a walking foot end (1) relative to a rack (13) under a preset gait into displacement control of six power expansion devices through calculation, and then drives the foot end to move according to a given track through controlling the expansion motion of a first expansion mechanism, a second expansion mechanism and a third expansion mechanism to achieve a foot type motion effect, wherein the foot type motion mode comprises straight walking, in-situ steering and jumping motion;
When the robot is in a wheel type motion mode, a wheel retraction driving motor (9) is started to rotate so that a wheel motor (6) on a power telescopic device is put down to enable wheels (7) to be in contact with the ground, telescopic motions of a first telescopic mechanism, a second telescopic mechanism and a third telescopic mechanism on each power telescopic device are controlled so as to ensure that a walking foot end (1) cannot be in contact with the ground in the wheel type motion mode, the rotating speed of the wheel motor (6) on each power telescopic device is controlled so as to control the motion direction and speed of the robot, and steering control, wheel distance adjustment and machine body height can be achieved by controlling the pose of six parallel power telescopic devices in the motion process of the robot.
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| CN112407094B (en) * | 2020-11-23 | 2021-11-16 | 武汉理工大学 | Walking wheel capable of retracting and supporting feet |
| CN113371094B (en) * | 2021-08-02 | 2022-08-23 | 中国人民解放军国防科技大学 | Wheel-foot type robot leg mechanism and wheel-foot type robot |
| CN114379669B (en) * | 2021-12-31 | 2022-12-27 | 德清县浙工大莫干山研究院 | Reconfigurable four-footed mobile platform |
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