CN103395457B - A kind of polypody mobile device based on hybrid drive - Google Patents
A kind of polypody mobile device based on hybrid drive Download PDFInfo
- Publication number
- CN103395457B CN103395457B CN201310273443.3A CN201310273443A CN103395457B CN 103395457 B CN103395457 B CN 103395457B CN 201310273443 A CN201310273443 A CN 201310273443A CN 103395457 B CN103395457 B CN 103395457B
- Authority
- CN
- China
- Prior art keywords
- rotating shaft
- shank
- rod
- rocking bar
- mobile
- Prior art date
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- 241000592274 Polypodium vulgare Species 0.000 title claims abstract description 24
- 210000002414 Leg Anatomy 0.000 claims abstract description 66
- 210000001699 lower leg Anatomy 0.000 claims abstract description 53
- 210000001513 Elbow Anatomy 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 12
- 239000000463 materials Substances 0.000 claims description 3
- 101710080676 homeobox protein PITX1 Proteins 0.000 claims description 2
- 230000005021 gait Effects 0.000 abstract description 9
- 230000001276 controlling effects Effects 0.000 abstract description 4
- 210000002683 Foot Anatomy 0.000 description 13
- 230000001105 regulatory Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000000034 methods Methods 0.000 description 3
- 230000003044 adaptive Effects 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 2
- 238000005516 engineering processes Methods 0.000 description 2
- RZVAJINKPMORJF-UHFFFAOYSA-N p-acetaminophenol Chemical compound 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- 280000400222 Jungle companies 0.000 description 1
- JWDYCNIAQWPBHD-UHFFFAOYSA-N Mephenesin Chemical compound 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Abstract
Description
Technical field
The present invention relates to bionical mobile platform technical field, specifically a kind of hybrid drive that adopts is as the polypody mobile device of leg structure.
Background technology
In the fields such as military affairs, exploration and rescue, traditional crawler belt and wheeled mobile device are subject to larger restriction in complex-terrain application scenarios such as high mountain, jungle, wastelands, and bionical sufficient formula mobile device has better maneuverability, stronger compatible with environment due to it, thus have broad application prospects.In sufficient formula mobile device research in the past, major part adopts the leg structure based on fisher's formula serial mechanism, makes it have the controlled alerting ability of good multiple degree of freedom.Such as, " BigDog " and " LittleDog " of BostonDynamics company of the U.S., " StarlETH " of Switzerland ETH, " Scorpoin " eight sufficient robots for celestial body's exploration etc. of U.S. NASA, it is all the leg structure design adopting open chain multiple degree of freedom serial mechanism, there is good landform comformability, can various complex-terrain be passed through.But, the joint of fisher's formula serial mechanism mostly needs servo drive system, driveability requires high, control algorithm is complicated simultaneously, servo stiffness is high, and actuator needs to carry out crank motion frequently, along with swing of leg frequency increases, actuator frequent rotating switches the impact that brings and waste of power increases greatly, and this just constrains the moving velocity of such sufficient formula mobile device and mobile efficiency greatly.Therefore, improve speed and the efficiency of sufficient formula mobile device, obtain the important development trend that Zu Shi travel mechanism that is high-effect, quick travel becomes the research of current legged type robot.
Current, the research that raising legged type robot moves efficiency also exists multiple different Research Thinking.A kind of is on legged type robot, add the compound that wheeled mobile device carries out multiple move mode, " HYBTOR " as Harbin Institute of Technology takes turns " ATHLETE " six biped robot of leg quadruped robot, U.S. NASA, robot adopts sufficient formula to walk by bumpy terrain environment, adopt wheeled quick travel of carrying out smooth ground, in the raising that mobile efficiency obtains to a certain extent simultaneously.But the compound of sufficient formula and wheeled locomotion mechanism, improves mechanical complications and cost price on the one hand, reduces system reliability; Add the resistance under the complex-terrains such as mire marsh, rock slit, weeds and desert on the other hand, have impact on the landform comformability of robot to a certain extent.And another kind of Research Thinking to be reciprocally swinging by being driven by leg change into continuous print rotary motion, avoid the frequent rotating of actuator to switch, thus improve moving velocity and efficiency.BostonDynamics " RHex " six biped robot adopt simple circular arc leg, realize sufficient formula by the continuous rotation of circular arc leg to move, obtain higher mobile efficiency, in the environment such as meadow, mire, stone riprap, there is good applicability, but it abandons in fact high center of gravity obstacle crossing function and the leg dexterous actions ability of legged type robot; The motion of the continuous rotation of crank, as leg structure, is converted to the reciprocally swinging of leg, thus realizes the efficient movement of robot by the connecting rod mechanism that " Strandbeests " of TheoJansen and " WaterRunner " of the U.S. then adopts crank to drive.Wherein, " Strandbeests " can use sea wind to carry out seabeach walking, and " WaterRunner " then can run fast on the water surface.But owing to only having fixing foot end track, the leg structure of the piston crank mechanism of single degree of freedom does not possess the comformability of complex-terrain.
Summary of the invention
The technology of the present invention is dealt with problems: overcome prior art deficiency, provides a kind of polypody mobile device based on hybrid drive, realizes gait fast and efficiently and swings, thus realize the efficient walking of mobile device and run; Realize controlling flexibly simultaneously, and then realize the comformability of mobile device to complex-terrains such as hillside, meadow, hollows.
The object of the invention is to be achieved through the following technical solutions: a kind of polypody mobile device based on hybrid drive, is made up of body 1 and multiple combination drive leg structure 2; Described combination drive leg structure 2 is installed on body 1, described each combination drive leg structure 2 comprises pedestal 5, main drive motor 6, motor cabinet 7, coupler 8, crankshaft 9, crank 10, crank connecting link rotating shaft 11, transmits connecting rod 12, rocking bar rotating shaft 13, gear case rotating shaft 14, straight spur unit 15, rocking bar 16, rocking bar shank rotating shaft 17 and mid-calf cell 18, connecting rod-feed screw nut sleeve rotating shaft 19, connecting rod shank rotating shaft 20; Main drive motor 6 is installed on motor cabinet 7, motor cabinet 7 is rigidly connected on pedestal 5, crank 10, straight spur unit 15 and rocking bar 16 are installed on pedestal 5 respectively by crankshaft 9, gear case rotating shaft and rocking bar rotating shaft 13, transmit connecting rod 12 to be connected with crank 10, straight spur unit 15 and mid-calf cell 18 with connecting rod shank rotating shaft 20 respectively by crank connecting link rotating shaft 11, connecting rod-feed screw nut sleeve rotating shaft 19, rocking bar 16 is connected by rocking bar shank rotating shaft 17 with mid-calf cell 18.
Each combination drive leg structure in described multiple combination drive leg structure 2 is orthogonal to be installed in frame 1, and mounting means is outer elbow formula, interior elbow formula or parallel elbow formula; Polypody mobile device combination drive leg structure 2 more than four-footed transversely, longitudinal direction, array or annular spread on body, front and back foot simultaneously adopt outer elbow formula, interior elbow formula or parallel elbow formula distribute.
Described straight spur unit 15 comprises servomotor 21, gear case 22, motor gear 24, gear case cover 25, lead screw shaft 27, feed screw nut 29 and screw gear 34, gear case 22 is installed on pedestal 5 by gear case rotating shaft 14, gear case 22 is fixed by screw 26 with gear case cover 25, servomotor 21 fixing with gear case on and fixed by motor gear holding screw 23 and motor gear 24, motor gear 24 engages with screw gear 34, screw gear 34 is fixed by locating dowel pin 33 and lead screw shaft 27, lead screw shaft 27 passes through angular contact bearing 32 by gear 22 and gear case cover 25 axial restraint, feed screw nut 29 is affixed by screw 28 and feed screw nut sleeve 30, feed screw nut sleeve 30 is hinged by connecting rod-feed screw nut sleeve rotating shaft 19 and transmission connecting rod 12, the end that nut 31 is installed on lead screw shaft 27 is spacing to feed screw nut 29.
Described mid-calf cell 18 comprises shank top 35, recoil spring 36, shank position-limited lever 37, M8 nut 38, shank bottom 39 and vola 40; Shank top 35 respectively by connecting rod shank rotating shaft 20 and rocking bar shank rotating shaft 17 with transmit connecting rod 12 and rocking bar 16 hinged, shank top 35 coordinates with shank bottom 39 passing hole axle, can move up and down, centre is recoil spring 36, shank position-limited lever 37 is installed between shank top 35 and shank bottom 39, and two ends M8 nut 38 and vola 40 are installed on bottom shank bottom 39.
Described vola 40 is made up of vibration-absorptive material.
Dynamic duty process of the present invention is as follows: rotation is passed to crankshaft 9 by coupler 7 by main drive motor 6, crank 10 rotarily drives transmission connecting rod 12 and straight spur unit 15 swings, and then drive rocking bar and mid-calf cell to swing, realize foot end closed loop moving track bottom shank; In straight spur unit, servomotor 21 drive motor gear 24 rotates, and then drive lead screw shaft 27 to rotate by screw gear 34, thus drive feed screw nut 29 and feed screw nut sleeve 30 to carry out axial motion, thus the swing of transmitting connecting rod 12 and whole straight spur unit 15 is regulated, realize the real-time adjustment to sufficient end motion track, thus change the motion gait of polypody mobile device and carry out the pose adjustment of whole fuselage, to improve manoevreability and the landform adaptive faculty of polypody mobile device; When the kiss the earth of vola, recoil spring 36 can cushion impulsive force, and minimizing shank top is stressed.
Rotation is passed to crankshaft 9 by coupler 7 by main drive motor 6, and crank 10 rotarily drives transmission connecting rod 12 and straight spur unit 15 swings, and then drives rocking bar and mid-calf cell to swing, and realizes sufficient end motion track bottom shank; In straight spur unit, servomotor 21 drive motor gear 24 rotates, and then drive lead screw shaft 27 to rotate by screw gear 34, thus drive feed screw nut 29 and feed screw nut sleeve 30 to carry out axial motion, thus the swing of transmitting connecting rod 12 and whole straight spur unit 15 is regulated, realize the real-time adjustment to sufficient end motion track; When the kiss the earth of vola, recoil spring 36 pairs of impulsive forces cushion, and minimizing shank top is stressed.
The principle of the invention: the topology of leg structure and mobile device many legs that the present invention mainly comprises combination drive is installed; Wherein combination drive leg structure adopts multivariant combination drive closed chain connecting rod mechanism, one of them degree of freedom is the crank of unidirectional constant-speed drive, there is provided the active force of leg mechanism, all the other degree of freedom are reciprocating servocontrol degree of freedom, carry out the servo regulable control of leg mechanism.Connecting rod end points in connecting rod mechanism or epitaxial end are as the foot end of leg mechanism; Crank is driven by common high-power rotating driver (comprising heavy-duty motor, HM Hydraulic Motor, driving engine etc.), carries out unidirectional constant speed rotation, and the gait realizing whole leg link mechanism swings, and realizes foot and holds run trace; Servo-driver carries out servo-drive in sufficient formula traveling process, and the track of adjustment foot end, realizes the comformability under complex-terrain in real time.
The topology of mobile device many legs installs the layout mainly through carrying out diverse location in rigidity and flexible body to multiple combination drive leg structure module, obtain different polypody mobile device forms, realize different performances of advancing, comformability and alerting ability are kept to different landform.
The present invention's advantage is compared with prior art:
(1) the present invention adopts hybrid drive as the leg mechanism of mobile device, what the high-power common rotating power source of continuous unidirectional rotation and high-frequency are responded is effectively combined with controlling servo power input: utilize the single direction rotation driving leg portion mechanism of main power to realize gait fast and efficiently and swing, thus realize the efficient walking of mobile device and run; Utilize high frequency servo to drive the path of motion regulating leg mechanism simultaneously, realize controlling flexibly, and then realize the comformability of mobile device to complex-terrains such as hillside, meadow, hollows.
(2) combination drive leg structure of the present invention adopts modular design, is installed, can realize different mobile device configurations, obtain different Combination properties by different topologys.
Accompanying drawing explanation
Fig. 1 is the structure principle chart of hybrid drive of the present invention;
Fig. 2 is that the four-footed mobile device 3 kinds of different topologys that the present invention is based on hybrid drive are installed; Wherein a, b, c are respectively the mounting means figure of the parallel elbow formula of leg structure, interior elbow formula and outer elbow formula;
Fig. 3 is the topological erection plan of the polypody mobile device combination drive leg structure based on hybrid drive; Wherein a for laterally, b for longitudinally, c is array, d be annular carry out leg structural topology erection plan;
Fig. 4 a, Fig. 4 b, Fig. 4 c are respectively the polypody mobile device application example based on combination drive that a kind of master driver of the present invention and servo-driver are all DC machine, and wherein 4a is elbow formula in four-footed, 4b be six foots longitudinally, 4c be eight foots laterally;
Fig. 5 is the leg mechanism design drawing of four-footed mobile device application example in the present invention;
Fig. 6 is four-footed mobile device application example linear servo drive design drawing in the present invention;
Fig. 7 is four-footed mobile device application example mid-calf cell design drawing in the present invention.
Wherein in Fig. 1, Fig. 2, the unidirectional constant speed rotary of single arrow arc representation drives, and double-head arrow circular arc and straight line represent high-frequency servo-drive.In Fig. 2 and Fig. 3, thick lines are the body of mobile device.At Fig. 4, 5, in 6 and 7: 1 is mobile device body, 2 is mixed organization leg mechanism, 3 is control system protective case, 4 is laser radar, 5 is pedestal, 6 is main drive motor, 7 is motor cabinet, 8 is coupler, 9 is crankshaft, 10 is crank, 11 is crank connecting link rotating shaft, 12 for transmitting connecting rod, 13 is rocking bar rotating shaft, 14 is gear case rotating shaft, 15 is straight spur unit, 16 is rocking bar, 17 is the rotating shaft of rocking bar shank, 18 is mid-calf cell, 19 is connecting rod-feed screw nut sleeve rotating shaft, 20 is the rotating shaft of connecting rod shank, 21 is servomotor, 22 is gear case, 23 is motor gear holding screw, 24 is motor gear, 25 is gear case cover, 26 is M3 screw, 27 is lead screw shaft, 28 is M5 screw, 29 is feed screw nut, 30 is feed screw nut sleeve, 31 is M12 nut, 32 is angular contact bearing, 33 for diameter be the locating dowel pin of 4, 34 is screw gear, 35 is shank top, 36 is recoil spring, 37 is shank position-limited lever, 38 is M8 nut, 39 is shank bottom, 40 is vola.
Detailed description of the invention
As shown in Figure 1, combination drive Tui Shi mechanism is a multivariant crank-rocker mechanism, one of them degree of freedom adopts the rotary actuation (unidirectional arrow circular curve) of unidirectional constant speed, and all the other degree of freedom adopt linear servo drive or rotating servo to drive (four-headed arrow straight line or circular curve); Single direction rotation is driven through driving crank High Rotation Speed, realizes hybrid drive and does gait swing, realize rapidity and the high efficiency of mechanism; Servo-driver regulates leg on the basis of main driving, regulates foot to hold track further, makes mechanism have good alerting ability, adapts to different complicated landform.As shown in Figures 2 and 3, black heavy line represents the body of mobile device, by installing the different topology of combination drive leg mechanism, forms different mobile device form, utilize hybrid drive forward or reverse motion, make mobile device have different quick travel performances, Fig. 2 be based on hybrid drive four-footed mobile device 3 in four legs topology install, a, b, c are respectively the mounting means of the parallel elbow formula of leg structure, interior elbow formula and outer elbow formula, and simulation has the various mammiferous walking step state of different leg structure respectively, Fig. 3 represents that the topology of the combination drive leg structure mobile device of more than four-footed installs (overlooking), in figure, black arrow represents mobile device working direction, black rectangle represents combination drive leg structure plan structure, polypody mechanism can take transverse direction (in Fig. 3 a), longitudinally (b in Fig. 3), array (c in Fig. 3) or annular (d in Fig. 3) carry out the installation of leg structural topology, by stable gait plan, organize leg (often group can independently keep mobile device to stablize) to carry out alternately kiss the earth and carry out moving forward of mobile device more, polypody mobile device based on hybrid drive can obtain efficient high speed gait of march (the unidirectional high-speed driving of master driver), obtain good alerting ability and complex-terrain comformability (high frequency of servo-driver regulates) simultaneously.
Fig. 4 a represents a kind of embodiment of the motor-driven polypody mobile device based on hybrid drive entirely, and the servo-drive degree of freedom of its combination drive leg structure is 1, and adopt moving sets, position is Fig. 1 intermediate rocker position; Mobile device forms primarily of body 1 and combination drive leg structure 2, wherein Fig. 4 a is that leg structure installs the four-footed mobile device adopting the topology of Fig. 2 b to install, Fig. 4 b is the six sufficient mobile devices that leg mechanism takes longitudinally topology installation, Fig. 4 c adopts the laterally topological eight sufficient mobile devices installed, and Fig. 4 b and 4c represents that six is longitudinally sufficient and eight foots are horizontal.The scope of polypody mobile device is 4-20, no matter odd number or even number, and be described in detail for 4a below, 4b with 4b detailed description of the invention is identical with 4a.
Combination drive leg structure carries out effective vibration damping connection by the body 1 of pedestal 5 mobile device, simultaneously because the modular design (as shown in Figure 5) of leg structure, the polypody mobile device of the four-footed mobile device configuration of Fig. 2 a and Fig. 2 c and longitudinal direction, transverse direction, array and annular can realize simultaneously.In combination drive leg structure, crank 10, straight spur unit 15 and rocking bar 16 form revolute pair respectively by crankshaft 9, gear case rotating shaft 14 and rocking bar rotating shaft 13 through bearing and pedestal; Crank 10, pedestal 5, transmission connecting rod 12 and straight spur unit 15 form four bar first closed chains, crank 10 forms revolute pair by crank connecting link rotating shaft 11 through bearing with transmission connecting rod 12, and straight spur unit 15 and transmission connecting rod 12 form revolute pair by connecting rod-feed screw nut sleeve rotating shaft 19; Pedestal 5, straight spur unit 15, transmission connecting rod 12, mid-calf cell 18 and rocking bar 16 form five bar second closed chains, transmit connecting rod 12 and form revolute pair by connecting rod shank rotating shaft 20 through bearing and mid-calf cell 16, rocking bar 16 forms revolute pair by rocking bar shank rotating shaft 17 and shank.Crank 10 High Rotation Speed drives the first closed chain, realize the periodic oscillations of transmitting connecting rod 12 and straight spur unit 15, straight spur unit 16 carries out linear servo and carries out servo adjustment to the motion of the first closed chain simultaneously, the swing of fine setting straight spur unit 15 and transmission connecting rod 12; Wobble drive second closed chain of straight spur unit 15 and transmission connecting rod 12, realize the swing of mid-calf cell 18 and rocking bar 16, shank realizes the foot end track of whole combination drive leg structure by vola 40, realizes walking and runs.
Crank 10 is driven by the mair motor 6 of high-power, unidirectional constant speed rotary, mair motor 6 is fixedly installed on pedestal 5 by motor cabinet 7, simultaneously the high speed of mair motor 6 output shaft, unidirectional constant speed rotary pass to crankshaft 9 by coupler 8, thus driving crank 10 rotates, straight spur unit 15 (as shown in Figure 6) is driven by low power servo drive motor 21, servo drive motor 21 is by being installed on gear case 22, gear case 22 is rotated by gear case rotating shaft 14 and pedestal 5, motor output shaft servo rotates through motor gear 24 and passes to screw gear 34, lead screw shaft 27 is driven to move through locating dowel pin 33, lead screw shaft is carried out the transmission of axial limiting and axial force by gear case 22 and gear case cover 25 by two angular contact ball bearings 32 simultaneously, lead screw shaft 27 rotarily drives the feed screw nut sleeve 30 affixed with feed screw nut 29 and moves axially (nut 31 pairs of feed screw nuts move axially carry out spacing), first closed chain geomery changes, regulate the swing of servo straight spur unit 15 and transmission connecting rod 12, and then regulate foot to hold track, in mid-calf cell (as shown in Figure 7), shank top 35 and shank bottom 39 passing hole axle coordinate formation to do straight-line displacement, middle installation recoil spring 36, simultaneously by shank position-limited lever 37 to the mobile guiding and spacing of carrying out, shank bottom 39 is fixed by the vola 40 made from vibration-absorptive material, form impulsive force when vola kiss the earth, the impulsive force of decaying after energy absorbing is passed to shank bottom 39 by vola 40, and then pass to recoil spring 36 and carry out energy absorbing, shank top 35 receive twice weak after impulsive force, reduce ground shock to the impact of actuator.
When the quick walking or run on smooth ground of the polypody mobile device based on combination drive, straightaway is without the need to carrying out the adjustment of servo-drive; When turning, regulated the foot end track of the right and left leg by servo-drive, the height of track is inconsistent, thus realizes the velocity contrast of sufficient formula, forms turn radius and turns; When low-speed running runs into obstacle to mobile device under complex-terrain, adjust each sufficient foot end track by servo-driver, realize the adaptation of mobile device to complicated ground, cross over the small-scale obstacle; In addition, can also be identified large-scale obstacle by sensor such as laser radar 4 grade, thus turn and detour and evade.
In a word, the present invention adopts combination drive closed chain connecting rod mechanism as the leg structure of mobile device, the common rotating power source of single direction rotation and the servo-drive of high frequency response are organically combined, utilize main power single direction rotation driving leg portion mechanism to make gait to swing, realize the efficient fast speed walking of mobile device, utilize servo-drive to regulate the path of motion of leg mechanism simultaneously, realize the flexible control of motion, realize mobile device to the adaptive capacity of the landform of complexity and obstacle climbing ability.
Non-elaborated part of the present invention belongs to techniques well known.
Above content is in conjunction with concrete preferred implementation further description made for the present invention; can not assert that the specific embodiment of the present invention is only limitted to this; for general technical staff of the technical field of the invention; without departing from the inventive concept of the premise; some simple deduction or replace can also be made, all should be considered as belonging to the present invention by submitted to claims determination scope of patent protection.
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| CN103318290B (en) * | 2013-07-08 | 2016-04-06 | 北京理工大学 | Class two lateral-deviation robot crotch lateral deviation shock mitigation system |
| CN103963869A (en) * | 2014-05-14 | 2014-08-06 | 王岳林 | Elliptic gear drive walking robot and manufacturing method thereof |
| CN104149870A (en) * | 2014-06-19 | 2014-11-19 | 铜陵翔宇商贸有限公司 | Mechanical leg of bionic robot |
| CN104986245A (en) * | 2015-07-27 | 2015-10-21 | 湖州市千金宝云机械铸件有限公司 | Stable mobile robot |
| US20180370585A1 (en) * | 2016-06-08 | 2018-12-27 | Nintendo Co., Ltd. | Passive walking apparatus and passive walking module |
| CN107223104B (en) * | 2016-06-23 | 2019-02-12 | 深圳市大疆创新科技有限公司 | Multi-foot robot |
| CN107200078B (en) * | 2017-05-17 | 2019-04-23 | 上海大学 | A kind of link-type multi-foot robot |
| CN107364507B (en) * | 2017-07-23 | 2019-05-14 | 哈尔滨固诚科技有限公司 | A kind of bionical search and rescue robot platform |
| CN107364504B (en) * | 2017-07-23 | 2019-05-10 | 太原市天夫天科贸有限公司 | Wheel leg combination search and rescue robot platform |
| CN108146534A (en) * | 2018-02-13 | 2018-06-12 | 顾荣祥 | A kind of solar powered quadruped robot of environmentally friendly construction |
| CN108852741B (en) * | 2018-04-10 | 2020-08-18 | 北京空间飞行器总体设计部 | Four-bar linkage helping hand running gear |
| CN109263746A (en) * | 2018-09-17 | 2019-01-25 | 重庆大学 | Leg mechanism and its bio-robot based on double-crank compound linkages |
| CN111152860A (en) * | 2019-12-18 | 2020-05-15 | 南京涵曦月自动化科技有限公司 | Bionic foot of four-foot robot |
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