CN104986240A - Linear driving walking robot leg structure and parallel four-footed walking robot - Google Patents

Abstract

The invention provides a linear driving walking robot leg structure which comprises a leg stretching and retracting mechanism, a parallel drive mechanism and a linear drive mechanism. The linear drive mechanism is connected with the parallel drive mechanism in a driving manner and the parallel drive mechanism is connected with the leg stretching and retracting mechanism in a driving manner. The invention further provides a parallel four-footed walking robot with the linear driving walking robot leg structure and has the beneficial effects that the mass of legs is low, rotational inertia is small, and electronic elements such as a driver and a sensor can be conveniently protected. The purposes of protection and maneuverability of the robot walking under the operation conditions of complex terrain and the severe environment are achieved.

Description

Linear-driven walking robot leg configuration and parallel quadruped walking robot

technical field

The invention relates to the technical field of robots, in particular to a linearly driven walking robot leg configuration and a parallel quadruped walking robot which are convenient for protection.

Background technique

The biggest difference between legged robots and wheeled robots and tracked robots is that legged robots have higher maneuverability, and they are more suitable for performing tasks in complex terrain, especially in areas where disasters occur, such as: earthquakes, Fire, poisonous gas leakage in the factory area, etc., ordinary equipment cannot effectively and quickly transport detection and rescue equipment to the destination. Legged robots (walkers) with high obstacle-surmounting ability are more suitable for being dispatched to these places for work. Therefore, it has important practical significance for the research of military and civilian legged robots.

Legged robots should have two very important characteristics in complex working environments: mobility and protection. Due to the complex terrain, the legs of the robot should be very flexible in order to adapt to the terrain. This requires a robot with a low leg mass and low moment of inertia. On the other hand, due to working in harsh environments, the protection requirements for electronic components such as drivers and sensors are relatively high. Conventional tandem-legged robots are difficult to achieve better protection due to the drivers and corresponding sensors installed on the legs. At the same time, this also increases the mass of the lower position of the legs, increases the moment of inertia of the legs of the robot, and reduces the mobility of the legs.

On the other hand, the drive power requirements of conventional robot legs vary greatly. For example, during walking, the knee joint requires a larger power drive, while the hip joint requires less power. This brings certain inconvenience to the manufacturing cost of the robot and the type selection of the drive. In order to solve these two problems, it is necessary to design from the basic problem of the leg configuration of the robot.

To sum up, the leg design of conventional walkers may lead to problems such as large moment of inertia of robot legs, difficult protection of drive and electronic devices, and uneven distribution of drive power. In order to cope with the complex working environment, the leg configuration of the robot needs to be redesigned.

Contents of the invention

For the above-mentioned deficiencies existing in the prior art, the object of the present invention is to provide a kind of straight-line driven walking robot leg configuration and parallel quadruped walking robot, to solve the problem that the moment of inertia of the legs of the existing walker (legged robot) is relatively large. , drive and electronic devices are not easy to protect and the drive power distribution is uneven and other issues.

In order to achieve the above object, the present invention is achieved through the following technical solutions.

According to one aspect of the present invention, a linear-driven walking robot leg configuration is provided, including: a leg extension mechanism, a parallel drive mechanism, and a linear drive mechanism; the linear drive mechanism is drivingly connected to the parallel drive mechanism, and the The parallel driving mechanism is driven and connected with the leg telescoping mechanism; wherein:

The telescoping mechanism of the legs comprises: a side swing block 1, a swing rod 2, a transmission rod a3, a transmission rod b6, a calf rod 4 and a foot rod 5, wherein the side swing block 1 passes through the rotation axis of the side swing block 1 The rotating hinge b arranged orthogonally is connected with the swing rod 2 to realize the front and rear swing of the telescoping mechanism of the legs. The swing rod 2 is respectively connected with the transmission rod a3 and the transmission rod b6 through the rotation hinge c and the rotation hinge d, and the transmission rod a3 and transmission rod b6 are connected to the calf rod 4 through the rotary hinge e and the rotary hinge f respectively, and the calf rod 4 is connected to the foot rod 5 through a spring telescopic mechanism;

The parallel driving mechanism includes: a driving head 7, a universal joint 8, a driving rod a9, a driving rod b10, a driving rod c11, a rotating assembly a12 and a rotating assembly b13, wherein the driving head 7 and the universal joint 8 are respectively Three, three driving heads 7 are respectively connected to the driving rod a9, the driving rod b10 and the driving rod c11 through the corresponding universal joints 8, and the driving rod b10 and the driving rod c11 are connected to the driving rod a9 through the rotating assembly a12, so The driving rod a9 is connected with the transmission rod b6 of the leg telescoping mechanism through the rotating assembly b13, and drives the leg telescoping mechanism to move;

The linear drive mechanism includes three sets of linear drive components 14, and the three sets of linear drive components 14 are respectively connected with the three drive heads 7 of the parallel drive mechanism, and drive the three drive heads 7 to move up and down in a straight line.

Preferably, both the rotating assembly a12 and the rotating assembly b13 adopt any of the following structures:

-comprising three rotating hinges connected in sequence g, the rotation centers of the three rotating hinges intersect at one point;

-Uses a ball joint.

Preferably, said universal joint 8 comprises two orthogonal rotating hinges h.

Preferably, the end of the foot rod 5 forms a toe structure, and the toe structure has three-dimensional motion outputs of front and rear, left and right, and up and down.

Preferably, the toe structure adopts a circular structure.

Preferably, the linear drive component 14 adopts any of the following forms:

- hydraulic cylinder drive;

-Rotary motor drives lead screw drive;

- Linear motor drive.

According to another aspect of the present invention, a parallel quadruped walking robot is provided, including a body frame V and four above-mentioned linearly driven walking robot leg configurations arranged on the body frame V, and the four linearly driven leg configurations are provided. The side swing block 1 of the leg configuration of the walking robot is arranged symmetrically or in the same direction under the body frame V through the rotating hinge a, so as to realize the left and right swing of the leg telescopic mechanism of the leg configuration of the walking robot driven by a straight line. The parallel driving mechanism and the linear driving mechanism are arranged above the body frame V respectively.

Working principle of the present invention is:

The toe structure of each leg telescoping mechanism has three-dimensional motion capabilities of front and rear, left and right, and up and down. Correspondingly, the three orthogonal revolving pairs or spherical joints (rotating assembly b13) connected with the driving rod a9 on the transmission rod b6 also It has the ability to move in three dimensions in space, and realizes the movement control of the toe structure by controlling the movement of the rotating assembly b13; connected with the rotating assembly b13 is a three-branched parallel drive mechanism, including the drive head 7, the universal joint 8, Drive rod a9, drive rod b10, drive rod c11, rotating assembly a12; linear drive part 14 drives drive head 7 to move up and down by providing linear drive force, and the three members of each leg configuration (leg telescoping mechanism, parallel drive mechanism and linear drive mechanism) realize the spatial three-dimensional motion output of the foot bar (5) through coordinated motion.

The straight-line driven walking robot leg configuration and the parallel quadruped walking robot that are convenient to realize drive protection provided by the present invention adopt a body frame, four leg configurations of the same configuration, four identical parallel drive mechanisms, and each Each leg has three linear drive components. The toe structure realizes various walking trajectories through the coordinated movement of the parallel drive mechanism, the linear drive mechanism and the leg telescopic mechanism.

Compared with the prior art, the present invention has the following beneficial effects:

1. The present invention controls the three-dimensional space movement of the leg telescopic mechanism by driving the parallel drive mechanism above the legs. Compared with the conventional leg structure, the leg telescopic mechanism provided by the present invention has no driving device. By optimizing the structure and material properties , which can minimize the mass and moment of inertia of the leg telescopic mechanism and improve the maneuverability of the robot.

2. In the present invention, the drivers are concentrated on the body, which is convenient for unified protection. In a complex working environment, the robot has a higher protection safety level, and the operation reliability is higher in a dangerous environment; the power of each driver is equivalent, and it can be designed and manufactured. Use the same driver.

3. The lower leg rods of each leg telescopic mechanism will be connected to the foot rod 5 through springs and telescopic devices, so that each leg telescopic mechanism has the function of cushioning and shock absorption.

4. The toe structure of the foot bar 5 has a circular structure to adapt to different terrains, and at the same time, flexible materials are used to reduce impact.

5. The linear driving part provides linear driving force to drive the driving head. The specific realization can be realized by hydraulic cylinder, or by rotating motor, screw drive, or directly driven by linear motor. The structure is simple and easy to realize.

6. The invention has the advantages of light weight of the legs, small moment of inertia, and convenient protection of electronic components such as drivers and sensors.

7. The present invention solves the problems of protection and maneuverability for the robot to walk under the working conditions of complex terrain and harsh environment.

Description of drawings

Other characteristics, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

Fig. 1 is the structural representation of the walking robot leg configuration of linear drive of the present invention;

Fig. 2 is a structural schematic diagram of a parallel quadruped walking robot of the present invention.

In the figure: 1 is the side swing block, 2 is the swing rod, 3 is the transmission rod a, 4 is the calf rod, 5 is the foot rod, 6 is the transmission rod b, 7 is the driving head, 8 is the universal joint, 9 is Drive rod a, 10 is drive rod b, 11 is drive rod c, 12 is rotating assembly a, 13 is rotating assembly b, 14 is linear drive part, I is linear drive mechanism (front), II is linear drive walking robot Leg configuration (front), III is linear drive walking robot leg configuration (rear), IV is linear drive mechanism (rear), V is body frame.

Detailed ways

The following is a detailed description of the embodiments of the present invention: this embodiment is implemented on the premise of the technical solution of the present invention, and provides detailed implementation methods and specific operation processes. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.

Example 1

This embodiment provides a linear drive walking robot leg configuration, including: a leg expansion mechanism, a parallel drive mechanism and a linear drive mechanism; the linear drive mechanism is connected to the parallel drive mechanism, and the parallel drive mechanism is connected to the parallel drive mechanism. Leg telescopic mechanism drive connection; where:

The side swing block 1 is connected to the swing rod 2 through the rotation hinge b arranged orthogonally to the rotation axis of the side swing block 1, so as to realize the front and rear swing of the swing rod 2; The transmission rod b6 links to each other, and the transmission rod a3 and the transmission rod b6 link to each other with the calf rod 4 through the rotating hinge e and the rotating hinge f respectively, and the calf rod 4 links to each other with the foot rod 5 through a spring telescopic mechanism. The toe structure of the robot has the ability of arbitrary movement in three-dimensional space. There are three groups of linear driving parts 14, which provide driving force and drive the three driving heads 7 to move up and down in a straight line. The driving head 7 is respectively connected to the driving rod a9, the driving rod b10 and the driving rod c11 through two orthogonal rotating hinges (universal joints 8); A one-point rotary hinge g or a ball joint hinge (rotation assembly a12) is connected to the drive rod a9; the drive rod a9 passes through three rotation centerlines intersecting at one point rotation hinge g or a ball joint hinge (rotation assembly b13) Connected to the transmission rod b6 to drive the legs to move.

Example 2

This embodiment provides a parallel quadruped walking robot, including a body frame V and four linearly driven walking robot leg configurations provided in Embodiment 1 arranged on the body frame V, and the four linearly driven walking robots The side swing block 1 of the robot leg configuration is arranged symmetrically or in the same direction under the body frame V by rotating the hinge a, so as to realize the left and right swing of the leg telescopic mechanism of the walking robot leg configuration driven by a straight line; The driving mechanism and the linear driving mechanism are arranged above the body frame V respectively.

The present embodiment will be described in detail below in conjunction with the accompanying drawings.

The side swing block 1 is connected with the body frame V through the rotating hinge a to realize the left and right swing of the telescopic mechanism of the legs, and is connected with the swing rod 2 through another rotating hinge b arranged orthogonally to realize the front and rear swing of the swing rod 2; 2 The transmission rod a3 and the transmission rod b6 are respectively connected through the rotating hinge c and the rotating cheap d, and the transmission rod a3 and the transmission rod b6 are connected with the lower leg rod 4 through the rotating hinge e and the rotating hinge f, and the lower leg rod 4 is connected by a spring telescopic mechanism and The foot bar 5 is connected. In this way, the toe structure at the end of the foot rod 5 has the ability to move freely in three-dimensional space. There are three groups of linear driving parts 14, which provide driving force and drive the three driving heads 7 to move up and down. The driving head 7 is respectively connected to the driving rod a9, the driving rod b10 and the driving rod c11 through two orthogonal rotating hinges (universal joints 8); A hinge or a ball pair (rotating assembly a12) is connected to the driving rod a9; the driving rod a9 is connected to the transmission rod b6 through a rotating hinge with three axes intersecting at one point or a ball pair (rotating assembly b13) to drive the legs sports. Each leg configuration forms a quadruped robot as a whole with the body frame V through front-back symmetrical arrangement or arrangement in the same direction.

The core of this embodiment is to use all the linear drive mechanisms fixed above the body frame, and the leg telescopic mechanism does not have any drive devices, by driving the three-dimensional movement of the foot bar above the body:

The linear drive part 14 drives the driving head 7 to coordinate movement through the output power, and through the coordinated movement of the driving head 7, it includes the driving head 7, the universal joint 8, the driving rod a9, the driving rod b10, the driving rod c11, the rotating assembly a12 and the rotating assembly The parallel drive mechanism of the component b13 can realize the three-dimensional movement of the foot bar in space; the rotating component b13 can realize the three-dimensional movement of the leg of the robot by driving the transmission rod b6 of the telescoping mechanism of the leg.

The overall configuration of the legs of the robot formed by the combination of this embodiment has high leg maneuverability and can be suitable for working in complex terrain environments; at the same time, since the driving mechanism is completely installed above the body of the robot, it is convenient for unified protection. Therefore, robots are more suitable for working in complex and harsh working environments. Finally, the power of each driving mechanism is equivalent, which is convenient for the selection of the driver. Therefore, compared with the prior art, this embodiment solves the problem of robots operating in complex and harsh environments structurally, and the method has higher reliability and is more economical.

In summary, this embodiment controls the three-dimensional movement of the legs by driving the parallel drive mechanism above the leg telescopic mechanism. Compared with the conventional leg structure, the leg telescopic mechanism provided by this embodiment has no driving device. Optimizing the structure and material properties can minimize the mass and moment of inertia of the legs and improve the maneuverability of the robot; on the other hand, through the parallel drive mechanism, the purpose of evenly distributing the driving power of each execution unit during the walking process of the robot can be realized. Using the same driving components to drive the robot to walk reduces the design and manufacturing costs of the robot.

Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention.

Claims (7)

1. a walking robot leg configuration of linear drive, it is characterized in that, comprises: leg telescoping mechanism, parallel drive mechanism and linear drive mechanism; Described linear drive mechanism is driven and connected with parallel drive mechanism, and described parallel drive mechanism Drive connection with the leg stretching mechanism; where: The leg telescoping mechanism includes: a side swing block (1), a swing rod (2), a transmission rod a (3), a transmission rod b (6), a calf rod (4) and a foot rod (5), wherein, The side swing block (1) is connected to the swing rod (2) through the rotating hinge b arranged perpendicularly to the rotation axis of the side swing block (1), so as to realize the front and rear swing of the leg telescoping mechanism, and the swing rod (2) respectively The transmission rod a (3) and the transmission rod b (6) are connected through the rotation hinge c and the rotation hinge d, and the transmission rod a (3) and the transmission rod b (6) are respectively connected with the lower leg through the rotation hinge e and the rotation hinge f The rod (4) is connected, and the calf rod (4) is connected to the foot rod (5) through a spring telescopic mechanism; The parallel driving mechanism includes: a driving head (7), a universal joint (8), a driving rod a (9), a driving rod b (10), a driving rod c (11), a rotating assembly a (12) and a rotating assembly b (13), wherein, the drive heads (7) and the universal joints (8) are respectively three, and the three drive heads (7) are respectively connected with the drive rod a (9) through the corresponding universal joints (8) , the driving rod b (10) is connected with the driving rod c (11), the driving rod b (10) and the driving rod c (11) are connected with the driving rod a (9) through the rotating assembly a (12), and the driving The rod a (9) is connected with the transmission rod b (6) of the leg telescopic mechanism through the rotating assembly b (13), and drives the leg telescopic mechanism to move; The linear drive mechanism includes three sets of linear drive components (14), the three sets of linear drive components (14) are respectively connected with the three drive heads (7) of the parallel drive mechanism, and drive the three drive heads (7) to move up and down in a straight line . 2. the walking robot leg configuration of linear drive according to claim 1, is characterized in that, described rotating assembly a (12) and rotating assembly b (13) all adopt following any structure: -comprising three rotating hinges connected in sequence g, the rotation centers of the three rotating hinges intersect at one point; -Uses a ball joint. 3. The leg structure of the linearly driven walking robot according to claim 1, characterized in that, the universal joint (8) comprises two orthogonal rotating hinges h. 4. The walking robot leg configuration of linear drive according to claim 1, characterized in that, the end of the foot bar (5) forms a toe structure, and the toe structure has front and rear, left and right, and up and down 3D motion output. 5. The leg structure of the linearly driven walking robot according to claim 4, wherein the toe structure adopts a circular structure. 6. the walking robot leg configuration of linear drive according to claim 1, is characterized in that, linear drive part (14) adopts any of the following forms: - hydraulic cylinder drive; -Rotary motor drives lead screw drive; - Linear motor drive. 7. A parallel quadruped walking robot, characterized in that it comprises a body frame V and the leg configuration of the walking robot driven by any one of four claims 1 to 6 arranged on the body frame V , the side swing blocks (1) of the leg telescopic mechanism of the leg configuration of the four linearly driven walking robots are arranged symmetrically or in the same direction under the body frame V by rotating the hinge a, so as to realize the left and right swing of the leg telescopic mechanism, The parallel driving mechanism and the linear driving mechanism are arranged above the body frame V respectively.