CN104986240A - Linear driving walking robot leg structure and parallel four-footed walking robot - Google Patents
Linear driving walking robot leg structure and parallel four-footed walking robot Download PDFInfo
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- CN104986240A CN104986240A CN201510332392.6A CN201510332392A CN104986240A CN 104986240 A CN104986240 A CN 104986240A CN 201510332392 A CN201510332392 A CN 201510332392A CN 104986240 A CN104986240 A CN 104986240A
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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
Technical field
The present invention relates to robotics, specifically a kind of be convenient to protect the walking robot leg configuration of linear drives and four feet walking robot in parallel.
Background technology
The maximum difference of legged mobile robot and wheeled robot and caterpillar type robot is, legged mobile robot has higher maneuverability, they are more suitable for performing job task in complex-terrain, especially in the region of sudden disaster, as: toxic gas leakages etc. in earthquake, fire, factory building district, detection, wrecking equipment all cannot be transported to destination by general apparatus effectively and rapidly.Legged mobile robot (walker) possesses higher obstacle climbing ability and is more suitable for being dispatched to these places and carries out work.Therefore, the research for military, civilian legged mobile robot has important practical significance.
Legged mobile robot, under complex job environment, should possess two very important features: manoevreability and protective capacities.Due to a varied topography, robot is in order to adaptation to the ground, and leg should be very flexible.This need the leg quality of robot and rotor inertia less.On the other hand, due to operation under rugged environment, the requirement of shelter for actuator and sensor electronic devices and components is higher.Conventional series connection robot leg has installed actuator and corresponding sensor due to leg, is difficult to realize protection preferably.Meanwhile, this also increases the quality of leg lower position, add the leg rotor inertia of robot, reduce the manoevreability of leg.
On the other hand, conventional robot leg each driving power demand size difference is comparatively large, and such as in the process of walking, knee joint needs the actuator of relatively high power, and the power that hip joint needs is less.The type selecting of this manufacturing cost for robot, driving all brings certain inconvenience.In order to solve this two problems, need to set about designing from this basic problem of leg configuration of robot.
In sum, the leg design of conventional walker may cause robot leg rotor inertia comparatively large, the problems such as driving and electronics package not easily protects, actuator power skewness.In order to tackle complex job environment, need to redesign the leg configuration of robot.
Summary of the invention
For above shortcomings in prior art, the object of the present invention is to provide a kind of walking robot leg configuration of linear drives and four feet walking robot in parallel, with solve existing walker (legged mobile robot) leg rotor inertia comparatively large, to drive and electronics package is not easy the problems such as protection and actuator power skewness.
For achieving the above object, the present invention is achieved by the following technical solutions.
According to an aspect of the present invention, provide a kind of walking robot leg configuration of linear drives, comprising: leg telescoping mechanism, parallel drive mechanism and straight line driving mechanism; Described straight line driving mechanism drives with parallel drive mechanism and is connected, and described parallel drive mechanism drives with leg telescoping mechanism and is connected; Wherein:
Described leg telescoping mechanism comprises: side-sway block 1, swing arm 2, drive link a3, drive link b6, shank bar 4 and foot bar 5, wherein, described side-sway block 1 is by being connected with swing arm 2 with the turning joint b of side-sway block 1 pivot center quadrature arrangement, realize the swing of leg telescoping mechanism, described swing arm 2 is connected with drive link b6 with drive link a3 with turning joint d respectively by turning joint c, described drive link a3 is connected with shank bar 4 with turning joint f respectively by turning joint e with drive link b6, described shank bar 4 is connected with foot bar 5 by telescopic spring mechanism,
Described parallel drive mechanism comprises: driving head 7, universal-joint 8, drive spindle a9, drive spindle b10, drive spindle c11, runner assembly a12 and runner assembly b13, wherein, described driving head 7 and universal-joint 8 are respectively three, three driving heads 7 are connected with drive spindle c11 with drive spindle a9, drive spindle b10 respectively by corresponding universal-joint 8, described drive spindle b10 is connected with drive spindle a9 by runner assembly a12 with drive spindle c11, described drive spindle a9 is connected with the drive link b6 of leg telescoping mechanism by runner assembly b13, drives the motion of leg telescoping mechanism;
Described straight line driving mechanism comprises three groups of linear drives parts, 14, three groups of linear drives parts 14 and is connected with three driving heads 7 of parallel drive mechanism respectively, drives three driving heads 7 linearly up-and-down movement.
Preferably, described runner assembly a12 and runner assembly b13 all adopts any one structure following:
-comprising the connected turning joint g of three orders, the centre of gration of three turning joint g meets at a bit;
-adopt the secondary hinge of a ball.
Preferably, described universal-joint 8 comprises two orthogonal turning joint h.
Preferably, the end of described foot bar 5 forms toe structure, and described toe structure has all around and upper and lower three-dimensional motion exports.
Preferably, described toe structure adopts circular configuration.
Preferably, linear drives parts 14 adopt any one form following:
-Driven by Hydraulic Cylinder;
-rotating machine drives lead screw transmission;
-linear electric motors drive.
According to another aspect of the present invention, provide a kind of four feet walking robot in parallel, comprise health frame V and the walking robot leg configuration being arranged in four above-mentioned linear drives on health frame V, article four, the side-sway block 1 of the walking robot leg configuration of described linear drives is arranged symmetrically with by turning joint a or arranges in the same way before and after the below of health frame V, the leg telescoping mechanism realizing the walking robot leg configuration of linear drives swings, and described parallel drive mechanism and straight line driving mechanism are arranged at the top of health frame V respectively.
Principle of work of the present invention is:
The toe structure of each leg telescoping mechanism all has all around and upper and lower three-dimensional motion ability, accordingly, three orthogonal revolute pairs that drive link b6 is connected with drive spindle a 9 or ball pivot (runner assembly b13) also have spatial three-dimensional movement ability, realize the motion control to toe structure by the motion controlling this runner assembly b13; What be connected with this runner assembly b13 is the parallel drive mechanism of three side chains, comprises driving head 7, universal-joint 8, drive spindle a9, drive spindle b10, drive spindle c11, runner assembly a12; Linear drives parts 14 are by providing linear driving force, drive driving head 7 up-and-down movement, three components (leg telescoping mechanism, parallel drive mechanism and straight line driving mechanism) of each leg configuration are by the coordinated movement of various economic factors, and the spatial three-dimensional movement realizing foot bar (5) exports.
Provided by the invention be convenient to realize driving protection the walking robot leg configuration of linear drives and four feet walking robot in parallel, adopt the leg configuration of health frame, four identical configuration, three linear drives parts that four identical parallel drive mechanisms, every bar legs all have.Toe structure realizes various run trace by parallel drive mechanism, straight line driving mechanism and leg telescoping mechanism cooperative motion.
Compared with prior art, the present invention has following beneficial effect:
1, the present invention is by driving the three-dimensional space motion of the parallel drive mechanism controls leg telescoping mechanism above leg, compared with conventional leg structure, leg telescoping mechanism provided by the invention do not have actuating device, by optimizing structure and material behavior, quality and the rotor inertia of leg telescoping mechanism can be reduced to greatest extent, improve the maneuvering performance of robot.
2, actuator concentrates on above health by the present invention, and be convenient to unified protection, under complex job environment, robot has higher protection safety rank, and under hazardous environment, operational reliability is higher; Each actuator power is suitable, can select same money actuator when manufacturing and designing.
3, the shank bar of each leg telescoping mechanism can be connected to foot bar 5 by spring and retractor device, makes each leg telescoping mechanism have buffering shock sucking function.
4, the toe structure of foot bar 5 has circular configuration, to adapt to different terrain, adopts pliable material to reduce simultaneously and impacts.
5, linear drives parts provide linear driving force to drive driving head, and specific implementation can pass through hydraulic actuating cylinder, or are realized by rotating machine, lead screw transmission, also can pass through linear motor direct drive, and structure is simple and easy to realize.
6, the present invention has that leg quality is light, rotor inertia is little, is convenient to the advantage that actuator and sensor electronic devices and components are convenient to protect.
7, the invention solves protection and mobility issues that robot walks under the operating condition of with a varied topography, bad environments.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is the structural representation of the walking robot leg configuration of linear drives of the present invention;
Fig. 2 is the structural representation of the present invention's four feet walking robot in parallel.
In figure: 1 is side-sway block, 2 is swing arm, 3 is drive link a, and 4 is shank bar, and 5 is foot bar, 6 is drive link b, 7 is driving head, and 8 is universal-joint, and 9 is drive spindle a, 10 is drive spindle b, 11 is drive spindle c, and 12 is runner assembly a, and 13 is runner assembly b, 14 is linear drives parts, I is straight line driving mechanism (front), and II is the walking robot leg configuration (front) of linear drives, and III is the walking robot leg configuration (afterwards) of linear drives, IV is straight line driving mechanism (afterwards), and V is health frame.
Detailed description of the invention
Below embodiments of the invention are elaborated: the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.
Embodiment 1
Present embodiments provide a kind of walking robot leg configuration of linear drives, comprising: leg telescoping mechanism, parallel drive mechanism and straight line driving mechanism; Described straight line driving mechanism drives with parallel drive mechanism and is connected, and described parallel drive mechanism drives with leg telescoping mechanism and is connected; Wherein:
Side-sway block 1, by being connected with swing arm 2 with the turning joint b of side-sway block 1 pivot center quadrature arrangement, realizes the swing of swing arm 2; Swing arm 2 is connected with drive link a3, drive link b6 with turning joint d respectively by turning joint c, and drive link a3, drive link b6 are connected with shank bar 4 with turning joint f respectively by turning joint e, and shank bar 4 is connected with foot bar 5 by telescopic spring mechanism.Robot toe structure possesses the arbitrary motion ability in three dimensional space.Linear drives parts 14 are three groups, and it provides propulsive effort, drive three driving heads 7 linearly up-and-down movement.Driving head 7 is connected on drive spindle a9, drive spindle b10, drive spindle c11 respectively by two orthogonal turning joints (universal-joint 8); Drive spindle b10, the drive spindle c11 secondary hinge (runner assembly a12) of a turning joint g or ball that logical three center of gyration line lines meet at any is again connected on drive spindle a9; The secondary hinge (runner assembly b13) of a turning joint g or ball that drive spindle a9 meets at any by three center of gyration line lines is again connected on drive link b6, drives leg exercise.
Embodiment 2
Present embodiments provide a kind of four feet walking robot in parallel, comprise health frame V and the walking robot leg configuration being arranged in the linear drives that four embodiments 1 on health frame V provide, article four, the side-sway block 1 of the walking robot leg configuration of described linear drives is arranged symmetrically with by turning joint a or arranges in the same way before and after the below of health frame V, and the leg telescoping mechanism realizing the walking robot leg configuration of linear drives swings; Described parallel drive mechanism and straight line driving mechanism are arranged at the top of health frame V respectively.
Below in conjunction with accompanying drawing, the present embodiment is illustrated.
Side-sway block 1 is connected with health frame V by turning joint a, realizes swinging of leg telescoping mechanism, is connected, realizes the swing of swing arm 2 by another turning joint b of quadrature arrangement with swing arm 2; Swing arm 2 is connected with drive link b6 with drive link a3 with the inexpensive d of rotation respectively by turning joint c, and drive link a3 is connected with shank bar 4 with turning joint f by turning joint e with drive link b6, and shank bar 4 is connected with foot bar 5 by telescopic spring mechanism.Like this, the toe structure of foot bar 5 end just possesses the arbitrary motion ability in three dimensional space.Linear drives parts 14 are three groups, and it provides propulsive effort, drive three driving head 7 up-and-down movements.Driving head 7 is connected on drive spindle a9, drive spindle b10 and drive spindle c11 respectively by two orthogonal turning joints (universal-joint 8); Drive spindle b10 and drive spindle c11 more logical three axis meets at any turning joint or a ball pair (runner assembly a12) is connected on drive spindle a9; Drive spindle a9 meets at any turning joint by three axis again or a ball pair (runner assembly b13) is connected on drive link b6, drives leg exercise.Each leg configuration is arranged symmetrically with by front and back or arranges in the same way, becomes a quadruped robot entirety with health frame V-arrangement.
The core of the present embodiment is to adopt so straight line driving mechanism is cemented in above health frame, leg telescoping mechanism without any driving element, by driving the spatial three-dimensional movement of the foot bar above health:
Linear drives parts 14 drive driving head 7 coordinated movement of various economic factors by outputting power, by the coordinated movement of various economic factors of driving head 7, the parallel drive mechanism comprising driving head 7, universal-joint 8, drive spindle a 9, drive spindle b10, drive spindle c11, runner assembly a12 and runner assembly b13 can realize the spatial three-dimensional movement of foot bar; The spatial three-dimensional movement of this runner assembly b13 by driving the drive link b6 of leg telescoping mechanism to realize robot leg.
The leg configuration that the robot entirety that the present embodiment is combined to form adopts, has higher leg maneuverability, can be applicable to being operated in complicated terrain environment; Meanwhile, because driver train is arranged on above the health of robot completely, be convenient to unified protection, under therefore robot preferably functions in complicated severe operating environment.Finally, each driver train power is suitable, is convenient to the type selecting of actuator.Therefore, compared with prior art, the present embodiment solves the problem of robot operation under complexity, harsh environment from structure, and the method reliability is higher, more economical.
In sum, the present embodiment is by driving the three-dimensional space motion of the parallel drive mechanism controls leg above leg telescoping mechanism, compared with conventional leg structure, the leg telescoping mechanism that the present embodiment provides do not have actuating device, by optimizing structure and material behavior, quality and the rotor inertia of leg can be reduced to greatest extent, improve the maneuvering performance of robot; On the other hand, by parallel drive mechanism, the object of each performance element driving power of mean allocation in robot ambulation process can be realized, adopt identical driving original paper drive machines people walking, reduce the design of robot, manufacturing cost.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (7)
1. a walking robot leg configuration for linear drives, is characterized in that, comprising: leg telescoping mechanism, parallel drive mechanism and straight line driving mechanism; Described straight line driving mechanism drives with parallel drive mechanism and is connected, and described parallel drive mechanism drives with leg telescoping mechanism and is connected; Wherein:
Described leg telescoping mechanism comprises: side-sway block (1), swing arm (2), drive link a (3), drive link b (6), shank bar (4) and foot bar (5), wherein, described side-sway block (1) is by being connected with swing arm (2) with the turning joint b of side-sway block (1) pivot center quadrature arrangement, realize the swing of leg telescoping mechanism, described swing arm (2) is connected with drive link b (6) with drive link a (3) with turning joint d respectively by turning joint c, described drive link a (3) is connected with shank bar (4) with turning joint f respectively by turning joint e with drive link b (6), described shank bar (4) is connected with foot bar (5) by telescopic spring mechanism,
Described parallel drive mechanism comprises: driving head (7), universal-joint (8), drive spindle a (9), drive spindle b (10), drive spindle c (11), runner assembly a (12) and runner assembly b (13), wherein, described driving head (7) and universal-joint (8) are respectively three, three driving heads (7) by corresponding universal-joint (8) respectively with drive spindle a (9), drive spindle b (10) is connected with drive spindle c (11), described drive spindle b (10) is connected with drive spindle a (9) by runner assembly a (12) with drive spindle c (11), described drive spindle a (9) is connected with the drive link b (6) of leg telescoping mechanism by runner assembly b (13), drive the motion of leg telescoping mechanism,
Described straight line driving mechanism comprises three groups of linear drives parts (14), three groups of linear drives parts (14) are connected with three driving heads (7) of parallel drive mechanism respectively, drive three driving heads (7) linearly up-and-down movement.
2. the walking robot leg configuration of linear drives according to claim 1, is characterized in that, described runner assembly a (12) and runner assembly b (13) all adopt any one structure following:
-comprising the connected turning joint g of three orders, the centre of gration of three turning joint g meets at a bit;
-adopt the secondary hinge of a ball.
3. the walking robot leg configuration of linear drives according to claim 1, is characterized in that, described universal-joint (8) comprises two orthogonal turning joint h.
4. the walking robot leg configuration of linear drives according to claim 1, is characterized in that, the end of described foot bar (5) forms toe structure, and described toe structure has all around and upper and lower three-dimensional motion exports.
5. the walking robot leg configuration of linear drives according to claim 4, is characterized in that, described toe structure adopts circular configuration.
6. the walking robot leg configuration of linear drives according to claim 1, is characterized in that, linear drives parts (14) adopt any one form following:
-Driven by Hydraulic Cylinder;
-rotating machine drives lead screw transmission;
-linear electric motors drive.
7. a four feet walking robot in parallel, it is characterized in that, comprise health frame V and be arranged in the walking robot leg configuration of the linear drives according to any one of four claims 1 to 6 on health frame V, article four, the side-sway block (1) of the leg telescoping mechanism of the walking robot leg configuration of linear drives is arranged symmetrically with by turning joint a or arranges in the same way before and after the below of health frame V, realize leg telescoping mechanism to swing, described parallel drive mechanism and straight line driving mechanism are arranged at the top of health frame V respectively.
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| CN109941370A (en) * | 2019-01-04 | 2019-06-28 | 上海海事大学 | A kind of four feet walking robot based on three-shaft linkage control structure |
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| CN109941370A (en) * | 2019-01-04 | 2019-06-28 | 上海海事大学 | A kind of four feet walking robot based on three-shaft linkage control structure |
| CN114620160A (en) * | 2022-03-23 | 2022-06-14 | 北京理工大学 | Electric four-foot robot based on multi-stage electric cylinder parallel type leg-foot structure |
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