CN105620583A - Linear gear drive based hexapod bionic robot - Google Patents
Linear gear drive based hexapod bionic robot Download PDFInfo
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- CN105620583A CN105620583A CN201610155424.4A CN201610155424A CN105620583A CN 105620583 A CN105620583 A CN 105620583A CN 201610155424 A CN201610155424 A CN 201610155424A CN 105620583 A CN105620583 A CN 105620583A
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Classifications
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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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
Abstract
The invention relates to a linear gear drive based hexapod bionic robot which comprises a robot body, a single chip microcomputer, two micro-motors, two mutually-parallel drive shafts respectively connected with the two micro-motors, six driving wheels, six driven wheels and six vertical columnar feet.Each driving wheel comprises a driving wheel body and at least two spatial spiral line shaped driving linear teeth uniformly distributed on the end face of the driving wheel body in the peripheral direction, and each driven wheel comprises a driven wheel body and multiple circular-arc-line shaped driven linear teeth uniformly distributed in the peripheral direction of the driven wheel body.Each drive shaft fixes three driving wheel bodies, three output shafts fixing the driven wheel bodies are arranged on the two sides of the robot body respectively, included angles formed by the output shafts and the drive shafts are 0-180 degrees, the driving linear teeth are meshed with the driven linear teeth, the two sides of the robot body are respectively in sliding fit with three sliding rods, the feet movably penetrate through the sliding rods, connecting rods are arranged between the output shafts and the feet, and clutches are arranged between the output shafts and the connecting rods.The linear gear drive based hexapod bionic robot is small in size, low in cost, simple in control and large in drive ratio and can work in a tiny space or a complicated environment.
Description
Technical field
The present invention relates to the bionic machine people that can walk in short space, particularly relate to a kind of bionic 6-leg robot based on line gear transmission.
Background technology
People are to the illusion of robot and the history pursuing existing more than 3000 year, and the mankind wish to manufacture a kind of machine as people, to replace the mankind to complete various work. Nineteen fifty-nine, first industrial robot is born in the U.S., and nearly decades, the robot of various purposes comes out one after another, and makes many dreams of the mankind become reality. Complicated along with robot Working environment and task, robot has in short space and can to realize the requirement of work under complicated environment more and more urgent. And the mobile mechanism of the simple wheel of conventional machines people and crawler belt can not adapt to changeable complex environment requirement.
Conventional machines people:
(1) wheeled robot
The mechanism design of wheeled robot belongs to mechanical field, not only to be considered the impact of own wt in the design process, also to be considered the impact of Working environment, and to the collection of data and can not analyze generation interference. In the mechanism design of wheeled robot, the most importantly design of turning device, nowadays, turning device is mainly divided into several as follows: Ai Keman turns to (front-wheel turns to front-wheel drive or front-wheel to turn to rear wheel drive); Slip turns to (both sides wheel independent drive); Omnidirectional rotates (building based on all-directional mobile wheel, such as Mecanum wheel); Axle-joint turns to (vehicle wheel rotation amplitude is bigger); Car body-joint turns to (turning radius is little, turns to flexibly, but track is difficult to control), should select the design of turning device in the design of wheeled robot according to specific needs.
(2) caterpillar type robot
The principal feature of caterpillar mobile robot is two crawler belt independent drive. Its advantage has, and motion obstacle detouring is good, it is possible to original place is rotated, and on the road surface of injustice, exercise performance is good, it is possible to pass through soft surface. Shortcoming is that movement velocity is slow, and speed and direction can not control separately, and frictional force is very big, and power loss is big, it is necessary to keep the tensioning of crawler belt.
Current robot volume is big, cost height, control algorithm are complicated, the more difficult motion realizing heavy load, and cannot meet in short space and can realize the requirement of work under complicated environment.
Summary of the invention
In order to solve the problem, the present invention provides a kind of bionic 6-leg robot based on line gear transmission, and its volume is little, and can realize the job requirement of complicated environment.
For achieving the above object, the concrete scheme of the present invention is:
A kind of bionic 6-leg robot based on line gear transmission, comprise body, it is positioned at micro-chip and two micromotors of body, two transmission shafts being parallel to each other, six motion-work wheels, six follow-up pulleys, six vertical column foots, motion-work wheel comprises column motion-work wheel wheel body, at least two are circumferentially distributed in the spatially spiral wire initiatively line tooth of motion-work wheel wheel body end face, follow-up pulley comprises column follow-up pulley wheel body, multiple driven line tooth of circular arc wire being distributed in follow-up pulley wheel body circumference, two transmission shafts respectively output terminal with two micromotors be connected, wherein the motion-work wheel wheel body of three motion-work wheels is coaxially fixed on a transmission shaft respectively, the motion-work wheel wheel body of another three motion-work wheels is coaxially fixed on another root transmission shaft respectively, three output shafts being parallel to each other it are respectively equipped with in the both sides of body, angle between output shaft and transmission shaft is 0��180 ��, wherein the follow-up pulley wheel body of three follow-up pulleys is coaxially fixed on three output shafts of body side respectively, the follow-up pulley wheel body of another three follow-up pulleys is coaxially fixed on three output shafts of another side of body respectively, the active line tooth of six motion-work wheels respectively with being meshed from moving-wire tooth of six follow-up pulleys, the both sides end face of body is respectively equipped with the T-slot of level, be slidably matched respectively three T-shaped sliding bars in the T-slot of both sides, being provided with axle center in the end of sliding bar is vertical annulus, six column foot movable annulus through the sliding bar of the six roots of sensation respectively, it is provided with Z type connecting rod between output shaft and column foot, one end of connecting rod is connected with output shaft end, the other end of connecting rod is connected with the top of column foot, steering clutch it is provided with between output shaft and connecting rod.
Initiatively line tooth is at least 0.1mm respectively with the cross-sectional diameter from moving-wire tooth.
It is that the number of initiatively line tooth is amassed with driven wheel transmitting ratio is from the number of moving-wire tooth.
It is respectively equipped with sensor in the front end of body, rear end.
The driving direction of two micromotors is contrary.
Micro-chip is electrically connected with two micromotors and steering clutch, and six column foots adopt triped gait mode to walk, and the triped gait phase differential of two groups of foots that triped gait mode is walked is 0.5 ��.
Motion-work wheel, follow-up pulley adopt laser fast shaping manufacture.
Motion-work wheel of the present invention and follow-up pulley two line gears are new gear transmission rig, are not the space curved surface engagement principles based on conventional gears, but engage principle based on space curve, and what namely realize engaged transmission is one to intermeshing space curve. Initiatively line tooth curve shape is spatially spiral line, from moving-wire tooth curve shape is and the space circular arc curve of active line tooth conjugation. One of the end that initiatively line tooth is evenly arranged in motion-work wheel is circumferentially evenly arranged in follow-up pulley cylinder circumferentially from moving-wire tooth, initiatively line tooth with can realize continuous print spatial conjugate transmission from moving-wire tooth effect.
Micromotor of the present invention is connected with motion-work wheel wheel body by transmission shaft, and multiple active line tooth is evenly arranged on the end face of motion-work wheel wheel body, initiatively the plane orthogonal of line tooth longitudinal cross-section and active wheel body. Multiple it is evenly arranged in follow-up pulley wheel body circumferentially from the single radial direction of moving-wire tooth; Initiatively wheel shaft is mutually vertical with follower shaft, and motion-work wheel and follow-up pulley group transmission pair in a pair, by active line tooth and the gear motion transmission from moving-wire tooth; When motion-work wheel moves, initiatively line tooth starts and from moving-wire tooth contact, hinders initiatively line tooth motion from moving-wire tooth, and interaction therebetween produces resistance, and this resistance is driving force, thus realizes transmission. Initiatively line tooth is helix shape, from moving-wire tooth is and the space curve of active line tooth conjugation. Initiatively line tooth is at least 2, and the number that the number of follow-up pulley line tooth is motion-work wheel line tooth is amassed with transmitting ratio is. Initiatively line tooth be more than 0.1mm from moving-wire tooth cross-sectional diameter.
Line gear transmission rig is a transmission pair only so that Parts for Power Train number reduces to minimum, and can realize the continuous transmission under higher rotation speed; Compared with tradition mini-speed change mechanism (such as small sun and planet gear mechanism), this transmission architecture is very simple, and transmitting ratio is big, and the similar means taking volume ratio same gear ratios is much little; And this type of drive technology (such as SMA transmission, thermal expansion transmission, piezoelectricity transmission and electromagnetism transmission), moment stepping straight line transmission can only be realized, it is very difficult to realize continuously rotating transmission stably. Line gear transmission rig is mainly used in micro electromechanical field, as: microcapsule robot, pipeline micro-robot etc.
The advantage of the present invention:
(1) in same space, the line gear of the design is compared with conventional gears, and motion-work wheel and follow-up pulley rotating ratio are bigger, can reach 20:1, it can instead tradition speed reduction unit, reduces robot volume, and transmission architecture is simple simultaneously. What line gear adopted is the technology engaging principle based on space curve.
(2) the most I of the master and slave moving-wire tooth diameter of line gear reaches 0.1mm, and motion-work wheel and follow-up pulley can realize crossed-axes gear drive at any angle, more be conducive to reducing robot volume, thus realize the requirement that robot works in short space and under complicated environment.
(3) low cost of manufacture, the parts such as line gear adopt laser fast shaping manufacture method. 18 steering wheels of traditional six biped robots are changed into 2 electric motor adds electromagnetic clutch simultaneously, realizes the walking of robot, greatly reduces cost and operation easier.
(4) control simple and fast, save cost, it may be achieved relatively heavy load motion.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the structural representation of motion-work wheel.
Fig. 3 is the structural representation of follow-up pulley.
Fig. 4 is space curve meshing gearwheel mechanism space meshing principle schematic diagram.
In figure: body 1, T-slot 1-1, micro-chip 2, micromotor 3, transmission shaft 4, motion-work wheel 5, motion-work wheel wheel body 5-1, initiatively line tooth 5-2, follow-up pulley 6, follow-up pulley wheel body 6-1, from moving-wire tooth 6-2, left foot 1, left foot 28, left foot 39, right foot 1, right foot 2 11, right foot 3 12, output shaft 13, sliding bar 14, annulus 14-1, connecting rod 15, steering clutch 16, sensor 17.
Embodiment
Below in conjunction with drawings and embodiments, the invention will be further described.
Embodiment 1: see Fig. 1��Fig. 4, a kind of bionic 6-leg robot based on line gear transmission, the micro-chip 2 comprise body 1, being positioned at body 1 and two micromotors, 3, two transmission shafts being parallel to each other, 4, six motion-work wheels, 5, six follow-up pulleys, 6, six vertical column foots, six column foots are respectively left foot 1, left foot 28, left foot 39, right foot 1, right foot 2 11, right foot 3 12.
Motion-work wheel 5 comprises column motion-work wheel wheel body 5-1, six spatially spiral wire initiatively line tooth 5-2 being circumferentially distributed in motion-work wheel wheel body 5-1 end face, and follow-up pulley 6 comprises column follow-up pulley wheel body 6-1, multiple driven line tooth 6-2 of circular arc wire being distributed in follow-up pulley wheel body 6-1 circumference.
Two transmission shafts 4 respectively output terminal with two micromotors 3 be connected, wherein the motion-work wheel wheel body 5-1 of three motion-work wheels 5 is coaxially fixed on a transmission shaft 4 respectively, the motion-work wheel wheel body 5-1 of another three motion-work wheels 5 is coaxially fixed on another root transmission shaft 4 respectively, three output shafts being parallel to each other 13 it are respectively equipped with in the both sides of body 1, angle �� between the present embodiment output shaft 13 and transmission shaft 4 is 90 ��, output shaft 13 is perpendicular with transmission shaft 4, wherein the follow-up pulley wheel body 6-1 of three follow-up pulleys 6 is coaxially fixed on three output shafts 13 of body 1 side respectively, the follow-up pulley wheel body 6-1 of another three follow-up pulleys 6 is coaxially fixed on three output shafts 13 of another side of body 1 respectively, the active line tooth 5-2 of six motion-work wheels 5 respectively with being meshed from moving-wire tooth 6-2 of six follow-up pulleys 6, the both sides end face of body 1 is respectively equipped with the T-slot 1-1 of level, be slidably matched respectively three T-shaped sliding bars 14 in the T-slot 1-1 of both sides, being provided with axle center in the end of sliding bar 14 is vertical annulus 14-1, six column foot movable annulus 14-1 through the sliding bar 14 of the six roots of sensation respectively, it is provided with Z type connecting rod 15 between output shaft 13 and column foot, one end of connecting rod 15 is connected with output shaft 13 end, the other end of connecting rod 15 is connected with the top of column foot, steering clutch 16 it is provided with between output shaft 13 and connecting rod 15.
Initiatively line tooth 5-2 is respectively 1.2mm with the cross-sectional diameter from moving-wire tooth 6-2.
In the front end of body 1, rear end be respectively equipped with sensor 17.
The driving direction of two micromotors 3 is contrary.
Micro-chip 2 is electrically connected with two micromotors 3 and steering clutch 16, and six column foots adopt triped gait mode to walk, and the triped gait phase differential of two groups of foots that triped gait mode is walked is 0.5 ��.
Motion-work wheel 5, follow-up pulley 6 adopt laser fast shaping manufacture.
Such as Fig. 4, S(o-x, y, z) and Sp(op-xp,yp,zp) it is two volume coordinate systems, o, opThe initial point being respectively two system of coordinates, z-axis overlaps with the revolution axis of motion-work wheel 5, zpAxle overlaps with the revolution axis of follow-up pulley 6, and the angle between diaxon is 0��180 ��. X-axis and zpSpacing be b, z-axis and xpThe spacing of axle is that a, a, b span are determined according to motion-work wheel 5 and follow-up pulley 6 radius, and a is no more than motion-work wheel 5 diameter, and b is no more than follow-up pulley 6 diameter. Motion-work wheel 5 is with even angle rate degree ��1Rotating around z-axis, follow-up pulley 6 is with even angle rate degree ��2Around zpAxle rotates.
Initiatively the spiral-line equation of line tooth 5-2 is:
M is spiral radius, and p is pitch ,-�Сܦȡ�-0.5 �� (�� is variable).
With the curvilinear equation from moving-wire tooth 6-2 of active line tooth 5-2 conjugation it is:
��1For the main method of mesh point M is lost, namely��
The present embodiment is line tooth 5-2 spiral radius m=3mm, pitch p=6 �� mm initiatively. Motion-work wheel 5 and follow-up pulley 6 transmitting ratio are 3, initiatively line tooth 5-2 number n1=6, from moving-wire tooth 6-2 number n2=n1�� 3=18, line tooth diameter D=1.2mm, motion-work wheel 5 rotating shaft and follow-up pulley 6 pivoting angle are 90 ��. The curvilinear equation from moving-wire tooth 6-2 of conjugation with it:
In formula, �� is variable ,-�Сܦȡ�-0.5 ��.
A kind of bionic 6-leg robot based on line gear transmission of the present invention takes triped gait, six column foots are divided into two groups, left foot 28, right foot 1, right foot 3 12 are one group, left foot 1, left foot 39, right foot 2 11 are one group, two groups of triped gait phase differential are 0.5 ��, and when one group of foot moves, another group foot maintains the original state, rotation campaign like this, realizes walking by vola frictional force.
Sensor 17 is as the eyes of robot, micromotor 3 driven machine people walks, turning to of robot is realized with separating by the combination of steering clutch 16, follow-up pulley 6 is driven by motion-work wheel 5, then follow-up pulley 6 torque band to Z type connecting rod 15, six column foot walkings of Z type connecting rod 15 band mobile robot, column foot utilizes the frictional force in vola to realize walking.
Triped gait is realized by micro-chip 2 control micro electric machine 3 and steering clutch 16, micro-chip 2 sends instruction makes six steering clutchs 16 open respectively or combine, micromotor 3 rotates and drives left foot 28, right foot 1, right foot 3 12 tripodia to lift, then fall, then left foot 1, left foot 39, right foot 2 11 tripodia is lifted, iterative cycles, thus make it walk. And the sensor 17 of front and back can detect the height of roadblock, provide signal and the raising height of six foots is changed with it. Six biped robots turn to be by the combination of clutch coupling with separate realization.
Instant invention overcomes the deficiency that prior art exists, existing robot cannot meet the requirement worked in short space and under complicated environment, and the robot of the present invention greatly reduces volume, and can realize working under complicated environment.
Claims (7)
1. the bionic 6-leg robot based on line gear transmission, it is characterized in that: comprise body, it is positioned at micro-chip and two micromotors of body, two transmission shafts being parallel to each other, six motion-work wheels, six follow-up pulleys, six vertical column foots, motion-work wheel comprises column motion-work wheel wheel body, at least two are circumferentially distributed in the spatially spiral wire initiatively line tooth of motion-work wheel wheel body end face, follow-up pulley comprises column follow-up pulley wheel body, multiple driven line tooth of circular arc wire being distributed in follow-up pulley wheel body circumference, two transmission shafts respectively output terminal with two micromotors be connected, wherein the motion-work wheel wheel body of three motion-work wheels is coaxially fixed on a transmission shaft respectively, the motion-work wheel wheel body of another three motion-work wheels is coaxially fixed on another root transmission shaft respectively, three output shafts being parallel to each other it are respectively equipped with in the both sides of body, angle between output shaft and transmission shaft is 0��180 ��, wherein the follow-up pulley wheel body of three follow-up pulleys is coaxially fixed on three output shafts of body side respectively, the follow-up pulley wheel body of another three follow-up pulleys is coaxially fixed on three output shafts of another side of body respectively, the active line tooth of six motion-work wheels respectively with being meshed from moving-wire tooth of six follow-up pulleys, the both sides end face of body is respectively equipped with the T-slot of level, be slidably matched respectively three T-shaped sliding bars in the T-slot of both sides, being provided with axle center in the end of sliding bar is vertical annulus, six column foot movable annulus through the sliding bar of the six roots of sensation respectively, it is provided with Z type connecting rod between output shaft and column foot, one end of connecting rod is connected with output shaft end, the other end of connecting rod is connected with the top of column foot, steering clutch it is provided with between output shaft and connecting rod.
2. the bionic 6-leg robot based on line gear transmission according to claim 1, it is characterised in that: initiatively line tooth is at least 0.1mm respectively with the cross-sectional diameter from moving-wire tooth.
3. the bionic 6-leg robot based on line gear transmission according to claim 2, it is characterised in that: it is that the number of initiatively line tooth is amassed with driven wheel transmitting ratio is from the number of moving-wire tooth.
4. the bionic 6-leg robot based on line gear transmission according to claim 1 or 2 or 3, it is characterised in that: it is respectively equipped with sensor in the front end of body, rear end.
5. the bionic 6-leg robot based on line gear transmission according to claim 4, it is characterised in that: the driving direction of two micromotors is contrary.
6. the bionic 6-leg robot based on line gear transmission according to claim 5, it is characterized in that: micro-chip is electrically connected with two micromotors and steering clutch, six column foots adopt triped gait mode to walk, and the triped gait phase differential of two groups of foots that triped gait mode is walked is 0.5 ��.
7. the bionic 6-leg robot based on line gear transmission according to claim 1, it is characterised in that: motion-work wheel, follow-up pulley adopt laser fast shaping manufacture.
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| CN201610155424.4A CN105620583A (en) | 2016-03-18 | 2016-03-18 | Linear gear drive based hexapod bionic robot |
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| CN201610155424.4A CN105620583A (en) | 2016-03-18 | 2016-03-18 | Linear gear drive based hexapod bionic robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108528563A (en) * | 2018-05-14 | 2018-09-14 | 南京大学 | A kind of Hexapod Robot |
| CN113998026A (en) * | 2021-10-28 | 2022-02-01 | 杭州容大智造科技有限公司 | Simulation walking type ladder climbing robot |
| CN117242958A (en) * | 2023-11-16 | 2023-12-19 | 龙门实验室 | Transplanting robot suitable for greenhouse |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108528563A (en) * | 2018-05-14 | 2018-09-14 | 南京大学 | A kind of Hexapod Robot |
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| CN117242958A (en) * | 2023-11-16 | 2023-12-19 | 龙门实验室 | Transplanting robot suitable for greenhouse |
| CN117242958B (en) * | 2023-11-16 | 2024-02-02 | 龙门实验室 | Transplanting robot suitable for greenhouse |
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