CN108858120A - It is a kind of for taking turns the parallel submissive wheel foot unit of biped robot - Google Patents
It is a kind of for taking turns the parallel submissive wheel foot unit of biped robot Download PDFInfo
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- CN108858120A CN108858120A CN201810765511.0A CN201810765511A CN108858120A CN 108858120 A CN108858120 A CN 108858120A CN 201810765511 A CN201810765511 A CN 201810765511A CN 108858120 A CN108858120 A CN 108858120A
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- parallel
- wheel
- sufficient end
- submissive
- speed reducer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of for taking turns the parallel submissive wheel foot unit of biped robot, is made of inverted six-freedom motion structure in parallel and sufficient end drive wheel assemblies；Every electric cylinder is hinged robot part fuselage by upper Hooke in inverted parallel connection six-freedom motion structure, is hinged sufficient end by lower Hooke and takes turns fixed pedestal, and the six-freedom motion of sufficient end wheel fixed pedestal is driven by the extension and contraction control to electric cylinder；Driving motor is connected in robot fuselage in sufficient end drive wheel assemblies, driving motor drives speed reducer movement by transmission component, speed reducer output shaft is coaxially connected with tire, and spring-damper and speed reducer ontology and sufficient end wheel fixed pedestal twist and connect, and constitutes the suspension of single-degree-of-freedom spring-damper.Deficiency of single leg in load capacity and sufficient end dynamic characteristic is able to solve using the present invention.
Description
Technical field
The invention belongs to take turns walking combined robot field more particularly to a kind of for taking turns the parallel submissive of biped robot
Take turns foot unit.
Background technique
The motion mode of mobile robot mainly includes sufficient formula, wheeled, crawler type and creeping motion type etc., wherein with sufficient formula and wheel
Formula is most widely used.Wheel type movement movement velocity with higher, stability and load capacity are movement shapes the most mature
Formula, but movenent performance is not ideal enough in its obstacle avoidance ability and unstructured moving grids.Sufficient formula movement velocity and efficiency are lower, still
Its sufficient end track is series of discrete point, using isolated ground supports, therefore has very strong obstacle avoidance ability and landform suitable
Ying Xing.
Requirement of the swift and violent extension of mobile robot application field to its movenent performance increasingly improves, especially in unmanned battle
The special dimensions such as platform, battlefield guarantee, disability service, rescue and relief work, resource exploration, it is desirable that robot has movement speed well
Therefore degree, stability, load capacity and terrain adaptability occur having the combined mobile robot of multi-motion form.
It takes turns walking combined mobile robot and has had both sufficient formula and wheeled movement advantage, there is excellent mobility, get over
Barrier ability and higher load capacity, become the type being concerned in combined mobile robot.Each national literature in recent years
Person has carried out a large amount of research for walking combined mobile robot is taken turns, and representative research achievement mainly includes：Paris the 6th
The HYLOS of university's development, the Handle of boston, U.S.A Dynamic Engineering Inc (BDI) development, Harbin Institute of Technology develop
The wheel leg type structure changes mobile robot etc. that the compound quadruped robot of wheel foot and Tsinghua University develop.
Wheel is installed at the above-mentioned big polypody end of the walking combined mobile robot of wheel, drives sufficient end fortune using tandem articulation mechanism
It is dynamic, it is taken turns and is moved using In-wheel motor driving foot end, cause single leg Shortcomings in load capacity and sufficient end dynamic characteristic.Its
In terms of disadvantage is embodied in following four：The above-mentioned wheel leg based on tandem mechanical structure, podarthrum rigidity are smaller, it is difficult to hold
By high-mechanic task；The accumulation of position control error is caused in series connection joint, influences to control precision and stability；If the single leg of raising
Load capacity need to use hydraulic-driven, there are the noise problem of hydraulic power supply, to reduce noise, using electric drive, again
Meeting is so that bearing capacity is insufficient；For raising robot wheel type movement driving capability, need to improve the power of hub motor, it is high-power
The quality and volume of hub motor are all bigger, so that robot foot end quality is larger, the dynamic characteristic of robot foot formula movement
It is poor.
Summary of the invention
In view of this, the present invention provides a kind of for taking turns the parallel submissive wheel foot unit of biped robot, the single leg of solution
Deficiency in load capacity and sufficient end dynamic characteristic.
In order to solve the above-mentioned technical problem, the invention is realized in this way：
It is a kind of for taking turns the parallel submissive wheel foot unit of biped robot, by inverted six-freedom motion structure in parallel and
Sufficient end drive wheel assemblies composition；
Inverted parallel connection six-freedom motion structure takes turns fixed base by upper Hooke's hinge, 6 electric cylinders, lower Hooke's hinge, sufficient end
Seat composition；6 electric cylinder parallel arrangements, every electric cylinder are hinged robot part fuselage by upper Hooke, pass through lower tiger
It gram is hinged sufficient end wheel fixed pedestal, passes through the six degree of freedom fortune that the extension and contraction control to electric cylinder drives sufficient end to take turns fixed pedestal
It is dynamic；
Sufficient end drive wheel assemblies include driving motor, transmission component, speed reducer, spring-damper and tire；Driving motor
It is connected in robot fuselage, driving motor drives speed reducer to move by transmission component, and speed reducer output shaft and tire are coaxially solid
Even, spring-damper and speed reducer ontology and sufficient end wheel fixed pedestal twist and connect, and constitute the suspension of single-degree-of-freedom spring-damper.
Preferably, 6 electric cylinders are arranged in parallel at around transmission component.
Preferably, wheel fixed pedestal in sufficient end is provided with via hole, and transmission component passes through the via hole of sufficient end wheel fixed pedestal, and is located at
The input terminal of speed reducer below sufficient end wheel fixed pedestal is connected.
Preferably, sufficient end wheel fixed pedestal center, which is connected, is oriented to the key set of spline；The key set, which entangles, is fixed on speed reducer 8
The guiding spline key lever of upper plane.
Preferably, the spring-damper designs in pairs, symmetry arrangement.
Preferably, spring-damper end install additional force snesor, for measuring sufficient end stress size, as contact to earth detection and
The feedback quantity of sufficient end power control.
Preferably, fixed pedestal is taken turns at 6 electric cylinders, upper Hooke's hinge, lower Hooke's hinge, robot fuselage and sufficient end, is constituted
Stewart type parallel connection six degree of freedom structure.
Preferably, the transmission component uses kinematic link.
Beneficial effect：
(1) present invention uses parallel six degrees of freedom structure, and sufficient end rigidity is larger, and bearing capacity is strong；
(2) parallel six degrees of freedom structure does not have the series relationship between joint, and there is no the accumulation of location error, and
The inverse solution in spatial position that sufficient end position corresponds to electric cylinder stroke is determining and unique, and control precision is high, and stability is strong；
(3) present invention uses electric drive mode, and noise is small, meanwhile, each driving element is in parallel relationship, bearing capacity
By force, solve the problems, such as that tandem mechanical structure wheel leg is difficult to meet simultaneously that noise is small, bearing capacity is strong；
(4) Wheel type driving motor of the invention is connected in robot fuselage, is transferred to sufficient end speed reducer by kinematic link,
While improving driving motor power, it is not further added by sufficient end quality, realizing no longer influences while improving in-wheel driving ability
The dynamic characteristic of sufficient formula movement.
(5) it after sufficient end is contacted to earth, is buffered by spring-damper, the impact force at sufficient end is introduced into control system, is passed through
Flexible formation master-passive compliance system of electric cylinder is controlled, so that adjustable rigidity and damping be added for foot mechanism, is realized
Foot is to the adaptability of extraneous stress, as the submissive important foundation contacted to earth with the suspension of in-wheel driving wheel of sufficient formula.
(6) vertically-guided spline key lever is fixedly mounted in plane on speed reducer, and the free end of key lever passes through installation from the bottom to top
Key set on the wheel fixed pedestal of sufficient end, guiding spline, which can limit speed reducer, to take turns fixed pedestal Vertical Square relative to sufficient end
To movement, the movement of other free ends is avoided, to promote the control effect of master-passive energy dissipation system.
(7) install force snesor additional in spring-damper end, for measuring sufficient end stress size, for it is submissive contact to earth it is automatically controlled
Data source is provided.
Detailed description of the invention
Fig. 1 is the parallel submissive wheel foot unit three-dimensional installation diagram for taking turns biped robot；
Fig. 2 is inverted six-freedom motion structure three-dimensional installation diagram in parallel；
Fig. 3 is sufficient end drive wheel assemblies three-dimensional installation diagram；
Fig. 4 is control system schematic diagram of the invention.
In figure：1-driving motor, 2-fuselages, 3-upper Hooke's hinges, 4-kinematic links, 5-electric cylinders,
Fixed pedestal, 8-speed reducers, 9-spring-dampers, 10-tires, 11-keys are taken turns in 6-lower Hooke's hinges, 7-sufficient ends
Set, 12-via holes, 13-key levers.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing.
It is a kind of for taking turns the parallel submissive wheel foot unit of biped robot, by inverted six-freedom motion structure in parallel
It is formed with sufficient end drive wheel assemblies.Six-freedom motion structure Bao Rao in parallel is around sufficient end drive wheel assemblies, thus sufficiently benefit
With space, the volume of entire wheel foot unit, the application suitable for small size are reduced.Moreover, passing through single-degree-of-freedom spring-resistance
Adjustable rigidity and damping can be added for foot mechanism in the design of Buddhist nun's suspension, realize foot to the adaptability of extraneous stress,
It is the submissive important foundation contacted to earth with the suspension of in-wheel driving wheel of sufficient formula.
As shown in figure 3, sufficient end drive wheel assemblies include driving motor 1, kinematic link 4, speed reducer 8,9 and of spring-damper
Tire 10.Driving motor 1 uses AC servo motor, and ontology is connected on robot fuselage 2, so that weight moves up, is no longer increased
End quality is filled up, even with the higher motor of driving capability, nor affects on the dynamic characteristic of sufficient formula movement.Driving motor 1 is logical
The input shaft that speed reducer 8 is connected as the kinematic link 4 of transmission component is crossed, the output shaft and tire 10 of speed reducer 8 are coaxial connected,
So that driving motor 1 drives speed reducer 8 by kinematic link, tire on the drive wheels 10 is rotated, and realizes in-wheel driving.Here using transmission
Connecting rod is as the benefit of transmission component：Kinematic link, which can transmit, is fixed on the kinetic energy of the Wheel type driving motor of fuselage to sufficient end
Speed reducer does not increase sufficient end quality while so that improving driving motor power, while realizing raising in-wheel driving ability
The dynamic characteristic of sufficient formula movement is not influenced；Compared to linked transmission or other kinds of drive, kinematic link does not influence the foot of single leg
End motion, simple for structure, stability is strong.
Spring-damper 9 passes through the trunnion at both ends and the sufficient end in 8 ontology of speed reducer and six-freedom motion structure in parallel
It takes turns fixed pedestal 7 and twists and connect, constitute the suspension of single-degree-of-freedom spring-damper, damping effect can be played, also adjustable pretightning force is big
It is small.In the present embodiment, it is provided with a pair of of spring-damper 9, is installed around sufficient end wheel fixed pedestal 7, the resistance provided by guaranteeing
In the symmetrical situation of Buddhist nun, the use of device is reduced to the greatest extent.
9 end of spring-damper installs force snesor additional, for measuring sufficient end stress size, as detection and the sufficient end power of contacting to earth
Control provides feedback quantity, realizes submissive control of contacting to earth from automatically controlled angle.
As shown in Fig. 2, it is inverted parallel connection six-freedom motion structure by 3,6 electric cylinders 5 of upper Hooke's hinge, lower Hooke's hinge 6,
Sufficient end wheel fixed pedestal 7 forms.Sufficient end tire 10 is increased using solid rubber material and frictional ground force.Electric cylinder 5 is exchange
Servo electric jar converts the rotary motion of motor internal to by roller bearing the linear motion of cylinder rod.6 electric cylinder parallel connections
It is arranged in around kinematic link, collectively forms Stewart type simultaneously with upper and lower Hooke's hinge, robot fuselage and sufficient end wheel fixed pedestal
Join six degree of freedom structure.The lever and cylinder barrel of every electric cylinder 5 pass through upper Hooke's hinge 3 respectively and lower Hooke's hinge 6 connects robot
Fixed pedestal 7 is taken turns at part fuselage 2 and sufficient end.Such design, being equivalent to fuselage is fixing end, and sufficient end wheel fixed pedestal is opposite
It is free by six of the sufficient end wheel fixed pedestal 7 of extension and contraction control driving to electric cylinder 5 in the Stewart platform of fuselage movement
Degree movement to realize that the space at sufficient end is mobile, and then controls sufficient end track, realizes robot leg movement.Moreover, 6 electricity
The use of dynamic cylinder, so that the movement of space six degree of freedom is full decoupled, when sufficient formula moves, sufficient end platform will not generate rotation fortune
It is dynamic, tire is installed for sufficient end and is provided the foundation.
In the present embodiment, the upper plane of sufficient end wheel fixed pedestal 7 provides the installation site of 6 lower Hooke's hinges 6, and outer mentions
For the installation trunnion pedestal of spring-damper 9 at 2, center is connected the key set 11 of guiding spline, key set is internal be it is hollow, penetrate base
Seat.The via hole 12 that pedestal corresponding position provides kinematic link 4 passes through sufficient end wheel fixed pedestal 7 and speed reducer 8 for kinematic link 4
It is connected.The size of via hole meets space needed for kinematic link moves.It is fixed on the guiding flower in sufficient 7 center of end wheel fixed pedestal
Key key set entangles the guiding spline key lever 13 for being fixed on plane on speed reducer 8, so that sufficient end wheel fixed pedestal 7 is in speed reducer 8
Single-degree-of-freedom connection, guiding spline limitation speed reducer can only take turns fixed pedestal movement in vertical direction relative to sufficient end.Guiding flower
Key cooperation spring-damper 9 in parallel constitutes passive energy dissipation mechanism, may make up master-passive energy dissipation system in conjunction with 6 electric cylinders 5,
Play the submissive effect contacted to earth.In the present embodiment, sufficient end wheel fixed pedestal 7 is divided into two parts, this two parts up and down and is welded on
Together, integral structure can be used in practice.
This is for taking turns the parallel submissive course of work for taking turns foot unit of biped robot：
Step 1：System electrification
It is powered on for whole system, the DC power supply of supplying cell is become by 220v alternation by the inverter in power supply module
Power supply is that electric cylinder and servo motor are powered, and controller (composition in the non-present apparatus), sensor etc. pass through corresponding DC power supply
Power supply.
Step 2: in-wheel driving process
Driving motor 1 drives the input shaft rotation of speed reducer 8 by kinematic link 4, and output shaft and tire 10 turn with revolving speed
It is dynamic, reach in-wheel driving effect.
Step 3: sufficient formula drives process
Fixed pedestal 7 is taken turns into around three-dimensional space X-Y-Z's in sufficient end by the inverse arithmetic to six degree of freedom structure in parallel
Translation and the movement resolving for rotating six-freedom degree altogether are given for the displacement of six electric cylinders 5 in parallel, then electronic by driving
5 lever of cylinder carries out the sufficient end of flexible driving and prolongs given trace movement, reaches sufficient formula driving effect.
Step 4: taking turns walking combined driving process
Driving wheel-type driving motor 1 and sufficient formula drive electric cylinder 5 simultaneously, may be implemented to adjust tire during wheel type movement
Course changing control, adjustment wheelspan, adjustment wheelbase and adjustment fuselage height are realized in 10 position relative to fuselage.Wheeled traveling process
In can carry out leg active compliance and realize vibration isolation, realize fuselage posture stability maintenance under uneven road conditions.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (8)
1. a kind of for taking turns the parallel submissive wheel foot unit of biped robot, which is characterized in that by inverted six degree of freedom in parallel
Motion structure and sufficient end drive wheel assemblies composition；
Inverted parallel connection six-freedom motion structure is solid by upper Hooke's hinge (3), 6 electric cylinders (5), lower Hooke's hinge (6), sufficient end wheel
Determine pedestal (7) composition；6 electric cylinder parallel arrangements, every electric cylinder (5) connect robot part by upper Hooke's hinge (3)
Fuselage (2) connects sufficient end wheel fixed pedestal (7) by lower Hooke's hinge (6), drives foot by the extension and contraction control to electric cylinder (5)
The six-freedom motion of end wheel fixed pedestal (7)；
Sufficient end drive wheel assemblies include driving motor (1), transmission component (4), speed reducer (8), spring-damper (9) and tire
(10)；Driving motor (1) is connected in robot fuselage (2), and driving motor (1) drives speed reducer (8) fortune by transmission component (4)
Dynamic, speed reducer (8) output shaft is coaxial connected with tire (10), and spring-damper (9) and speed reducer (8) ontology and sufficient end wheel are fixed
Pedestal (7), which twists, to be connected, and the suspension of single-degree-of-freedom spring-damper is constituted.
2. as described in claim 1 for taking turns the parallel submissive wheel foot unit of biped robot, which is characterized in that 6 electronic
Cylinder is arranged in parallel at around transmission component.
3. as claimed in claim 2 for taking turns the parallel submissive wheel foot unit of biped robot, which is characterized in that sufficient end wheel is solid
Determine pedestal (7) and be provided with via hole, transmission component (4) is taken turns under fixed pedestal across the via hole of sufficient end wheel fixed pedestal with sufficient end is located at
The input terminal of the speed reducer (8) of side is connected.
4. as described in claim 1 for taking turns the parallel submissive wheel foot unit of biped robot, which is characterized in that sufficient end wheel is solid
Determine the key set of the connected guiding spline in pedestal (7) center；The key set entangles the guiding spline key for being fixed on plane on speed reducer 8
Bar.
5. as described in claim 1 for taking turns the parallel submissive wheel foot unit of biped robot, which is characterized in that the spring
Damper (9) designs in pairs, symmetry arrangement.
6. as described in claim 1 for taking turns the parallel submissive wheel foot unit of biped robot, which is characterized in that spring damping
Device (9) end installs force snesor additional, the feedback quantity for measuring sufficient end stress size, as contact to earth detection and sufficient end power control.
7. as described in claim 1 for taking turns the parallel submissive wheel foot unit of biped robot, which is characterized in that 6 electronic
Cylinder (5), upper Hooke's hinge (3), lower Hooke's hinge (6), robot fuselage (2) and sufficient end wheel fixed pedestal (7), constitute Stewart type
Six degree of freedom structure in parallel.
8. as described in claim 1 for taking turns the parallel submissive wheel foot unit of biped robot, which is characterized in that the transmission
Component uses kinematic link.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810765511.0A CN108858120B (en) | 2018-07-12 | 2018-07-12 | Parallel type compliant wheel foot device for wheel foot robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810765511.0A CN108858120B (en) | 2018-07-12 | 2018-07-12 | Parallel type compliant wheel foot device for wheel foot robot |
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| CN108858120A true CN108858120A (en) | 2018-11-23 |
| CN108858120B CN108858120B (en) | 2021-04-02 |
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| CN201810765511.0A Active CN108858120B (en) | 2018-07-12 | 2018-07-12 | Parallel type compliant wheel foot device for wheel foot robot |
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Cited By (10)
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|---|---|---|---|---|
| CN109733498A (en) * | 2019-01-22 | 2019-05-10 | 北华航天工业学院 | Leg structure and walking robot in parallel |
| CN109909982A (en) * | 2019-04-24 | 2019-06-21 | 河海大学常州校区 | A kind of climbing robot based on 4-RPS parallel institution |
| CN110126562A (en) * | 2019-05-22 | 2019-08-16 | 北京理工大学 | A kind of air-ground integrated electrical parallel connection formula wheel foot driving mechanism |
| CN110221634A (en) * | 2019-05-28 | 2019-09-10 | 北京理工大学 | It is a kind of take turns biped robot isolation mounting and its active vibration isolation control method |
| CN110815245A (en) * | 2019-11-19 | 2020-02-21 | 清华大学 | Service robot for welcoming |
| CN110962956A (en) * | 2019-11-28 | 2020-04-07 | 北京理工大学 | Reconfigurable wheel-foot robot based on parallel modular structure |
| CN111976859A (en) * | 2020-07-30 | 2020-11-24 | 上海交通大学 | UPS-based parallel-connection wheel-foot mobile robot |
| CN112589217A (en) * | 2020-12-05 | 2021-04-02 | 嘉兴星环汽车零部件有限公司 | Slow-speed wire feeding machine tool for machining high-precision die |
| CN112847307A (en) * | 2020-12-31 | 2021-05-28 | 伯朗特机器人股份有限公司 | Six-axis robot and counter-force inverse solution method thereof |
| CN115027591A (en) * | 2022-07-12 | 2022-09-09 | 北京理工大学 | Wheel-foot robot based on independent driving multi-stage cylinder and hub motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109733498B (en) * | 2019-01-22 | 2020-04-07 | 北华航天工业学院 | Parallel leg structure and walking robot |
| CN109733498A (en) * | 2019-01-22 | 2019-05-10 | 北华航天工业学院 | Leg structure and walking robot in parallel |
| CN109909982A (en) * | 2019-04-24 | 2019-06-21 | 河海大学常州校区 | A kind of climbing robot based on 4-RPS parallel institution |
| CN110126562A (en) * | 2019-05-22 | 2019-08-16 | 北京理工大学 | A kind of air-ground integrated electrical parallel connection formula wheel foot driving mechanism |
| CN110126562B (en) * | 2019-05-22 | 2020-12-18 | 北京理工大学 | Empty ground integrated electric parallel wheel foot driving mechanism |
| CN110221634A (en) * | 2019-05-28 | 2019-09-10 | 北京理工大学 | It is a kind of take turns biped robot isolation mounting and its active vibration isolation control method |
| CN110815245A (en) * | 2019-11-19 | 2020-02-21 | 清华大学 | Service robot for welcoming |
| CN110962956A (en) * | 2019-11-28 | 2020-04-07 | 北京理工大学 | Reconfigurable wheel-foot robot based on parallel modular structure |
| CN110962956B (en) * | 2019-11-28 | 2020-10-20 | 北京理工大学 | Reconfigurable wheel-foot robot based on parallel modular structure |
| CN111976859A (en) * | 2020-07-30 | 2020-11-24 | 上海交通大学 | UPS-based parallel-connection wheel-foot mobile robot |
| CN112589217A (en) * | 2020-12-05 | 2021-04-02 | 嘉兴星环汽车零部件有限公司 | Slow-speed wire feeding machine tool for machining high-precision die |
| CN112847307A (en) * | 2020-12-31 | 2021-05-28 | 伯朗特机器人股份有限公司 | Six-axis robot and counter-force inverse solution method thereof |
| CN112847307B (en) * | 2020-12-31 | 2022-05-17 | 伯朗特机器人股份有限公司 | Six-axis robot and counter-force inverse solution method thereof |
| CN115027591A (en) * | 2022-07-12 | 2022-09-09 | 北京理工大学 | Wheel-foot robot based on independent driving multi-stage cylinder and hub motor |
| CN115027591B (en) * | 2022-07-12 | 2023-11-21 | 北京理工大学 | Wheel foot robot based on independent driving multi-stage cylinder and wheel hub motor |
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