CN109719696A - A kind of wheeled anthropomorphic robot having strong balanced capacity - Google Patents
A kind of wheeled anthropomorphic robot having strong balanced capacity Download PDFInfo
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- CN109719696A CN109719696A CN201910090380.5A CN201910090380A CN109719696A CN 109719696 A CN109719696 A CN 109719696A CN 201910090380 A CN201910090380 A CN 201910090380A CN 109719696 A CN109719696 A CN 109719696A
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Abstract
The invention discloses a kind of wheeled anthropomorphic robots for having strong balanced capacity, it from top to bottom include head system, neck subsystem, chest system, lumbar system, wheel undercarriage, multi-degree-of-freemechanical mechanical arm grasping system is symmetrically arranged on the chest system, strong balancing device is provided on the wheel undercarriage, the strong balancing device includes several radial adjustable elastic support legs for being symmetrically extended on the wheel undercarriage side.The structure of present invention optimization anthropomorphic robot, enhance the balanced capacity of robot, so that robot remains whole machine balancing during bending over to bend operation, expands robot operating space, robot manipulation's ability is improved, realizes the functions such as robot smooth motion, crawl.
Description
Technical field
The present invention relates to apery wheeled robot technical applications, specially a kind of wheeled apery for having strong balanced capacity
Robot.
Background technique
In the case where country advocates " industry 4.0 " and the overall background of " made in China 2025 ", the process of industrial automation as
Fire such as carries out to the bitter edible plant.Therefore, manual work is industrially replaced using robot, more becomes following trend.Present is wheeled
Anthropomorphic robot basic structure is similar, is made of wheel undercarriage, trunk, mechanical arm, head, and still, trunk has freedom degree
In robot, balanced capacity is difficult to ensure.On the one hand, when robot bend operation, since chassis design is unreasonable,
The presence of the problems such as robot entirety centre-of gravity shift so that robot is difficult to keep whole balance well, or even can go out
The serious consequence now integrally toppled.Still further aspect, when wheeled anthropomorphic robot moves on less smooth ground, how
How the adherence properties for guaranteeing wheel, guarantee that the stability of torso portion is also very important problem.
A strong balanced capacity of tool, strong road holding, the wheeled anthropomorphic robot of multi-environment adaptability can solve to be deposited at present
The problem of.
Summary of the invention
The invention proposes a kind of wheeled anthropomorphic robots for having strong balanced capacity, mainly solve existing anthropomorphic robot
Angle of bending restricts, bends to operate the problems such as balance is poor, road holding is poor, application scenarios are single, optimizes overall structure, reduces life
Produce cost.
The present invention is by there is following technical solution to realize:
A kind of wheeled anthropomorphic robot having strong balanced capacity, from top to bottom include head system, neck subsystem, chest system,
Lumbar system, wheel undercarriage are symmetrically arranged with multi-degree-of-freemechanical mechanical arm grasping system, the wheel undercarriage on the chest system
On be provided with strong balancing device, the strong balancing device includes several radial being symmetrically extended on the wheeled bottom
The adjustable elastic support leg of disc side.
Further, the adjustable elastic support leg includes that support leg, universal wheel, torsional spring, universal wheel are fixed
Frame, the rear end of the support leg are fixed on the wheel undercarriage, and universal wheel fixed frame upper end is provided with spring guide, under
End be flexibly connected with the universal wheel, the torsion spring set on the spring guide, meanwhile, the upper end of the spring guide passes through
Flexible adjustment device is connected with the front end of the support leg, and lower end and the top surface of the universal wheel fixed frame are welded and fixed.
Further, the flexible adjustment device includes: the inner wall belt helical guideway that the support leg front end is arranged in
Through-hole, pulley, on the spring guide and rotationally part inlay is described in the helical guideway for the torsion spring set
The upper end of torsional spring is fixedly connected with pulley, drives the torsional spring to subtract along the helical guideway positive and negative rotation by rotating pulley
Less or the increase torsional spring is embedded in the length in the helical guideway, adjusts the effective length of torsional spring, to regulate and control chassis balance
The ability of system guarantees the ground grip ability of universal wheel.
Further, the support leg uses hydraulic, air pressure or electrodynamic type telescopic structure.
Further, the region of the overhanging composition of adjustable elastic support leg is greater than the region that trunk stretching, extension can reach,
The center of gravity of wheeled anthropomorphic robot is always positioned in the region of the overhanging composition of adjustable elastic support leg.
Further, the strong balancing device includes four and radial is symmetrically extended on the wheel undercarriage
The adjustable elastic support leg of side, wherein between the two adjacent adjustable elastic support legs of wheel undercarriage the same side
Angle is 60 ° -90 °.
Further, the wheel undercarriage include: bottom plate, middle plate, top plate, several support plates, four Mecanum wheels,
Chassis case, servo motor, the bottom plate, middle plate, top plate concentric distribution from the bottom to top, between any two by several vertical
Support plate support；The support leg fixing end is parallel with support plate vertical plane, and is connected by screw to fixation；The servo motor
Be fixed on the bottom plate two sides and respectively with Mecanum wheel drive；Chassis case cover be fixed on the bottom plate, middle plate,
Outside top plate, the support plate.
Further, the neck subsystem include rotating part and, pitching part, the rotating part have a level
Rotary freedom is driven by a servo motor, and there is a pitching rotary freedom in the pitching part, by a servo motor
Driving；
Further, the lumbar system includes rotating part and pitching part, and the rotating part has a horizontal rotation
Freedom degree is driven by a servo motor, and the pitching part includes two concatenated pitching rotary freedoms, respectively by two
Servo motor drives to form two link mechanisms.
Further, the chest system includes support frame, electric machine control system, chest front cover, chest rear cover, the branch
The material of support is stainless steel, and bottom surface is equipped with stainless-steel sheet and is hingedly fixed with lumbar system by screw, and top surface is equipped with top
Plate is hingedly fixed with neck subsystem by screw, and the electric machine control system is arranged in the support frame as described above bottom surface and each motor
Control connection；Immediately ahead of support frame as described above two pieces are symmetrically welded for multi-degree-of-freemechanical mechanical arm grasping system to be fixedly mounted for oblique 45 °
Mechanical arm mounting plate, fixed lid overlays on the front and the back side of support frame as described above respectively for the chest front cover, chest rear cover.
Compared with prior art, the invention has the advantages and beneficial effects that:
1. the strong balanced capacity of tool of the invention is realized by balanced support system, the fixed support leg of the mutual angle of four of system is past
Outer stretching, extension, the region of four overhanging compositions of support leg are greater than trunk and stretch the region that can be reached, and the center of gravity of robot is always positioned at
Support leg is in the region of overhanging composition.Four are equipped with torsional spring between universal wheel and support leg, one end of torsional spring is hinged on support leg
End, other end is fixed on the top surface of universal wheel fixed frame, and the effective length of the adjustable torsional spring of pulley controls its bullet
Property, to regulate and control the ability of chassis balance system, guarantee the ground grip ability of universal wheel.
2. wheeled anthropomorphic robot of the invention, structure can be built by aluminium alloy and plastics, the material point of each structure
With can be depending on different operating environments, materials be cheap, and the process-cycle is short, and simple to install is suitable for mass production.
Detailed description of the invention
Fig. 1 is a kind of overall structure signal of the wheeled anthropomorphic robot of the strong balanced capacity of tool of the embodiment of the present invention one
Figure.
Fig. 2 is head system structural scheme of mechanism of the present invention.
Fig. 3 is neck system authority schematic diagram of the present invention.
Fig. 4 is chest system structural scheme of mechanism of the present invention.
Fig. 5 is lumbar system mechanism of the present invention view.
Fig. 6 is chassis system structural scheme of mechanism of the present invention.
Fig. 7 is support leg partial structural diagram of the invention.
Fig. 8 is the supporting foot structure schematic diagram of the embodiment of the present invention two.
In figure: 1- head system；1-1- binocular camera；1-2- speech ciphering equipment；1-3- connection frame；1-4- upper cover；1-5-
Lower cover；2- neck subsystem；2-1- rotating electric machine；2-2- rotating electric machine fixed frame；2-3- pitching motor；2-4- pitching motor is fixed
Frame；2-5- neck subshell；3- chest system；3-1- support frame；3-2- electric machine control system；3-3- chest front cover；3-4- chest
Rear cover；4- multi-degree-of-freemechanical mechanical arm grasping system；5- lumbar system；5-1- waist rotating electric machine；5-2-U template；5-3- waist panel
Two；Motor under 5-4- waist；5-5- waist panel one；Motor on 5-6- waist；5-7- waist panel three；5-8- waist shell；5-9- waist panel
Four；5-10- rolling bearing；5-11- cap ned；5-12- rolling bearing；6- has strong balanced capacity chassis system；6-1- top plate；6-
Plate in 2-；6-3- support plate；6-4- pulley；6-5- universal wheel fixed frame；6-6- Mecanum wheel；6-7- bottom plate；The chassis 6-8-
Shell；6-9- servo motor；6-10- support leg；6-11- universal wheel；6-12- torsional spring；6-13- helical guideway；6-14- spring is led
Bar.
Specific embodiment
With reference to the accompanying drawing, the working principle of the invention and the course of work are described in further detail.
As shown in Figure 1, a kind of wheeled anthropomorphic robot for having strong balanced capacity, from top to bottom includes head system, neck
System, chest system, lumbar system, wheel undercarriage are symmetrically arranged with multi-degree-of-freemechanical mechanical arm crawl system on the chest system
System, it is characterised in that: strong balancing device is provided on the wheel undercarriage, the strong balancing device includes several radial
Symmetrically it is extended on the adjustable elastic support leg of the wheel undercarriage side.
As shown in Fig. 2, perception and interaction of the head system 1 for realizing robot and external environment, including binocular
Camera 1-1, speech ciphering equipment 1-2, connection frame 1-3, upper cover 1-4 and lower cover 1-5.The binocular camera 1-1 is for being obtained from
The image information of body and ambient enviroment, is embedded in the groove of connection frame 1-3, and connection frame 1-3 is arranged threaded hole, can pass through fastening
Screw fixes binocular camera 1-1.The bottom the connection frame 1-3 is fixed by screw and lower cover 1-5, the bottom end the lower cover 1-5
Setting protrusion, is fixed by the electric rotating generator terminal of screw and neck subsystem 2, realizes the left rotation and right rotation on head.The speech ciphering equipment
1-2 is fixed on the surface of lower cover 1-5 by glue, and the upper cover 1-4 is nested in edge on lower cover 1-5, and set screw is arranged in periphery.
As shown in figure 3, rotary motion and pitching movement of the neck subsystem 2 for realizing head system 1, including rotation
Rotating motor 2-1, rotating electric machine fixed frame 2-2, pitching motor 2-3, pitching motor fixed frame 2-4 and neck subshell 2-5.The rotation
Rotating motor 2-1 inner ring is fixed with rotating electric machine fixed frame 2-2 by screw connection, and the lower cover 1-5 in outer ring and head system 1 is solid
It is fixed.The pitching motor 2-3 inner ring is fixed with pitching motor fixed frame 2-4, and outer ring is fixed with rotating electric machine fixed frame 2-2, institute
State that pitching motor fixed frame is L-shaped, bottom end is fixed with the support frame 3-1 in chest system 3.The both sides neck subshell 2-5 are equipped with
Threaded hole is screwed with rotating electric machine fixed frame 2-2.
As shown in figure 4, the chest system 3 includes support frame 3-1, electric machine control system 3-2, chest front cover 3-3 and chest
Portion rear cover 3-4.Support frame as described above 3-1 surrounding hollow out, 45 ° of two skew back of front are welded with two pieces of mechanical arm mounting plates, for solid
Determine mechanical arm.The electric machine control system, for controlling the movement of robot, 2 motors including neck subsystem 2, mostly freely
Spend 2 in 14 motors of mechanical arm grasping system 4,3 motors of lumbar system 5 and the strong balanced capacity chassis system 6 of tool
Motor.The chest front cover 3-3 and chest rear cover 3-4 when installing direct alignment indentation altogether, and set in respective upper and lower surface
Set positioning spiro pit.
As shown in figure 5, the lumbar system 5 includes rotating part and pitching part, the rotating part includes waist rotation
Rotating motor 5-1 and U-shaped board 5-2, the waist outer ring rotating electric machine 5-1 are connected and fixed with top plate 6-1, and inner ring and the ground U-shaped board 5-2 connect
It connects.Pitching part can simplify as two connecting rod models, by motor 5-4 under motor 5-6, waist on waist and each connector group
At.The left end the U-shaped board 5-2 and the outer ring of motor 5-4 under waist are fixed, and right end and two 5-3 of waist panel pass through rolling bearing 5-12
Connection；One 5-5 of waist panel is connect with the inner ring of motor 5-4 under waist；The outer ring motor 5-6 is fixed with one 5-5 of waist panel on waist, inner ring
It is connect with three 5-7 of waist panel, waist shell 5-8 wraps up waist by two sides altogether, and surface is equipped with location hole；Four 5-9 of waist panel passes through
Rolling bearing 5-10 is connect with two 5-3 of waist panel；It is reinforced between two 5-3 of one 5-5 of waist panel and waist panel by cap ned 5-11, increases waist
The stability of two link mechanism of portion.Cap ned 5-11 is made of upper plate, connecting rod and lower plate.
As shown in fig. 6, the wheel undercarriage includes: bottom plate 6-7, middle plate 6-2, top plate 6-1, several support plate 6-3, four
A Mecanum wheel 6-6, chassis case 6-8, servo motor 6-9, the bottom plate 6-7, middle plate 6-2, top plate 6-1 are same from the bottom to top
Axle center distribution is supported by several vertical support plate 6-3 between any two, and adjacent support plate angle is 60 °；The support leg
Fixing end is parallel with support plate vertical plane, and is connected by screw to fixation；The servo motor 6-9 is fixed on the bottom plate 6-7
Two sides and respectively with Mecanum wheel 6-6 drive；The chassis case 6-8 cover is fixed on the bottom plate 6-7, middle plate 6-2, top
Outside plate 6-1, the support plate 6-3.
Angle between four support leg 6-10 is followed successively by 60 °, 120 °, 60 ° and 120 °, four overhanging group of support leg 6-10
At region be greater than trunk and stretch the region that can reach, the center of gravity of robot is always positioned at support leg 6-10 toward the area of overhanging composition
In domain.
Each of the present embodiment adjustable elastic support leg includes support leg 6-10, universal wheel 6-11, torsional spring 6-
12, the rear end of universal wheel fixed frame 6-5, the support leg 6-10 are fixed on the wheel undercarriage, the universal wheel fixed frame
The upper end 6-5 is provided with spring guide 6-14, and lower end is flexibly connected with the universal wheel 6-11, and the torsional spring 6-12 is covered in the bullet
On spring guide rod 6-14, meanwhile, before the upper end of the spring guide 6-14 is by flexible adjustment device and the support leg 6-10
End is connected, and lower end and the top surface of the universal wheel fixed frame 6-5 are welded and fixed.
Specifically, as shown in fig. 7, the flexible adjustment device includes: to be arranged in the front end the support leg 6-10
The through-hole of cornice helical guideway 6-13, pulley 6-4, the torsional spring 6-12 covers on the spring guide 6-14 and rotationally portion
Divide and be embedded in the helical guideway 6-13, the upper end of the torsional spring 6-12 is fixedly connected with pulley 6-4, is passed through and is rotated pulley 6-
4 drive the torsional spring 6-12 to decrease or increase described in the torsional spring 6-12 insertion along the helical guideway 6-13 positive and negative rotation
Length in helical guideway 6-13 adjusts the effective length of torsional spring.
Specifically, the effective length of the adjustable torsional spring 6-12 of the pulley 6-4 controls its elasticity, to regulate and control chassis
The ability of balance system guarantees the ground grip ability of universal wheel 6-11.The pulley 6-4 rotation can drive torsional spring 6-12 along the inverse time
Needle rotation, the end torsional spring 6-12 are welded and fixed with the fixed top of support of universal wheel.Support leg 6-10 bottom centre drilling, then at it
Inner wall is drilled with helical guideway, and torsional spring 6-12 correspondence is embedded in helical guideway, and can be rotated along helical guideway.Torsional spring 6-
Elastic reaction is not played in 12 parts being embedded in helical guideway, and the part stretched outward is the effective length of torsional spring 6-12, plays bullet
Property cushioning effect.When rotating clockwise pulley 6-4, pulley 6-4 drives the starting point of torsional spring 6-12 to rotate along helical guideway,
Torsional spring 6-12 is pushed to turn outward, correspondingly, torsional spring 6-12 is embedded in the part in helical guideway and will reduce, the portion stretched outward
Dividing just will increase, and the effective length of torsional spring 6-12 increases, and adjusts the elasticity of torsional spring 6-12, adjusts whole damping balanced capacity；
When rotating counterclockwise pulley 6-4, pulley 6-4 drives the starting point of torsional spring 6-12 to rotate along helical guideway, pulls turn round inward
Spring 6-12, correspondingly, torsional spring 6-12 are embedded in the part in helical guideway and just will increase, and the part stretched outward will be reduced,
The effective length of torsional spring 6-12 is reduced, and is adjusted the elasticity of torsional spring 6-12, is adjusted whole damping balanced capacity.
Embodiment two
As shown in figure 8, the difference between this embodiment and the first embodiment lies in: the support leg 6-10 uses hydraulic, air pressure or electricity
Dynamic formula telescopic structure controls described adjustable so as to adjust the length of the support leg 6-10 according to the actual situation
The area size of the section resilient support overhanging composition of foot, when robot grabs heavier object, the center of gravity of wheeled anthropomorphic robot
It can be always positioned in the region of the overhanging composition of adjustable elastic support leg, improve the applicability of robot, when robot transports
When moving to narrow road section, the length of support leg can be shortened, passed through with fast and easy.The applicable model of robot can be improved in this way
It encloses, robot working space is expanded, so that robot normally completes operation in complex environment.When specific design, support leg
6-10 can be used telescopic sleeve mechanism, and power is realized using hydraulic cylinder, pneumatic cylinder or linear motor, and those skilled in the art can be with
It is selected according to specific needs, details are not described herein.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modification, equivalent replacement or improvement etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of wheeled anthropomorphic robot for having strong balanced capacity from top to bottom includes head system, neck subsystem, chest system
System, lumbar system, wheel undercarriage are symmetrically arranged with multi-degree-of-freemechanical mechanical arm grasping system on the chest system, described wheeled
It is provided with strong balancing device on chassis, the strong balancing device includes several radial being symmetrically extended on the wheel
The adjustable elastic support leg of formula chassis side.
2. the wheeled anthropomorphic robot of the strong balanced capacity of tool according to claim 1, it is characterised in that: it is each it is described can
Adjusting resilient support foot includes support leg, universal wheel, torsional spring, universal wheel fixed frame, and the rear end of the support leg is fixed on described
On wheel undercarriage, universal wheel fixed frame upper end is provided with spring guide, and lower end is flexibly connected with the universal wheel, the torsion
Spring covers on the spring guide, meanwhile, before the upper end of the spring guide is by flexible adjustment device and the support leg
End is connected, and lower end and the top surface of the universal wheel fixed frame are welded and fixed.
3. the wheeled anthropomorphic robot of the strong balanced capacity of tool according to claim 2, it is characterised in that: the elasticity is adjusted
Regulating device includes: through-hole, the pulley that the inner wall belt helical guideway of the support leg front end is arranged in, and the torsion spring set is in the bullet
On spring guide rod and rotationally in the helical guideway, the upper end of the torsional spring is fixedly connected part inlay with pulley, is passed through
Rotation pulley drives the torsional spring to decrease or increase the torsional spring along the helical guideway positive and negative rotation and is embedded in the spiral
Length in guide rail, adjusts the effective length of torsional spring, to regulate and control the ability of chassis balance system, guarantee universal wheel grabs ground energy
Power.
4. the wheeled anthropomorphic robot of the strong balanced capacity of tool according to claim 2 or 3, it is characterised in that: the branch
Support foot uses hydraulic, air pressure or electrodynamic type telescopic structure.
5. the wheeled anthropomorphic robot of the strong balanced capacity of tool according to claim 1, it is characterised in that: the adjustable bullet
Property the overhanging composition of support leg region be greater than trunk and stretch the region that can reach, the center of gravity of wheeled anthropomorphic robot is always positioned at institute
In the region for stating the overhanging composition of adjustable elastic support leg.
6. the wheeled anthropomorphic robot of the strong balanced capacity of tool according to claim 1, it is characterised in that: the strong balance
Device includes four radial adjustable elastic support legs for being symmetrically extended on the wheel undercarriage side, wherein
Angle between the two adjacent adjustable elastic support legs of wheel undercarriage the same side is 60 ° -90 °.
7. the wheeled anthropomorphic robot of the strong balanced capacity of tool according to claim 2, it is characterised in that: the wheeled bottom
Disk includes: bottom plate, middle plate, top plate, several support plates, four Mecanum wheels, chassis case, servo motors, the bottom plate, in
The concentric distribution from the bottom to top of plate, top plate is supported by several vertical support plates between any two；The support leg fixing end with
Support plate vertical plane is parallel, and is connected by screw to fixation；The servo motor be fixed on the bottom plate two sides and respectively with wheat
Ke Namu wheel drive；Chassis case cover be fixed on the bottom plate, middle plate, top plate, outside the support plate.
8. the wheeled anthropomorphic robot of the strong balanced capacity of tool according to claim 1, it is characterised in that: the neck subsystem
And, pitching part, the rotating part has a horizontals rotation freedom degree including rotating part, by a servo motor drive
Dynamic, there is a pitching rotary freedom in the pitching part, is driven by a servo motor.
9. the wheeled anthropomorphic robot of the strong balanced capacity of tool according to claim 1, it is characterised in that: the lumbar system
Including rotating part and pitching part, the rotating part has a horizontal rotation freedom degree, is driven by a servo motor,
The pitching part includes two concatenated pitching rotary freedoms, is driven by two servo motors form two connecting rod machines respectively
Structure.
10. the wheeled anthropomorphic robot of the strong balanced capacity of tool according to claim 1, it is characterised in that: the chest system
System includes support frame, electric machine control system, chest front cover, chest rear cover, and the material of support frame as described above is stainless steel, and bottom surface is set
There is stainless-steel sheet hingedly to fix with lumbar system by screw, it is hingedly solid by screw that top surface is equipped with top plate and neck subsystem
Fixed, the electric machine control system setting is connect in the support frame as described above bottom surface with each motor control；Immediately ahead of support frame as described above
Oblique 45 ° are symmetrically welded two pieces for the mechanical arm mounting plate of multi-degree-of-freemechanical mechanical arm grasping system, the chest to be fixedly mounted
Front cover, chest rear cover are fixed respectively to cover the front and the back side for overlaying on support frame as described above.
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| CN201910090380.5A CN109719696B (en) | 2019-01-30 | 2019-01-30 | Wheel type humanoid robot with strong balancing capability |
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Cited By (5)
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| CN110154001A (en) * | 2019-06-17 | 2019-08-23 | 清华大学 | Positioning robot |
| CN110524561A (en) * | 2019-09-27 | 2019-12-03 | 长沙紫宸科技开发有限公司 | A kind of Multifunctional apery multi-foot robot |
| CN110900560A (en) * | 2019-11-27 | 2020-03-24 | 佛山科学技术学院 | Multi-foot wheeled mobile robot system with scene understanding capability |
| CN112091928A (en) * | 2020-09-09 | 2020-12-18 | 南华大学 | Method for improving operation stability of nuclear emergency robot |
| CN117506999A (en) * | 2023-11-29 | 2024-02-06 | 深圳市优必选科技股份有限公司 | Torque transmission assembly, head mechanism and robot |
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