CN109719696B - Wheel type humanoid robot with strong balancing capability - Google Patents
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- CN109719696B CN109719696B CN201910090380.5A CN201910090380A CN109719696B CN 109719696 B CN109719696 B CN 109719696B CN 201910090380 A CN201910090380 A CN 201910090380A CN 109719696 B CN109719696 B CN 109719696B
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Abstract
The invention discloses a wheeled humanoid robot with strong balancing capability, which comprises a head system, a neck system, a chest system, a waist system and a wheeled chassis from top to bottom, wherein the chest system is symmetrically provided with a multi-degree-of-freedom mechanical arm grabbing system, the wheeled chassis is provided with a strong balancing device, and the strong balancing device comprises a plurality of adjustable elastic supporting feet which are radially and symmetrically arranged on the side face of the wheeled chassis in an extending mode. The invention optimizes the structure of the humanoid robot, enhances the balance capacity of the robot, ensures that the robot always keeps overall balance in the process of bending over and bending over, enlarges the operation space of the robot, improves the operation capacity of the robot, and realizes the functions of stable movement, grabbing and the like of the robot.
Description
Technical Field
The invention relates to the technical application field of humanoid wheeled robots, in particular to a wheeled humanoid robot with strong balancing capability.
Background
In the great background of the national advocates "industry 4.0" and "China manufacturing 2025", the progress of industrial automation is proceeding well. Therefore, the industry uses robots instead of manual work, and the future trend is more advanced. The existing wheel type humanoid robot has similar basic structure and consists of a wheel type chassis, a trunk, a mechanical arm and a head, but in the robot with the trunk having the freedom degree, the balancing capability of the robot is difficult to ensure. On the one hand, when the robot carries out the operation of bowing, because chassis design is unreasonable, the existence of the holistic focus skew scheduling problem of robot for the robot is difficult to keep holistic equilibrium well, can appear the serious result of whole upset even. On the other hand, when the wheeled humanoid robot moves on a less flat ground, how to ensure the grip of the wheels and how to ensure the stability of the trunk part are also non-negligible problems.
The wheel type humanoid robot with strong balancing capability and strong grabbing capability and multiple environment adaptability can solve the existing problems.
Disclosure of Invention
The invention provides a wheeled humanoid robot with strong balancing capability, which mainly solves the problems of restriction on the bending angle, poor bending operation balance, poor grabbing force, single application scene and the like of the traditional humanoid robot, optimizes the whole structure and reduces the production cost.
The invention is realized by the following technical scheme:
the utility model provides a wheeled humanoid robot of strong balancing ability, includes head system, neck system, chest system, waist system, wheeled chassis from top to bottom, the symmetry is provided with multi freedom arm and snatchs the system on the chest system, be provided with strong balancing unit on the wheeled chassis, strong balancing unit include a plurality of radial symmetry extend the setting and be in adjustable elasticity supporting legs of wheeled chassis side.
Further, each adjustable elastic supporting leg comprises a supporting leg, a universal wheel, a torsion spring and a universal wheel fixing frame, the rear end of the supporting leg is fixed on the wheel chassis, a spring guide rod is arranged at the upper end of the universal wheel fixing frame, the lower end of the universal wheel fixing frame is movably connected with the universal wheel, the torsion spring is sleeved on the spring guide rod, meanwhile, the upper end of the spring guide rod is connected with the front end of the supporting leg through an elastic adjusting device, and the lower end of the spring guide rod is fixedly welded to the top surface of the universal wheel fixing frame.
Further, the elasticity adjusting device includes: the inner wall of the front end of the supporting leg is provided with a through hole and a pulley which are provided with a spiral guide rail, the torsion spring is sleeved on the spring guide rod and is rotatably partially inlaid in the spiral guide rail, the upper end of the torsion spring is fixedly connected with the pulley, the torsion spring is driven by the rotating pulley to rotate positively and negatively along the spiral guide rail to reduce or increase the length of the torsion spring embedded in the spiral guide rail, the effective length of the torsion spring is adjusted, and therefore the capability of a chassis balance system is regulated and controlled, and the ground grabbing capability of the universal wheel is ensured.
Further, the supporting legs adopt a hydraulic, pneumatic or electric telescopic structure.
Further, the area formed by the overhanging of the adjustable elastic supporting legs is larger than the area which can be reached by the extension of the trunk, and the gravity center of the wheeled humanoid robot is always positioned in the area formed by the overhanging of the adjustable elastic supporting legs.
Further, the strong balancing device comprises four adjustable elastic supporting feet which are radially and symmetrically arranged on the side face of the wheel type chassis in an extending mode, wherein an included angle between two adjacent adjustable elastic supporting feet on the same side of the wheel type chassis is 60-90 degrees.
Further, the wheel chassis includes: the device comprises a bottom plate, a middle plate, a top plate, a plurality of supporting plates, four Mecanum wheels, a chassis shell and a servo motor, wherein the bottom plate, the middle plate and the top plate are coaxially distributed from bottom to top, and are supported by a plurality of vertical supporting plates; the fixed ends of the supporting legs are parallel to the vertical surface of the supporting plate and are fixedly connected through screws; the servo motors are fixed on two sides of the bottom plate and are respectively driven by the Mecanum wheels; the chassis housing is covered and fixed outside the bottom plate, the middle plate, the top plate and the supporting plate.
Further, the neck system includes a rotating portion having a horizontal rotational degree of freedom driven by a servo motor and a pitching portion having a pitching rotational degree of freedom driven by a servo motor;
further, the lumbar system comprises a rotating part and a pitching part, wherein the rotating part has one horizontal rotation degree of freedom and is driven by one servo motor, the pitching part comprises two pitching rotation degrees of freedom which are connected in series, and two linkage mechanisms are respectively formed by driving the two servo motors.
Further, the chest system comprises a support frame, a motor control system, a chest front cover and a chest rear cover, wherein the support frame is made of stainless steel, a stainless steel plate is arranged on the bottom surface of the support frame and is hinged and fixed with the waist system through screws, a top plate is arranged on the top surface of the support frame and is hinged and fixed with the neck system through screws, and the motor control system is arranged on the bottom surface of the support frame and is connected with each motor control; two mechanical arm mounting plates for fixedly mounting the multi-degree-of-freedom mechanical arm grabbing system are symmetrically welded at an angle of 45 degrees right in front of the support frame, and the chest front cover and the chest rear cover are respectively and fixedly covered on the front face and the back face of the support frame.
Compared with the prior art, the invention has the advantages that:
1. the robot with strong balancing capability is realized by a balancing supporting system, four supporting legs with fixed included angles extend outwards, the region formed by extending the four supporting legs is larger than the region where the trunk can reach, and the gravity center of the robot is always positioned in the region formed by extending the supporting legs outwards. The four universal wheels and the supporting legs are provided with torsion springs, one ends of the torsion springs are hinged to the tail ends of the supporting legs, the other ends of the torsion springs are fixed to the top surface of the universal wheel fixing frame, the effective length of the torsion springs can be adjusted through pulleys, the elasticity of the torsion springs is controlled, and therefore the capability of a chassis balance system is regulated and controlled, and the ground grabbing capability of the universal wheels is guaranteed.
2. The wheel type humanoid robot provided by the invention has the advantages that the structure can be built by aluminum alloy and plastic, the material distribution of each structure can be determined according to different operation environments, the materials are cheap, the processing period is short, the installation is simple, and the wheel type humanoid robot is suitable for mass production.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a wheel type humanoid robot with strong balancing capability according to the first embodiment of the present invention.
FIG. 2 is a schematic diagram of the head system mechanism of the present invention.
FIG. 3 is a schematic view of the neck system mechanism of the present invention.
Fig. 4 is a schematic diagram of the chest system mechanism of the present invention.
Figure 5 is a view of the lumbar system mechanism of the present invention.
FIG. 6 is a schematic diagram of the chassis system mechanism of the present invention.
Fig. 7 is a schematic view of a partial structure of a supporting leg according to the present invention.
Fig. 8 is a schematic diagram of a supporting leg structure according to a second embodiment of the invention.
In the figure: 1-a head system; 1-1-a binocular camera; 1-2-voice devices; 1-3-connecting frames; 1-4-upper cover; 1-5-lower cover; 2-neck system; 2-1-rotating electrical machines; 2-2-rotating electric machine fixing frame; 2-3-pitch motor; 2-4-pitching motor fixing frames; 2-5-neck housing; 3-chest system; 3-1-supporting frames; 3-2-motor control system; 3-3-chest front; 3-4-chest rear cover; 4-a multi-degree-of-freedom mechanical arm grabbing system; 5-lumbar systems; 5-1-waist rotating electric machine; 5-2-U-shaped plates; 5-3-waist plate II; 5-4-lower lumbar motor; 5-5-waist plate I; 5-6-waist upper motor; 5-7-waist plate III; 5-8-lumbar housing; 5-9-waist plate IV; 5-10-rolling bearings; 5-11-I-shaped frames; 5-12-rolling bearings; 6-a chassis system with strong balancing capability; 6-1-top plate; 6-2-middle plate; 6-3-supporting plates; 6-4-pulleys; 6-5-universal wheel fixing frames; 6-6-Mecanum wheel; 6-7-bottom plate; 6-8 of a chassis housing; 6-9-servo motor; 6-10-supporting feet; 6-11-universal wheels; 6-12-torsion spring; 6-13-spiral guide rails; 6-14-spring guide rod.
Detailed Description
The working principle and working process of the present invention are described in further detail below with reference to the accompanying drawings.
As shown in fig. 1, the wheeled humanoid robot with strong balancing capability comprises a head system, a neck system, a chest system, a waist system and a wheeled chassis from top to bottom, wherein the chest system is symmetrically provided with a multi-degree-of-freedom mechanical arm grabbing system, and the wheeled humanoid robot is characterized in that: the wheel type chassis is provided with a strong balancing device, and the strong balancing device comprises a plurality of adjustable elastic supporting feet which are radially and symmetrically arranged on the side face of the wheel type chassis in an extending mode.
As shown in fig. 2, the head system 1 is used for realizing the perception and interaction between a robot and the external environment, and comprises a binocular camera 1-1, a voice device 1-2, a connecting frame 1-3, an upper cover 1-4 and a lower cover 1-5. The binocular camera 1-1 is used for acquiring image information of the binocular camera 1-1 and surrounding environment, is embedded in a groove of the connecting frame 1-3, and the connecting frame 1-3 is provided with a threaded hole which can be used for fixing the binocular camera 1-1 through a fastening screw. The bottom of the connecting frame 1-3 is fixed with the lower cover 1-5 through a screw, the bottom end of the lower cover 1-5 is provided with a bulge, and the bulge is fixed with the rotating motor end of the neck system 2 through the screw, so that the left and right rotation of the head is realized. The voice equipment 1-2 is fixed on the surface of the lower cover 1-5 through glue, the upper cover 1-4 is nested on the upper edge of the lower cover 1-5, and positioning screws are arranged on the periphery.
As shown in fig. 3, the neck system 2 is used for realizing the rotary motion and the pitching motion of the head system 1, and comprises a rotary motor 2-1, a rotary motor fixing frame 2-2, a pitching motor 2-3, a pitching motor fixing frame 2-4 and a neck housing 2-5. The inner ring of the rotating motor 2-1 is fixedly connected with the rotating motor fixing frame 2-2 through screws, and the outer ring is fixedly connected with the lower cover 1-5 in the head system 1. The inner ring of the pitching motor 2-3 is fixed with the pitching motor fixing frame 2-4, the outer ring is fixed with the rotating motor fixing frame 2-2, the pitching motor fixing frame is L-shaped, and the bottom end of the pitching motor fixing frame is fixed with the supporting frame 3-1 in the chest system 3. Screw holes are arranged on two sides of the neck shell 2-5, and the neck shell is fixed with the rotating motor fixing frame 2-2 through screws.
As shown in fig. 4, the chest system 3 includes a support frame 3-1, a motor control system 3-2, a chest front cover 3-3, and a chest rear cover 3-4. The periphery of the supporting frame 3-1 is hollowed out, and two mechanical arm mounting plates are welded at 45 degrees to the two sides of the right front side and used for fixing the mechanical arms. The motor control system is used for controlling the movement of the robot and comprises 2 motors of the neck system 2, 14 motors of the multi-degree-of-freedom mechanical arm grabbing system 4, 3 motors of the waist system 5 and 2 motors of the chassis system 6 with strong balancing capability. The chest front cover 3-3 and the chest rear cover 3-4 are directly aligned with the grooves when being installed, and positioning threaded holes are arranged on the upper surface and the lower surface of each chest front cover.
As shown in fig. 5, the lumbar system 5 includes a rotating part and a pitching part, the rotating part includes a lumbar rotating motor 5-1 and a U-shaped board 5-2, an outer ring of the lumbar rotating motor 5-1 is fixedly connected with the top board 6-1, and an inner ring is connected with the ground of the U-shaped board 5-2. The pitching part can be simplified into a two-link model and consists of an upper lumbar motor 5-6, a lower lumbar motor 5-4 and various connecting pieces. The left end of the U-shaped plate 5-2 is fixed with the outer ring of the lower lumbar motor 5-4, and the right end of the U-shaped plate is connected with the second lumbar plate 5-3 through a rolling bearing 5-12; the waist plate I5-5 is connected with the inner ring of the lower waist motor 5-4; the outer ring of the upper waist motor 5-6 is fixed with the first waist plate 5-5, the inner ring is connected with the third waist plate 5-7, the waist shell 5-8 wraps the waist by combining two sides, and the surface is provided with a positioning hole; the waist plate IV 5-9 is connected with the waist plate II 5-3 through a rolling bearing 5-10; the waist plate I5-5 and the waist plate II 5-3 are reinforced by the I-shaped frame 5-11, so that the stability of the waist two-connecting-rod structure is improved. The I-shaped frame 5-11 consists of an upper plate, a connecting rod and a lower plate.
As shown in fig. 6, the wheel chassis includes: the novel microphone comprises a bottom plate 6-7, a middle plate 6-2, a top plate 6-1, a plurality of supporting plates 6-3, four Mecanum wheels 6-6, a chassis shell 6-8 and a servo motor 6-9, wherein the bottom plate 6-7, the middle plate 6-2 and the top plate 6-1 are coaxially distributed from bottom to top, two are supported by a plurality of vertical supporting plates 6-3, and the angles of adjacent supporting plates are 60 degrees; the fixed ends of the supporting legs are parallel to the vertical surface of the supporting plate and are fixedly connected through screws; the servo motors 6-9 are fixed on two sides of the bottom plate 6-7 and are respectively driven by the Mecanum wheels 6-6; the chassis shell 6-8 is covered and fixed outside the bottom plate 6-7, the middle plate 6-2, the top plate 6-1 and the supporting plate 6-3.
The angles between the four supporting legs 6-10 are 60 degrees, 120 degrees, 60 degrees and 120 degrees in sequence, the area formed by extending the four supporting legs 6-10 is larger than the area where the trunk can reach, and the gravity center of the robot is always located in the area formed by extending the supporting legs 6-10.
Each adjustable elastic supporting leg of the embodiment comprises a supporting leg 6-10, a universal wheel 6-11, a torsion spring 6-12 and a universal wheel fixing frame 6-5, wherein the rear end of the supporting leg 6-10 is fixed on the wheel chassis, the upper end of the universal wheel fixing frame 6-5 is provided with a spring guide rod 6-14, the lower end of the universal wheel fixing frame is movably connected with the universal wheel 6-11, the torsion spring 6-12 is sleeved on the spring guide rod 6-14, meanwhile, the upper end of the spring guide rod 6-14 is connected with the front end of the supporting leg 6-10 through an elastic adjusting device, and the lower end of the spring guide rod is fixedly welded with the top surface of the universal wheel fixing frame 6-5.
Specifically, as shown in fig. 7, the elastic adjusting device includes: the inner wall of the front end of the supporting leg 6-10 is provided with a through hole of the spiral guide rail 6-13 and a pulley 6-4, the torsion spring 6-12 is sleeved on the spring guide rod 6-14 and is rotatably partially embedded in the spiral guide rail 6-13, the upper end of the torsion spring 6-12 is fixedly connected with the pulley 6-4, the torsion spring 6-12 is driven to rotate positively and negatively along the spiral guide rail 6-13 through rotating the pulley 6-4, the length of the torsion spring 6-12 embedded in the spiral guide rail 6-13 is reduced or increased, and the effective length of the torsion spring is adjusted.
Specifically, the pulley 6-4 can adjust the effective length of the torsion spring 6-12 and control the elasticity of the torsion spring, so that the capacity of the chassis balance system is regulated and controlled, and the ground grabbing capacity of the universal wheel 6-11 is ensured. The pulley 6-4 rotates to drive the torsion spring 6-12 to rotate anticlockwise, and the tail end of the torsion spring 6-12 is welded and fixed with the top surface of the universal wheel fixing frame. The bottom center of the supporting leg 6-10 is drilled, then a spiral guide rail is drilled on the inner wall of the supporting leg, and the torsion spring 6-12 is correspondingly embedded in the spiral guide rail and can rotate along the spiral guide rail. The part of the torsion spring 6-12 embedded in the spiral guide rail does not play a role in elasticity, and the part extending outwards is the effective length of the torsion spring 6-12, so that the effect of elasticity and shock absorption is achieved. When the pulley 6-4 is rotated clockwise, the pulley 6-4 drives the starting end of the torsion spring 6-12 to rotate along the spiral guide rail to push the torsion spring 6-12 to rotate outwards, accordingly, the part of the torsion spring 6-12 embedded in the spiral guide rail is reduced, the outwards extending part is increased, the effective length of the torsion spring 6-12 is increased, the elasticity of the torsion spring 6-12 is adjusted, and the overall shock absorption balance capacity is adjusted; when the pulley 6-4 is rotated anticlockwise, the pulley 6-4 drives the starting end of the torsion spring 6-12 to rotate along the spiral guide rail, the torsion spring 6-12 is pulled inwards, correspondingly, the part of the torsion spring 6-12 embedded in the spiral guide rail is increased, the outwards extending part is reduced, the effective length of the torsion spring 6-12 is reduced, the elasticity of the torsion spring 6-12 is adjusted, and the overall shock absorption balance capacity is adjusted.
Example two
As shown in fig. 8, the present embodiment differs from the first embodiment in that: the supporting legs 6-10 are of a hydraulic, pneumatic or electric telescopic structure, so that the length of the supporting legs 6-10 can be adjusted according to actual conditions, namely the size of an area formed by the overhanging of the adjustable elastic supporting legs is controlled, when a robot grabs a heavy object, the gravity center of the wheel type humanoid robot can be always positioned in the area formed by the overhanging of the adjustable elastic supporting legs, the applicability of the robot is improved, and when the robot moves to a narrow road section, the length of the supporting legs can be shortened, so that the robot can conveniently and quickly pass through the area. Therefore, the application range of the robot can be increased, and the robot working space is expanded, so that the robot can normally complete the operation in a complex environment. In a specific design, the supporting legs 6-10 can be telescopic mechanisms, and power is realized by hydraulic cylinders, pneumatic cylinders or linear motors, so that the supporting legs can be selected by a person skilled in the art according to specific needs, and the details are not repeated here.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, or alternatives falling within the spirit and principles of the invention.
Claims (8)
1. The wheeled humanoid robot with the strong balancing capability comprises a head system, a neck system, a chest system, a waist system and a wheeled chassis from top to bottom, wherein the chest system is symmetrically provided with a multi-degree-of-freedom mechanical arm grabbing system, the wheeled chassis is provided with a strong balancing device, and the strong balancing device comprises a plurality of adjustable elastic supporting feet which are radially and symmetrically arranged on the side surface of the wheeled chassis in an extending mode; each adjustable elastic supporting leg comprises a supporting leg, a universal wheel, a torsion spring and a universal wheel fixing frame, wherein the rear end of each supporting leg is fixed on the wheel type chassis, a spring guide rod is arranged at the upper end of each universal wheel fixing frame, the lower end of each universal wheel fixing frame is movably connected with the universal wheel, the torsion spring is sleeved on each spring guide rod, meanwhile, the upper end of each spring guide rod is connected with the front end of each supporting leg through an elastic adjusting device, and the lower end of each spring guide rod is welded and fixed with the top surface of each universal wheel fixing frame; the elasticity adjusting device comprises: the inner wall of the front end of the supporting leg is provided with a through hole and a pulley which are provided with a spiral guide rail, the torsion spring is sleeved on the spring guide rod and is rotatably partially inlaid in the spiral guide rail, the upper end of the torsion spring is fixedly connected with the pulley, the torsion spring is driven to rotate positively and negatively along the spiral guide rail through the rotating pulley, the length of the torsion spring inlaid in the spiral guide rail is reduced or increased, the effective length of the torsion spring is adjusted, and therefore the capability of a chassis balance system is regulated and controlled, and the ground grabbing capability of the universal wheel is ensured.
2. The wheeled humanoid robot with strong balancing capability of claim 1, wherein: the supporting legs adopt hydraulic, pneumatic or electric telescopic structures.
3. The wheeled humanoid robot with strong balancing capability of claim 1, wherein: the area of the adjustable elastic supporting leg extension is larger than the area of the trunk extension reaching, and the gravity center of the wheel type humanoid robot is always located in the area of the adjustable elastic supporting leg extension.
4. The wheeled humanoid robot with strong balancing capability of claim 1, wherein: the strong balancing device comprises four adjustable elastic supporting feet which are radially and symmetrically arranged on the side face of the wheel type chassis in an extending mode, wherein an included angle between two adjacent adjustable elastic supporting feet on the same side of the wheel type chassis is 60-90 degrees.
5. The wheeled humanoid robot with strong balancing capability of claim 1, wherein: the wheel chassis comprises: the device comprises a bottom plate, a middle plate, a top plate, a plurality of supporting plates, four Mecanum wheels, a chassis shell and a servo motor, wherein the bottom plate, the middle plate and the top plate are coaxially distributed from bottom to top, and are supported by a plurality of vertical supporting plates; the fixed ends of the supporting legs are parallel to the vertical surface of the supporting plate and are fixedly connected through screws; the servo motors are fixed on two sides of the bottom plate and are respectively driven by the Mecanum wheels; the chassis housing is covered and fixed outside the bottom plate, the middle plate, the top plate and the supporting plate.
6. The wheeled humanoid robot with strong balancing capability of claim 1, wherein: the neck system includes a rotating portion having a horizontal rotational degree of freedom and driven by a servo motor and a pitching portion having a pitching rotational degree of freedom and driven by a servo motor.
7. The wheeled humanoid robot with strong balancing capability of claim 1, wherein: the waist system comprises a rotating part and a pitching part, wherein the rotating part has one horizontal rotation degree of freedom and is driven by one servo motor, the pitching part comprises two pitching rotation degrees of freedom which are connected in series, and two servo motors are respectively used for driving to form a two-bar linkage mechanism.
8. The wheeled humanoid robot with strong balancing capability of claim 1, wherein: the chest system comprises a support frame, a motor control system, a chest front cover and a chest rear cover, wherein the support frame is made of stainless steel, a stainless steel plate is arranged on the bottom surface of the support frame and is hinged and fixed with the waist system through screws, a top plate is arranged on the top surface of the support frame and is hinged and fixed with the neck system through screws, and the motor control system is arranged on the bottom surface of the support frame and is connected with each motor control; two mechanical arm mounting plates for fixedly mounting the multi-degree-of-freedom mechanical arm grabbing system are symmetrically welded at an angle of 45 degrees right in front of the support frame, and the chest front cover and the chest rear cover are respectively and fixedly covered on the front face and the back face of the support frame.
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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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| CN201910090380.5A CN109719696B (en) | 2019-01-30 | 2019-01-30 | Wheel type humanoid robot with strong balancing capability |
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| CN110154001A (en) * | 2019-06-17 | 2019-08-23 | 清华大学 | Positioning robot |
| CN110524561B (en) * | 2019-09-27 | 2024-03-26 | 长沙紫宸科技开发有限公司 | Multifunctional humanoid 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 |
| CN112091928B (en) * | 2020-09-09 | 2021-09-21 | 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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