CN110217311B - Agile four-foot robot based on coaxial parallel mechanism - Google Patents
Agile four-foot robot based on coaxial parallel mechanism Download PDFInfo
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- CN110217311B CN110217311B CN201910451595.5A CN201910451595A CN110217311B CN 110217311 B CN110217311 B CN 110217311B CN 201910451595 A CN201910451595 A CN 201910451595A CN 110217311 B CN110217311 B CN 110217311B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 26
- 230000005540 biological transmission Effects 0.000 claims abstract description 102
- 210000000689 upper leg Anatomy 0.000 claims abstract description 54
- 210000002414 leg Anatomy 0.000 claims abstract description 41
- 238000004891 communication Methods 0.000 claims abstract description 8
- 230000001360 synchronised effect Effects 0.000 claims description 18
- 230000000694 effects Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 8
- 230000005021 gait Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses an agile quadruped robot based on a coaxial parallel mechanism, which comprises a trunk, four parallel legs, a double-motor coaxial asynchronous transmission module, a control and communication module and a power module, wherein the double-motor coaxial asynchronous transmission module is arranged in the trunk and used for driving the parallel legs to move, the parallel legs are arranged on two sides of the trunk, each parallel leg comprises a thigh and a shank, each thigh comprises two thigh rods with the same structure, each shank comprises two shank rods with the same structure, each thigh rod and each shank rod are sequentially hinged to form a four-rod parallel connection rod mechanism, and each thigh rod is controlled by two motors on the double-motor coaxial asynchronous transmission module. The novel parallel leg structure is adopted, so that the cost of the foot type robot is effectively reduced, the whole weight of the foot type robot can be reduced, and better movement performance is achieved; and each parallel leg adopts a coaxial asynchronous torque transmission mode of two motors, so that the leg transmission principle of the four-legged robot is innovated, the whole leg transmission mechanism is more compact, and the movement is quicker.
Description
Technical Field
The invention relates to a four-foot robot technology, in particular to an agile four-foot robot based on a coaxial parallel mechanism.
Background
The four-legged robot is a hot spot for research in the current robot field, and compared with a traditional wheeled robot, the four-legged robot can rapidly and rapidly cross an unstructured environment. The weight of the four-foot robot is reduced through the innovation of the transmission system of the four-foot robot, the control performance of the four-foot robot is improved, and the four-foot robot can have better flexibility, stability and environmental adaptability.
The invention patent with the application number of CN201711260907.1 adopts four supporting legs, three motors for each supporting leg and three degrees of freedom, and the knee joint lightens the rotational inertia of the leg by a transmission mode of a conveyor belt. The four-legged robot has the main defects of more motors, higher cost, limited rotation angle of each joint of the legs and inflexibility and portability.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an agile quadruped robot based on a coaxial parallel mechanism.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
the utility model provides an agile four-legged robot based on coaxial parallel mechanism, includes truck, four parallelly connected legs, sets up the coaxial asynchronous transmission module of bi-motor, control and communication module and the power module that are used for driving parallelly connected leg activity in the truck, parallelly connected leg is installed in the both sides of truck, parallelly connected leg includes thigh and shank, the thigh includes first thigh pole and the second thigh pole that structure and length are equal, the shank includes first shank pole and the second shank pole that structure and length are equal, the driven end of first thigh pole articulates with the driven end of first shank pole, the driven end of second thigh pole articulates with the driven end of second shank pole, the driven end of first thigh pole articulates with the end of second thigh pole, the driven end of first shank pole articulates with the driven end of second shank pole, the driven end of first thigh pole and second thigh pole all is connected to bi-motor coaxial transmission on the control module is with the motion of second thigh pole respectively.
Further, the coaxial asynchronous transmission module of bi-motor includes coaxial transmission, first driving motor and the second driving motor that are connected with first thigh pole and second thigh pole, coaxial transmission includes the first transmission shaft of being connected and driving first thigh pole pivoted with the initiative end of first thigh pole and the second transmission shaft of being connected and driving second thigh pole pivoted with the initiative end of second thigh pole, first transmission shaft and the coaxial setting of second transmission shaft do not interfere each other and rotate, first driving motor is used for driving first transmission shaft rotation, second driving motor is used for driving the rotation of second transmission shaft.
Further, the first driving motor drives the first transmission shaft to rotate through a first driving gear, a first synchronous belt and a first synchronous gear which are arranged on a main shaft of the first driving motor and coaxially rotate with the first transmission shaft, the second driving motor drives the second transmission shaft to rotate through a second driving gear, a second synchronous belt and a second synchronous gear which are arranged on the main shaft of the second driving motor and coaxially rotate with the second transmission shaft, the diameter of the disc surface of the first driving gear is smaller than that of the first synchronous gear, the diameter of the disc surface of the second driving gear is smaller than that of the second synchronous gear, and the connecting lines of the positions of the rotating shaft of the first driving motor, the rotating shaft of the second driving motor and the coaxial transmission device form an equilateral triangle.
Further, the coaxial transmission device further comprises a fixed base sleeved outside the first transmission shaft and the second transmission shaft, the second transmission shaft is sleeved outside the first transmission shaft, a bearing is arranged between the first transmission shaft and the second transmission shaft to enable the first transmission shaft and the second transmission shaft to rotate independently, and a bearing is arranged between the second transmission shaft and the fixed base to enable the second transmission shaft and the fixed base to rotate independently.
Further, a rubber foot pad is arranged at the driven end part of the first shank or the driven end part of the second shank.
Further, the control and communication module comprises an encoder circuit board and a central controller, wherein the encoder circuit board is used for controlling the operation of the double-motor coaxial asynchronous transmission module, the central controller is arranged at the bottom of the trunk, and the double-motor coaxial asynchronous transmission module is arranged on the side surface of the trunk, on which parallel legs are arranged.
Further, the truck body comprises truck body side plates arranged on two sides of the truck body, truck body fixing bent plates arranged on two ends of the front and rear directions of the truck body and a truck body fixing bottom plate arranged on the bottom of the truck body, and the truck body side plates, the truck body fixing bent plates and the truck body fixing bottom plate are mutually connected and fixed to form an integral truck body.
Compared with the prior art, the invention has the following advantages:
compared with the existing common leg structure of the foot robot, the novel parallel leg structure is adopted, so that the cost of the foot robot is effectively reduced, the whole weight of the foot robot can be reduced, and the foot robot has better motion performance; each parallel leg adopts a coaxial asynchronous torque transmission mode of two motors, innovates the leg transmission principle of the four-legged robot, and makes the whole leg transmission mechanism more compact; and the leg structure adopts symmetrical parallel connection link mechanism, and two motors drive bilateral symmetry's thigh pole simultaneously, makes shank moment of torsion bigger, and power performance is more outstanding, and jump and walking ability have great improvement, and this kind of symmetrical parallel connection link mechanism simultaneously, stability is better, and the reliability is higher, and one motor goes wrong, and another motor motion still can realize normal walking function.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a agile quadruped robot based on a coaxial parallel mechanism;
FIG. 2 is a schematic diagram of the structure of the parallel leg portion of a agile quadruped robot based on a coaxial parallel mechanism;
FIG. 3 is a schematic structural view of a dual-motor coaxial asynchronous transmission module part of the agile quadruped robot based on a coaxial parallel mechanism;
FIG. 4 is a schematic diagram of the internal structure of the connecting rod portion of the agile quadruped robot based on a coaxial parallel mechanism;
reference numerals illustrate: 1. a torso; 11. a torso side panel; 12. a trunk fixing bent plate; 2. a parallel leg; 21. thigh; 211. a first thigh bar; 212. a second thigh bar; 22. a lower leg; 221. a first shank; 222. a second shank; 23. a rubber foot pad; 3. the double-motor coaxial asynchronous transmission module; 311. a first driving motor; 312. a first synchronization belt; 313. a first synchronizing gear; 314. a first drive gear; 321. a second driving motor; 322. a second timing belt; 323. a second synchronizing gear; 324. a second drive gear; 33. a coaxial transmission; 331. a first drive shaft; 332. a second drive shaft; 333. a bearing; 34. fixing the stand; 41. an encoder circuit board.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Examples
As shown in fig. 1, the agile four-foot robot based on the coaxial parallel mechanism comprises a trunk 1, four parallel legs 2, a double-motor coaxial asynchronous transmission module 3, a control and communication module and a power supply module, wherein the double-motor coaxial asynchronous transmission module 3 is arranged in the trunk 1 and used for driving the parallel legs 2 to move. The control and communication module is mainly used for controlling the operation of the double-motor coaxial asynchronous transmission module 3 and gait control of the whole foot type robot, and the power supply module is used for supplying power for the whole robot.
Trunk 1 is including setting up trunk curb plate 11 in trunk 1 both sides, setting up trunk fixed bent plate 12 and setting up the trunk fixed bottom plate in trunk 1 bottom in trunk 1 front and back direction both ends, and the fixed combination of edge interconnect of trunk curb plate 11, trunk fixed bent plate 12 and trunk fixed bottom plate forms holistic trunk 1, and power module installs the lower extreme front side both sides that set up at trunk 1 bottom plate.
As shown in fig. 1 and 2, the parallel legs 2 are installed on two sides of the trunk 1, specifically on the trunk side plate 11, the parallel legs 2 comprise a thigh 21 and a shank 22, the thigh 21 comprises a first thigh rod 211 and a second thigh rod 212 with the same structure and length, the shank 22 comprises a first shank rod 221 and a second shank rod 222 with the same structure and length, the driven end of the first thigh rod 211 is hinged with the driving end of the first shank rod 221, the driven end of the second thigh rod 212 is hinged with the driving end of the second shank rod 222, the driving end of the first thigh rod 211 is hinged with the driven end of the second thigh rod 212, and a parallel link mechanism composed of four links is formed, so that the whole leg structure is more stable. The driving ends of the first thigh rod 211 and the second thigh rod 212 are connected to the double-motor coaxial asynchronous transmission module 3 so as to respectively control the movement of the first thigh rod 211 and the second thigh rod 212, and the driven end of the first shank rod 221 is provided with a rubber foot pad 23, so that the effects of buffering and increasing friction can be achieved when the parallel legs 2 walk.
As shown in fig. 1, 3 and 4, the double-motor coaxial asynchronous transmission module 3 is mainly composed of two motor modules and one coaxial transmission 33. The outermost layer of the coaxial transmission device 33 is a fixed base 34 of the transmission device, the fixed base 34 is assembled and fixed with the side plate of the trunk 1 through screws, the inner wall of the fixed base 34 is assembled and connected with a second transmission shaft 332 through a bearing 333, the first transmission shaft 331 and the second transmission shaft 332 are of hollow cylindrical structures, the first transmission shaft 331 is nested in the second transmission shaft 332 and kept coaxial, and both ends of the first transmission shaft 331 are assembled and connected with the second transmission shaft 332 through bearings 333. The first synchronous gear 313 is outside the coaxial transmission device 33 and is assembled and fixed with the first transmission shaft 331 by a pin; the second synchronizing gear 323 is inside the coaxial transmission 33 and is fixed by a pin fitting with the second transmission shaft 332.
The first driving motor 311, the second driving motor 321 and the shaft center of the transmission device are respectively in 60-degree angles and equal in distance to form an equilateral triangle, and the two motors are respectively assembled and connected with the coaxial transmission device 33 through two conveyor belts. The bottom surface of the first driving motor 311 is connected with the side plate of the trunk 1 through screw assembly. The stator of the first driving motor 311 is assembled and fixed with the motor housing, the rotor of the first driving motor 311 is assembled and fixed with one end of the main shaft of the first driving motor 311, the other end of the main shaft of the first driving motor 311 is assembled and fixed with the first driving gear 314 through bolts, and the first driving gear 314 is assembled and connected with the first synchronous gear 313 of the coaxial transmission device 33 through the first synchronous belt 312; the bottom surface of the second driving motor 321 is directly connected with the side plate of the trunk 1 through screw assembly. The stator of the second driving motor 321 is assembled and fixed with the motor housing, the rotor of the second driving motor 321 is assembled and fixed with one end of the main shaft of the second driving motor 321, the other end of the main shaft of the second driving motor 321 is assembled and fixed with the second driving gear 324 through bolts, and the second driving gear 324 is assembled and connected with the second synchronizing gear 323 of the coaxial transmission device 33 through the second synchronizing belt 322.
Since the first driving gear 314 and the second driving gear 324 rotate independently, the first synchronous gear 313 and the second synchronous gear 323 are driven to rotate independently, and finally the first transmission shaft 331 and the second transmission shaft 332 are driven to rotate independently. The diameter of the disk surface of the synchronous gear is larger than that of the driving gear, and a reduction ratio can reduce the rotating speed of the transmission main shaft and increase the torque of the transmission main shaft in belt transmission. The first driving motor 311, the second driving motor 321 and the coaxial transmission device 33 are assembled and connected through a triangle fixing plate and three bearings 333 respectively, so as to control the relative position precision among the three modules. Because the relative position accuracy error of the three parts is too large, the assembly of the conveyor belt is too tight or too loose, the output torque of the motor can be greatly reduced due to the too tight assembly, the too loose conveyor belt can slip, and the control accuracy of the parallel mechanism legs is affected.
The control and communication module includes an encoder circuit board 41 for controlling the operation of the first driving motor 311 and the second driving motor 321, and a central controller, in which 8 driving motors are used in the present embodiment, 8 encoder circuit boards 41 are also provided, each of which controls a common driving motor and is installed and fixed on the trunk side plate 11 at the position where the first driving motor 311 and the second driving motor 321 are installed, and the central controller is disposed at the bottom of the trunk 1. The encoder circuit board 41 mainly receives the rotation angle signal of the driving motor, then the driving circuit board controls the driving motor to rotate in a moment mode or a position mode, the central controller circuit board forms an instant gait control command and synchronously sends the instant gait control command to the encoder circuit board 41 on the foot robot to control the walking, jumping and other maneuvering actions of the four-foot robot.
Specifically, during walking, the symmetrical center line of the parallel link mechanism of the left front leg is vertical to the ground plane at a certain moment, the encoder circuit board 41 sends out an instruction to control the left front leg to swing forward, at this moment, the first driving motor 311 controls the first thigh rod 211 to rotate forward by an angle a, the second driving motor 321 controls the second thigh rod 212 to rotate forward by an angle b, wherein the forward direction of the robot is positive, the backward direction is negative, and the angle is the same as the forward direction of the robotI.e. the angle of the forward swing of the left front legThe angle of the leg stepping can be controlled by controlling the rotation angles of the first driving motor 311 and the second driving motor 321, and the walking motion of the four-legged robot can be realized by alternately controlling the gait motions of the four legs.
The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, and are not intended to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the essence of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. An agile quadruped robot based on coaxial parallel mechanism, its characterized in that: including truck (1), four parallelly connected legs (2), set up in truck (1) be used for driving the coaxial asynchronous transmission module (3) of bi-motor of parallelly connected leg (2) activity, control and communication module and power module, parallelly connected leg (2) are installed in the both sides of truck (1), parallelly connected leg (2) include thigh (21) and shank (22), thigh (21) are including structure and equal first thigh pole (211) and second thigh pole (212) of length, shank (22) include structure and equal first shank pole (221) and second shank pole (222) of length, the driven end of first thigh pole (211) is articulated with the drive end of first shank pole (221), the driven end of second thigh pole (212) is articulated with the drive end of second shank pole (222), the end of first thigh pole (211) is articulated with the end of second thigh pole (212), first leg (221) is articulated with the coaxial asynchronous transmission module of first leg (211) and second shank pole (211) equal with equal length to the second shank pole (211).
2. The agile quadruped robot based on a coaxial parallel mechanism of claim 1, wherein: the double-motor coaxial asynchronous transmission module (3) comprises a coaxial transmission device (33), a first driving motor (311) and a second driving motor (321) which are connected with a first thigh rod (211) and a second thigh rod (212), the coaxial transmission device (33) comprises a first transmission shaft (331) which is connected with the driving end of the first thigh rod (211) and drives the first thigh rod (211) to rotate and a second transmission shaft (332) which is connected with the driving end of the second thigh rod (212) and drives the second thigh rod (212) to rotate, the first transmission shaft (331) and the second transmission shaft (332) are coaxially arranged and do not interfere with each other to rotate, and the first driving motor (311) is used for driving the first transmission shaft (331) to rotate, and the second driving motor (321) is used for driving the second transmission shaft (332) to rotate.
3. The agile quadruped robot based on a coaxial parallel mechanism of claim 2, wherein: the first driving motor (311) drives the first transmission shaft (331) to rotate through a first driving gear (314) arranged on a main shaft of the first driving motor, a first synchronous belt (312) and a first synchronous gear (313) coaxially arranged with the first transmission shaft (331), the second driving motor (321) drives the second transmission shaft (332) to rotate through a second driving gear (324) arranged on the main shaft of the second driving motor, a second synchronous belt (322) and a second synchronous gear (323) coaxially arranged with the second transmission shaft (332), the disk surface diameter of the first driving gear (314) is smaller than that of the first synchronous gear (313), the disk surface diameter of the second driving gear (324) is smaller than that of the second synchronous gear (323), and the positions of the rotating shaft of the first driving motor (311), the rotating shaft of the second driving motor (321) and the coaxial transmission device (33) are connected to form an equilateral triangle.
4. The agile quadruped robot based on a coaxial parallel mechanism of claim 2, wherein: the coaxial transmission device (33) further comprises a fixed base (34) sleeved outside the first transmission shaft (331) and the second transmission shaft (332), the second transmission shaft (332) is sleeved outside the first transmission shaft (331), a bearing (333) is arranged between the first transmission shaft (331) and the second transmission shaft (332) so as to enable the first transmission shaft and the second transmission shaft to rotate independently, and a bearing (333) is arranged between the second transmission shaft (332) and the fixed base (34) so as to enable the second transmission shaft and the second transmission shaft to rotate independently.
5. The agile quadruped robot based on a coaxial parallel mechanism of claim 1, wherein: a rubber foot pad (23) is arranged at the driven end part of the first shank (221) or the driven end part of the second shank (222).
6. The agile quadruped robot based on a coaxial parallel mechanism of any one of claims 1-5, wherein: the control and communication module comprises an encoder circuit board (41) and a central controller, wherein the encoder circuit board is used for controlling the operation of the double-motor coaxial asynchronous transmission module (3), the central controller is arranged at the bottom of the trunk (1), and the double-motor coaxial asynchronous transmission module (3) is arranged on the side face of the trunk (1) where the parallel legs (2) are arranged.
7. The agile quadruped robot based on a coaxial parallel mechanism of claim 1, wherein: trunk (1) are including setting up trunk curb plate (11) in trunk (1) both sides, setting up trunk fixed bent plate (12) at trunk (1) fore-and-aft direction both ends and setting up the trunk fixed bottom plate in trunk (1) bottom, trunk curb plate (11), trunk fixed bent plate (12) and trunk fixed bottom plate interconnect fixed combination form holistic trunk (1).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910451595.5A CN110217311B (en) | 2019-05-28 | 2019-05-28 | Agile four-foot robot based on coaxial parallel mechanism |
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| CN201910451595.5A CN110217311B (en) | 2019-05-28 | 2019-05-28 | Agile four-foot robot based on coaxial parallel mechanism |
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| CN110217311A CN110217311A (en) | 2019-09-10 |
| CN110217311B true CN110217311B (en) | 2024-01-26 |
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| CN114906249B (en) * | 2022-06-10 | 2024-02-02 | 中国人民解放军国防科技大学 | Twelve-degree-of-freedom parallel bionic four-foot robot |
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