CN110509738A - Six degree of freedom series connection branch leg based on ground surface blockage - Google Patents
Six degree of freedom series connection branch leg based on ground surface blockage Download PDFInfo
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- CN110509738A CN110509738A CN201910754142.XA CN201910754142A CN110509738A CN 110509738 A CN110509738 A CN 110509738A CN 201910754142 A CN201910754142 A CN 201910754142A CN 110509738 A CN110509738 A CN 110509738A
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- lifting
- steering
- module
- walking
- face
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
- B60G17/0157—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit non-fluid unit, e.g. electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/30—Height or ground clearance
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The six degree of freedom that the present invention relates to a kind of based on ground surface blockage is connected branch leg, it includes the first lifting module, the first steering module and the first walking module, first guide rail of the first lifting module is connect with the first sliding block first lifting module Pz pair, and first lifting module Pz pair be sequentially connected by the first lead screw and first wire nut, first steering pinion gear of the first steering module is respectively arranged on the two sides of the first steering gear wheel, and engages R with the first steering gear wheelzFirst wheel of pair driving, the first walking module passes through the first movable motor RyPair driving, the first wheel and ground face contact, constitute S+Pair connection, and collectively form with the first lifting module, the first steering module and the first walking module and be configured as PzRzRyS+Six degree of freedom connect branch leg.The present invention, which provides a kind of six degree of freedom series connection branch leg based on ground surface blockage, so that the first wheel is when being contacted with ground may be implemented six degree of freedom omnidirectional moving, have many advantages, such as that flexibility is high, strong applicability.
Description
Technical field
The invention belongs to posture adjustments to dock auxiliary equipment technical field, and in particular to a kind of P based on ground surface blockagezRzRyS+/
RzPzRyS+Six degree of freedom series connection branch leg.
Background technique
With the progress and development of science and technology, industrial robot is gradually being replaced manually, in industry and production and living
In play increasingly important role.During traditional carrying and posture adjustment, mostly use AGV trolley or omnidirectional's posture adjustment small
Vehicle, generallys use supporting leg and running wheel split is arranged, i.e. walking is to carry out step by step with posture adjustment, needs two sets of controls
System, this makes, and the production cycle of Related product extends, increased production cost.
In addition, the running wheel of AGV trolley or omnidirectional's posture adjustment trolley generallys use Mecanum wheel, it is only able to achieve three
The movement of freedom degree, and due to the particularity of Mecanum wheel, it will cause certain damage to mill floor.But in industry
In production process, the docking and assembly of workpiece generally require the cooperation of six-freedom degree, however nowadays universal solution is
It is equipped with pose_adjuster on AGV trolley or omnidirectional's posture adjustment trolley, for the posture adjustment in workpiece docking operation, is just increased in this way
The complexity of mechanism is added, and most designs are only applicable to certain specific situation, do not have general applicability.Therefore, needle
To the above problem, there is an urgent need to one kind to be both able to satisfy AGV carriage walking function now, also be able to achieve pose_adjuster posture adjustment demand
Six degree of freedom serial mechanism, and have the characteristics that high-precision, high-mechanic, structure be simple, strong applicability.
Through the literature search of existing technologies, Chinese patent CN201810765511.0 discloses a kind of for taking turns foot
The parallel submissive wheel foot unit of 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, under
Hooke is hinged sufficient end wheel fixed pedestal, is transported by the six degree of freedom that the extension and contraction control to electric cylinder drives sufficient end to take turns fixed pedestal
Dynamic, driving motor is connected in robot fuselage in sufficient end drive wheel assemblies, and driving motor drives speed reducer to transport by transmission component
Dynamic, 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.Six electric cylinders are arranged in parallel at around drive link, man-machine with upper and lower Hooke's hinge, machine
Body and sufficient end wheel fixed pedestal collectively form Stewart type parallel connection six degree of freedom structure, and the patent is by Stewart mechanism come real
The six-freedom motion of existing supporting leg, adjustable height and slewing area are limited, and flexibility is lower, Chinese patent
CN201811205526.8 discloses a kind of sufficient integral type robot leg structure of wheel comprising the sideway mechanism of robot, thigh,
Shank and sufficient end；Whole leg has three groups of identical hydraulic cylinders of structure for using servo valve control, and robot foot end is wheeled construction, wheel
The direction of son can arbitrarily adjust, and there is individual power source at sufficient end, and using stepper drive all-in-one machine, driving is integrated in control
Together, according to the feedback of motor movement parameter and real-time status, every control parameter is adjusted at any time, motor is made to reach preset power
Square or revolving speed.The phenomenon that it is small that load is born in the invention, and is driven using hydraulic, Yi Fasheng oil leak, pollutes the environment.
Summary of the invention
For above situation, the present invention provides a kind of six degree of freedom series connection branch leg based on ground surface blockage, overcomes existing
Have the deficiency of technology, by first lifting module, the first steering module and the first walking module design so that the first wheel with
When ground face contact, six degree of freedom omnidirectional moving may be implemented, have many advantages, such as flexibility height, strong applicability, while using two
First, which turns to pinion gear, turns to gear wheel engaged transmission with first, gear backlash can be eliminated, for realizing steering angle
Accuracy.Wherein term is referred between wheel and ground contact points based on ground surface blockage without vertical direction one-movement-freedom-degree；When
Wheel and ground face contact constitute S+When secondary, the hub axis direction of Mecanum wheel or wheel is projected as a circle, simultaneously
Each small roller of cydariform, which has, to be formed by rotation around own axis, is formed by revolution, solderless wrapped connection around hub axis rotation
3 freedom degrees of contact roll, therefore Mecanum wheel or wheel also have 3 freedom degrees, formed three directions rotations and
Shaft is not overlapped, and the spherical pair for being theoretically equivalent to deformation is denoted as S+.
The branch leg the technical solution adopted by the present invention is that a kind of six degree of freedom based on ground surface blockage is connected comprising the
One lifting module, the first steering module and the first walking module, the first lifting module includes the first lifting motor, first liter
Retarder, the first displacement sensor, the first lifting support, the first lifting driving pulley, the first lifting synchronous belt, the first lifting drop
Driven pulley, the first guide rail, the first lifting bearing support, the first lead screw, the first lifting torque sensor, first substrate, second
Lifting bearing support and the first lifting slider component, first lifting motor pass through the first lifting retarder and first liter
Drop torque sensor is installed on first lifting support, and first lifting support is set to the first of the first substrate
End face, the output shaft of the first lifting torque sensor are connect with the first lifting driving pulley, first lead screw
First end passes through the first lifting bearing support and connect with the first lifting driven pulley, and its second end and described second
The connection of lifting bearing support, the first lifting bearing support and the second lifting bearing support are respectively arranged on the first substrate
Second end face, first guide rail are respectively arranged on the first end and second end of the first substrate second end face, and described first
The third end face of substrate is equipped with first displacement sensor, and the first lifting driving pulley is synchronized by first lifting
Band and the first lifting driven pulley transmission connection, the first sliding block of first guide rail and the first lifting slider component
First lifting module Pz pair connection, and the first lifting module Pz pair passes through first lead screw and first lifting slider
The first wire nut of component is sequentially connected；First steering module includes the first steering bearing support, the first steering angle instrument, the
One steering shaft, first turn to gear wheel, the first round nut, the first steering motor, the first speed reducing steering system, the first steering torque and pass
Sensor, first turn to pinion gear and the first turning support, and first steering motor passes through first speed reducing steering system and the
One steering torque sensor is installed on first turning support, and the output shaft of first steering torque sensor and institute
The connection of the first steering pinion gear is stated, first turning support is respectively arranged on the first end and the of the first substrate first end face
Two ends, and the first steering pinion gear is respectively arranged on the described first two sides for turning to gear wheel, and turns to greatly with described first
Gear engages RzPair driving, the first steering gear wheel are fixedly installed in first steering shaft by first round nut
First end, and the second end of first steering shaft passes through the first steering bearing support and first walking module
U-shaped support is fixedly connected, and the first steering bearing support is fixed at the first end face of the first substrate, and described first
Steering angle instrument is set to the second end of first steering shaft and is located at the first end face of the first steering bearing support；And
First walking module includes the first movable motor, the first traveling speed reducer, the first walking torque sensor, U-shaped support, the
One wheel, the first walking steering angle instrument and the first axletree, first movable motor pass through first traveling speed reducer and the
One walking torque sensor is installed on the first end face of the U-shaped support, and first wheel is installed on first wheel
On axis, first end and the first walking torque sensor of the first end of first axletree across the U-shaped support
Axis connection is exported, and first wheel passes through the first movable motor RyPair driving, the second end of first axletree
By bearing support in the second end of the U-shaped support, the first walking steering angle instrument is set to the first of first axletree
End, first wheel and ground face contact, constitute S+Pair connection, and with it is described first lifting module, the first steering module and
First walking module, which collectively forms, is configured as PzRzRyS+Six degree of freedom connect branch leg.
Further, the first lifting slider component includes first wire nut, the first force snesor, first wire nut frame,
One sliding block and the first connecting plate, first sliding block are laid in the edge of the first connecting plate first end face, and described
One screw is fixedly connected by holding screw with the first wire nut frame, and the first wire nut frame by the holding screw with
First connecting plate is fixedly connected, and first force snesor is set between the first wire nut and first wire nut frame.
Preferably, first sliding block totally four are laid in the edge of the first connecting plate first end face.
Preferably, the central axis of first steering shaft is overlapped with the central axis of the first steering gear wheel, and
Described first, which turns to the central axis of gear wheel and described first, turns to the centerline axis parallel of pinion gear.
Another aspect of the present invention provides a kind of six degree of freedom series connection branch leg based on ground surface blockage comprising second
Steering module, the second lifting module and the second walking module, second steering module include the second steering motor, the second steering
Retarder, the second steering torque sensor, second turn to pinion gear, the second turning support, encoder, turntable bearing, outer connection
Plate and outer housing, second steering motor are installed on institute by second speed reducing steering system and the second steering torque sensor
It states on the second turning support, and the output shaft of second steering torque sensor is connect with the second steering pinion gear, institute
First end face and second end face that the second turning support is respectively arranged on the outer housing are stated, the second steering pinion gear is set respectively
R is engaged in the two sides of the turntable bearing, and with the turntable bearingzPair driving, the turntable bearing include inner ring, outer ring and
Rolling element, the inner ring and outer ring roll connection, the first end face of the inner ring and the outer housing by the rolling element
Third end face is fixedly connected, and the first end face of the outer ring is fixedly connected with the first end face of the outside link plate, the coding
Device is set to described second and turns between pinion gear, and is installed on the of the outer housing by the coding support base of the encoder
One end face；Second lifting module includes the second lifting motor, the second lifting retarder, second displacement sensor, the second lifting branch
Seat, the second lifting driving pulley, the second lifting synchronous belt, the second lifting driven pulley, the second guide rail, third lifting bearing branch
Seat, the second lead screw, the second lifting torque sensor, the second substrate, the 4th lifting bearing support and the second lifting slider component, institute
It states the second lifting motor and the second lifting branch is installed on by the second lifting retarder and the second lifting torque sensor
On seat, and second lifting support is set to the first end of the second substrate first end face, and the second substrate first end
The second end in face is equipped with fixing lug boss, and the output shaft of the second lifting torque sensor and the second lifting driving pulley connect
It connecing, the first end of second lead screw passes through the third lifting bearing support and connect with the second lifting driven pulley, and
Its second end is connect with the 4th lifting bearing support, the third lifting bearing support and the 4th lifting bearing support difference
Set on the second end face of the second substrate, second guide rail be respectively arranged on the second substrate second end face first end and
Second end, and the third end face of the second substrate is equipped with the second displacement sensor, the second lifting driving pulley is logical
Cross the second lifting synchronous belt and the second lifting driven pulley transmission connection, second guide rail and second lifting
The second sliding block first lifting module Pz pair connection of slide block assembly, and the first lifting module Pz pair passes through second lead screw
It is sequentially connected with the second screw of the second lifting slider component, the second lifting module passes through second lifting slider
The second L-type connecting plate in component is fixedly connected with the second end face of outside link plate in second steering module；And it is described
Second walking module includes the second movable motor, the second traveling speed reducer, the second walking torque sensor, the second wheel, second
Walking steering angle instrument, the second L-type support, walking driving pulley, walking synchronous belt, walking driven pulley and the second axletree, it is described
Second movable motor is installed on the second L-type support by second traveling speed reducer and the second walking torque sensor
First end face, and the output shaft of the second walking torque sensor is connect with the walking driving pulley, second wheel
Be installed on second axletree, the first end of second axletree pass through the second end face of the second L-type support with
The walking driven pulley connection, the second end of second axletree consolidating in the second lifting module by bearing support
Determine in boss, and the walking driving pulley is sequentially connected by walking synchronous belt and the walking driven pulley, described second
Wheel passes through the second movable motor RyPair driving, the second walking steering angle instrument are set to the first of second axletree
End, second wheel and ground face contact, constitute S+Pair connection, and with second steering module, second lifting module and
Second walking module, which collectively forms, is configured as RzPzRyS+Six degree of freedom connect branch leg.
Further, the second lifting slider component includes the second screw, the second force snesor, the second screw frame, the
Two sliding blocks, the second connecting plate and the second L-type connecting plate, second sliding block are laid in the second connecting plate first end face
Edge, and the middle position of the second connecting plate second end face is equipped with the second L-type connecting plate, second screw is logical
It crosses holding screw to be fixedly connected with the second screw frame, and the second screw frame passes through the holding screw and described second
Connecting plate is fixedly connected, and second force snesor is set between second screw and the second screw frame.
Further, the encoder includes angle-position encoder, coding pinion gear and coding support base, the corner coding
Device is installed on the coding support base, and its output shaft passes through the coding support base and connect with the coding pinion gear, institute
It states coding pinion gear and engages connection with the turntable bearing.
Preferably, second sliding block totally four are laid in the edge of the second connecting plate first end face.
Preferably, the centerline axis parallel of the central axis of the turntable bearing and the second steering pinion gear, and institute
State the central axis of the second steering pinion gear and the centerline axis parallel of the coding pinion gear.
The present invention has the significant advantage that compared with prior art
1, a kind of six degree of freedom based on ground surface blockage provided by the invention is connected branch leg, by the first lifting module,
It is complete that six degree of freedom may be implemented so that the first wheel is when being contacted with ground in the design of first steering module and the first walking module
To movement, have many advantages, such as flexibility height, strong applicability.
2, a kind of six degree of freedom series connection branch leg based on ground surface blockage provided by the invention is small using two first steerings
Gear and first turns to gear wheel engaged transmission, gear backlash can be eliminated, for realizing the accuracy of steering angle.
3, a kind of six degree of freedom series connection branch leg based on ground surface blockage provided by the invention, belongs to serial mechanism, structure
Simply, it is big to bear load.
4, a kind of six degree of freedom series connection branch leg based on ground surface blockage provided by the invention, replaces liquid using motor driven
Pressure driving, avoids the generation of oil leakage phenomenon.
Detailed description of the invention
Fig. 1 is the overall structure diagram of six degree of freedom of the present invention series connection branch leg；
Fig. 2 is the main view of six degree of freedom of the present invention series connection branch leg；
Fig. 3 is the first lifting modular structure schematic diagram of six degree of freedom of the present invention series connection branch leg；
Fig. 4 is the first lifting module partial sectional view of six degree of freedom of the present invention series connection branch leg；
Fig. 5 is the first steering module structural schematic diagram of six degree of freedom of the present invention series connection branch leg；
Fig. 6 is the first walking modular structure schematic diagram of six degree of freedom of the present invention series connection branch leg；
Fig. 7 is the overall structure diagram of six degree of freedom of the present invention series connection branch leg；
Fig. 8 is the main view of six degree of freedom of the present invention series connection branch leg；
Fig. 9 is the second steering module structural schematic diagram of six degree of freedom of the present invention series connection branch leg；
Figure 10 is the second steering module top view of six degree of freedom of the present invention series connection branch leg；
Figure 11 is the second steering module A-A cross-sectional view of six degree of freedom of the present invention series connection branch leg；
Figure 12 is the second lifting modular structure schematic diagram of six degree of freedom of the present invention series connection branch leg；
Figure 13 is the second lifting module partial sectional view of six degree of freedom of the present invention series connection branch leg；And
Figure 14 is the second walking module structural schematic diagram of six degree of freedom of the present invention series connection branch leg.
Main appended drawing reference:
First lifting module 1；First lifting motor 101；First lifting retarder 102；First displacement sensor 103；The
One lifting support 104；First lifting driving pulley 105；First lifting synchronous belt 106；First lifting driven pulley 107；First
Guide rail 108；First lifting bearing support 109；First lead screw 110；First lifting torque sensor 111；First substrate 112；The
Two lifting bearing supports 113；First lifting slider component 114；First wire nut 1141；First force snesor 1142；First wire nut
Frame 1143；First sliding block 1144；First connecting plate 1145；First steering module 2；First steering bearing support 201；First turns to
Steering angle instrument 202；First steering shaft 203；First turns to gear wheel 204；First round nut 205；First steering motor 206,206 '；
First speed reducing steering system 207,207 '；First steering torque sensor 208,208 '；First turns to pinion gear 209,209 '；First
Turning support 210,210 '；First walking module 3；First movable motor 301；First traveling speed reducer 302；First walking torque
Sensor 303；U-shaped support 304；First wheel 305；First walking steering angle instrument 306；First axletree 307；Second steering module
4；Second steering motor 401,401 '；Second speed reducing steering system 402,402 '；Second steering torque sensor 403,403 '；Second
Turn to pinion gear 404,404 '；Second turning support 405,405 '；Encoder 406；Angle-position encoder 4061；Encode pinion gear
4062；Encode support base 4063；Turntable bearing 407；Inner ring 4071；Outer ring 4072；Rolling element 4073；Outside link plate 408；Shell
Body 409；Second lifting module 5；Second lifting motor 501；Second lifting retarder 502；Second displacement sensor 503；Second
Lifting support 504；Second lifting driving pulley 505；Second lifting synchronous belt 506；Second lifting driven pulley 507；Second leads
Rail 508；Third lifting bearing support 509；Second lead screw 510；Second lifting torque sensor 511；The second substrate 512；It is fixed
Boss 5121；4th lifting bearing support 513；Second lifting slider component 514；Second screw 5141；Second force snesor
5142；Second screw frame 5143；Second sliding block 5144；Second connecting plate 5145；Second L-type connecting plate 5146；Second walking mould
Block 6；Second movable motor 601；Second traveling speed reducer 602；Second walking torque sensor 603；Second wheel 604；Second
Walking steering angle instrument 605；Second L-type support 606；Walking driving pulley 607；Walking synchronous belt 608；Walking 609 He of driven pulley
Second axletree 610.
Specific embodiment
By the technology contents of the detailed present invention, structure feature, reach purpose and efficacy, below with reference to Figure of description
It is described in detail.
The present invention provides a kind of six degree of freedom series connection branch leg based on ground surface blockage, as shown in figs. 1 to 6 comprising the
One lifting module 1, the first steering module 2 and the first walking module 3, the first lifting module 1 include the first lifting motor 101, the
One lifting retarder 102, the first displacement sensor 103, the first lifting support 104, first go up and down 105, first liters of driving pulley
Drop synchronous belt 106, first go up and down driven pulley 107, the first guide rail 108, the first lifting bearing support 109, the first lead screw 110,
First lifting torque sensor 111, first substrate 112, the second lifting bearing support 113 and the first lifting slider component 114, the
One lifting motor 101 is installed on the first lifting support by the first lifting retarder 102 and the first lifting torque sensor 111
On 104, the first lifting torque sensor 111 is used to detect the driving moment of the first lifting motor 101, and the first lifting support
104 are set to the first end face of first substrate 112, the output shaft of the first lifting torque sensor 111 and the first lifting driving pulley
105 connections, the first end of the first lead screw 110 pass through the first lifting bearing support 109 and connect with the first lifting driven pulley 107,
And its second end is connect with the second lifting bearing support 113, the first lifting bearing support 109 and the second lifting bearing support 113
It is respectively arranged on the second end face of first substrate 112, the first guide rail 108 is respectively arranged on the first end of 112 second end face of first substrate
And second end, and the third end face of first substrate 112 is equipped with the first displacement sensor 103, for measuring in the first lifting module 1
The adjustable height of first sliding block 1144, the first lifting driving pulley 105 are driven by the first lifting synchronous belt 106 and the first lifting
Belt wheel 107 is sequentially connected, and the first sliding block 1,144 first of the first guide rail 108 and the first lifting slider component 114 goes up and down module Pz
Pair connection, and the first lifting module Pz pair is passed by the first wire nut 1141 of the first lead screw 110 and the first lifting slider component 114
Dynamic connection.
Specifically, the first lifting slider component 114 includes first wire nut 1141, the first force snesor 1142, first wire nut
Frame 1143, the first sliding block 1144 and the first connecting plate 1145, are laid in the first connecting plate 1145 by first sliding block 1144 totally four
The edge of first end face, first wire nut 1141 is fixedly connected by holding screw with first wire nut frame 1143, and first wire nut
Frame 1143 is fixedly connected by holding screw with the first connecting plate 1145, the first force snesor 1142 be set to first wire nut 1141 and
Between first wire nut frame 1143, the power of first wire nut 1141 is reached for detecting first wire nut frame 1143.
First steering module 2 include the first steering bearing support 201, the first steering angle instrument 202, the first steering shaft 203,
First turn to gear wheel 204, the first round nut 205, the first steering motor 206,206 ', the first speed reducing steering system 207,207 ',
First steering torque sensor 208,208 ', first turns to pinion gear 209, and 209 ' and first turning support 210,210 ', first
Steering motor 206,206 ' by the first speed reducing steering system 207,207 ' and first steering torque sensor 208,208 ' be installed on
On first turning support 210,210 ', the first steering torque sensor 208,208 ' turns to pinion gear 209 for detecting first,
209 ' driving moment, and the output shaft of the first steering torque sensor 208,208 ' and first turns to pinion gear 209,209 ' even
It connects, the first turning support 210,210 ' is respectively arranged on the first end and second end of 112 first end face of first substrate, and first turns to
Pinion gear 209,209 ' is respectively arranged on the two sides of the first steering gear wheel 204, and engages R with the first steering gear wheel 204zPair is driven
It is dynamic, it drives first to turn to gear wheel 204 using two first steering pinion gears 209,209 ' and carries out positive and negative rotation, for eliminating gear
The gap generated in transmission process, the first steering gear wheel 204 are fixedly installed in the first steering shaft by the first round nut 205
203 first end, and the second end of the first steering shaft 203 passes through the U of the first steering bearing support 201 and the first walking module 3
Type support 304 is fixedly connected, and the first steering bearing support 201 is fixed at the first end face of first substrate 112, and first turns to
Steering angle instrument 202 is set to the second end of the first steering shaft 203 and is located at the first end face of the first steering bearing support 201, for examining
Survey the angle that the first steering shaft 203 turns over.
First walking module 3 includes the first movable motor 301, the first traveling speed reducer 302, first walking torque sensor
303, U-shaped support 304, the first wheel 305, first walking steering angle instrument 306 and the first axletree 307, the first movable motor 301 are logical
It crosses the first traveling speed reducer 302 and the first walking torque sensor 303 is installed on the first end face of U-shaped support 304, the first walking
Torque sensor 303 is used to detect the driving moment of the first movable motor 301, and the first wheel 305 is installed on the first axletree
On 307, the first end of the first axletree 307 passes through the first end of U-shaped support 304 and first and walks the defeated of torque sensor 303
Axis connection out, and the first wheel 305 passes through the first movable motor 301RyPair driving, the second end of the first axletree 307 pass through axis
The second end for being supported in U-shaped support 304 is held, the first walking steering angle instrument 306 is set to the first end of the first axletree 307, for real
When detect the corner of the first axletree 307, the first wheel 305 when being contacted with ground, can be constituted with ground and be closed, and can occur
Inequality around x-axis, y-axis and z-axis rotates, therefore can be equivalent to the S pair of non-standard sphere-contact, to be different from common S pair, by it
It is defined as S+Pair, thus constitute S+Pair connection, and it is total with the first lifting module 1, the first steering module 2 and the first walking module 3
It is same to be configured as PzRzRyS+Six degree of freedom connect branch leg.
Another aspect of the present invention provides a kind of six degree of freedom series connection branch leg based on ground surface blockage, such as the institute of Fig. 7~14
Show comprising the second steering module 4, second goes up and down module 5 and the second walking module 6, and the second steering module 4 includes the second steering
Motor 401,401 ', the second speed reducing steering system 402,402 ', the second steering torque sensor 403,403 ', second turn to pinion gear
404,404 ', second turning support 405,405 ', encoder 406, turntable bearing 407, outside link plate 408 and outer housing 409, the
Two steering motors 401,401 ' are by the second speed reducing steering system 402, and 402 ' and second installation of steering torque sensor 403,403 '
In on the second turning support 405,405 ', the second steering torque sensor 403,403 ' is used to detect the second steering motor 401,
401 ' driving moment, and the output shaft of the second steering torque sensor 403,403 ' and second turns to pinion gear 404,404 ' even
It connects, the second turning support 405,405 ' is respectively arranged on the first end face and second end face of outer housing 409, and second turns to pinion gear
404,404 ' are respectively arranged on the two sides of turntable bearing 407, and engage R with turntable bearing 407zPair driving, using two second turn
Turntable bearing 407 is driven to carry out positive and negative rotation to motor 401,401 ', for eliminating the gap generated during gear drive, turntable
Bearing 407 includes inner ring 4071, outer ring 4072 and rolling element 4073, and inner ring 4071 and outer ring 4072 are rolled by rolling element 4073
Connection, the first end face of inner ring 4071 are fixedly connected with the third end face of outer housing 409, the first end face of outer ring 4072 and outer company
The first end face of fishplate bar 408 is fixedly connected, and encoder 406 is set to second and turns between pinion gear 404,404 ', and passes through coding
The coding support base 4063 of device 406 is installed on the first end face of outer housing 409.
Specifically, encoder 406 includes angle-position encoder 4061, coding pinion gear 4062 and coding support base 4063, turn
Angular encoder 4061 is installed on coding support base 4063, and its output shaft passes through coding support base 4063 and coding pinion gear
4062 connections encode pinion gear 4062 with turntable bearing 407 and engage connection.
Second lifting module 5 include the second lifting motor 501, second lifting retarder 502, second displacement sensor 503,
Second lifting support 504, second, which goes up and down driving pulley 505, second and goes up and down synchronous belt 506, second, goes up and down driven pulley 507, the
Two guide rails 508, third lifting bearing support 509, the second lead screw 510, second lifting torque sensor 511, the second substrate 512,
4th lifting bearing support 513 and the second lifting slider component 514, the second lifting motor 501 pass through the second lifting retarder 502
It is installed on the second lifting support 504 with the second lifting torque sensor 511, the second lifting torque sensor 511 is for detecting
Second lifting motor, 501 driving moment, and the second lifting support 504 is set to the first end of 512 first end face of the second substrate, and the
The second end of two substrates, 512 first end face is equipped with fixing lug boss 5121, the output shaft and second of the second lifting torque sensor 511
It goes up and down driving pulley 505 to connect, the first end of the second lead screw 510 passes through third lifting bearing support 509 and the second lifting is driven
Belt wheel 507 connects, and its second end is connect with the 4th lifting bearing support 513, third lifting bearing support 509 and the 4th lifting
Bearing spider 513 is respectively arranged on the second end face of the second substrate 512, and the second guide rail 508 is respectively arranged on 512 second end of the second substrate
The first end and second end in face, and the third end face of the second substrate 512 is equipped with second displacement sensor 503, the second lifting is actively
Belt wheel 505 passes through the second lifting synchronous belt 506 and the second lifting transmission connection of driven pulley 507, the second guide rail 508 and second liter
The second sliding block 5,144 first lifting module Pz pair connection of slide block assembly 514 is dropped, and the first lifting module Pz pair passes through second
The transmission connection of second screw 5141 of thick stick 510 and the second lifting slider component 514, the second lifting module 5 are slided by the second lifting
The second L-type connecting plate 5146 in block assembly 514 is fixedly connected with the second end face of outside link plate 408 in the second steering module 4.
Specifically, the second lifting slider component 514 includes the second screw 5141, the second force snesor 5142, the second screw
Frame 5143, the second sliding block 5144, the second connecting plate 5145 and the second L-type connecting plate 5146, the second sliding block 5144 are laid in
The edge of two connecting plates, 5145 first end face, and the middle position of 5145 second end face of the second connecting plate connects equipped with the second L-type
Fishplate bar 5146, the second screw 5141 are fixedly connected by holding screw with the second screw frame 5143, and the second screw frame 5143 is logical
It crosses holding screw to be fixedly connected with the second connecting plate 5145, the second force snesor 5142 is set to the second screw 5141 and the second screw
Between frame 5143, the power of the second screw 5141 is reached for detecting the second screw frame 5143.
Second walking module 6 includes the second movable motor 601, the second traveling speed reducer 602, second walking torque sensor
603, the second wheel 604, second walking steering angle instrument 605, the second L-type support 606, walking driving pulley 607, walking synchronous belt
608, walking driven pulley 609 and the second axletree 610, the second movable motor 601 pass through the second traveling speed reducer 602 and second
Walking torque sensor 603 is installed on the first end face of the second L-type support 606, and the second walking torque sensor 603 is for detecting
The driving moment of second movable motor 601, and the output shaft of the second walking torque sensor 603 and walking driving pulley 607 connect
It connects, the second wheel 604 is installed on the second axletree 610, and the first end of the second axletree 610 passes through the second L-type support 606
Second end face is connect with walking driven pulley 609, and the second end of the second axletree 610 goes up and down module in second by bearing support
In 5 fixing lug boss 5121, and driving pulley 607 of walking is connected by walking synchronous belt 608 and the walking transmission of driven pulley 609
It connects, the second wheel 604 passes through the second movable motor 601RyPair driving, the second walking steering angle instrument 605 are set to the second axletree 610
First end, the second wheel 604 when being contacted with ground, can constitute with ground and close, and can occur around x-axis, y-axis and z-axis
Inequality rotation, therefore it can be equivalent to the S pair of non-standard sphere-contact, to be different from common S pair, it is defined as S+Pair, thus
Constitute S+Pair connection, and collectively form and be configured as with the second steering module 4, second lifting module 5 and the second walking module 6
RzPzRyS+Six degree of freedom connect branch leg.
Embodiment 1
As shown in figs. 1 to 6, a kind of six degree of freedom series connection branch leg based on ground surface blockage of the invention, including first liter
Module 1, the first steering module 2 and the first walking module 3 drop, and the first lifting module 1 includes 101, first liters of the first lifting motor
Retarder 102, the first displacement sensor 103, the lifting of the first lifting support 104, first lifting driving pulley 105, first are dropped together
It walks band 106, first and goes up and down driven pulley 107, the first guide rail 108, the first lifting bearing support 109, the first lead screw 110, first
Torque sensor 111, first substrate 112, the second lifting bearing support 113 and the first lifting slider component 114 are gone up and down, first leads
Rail 108 is connect with the first sliding block 1,144 first of the first lifting slider component 114 lifting module Pz pair, and the first lifting module Pz
Pair is sequentially connected by the first wire nut 1141 of the first lead screw 110 and the first lifting slider component 114, the first steering module 2 packet
It includes the first steering bearing support 201, the first steering angle instrument 202, the first steering shaft 203, first and turns to gear wheel 204, first
Round nut 205, the first steering motor 206,206 ', the first speed reducing steering system 207,207 ', the first steering torque sensor 208,
208 ', first turns to pinion gear 209, and 209 ' and first turning support 210,210 ', first, which turns to pinion gear 209,209 ', distinguishes
The two sides for turning to gear wheel 204 set on first, and R is engaged with the first steering gear wheel 204zPair driving, the first walking module 3 packet
Include the first movable motor 301, the first traveling speed reducer 302, first walking torque sensor 303, U-shaped support 304, the first wheel
305, the first walking steering angle instrument 306 and the first axletree 307, the first wheel 305 pass through the first movable motor 301RyPair driving,
First wheel 305 and ground face contact, constitute S+Pair connection, and module 1, the first steering module 2 and the first row are gone up and down with first
It walks module 3 and collectively forms and be configured as PzRzRyS+Six degree of freedom connect branch leg.
In implementation process, the first connecting plate 1145 of the first lifting module 1 is fixedly connected with the vehicle body first, by same
Belt wheel and screw-nut transmission are walked, the first sliding block 1144 is moved up and down along the first guide rail 108, for realizing series connection branch
Chain leg along z-axis elevating movement, while by first steering pinion gear 209,209 ' be respectively arranged on the two of the first steering gear wheel 204
Side, by gear engaged transmission, to drive U-shaped support 304 to be rotated, for realizing series connection branch leg around the steering of z-axis
Movement, and the rotation of the first wheel 305 is driven by the first movable motor 301, for realizing the first wheel 305 around the first wheel
The rotation of 307 central axis of axis, it is final to realize series connection branch leg along the walking movement of x-axis, while during traveling, the first vehicle
Wheel 305 when being contacted with ground, can be constituted with ground and be closed, and can occur to rotate around the inequality of x-axis, y-axis and z-axis, therefore can
It is equivalent to the S pair of non-standard sphere-contact, to be different from common S pair, is defined as S+Pair, thus constitute S+Pair connection, thus
Realize the omnidirectional moving of series connection branch leg.
Embodiment 2
As shown in Fig. 7~14, a kind of six degree of freedom series connection branch leg based on ground surface blockage of the invention, including second turn
Module 5 and the second walking module 6 are gone up and down to module 4, second, and the second steering module 4 includes the second steering motor 401,401 ', the
Two speed reducing steering systems 402,402 ', the second steering torque sensor 403,403 ', second turn to 404,404 ', second turns of pinion gear
Pinion gear is turned to support 405,405 ', encoder 406, turntable bearing 407, outside link plate 408 and outer housing 409, second
404,404 ' are respectively arranged on the two sides of turntable bearing 407, and engage R with turntable bearing 407zPair driving, the second lifting module 5 are wrapped
Include the second lifting motor 501, second lifting retarder 502, second displacement sensor 503,504, second liters of the second lifting support
It drops driving pulley 505, second and goes up and down synchronous belt 506, second lifting driven pulley 507, the second guide rail 508, third lifting bearing
Support 509, the second lead screw 510, second lifting torque sensor 511, the second substrate 512, the 4th lifting bearing support 513 and the
Second sliding block 5,144 first of two lifting slider components 514, the second guide rail 508 and the second lifting slider component 514 goes up and down module
The connection of Pz pair, and the first lifting module Pz pair passes through the second screw 5141 of the second lead screw 510 and the second lifting slider component 514
Transmission connection, and the second lifting module 5 passes through the second L-type connecting plate 5146 in the second lifting slider component 514 and second turn
Into module 4, the second end face of outside link plate 408 is fixedly connected, and the second walking module 6 includes the second movable motor 601, second
The walking of traveling speed reducer 602, second torque sensor 603, the second wheel 604, second walking steering angle instrument 605, the second L-type support
606, walking driving pulley 607, walking synchronous belt 608, walking driven pulley 609 and the second axletree 610, the second wheel 604
Pass through the second movable motor 601RyPair driving, the second walking steering angle instrument 605 are set to the first end of the second axletree 610, the second vehicle
Wheel 604 and ground face contact, constitute S+Pair connection, and module 5 and the second walking module 6 are gone up and down with the second steering module 4, second
It collectively forms and is configured as RzPzRyS+Six degree of freedom connect branch leg.
In implementation process, the outer housing 409 of the second steering module 4 is fixedly connected with the vehicle body first, second is turned to
Pinion gear 404,404 ' is respectively arranged on the two sides of turntable bearing 407, by gear engaged transmission, to drive outside link plate 408
It is rotated, for realizing series connection branch leg around the divertical motion of z-axis, is driven by synchronous pulley and screw-nut, so that the
Two sliding blocks 5144 can be moved up and down along the second guide rail 508, for realizing series connection branch leg along the elevating movement of z-axis, and be led to
It crosses synchronous belt pulley transmission and drives the rotation of the second wheel 604, for realizing the second wheel 604 around 610 central axis of the second axletree
Rotation, final to realize series connection branch leg along the walking movement of x-axis, while during traveling, the second wheel 604 connects with ground
When touching, it can constitute and close with ground, and can occur to rotate around the inequality of x-axis, y-axis and z-axis, therefore non-standard ball can be equivalent to
The S pair of face contact is defined as S to be different from common S pair+Pair, thus constitute S+Pair connection, to realize series connection branch leg
Omnidirectional moving.
The above is the preferred embodiment of the application, is not limited the scope of protection of the present invention with this, it is noted that right
For those skilled in the art, under the premise of not departing from this technology principle, can also make it is several improvement and
Retouching, these improvements and modifications also should be regarded as the protection scope of the application.
Claims (9)
- The branch leg 1. a kind of six degree of freedom based on ground surface blockage is connected, which is characterized in that it includes the first lifting module, first Steering module and the first walking module,The first lifting module includes the first lifting motor, the first lifting retarder, the first displacement sensor, the first lifting branch Seat, the first lifting driving pulley, the first lifting synchronous belt, the first lifting driven pulley, the first guide rail, the first lifting bearing branch Seat, the first lead screw, the first lifting torque sensor, first substrate, the second lifting bearing support and the first lifting slider component, institute It states the first lifting motor and the first lifting branch is installed on by the first lifting retarder and the first lifting torque sensor On seat, and first lifting support is set to the first end face of the first substrate, and described first goes up and down the defeated of torque sensor Shaft connect with the first lifting driving pulley, the first end of first lead screw pass through the first lifting bearing support and The first lifting driven pulley connection, and its second end is connect with the second lifting bearing support, first lifting shaft It holds support and the second lifting bearing support is respectively arranged on the second end face of the first substrate, first guide rail is respectively arranged on institute The first end and second end of first substrate second end face is stated, and the third end face of the first substrate is equipped with first displacement and passes Sensor, the first lifting driving pulley are connected by the first lifting synchronous belt and the first lifting driven pulley transmission It connects, the first sliding block of first guide rail and the first lifting slider component forms the first lifting module first and goes up and down module Pz Pair connection, and the first lifting first wire nut of the module Pz pair by first lead screw and the first lifting slider component Transmission connection；First steering module turns to big including the first steering bearing support, the first steering angle instrument, the first steering shaft, first Gear, the first round nut, the first steering motor, the first speed reducing steering system, the first steering torque sensor, first turn to pinion gear With the first turning support, first steering motor is installed by first speed reducing steering system and the first steering torque sensor In on first turning support, and the output shaft of first steering torque sensor and described first turns to pinion gear and connects It connects, first turning support is respectively arranged on the first end and second end of the first substrate first end face, and described first turn The described first two sides for turning to gear wheel are respectively arranged on to pinion gear, and engage R with the first steering gear wheelzPair driving, The first steering gear wheel is fixedly installed in the first end of first steering shaft by first round nut, and described the The second end of one steering shaft passes through the first steering bearing support and is fixedly connected with the U-shaped support of first walking module, The first steering bearing support is fixed at the first end face of the first substrate, and the first steering angle instrument is set to institute It states the second end of the first steering shaft and is located at the first end face of the first steering bearing support；AndFirst walking module includes the first movable motor, the first traveling speed reducer, the first walking torque sensor, U-shaped branch Seat, the first wheel, the first walking steering angle instrument and the first axletree, first movable motor pass through first traveling speed reducer The first end face of the U-shaped support is installed on the first walking torque sensor, and first wheel is installed on described first On axletree, first end and the first walking torque sensing of the first end of first axletree across the U-shaped support The output axis connection of device, and first wheel passes through the first movable motor RyPair driving, the of first axletree By bearing support in the second end of the U-shaped support, the first walking steering angle instrument is set to first axletree at two ends First end, first wheel and ground face contact, constitute S+Pair connection, and module, the first steering module are gone up and down with described first And first walking module collectively form and be configured as PzRzRyS+Six degree of freedom connect branch leg.
- The branch leg 2. the six degree of freedom according to claim 1 based on ground surface blockage is connected, which is characterized in that described first Lifting slider component includes first wire nut, the first force snesor, first wire nut frame, the first sliding block and the first connecting plate, and described One sliding block is laid in the edge of the first connecting plate first end face, and the first wire nut passes through holding screw and described the One screw frame is fixedly connected, and the first wire nut frame is fixedly connected by the holding screw with first connecting plate, institute The first force snesor is stated to be set between the first wire nut and first wire nut frame.
- The branch leg 3. the six degree of freedom according to claim 2 based on ground surface blockage is connected, which is characterized in that described first Sliding block totally four, it is laid in the edge of the first connecting plate first end face.
- The branch leg 4. the six degree of freedom according to claim 1 based on ground surface blockage is connected, which is characterized in that described first The central axis of steering shaft is overlapped with the central axis of the first steering gear wheel, and the center of the first steering gear wheel The centerline axis parallel of axis and the first steering pinion gear.
- The branch leg 5. six degree of freedom according to claim 1 based on ground surface blockage is connected, which is characterized in that it includes the Two steering modules, the second lifting module and the second walking module,Second steering module includes the second steering motor, the second speed reducing steering system, the second steering torque sensor, second turn To pinion gear, the second turning support, encoder, turntable bearing, outside link plate and outer housing, second steering motor passes through institute It states the second speed reducing steering system and the second steering torque sensor is installed on second turning support, and described second turns to torsion The output shaft of square sensor is connect with the second steering pinion gear, and second turning support is respectively arranged on the outer housing First end face and second end face, the second steering pinion gear are respectively arranged on the two sides of the turntable bearing, and with the turntable Bearing engages RzPair driving, the turntable bearing includes inner ring, outer ring and rolling element, and the inner ring and outer ring passes through the rolling Body rolls connection, and the first end face of the inner ring is fixedly connected with the third end face of the outer housing, the first end of the outer ring Face is fixedly connected with the first end face of the outside link plate, and the encoder is set to described second and turns between pinion gear, and logical The coding support base for crossing the encoder is installed on the first end face of the outer housing；Second lifting module include the second lifting motor, second lifting retarder, second displacement sensor, the second lifting support, Second lifting driving pulley, the second lifting synchronous belt, the second lifting driven pulley, the second guide rail, third lifting bearing support, the Two lead screws, the second lifting torque sensor, the second substrate, the 4th lifting bearing support and the second lifting slider component, described the Two lifting motors are installed on second lifting support by the second lifting retarder and the second lifting torque sensor, And second lifting support is set to the first end of the second substrate first end face, and the of the second substrate first end face Two ends are equipped with fixing lug boss, and the output shaft of the second lifting torque sensor is connect with the second lifting driving pulley, institute State the second lead screw first end pass through the third lifting bearing support with it is described second go up and down driven pulley connect, and its second End is connect with the 4th lifting bearing support, and the third lifting bearing support and the 4th lifting bearing support are respectively arranged on institute The second end face of the second substrate is stated, second guide rail is respectively arranged on the first end and second of the second substrate second end face End, and the third end face of the second substrate is equipped with the second displacement sensor, the second lifting driving pulley passes through institute State the second lifting synchronous belt and the second lifting driven pulley transmission connection, second guide rail and second lifting slider The second sliding block first lifting module Pz pair connection of component, and the first lifting module Pz pair passes through second lead screw and institute The second screw transmission connection of the second lifting slider component is stated, the second lifting module passes through the second lifting slider component In the second L-type connecting plate be fixedly connected with the second end face of outside link plate in second steering module；AndSecond walking module includes the second movable motor, the second traveling speed reducer, the second walking torque sensor, the second vehicle Wheel, the second walking steering angle instrument, the second L-type support, walking driving pulley, walking synchronous belt, walking driven pulley and the second wheel Axis, second movable motor are installed on the 2nd L by second traveling speed reducer and the second walking torque sensor The first end face of type support, and the output shaft of the second walking torque sensor is connect with the walking driving pulley, it is described Second wheel is installed on second axletree, and the first end of second axletree passes through the of the second L-type support Biend is connect with the walking driven pulley, and the second end of second axletree is by bearing support in second lifting In the fixing lug boss of module, and the walking driving pulley is sequentially connected by walking synchronous belt and the walking driven pulley, Second wheel passes through the second movable motor RyPair driving, the second walking steering angle instrument are set to second axletree First end, second wheel and ground face contact, constitute S+Pair connection, and mould is gone up and down with second steering module, second Block and the second walking module collectively form and are configured as RzPzRyS+Six degree of freedom connect branch leg.
- The branch leg 6. the six degree of freedom according to claim 5 based on ground surface blockage is connected, which is characterized in that described second Lifting slider component includes the second screw, the second force snesor, the second screw frame, the second sliding block, the second connecting plate and the second L-type Connecting plate, second sliding block are laid in the edge of the second connecting plate first end face, and second connecting plate The middle position of biend is equipped with the second L-type connecting plate, and second screw passes through holding screw and second screw Frame is fixedly connected, and the second screw frame is fixedly connected by the holding screw with second connecting plate, and described second Force snesor is set between second screw and the second screw frame.
- The branch leg 7. the six degree of freedom according to claim 5 based on ground surface blockage is connected, which is characterized in that the coding Device includes that angle-position encoder, coding pinion gear and coding support base, the angle-position encoder are installed on the coding support base, And its output shaft passes through the coding support base and connect with the coding pinion gear, the coding pinion gear and the turntable bearing Engagement connection.
- The branch leg 8. the six degree of freedom according to claim 6 based on ground surface blockage is connected, which is characterized in that described second Sliding block totally four, it is laid in the edge of the first end face of second connecting plate.
- The branch leg 9. the six degree of freedom according to claim 6 based on ground surface blockage is connected, which is characterized in that the turntable The centerline axis parallel of the central axis of bearing and the second steering pinion gear, and the central axis of the second steering pinion gear The centerline axis parallel of line and the coding pinion gear.
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| CN201910754142.XA CN110509738B (en) | 2019-08-15 | 2019-08-15 | Six-freedom-degree series branched chain leg based on ground sealing |
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| CN201910754142.XA CN110509738B (en) | 2019-08-15 | 2019-08-15 | Six-freedom-degree series branched chain leg based on ground sealing |
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| CN110509738B CN110509738B (en) | 2022-07-08 |
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| Publication number | Publication date |
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| CN110509738B (en) | 2022-07-08 |
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