CN110509738B - Six-freedom-degree series branched chain leg based on ground sealing - Google Patents
Six-freedom-degree series branched chain leg based on ground sealing Download PDFInfo
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- CN110509738B CN110509738B CN201910754142.XA CN201910754142A CN110509738B CN 110509738 B CN110509738 B CN 110509738B CN 201910754142 A CN201910754142 A CN 201910754142A CN 110509738 B CN110509738 B CN 110509738B
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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
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- 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
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- 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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Abstract
The invention relates to a six-degree-of-freedom serial branched chain leg based on ground closure, which comprises a first lifting module, a first steering module and a first walking module, wherein a first guide rail of the first lifting module is connected with a first lifting module Pz pair of a first sliding block, the first lifting module Pz pair is in transmission connection with a first screw nut through a first lead screw, first steering pinion gears of the first steering module are respectively arranged on two sides of a first steering bull gear, and are meshed with the first steering bull gear in a R modezA secondary drive, a first wheel of the first walking module passes through a first walking motor RyThe auxiliary drive, the first wheel is contacted with the ground to form S+The auxiliary connection is connected with the first lifting module, the first steering module and the first walking module to form a structure PzRzRyS+The six-degree-of-freedom series branched chain leg. The invention provides a six-degree-of-freedom series branched chain leg based on ground closure, so that when a first wheel is in contact with the ground, six-degree-of-freedom omnidirectional motion can be realized, and the six-degree-of-freedom series branched chain leg has the advantages of high flexibility, strong applicability and the like.
Description
Technical Field
The invention belongs to the technical field of posture-adjusting butt joint auxiliary equipment, and particularly relates to a ground-sealing-based PzRzRyS+/RzPzRyS+Six-degree-of-freedom tandem branched chain leg.
Background
With the progress and development of science and technology, industrial robots are gradually replacing the manual work, and play more and more important roles in industry and production life. In the traditional carrying and posture adjusting process, an AGV trolley or an omnidirectional posture adjusting trolley is mostly adopted, and the supporting legs and the walking wheels are generally arranged in a split mode, namely walking and posture adjusting are carried out in steps, and two sets of control systems are needed, so that the production period of related products is prolonged, and the production cost is increased.
In addition, the traveling wheels of the AGV trolley or the omnidirectional posture-adjusting trolley generally adopt Mecanum wheels, the movement of three degrees of freedom can be realized, and the Mecanum wheels can damage the workshop ground to a certain extent due to the particularity of the Mecanum wheels. However, in the industrial production process, the butt joint and the assembly of the workpieces often need the cooperation of six degrees of freedom, however, the general solution at present is to assemble the posture adjusting mechanism on the AGV trolley or the omnidirectional posture adjusting trolley for adjusting the posture in the workpiece butt joint process, so that the complexity of the mechanism is greatly increased, and most designs are only suitable for certain specific situations and have no universal applicability. Therefore, aiming at the problems, a six-degree-of-freedom series mechanism which can meet the walking function of the AGV trolley and can meet the posture adjusting requirement of a posture adjusting mechanism is urgently needed at present, and the six-degree-of-freedom series mechanism has the characteristics of high precision, high bearing capacity, simple structure, strong applicability and the like.
Through the search of documents in the prior art, Chinese patent CN201810765511.0 discloses a parallel compliant wheel foot device for a wheel foot robot, which comprises an inverted parallel six-degree-of-freedom motion structure and a foot end driving wheel assembly, wherein each electric cylinder in the inverted parallel six-degree-of-freedom motion structure is connected with a robot part body through an upper hooke hinge, a foot end wheel fixing base is connected with a lower hooke hinge, the six-degree-of-freedom motion of the foot end wheel fixing base is driven through the telescopic control of the electric cylinder, a driving motor in the foot end driving wheel assembly is fixedly connected with the robot body, the driving motor drives a speed reducer to move through a transmission assembly, an output shaft of the speed reducer is coaxially and fixedly connected with a tire, and a spring damper is hinged with the speed reducer body and the foot end wheel fixing base to form a single-degree-of-freedom spring-damping suspension. Six electric cylinders are arranged around a transmission rod in parallel, and form a Stewart type parallel six-degree-of-freedom structure together with an upper hooke joint, a lower hooke joint, a robot body and a foot end wheel fixing base, the Stewart type parallel six-degree-of-freedom structure realizes six-degree-of-freedom motion of supporting legs through a Stewart mechanism, the lifting height and the rotating range of the robot are limited, the flexibility is low, and Chinese patent CN201811205526.8 discloses a wheel-foot integrated robot leg structure which comprises a transverse swinging mechanism of a robot, thighs, shanks and foot ends; the whole leg is provided with three groups of hydraulic cylinders with the same structure and controlled by a servo valve, the foot end of the robot is of a wheel type structure, the direction of wheels can be adjusted at will, the foot end is provided with an independent power source, a stepping drive all-in-one machine is adopted, driving and control are integrated, and various control parameters are adjusted at any time according to the motion parameters of the motor and the feedback of a real-time state, so that the motor reaches a preset torque or rotating speed. The hydraulic oil leakage prevention device is small in bearing load, is driven by hydraulic pressure, is easy to leak oil, and causes pollution to the environment.
Disclosure of Invention
In view of the above situation, the invention provides a six-degree-of-freedom series branched chain leg based on ground closure, which overcomes the defects of the prior art, and through the design of a first lifting module, a first steering module and a first walking module, when a first wheel is in contact with the ground, the six-degree-of-freedom omnidirectional motion can be realized, and the six-degree-of-freedom series branched chain leg has the advantages of high flexibility, strong applicability and the like. Wherein the term ground based closure means that there is no freedom of movement in the vertical direction between the wheel and the ground contact point; when the wheel contacts with the ground to form S+In the auxiliary mode, the projection of the Mecanum wheel or wheel in the hub axis direction is a circle, and each small drum-shaped roller has 3 degrees of freedom including rotation formed by rotation around the axis, revolution formed by rotation around the hub axis and rolling around the contact point, so that the Mecanum wheel or wheel also has 3 degrees of freedom, and the spherical pair forming rotation in three directions and with non-coincident rotation axes is theoretically equivalent to a deformed spherical pair and is denoted as S +.
The invention adopts the technical scheme that a six-degree-of-freedom series branched chain leg based on ground closure comprises a first lifting module, a first steering module and a first walking module, wherein the first lifting module comprises a first lifting motor, a first lifting reducer, a first displacement sensor, a first lifting support, a first lifting driving belt wheel, a first lifting synchronous belt, a first lifting driven belt wheel, a first guide rail, a first lifting bearing support, a first lead screw, a first lifting torque sensor, a first base plate, a second lifting bearing support and a first lifting slide block assembly, the first lifting motor is arranged on the first lifting support through the first lifting reducer and the first lifting torque sensor, the first lifting support is arranged on a first end surface of the first base plate, and an output shaft of the first lifting torque sensor is connected with the first lifting driving belt wheel, the first end of the first lead screw penetrates through theA first lifting bearing support is connected with the first lifting driven belt wheel, the second end of the first lifting bearing support is connected with the second lifting bearing support, the first lifting bearing support and the second lifting bearing support are respectively arranged on the second end surface of the first substrate, the first guide rail is respectively arranged on the first end and the second end of the second end surface of the first substrate, the third end surface of the first substrate is provided with the first displacement sensor, the first lifting driving belt wheel is in transmission connection with the first lifting driven belt wheel through the first lifting synchronous belt, the first guide rail is in transmission connection with a first lifting module Pz pair of a first slider of the first lifting slider assembly, and the first lifting module Pz pair is in transmission connection with a first screw of the first lifting slider assembly through the first lead screw; first module of turning to includes first steering bearing support, first steering angle appearance, first steering shaft, first steering gear wheel, first round nut, first steering motor, first steering reduction gear, first steering torque sensor, first steering pinion and first steering support, first steering motor passes through first steering reduction gear and first steering torque sensor install in on the first steering support, just first steering torque sensor's output shaft with first steering pinion connects, first steering support is located respectively the first end and the second end of the first terminal surface of first base plate, just first steering pinion locates respectively the both sides of first steering gear wheel, and with first steering gear wheel meshing R gear wheelzThe first steering large gear is fixedly mounted at a first end of the first steering shaft through the first round nut, a second end of the first steering shaft penetrates through the first steering bearing support to be fixedly connected with the U-shaped support of the first walking module, the first steering bearing support is fixedly arranged on a first end face of the first base plate, and the first steering angle indicator is arranged at a second end of the first steering shaft and located on the first end face of the first steering bearing support; the first walking module comprises a first walking motor, a first walking speed reducer, a first walking torque sensor, a U-shaped support, a first wheel, a first walking angle instrument and a first wheel axle, and the first walking module comprises a first walking motor, a first walking speed reducer, a first walking torque sensor, a U-shaped support, a first wheel, a first walking angle instrument and a first wheel axleA first traveling motor is mounted on the first end surface of the U-shaped support through the first traveling speed reducer and the first traveling torque sensor, the first wheel is mounted on the first wheel shaft, the first end of the first wheel shaft penetrates through the first end of the U-shaped support to be connected with the output shaft of the first traveling torque sensor, and the first wheel passes through the first traveling motor RyThe second end of the first wheel shaft is supported at the second end of the U-shaped support through a bearing, the first traveling angle indicator is arranged at the first end of the first wheel shaft, and the first wheel is in contact with the ground to form an S+The auxiliary connection is connected with the first lifting module, the first steering module and the first walking module to form a structure PzRzRyS+The six-degree-of-freedom series branched chain leg.
Further, first lifting slide block subassembly includes first screw, first force sensor, first screw frame, first slider and first connecting plate, first slider equipartition is located the edge of the first terminal surface of first connecting plate, first screw pass through holding screw with first screw frame fixed connection, just first screw frame passes through holding screw with first connecting plate fixed connection, first force sensor is located between first screw and the first screw frame.
Preferably, the number of the first sliding blocks is four, and the first sliding blocks are uniformly distributed at the corners of the first end surface of the first connecting plate.
Preferably, a central axis of the first steering shaft coincides with a central axis of the first steering gear wheel, and the central axis of the first steering gear wheel is parallel to a central axis of the first steering pinion gear.
In another aspect of the invention, a six-degree-of-freedom series branched-chain leg based on ground closure comprises a second steering module, a second lifting module and a second walking module, wherein the second steering module comprises a second steering motor, a second steering reducer, a second steering torque sensor, a second steering pinion, a second steering support, an encoder, a turntable bearing, an outer connecting plate and an outer shell,the second turns to the motor through the second turns to reduction gear and second and turns to torque sensor install in the second turns to on the support, just the second turn to torque sensor's output shaft with the second turns to the pinion and connects, the second turns to the support and locates respectively the first terminal surface and the second terminal surface of shell body, the second turns to the pinion and locates respectively slewing bearing's both sides, and with slewing bearing meshing RzThe turntable bearing comprises an inner ring, an outer ring and a rolling body, the inner ring and the outer ring are in rolling connection through the rolling body, a first end face of the inner ring is fixedly connected with a third end face of the outer shell, a first end face of the outer ring is fixedly connected with a first end face of the outer connecting plate, the encoder is arranged between the second steering pinions and is installed on the first end face of the outer shell through an encoding supporting seat of the encoder; the second lifting module comprises a second lifting motor, a second lifting reducer, a second displacement sensor, a second lifting support, a second lifting driving belt wheel, a second lifting synchronous belt, a second lifting driven belt wheel, a second guide rail, a third lifting bearing support, a second lead screw, a second lifting torque sensor, a second substrate, a fourth lifting bearing support and a second lifting slider component, wherein the second lifting motor is arranged on the second lifting support through the second lifting reducer and the second lifting torque sensor, the second lifting support is arranged at the first end of the first end surface of the second substrate, a fixing boss is arranged at the second end of the first end surface of the second substrate, an output shaft of the second lifting torque sensor is connected with the second lifting driving belt wheel, and the first end of the second lead screw penetrates through the third lifting bearing support to be connected with the second lifting driven belt wheel, and the second end of the second lifting driving belt passes through the second lifting synchronous belt and the second lifting driven belt, the third lifting bearing support and the fourth lifting bearing support are respectively arranged on the second end surface of the second substrate, the second guide rail is respectively arranged on the first end and the second end of the second end surface of the second substrate, the third end surface of the second substrate is provided with the second displacement sensor, and the second lifting driving belt passes through the second lifting synchronous beltThe second guide rail is in transmission connection with a first lifting module Pz pair of a second slider of the second lifting slider assembly, the first lifting module Pz pair is in transmission connection with a second screw of the second lifting slider assembly through a second lead screw, and the second lifting module is fixedly connected with a second end face of an outer connecting plate in the second steering module through a second L-shaped connecting plate in the second lifting slider assembly; the second walking module comprises a second walking motor, a second walking speed reducer, a second walking torque sensor, a second wheel, a second walking angle indicator, a second L-shaped support, a walking driving pulley, a walking synchronous belt, a walking driven pulley and a second wheel shaft, the second walking motor is installed on the first end face of the second L-shaped support through the second walking speed reducer and the second walking torque sensor, an output shaft of the second walking torque sensor is connected with the walking driving pulley, the second wheel is installed on the second wheel shaft, the first end of the second wheel shaft penetrates through the second end face of the second L-shaped support to be connected with the walking driven pulley, the second end of the second wheel shaft is supported in a fixing boss of the second lifting module through a bearing, and the walking driving pulley is in transmission connection with the walking driven pulley through the walking synchronous belt, the second wheel passes through the second walking motor RyThe second walking angle indicator is arranged at the first end of the second wheel shaft, and the second wheel shaft is in contact with the ground to form an S+The auxiliary connection is connected with the second steering module, the second lifting module and the second walking module to form a structure RzPzRyS+The six-degree-of-freedom series branched chain leg.
Further, the second lifting slide block assembly comprises a second screw, a second force sensor, a second screw frame, a second slide block, a second connecting plate and a second L-shaped connecting plate, wherein the second slide block is uniformly distributed on the corners of the first end face of the second connecting plate, the middle position of the second end face of the second connecting plate is provided with the second L-shaped connecting plate, the second screw is fixedly connected with the second screw frame through a set screw, the second screw frame is fixedly connected with the second connecting plate through the set screw, and the second force sensor is arranged between the second screw and the second screw frame.
Further, the encoder comprises a rotary angle encoder, a coding pinion and a coding support seat, wherein the rotary angle encoder is installed on the coding support seat, an output shaft of the rotary angle encoder penetrates through the coding support seat to be connected with the coding pinion, and the coding pinion is in meshed connection with the turntable bearing.
Preferably, the number of the second sliding blocks is four, and the second sliding blocks are uniformly distributed at the corners of the first end face of the second connecting plate.
Preferably, the center axis of the slewing bearing is parallel to the center axis of the second steering pinion, and the center axis of the second steering pinion is parallel to the center axis of the encoder pinion.
Compared with the prior art, the invention has the remarkable advantages that:
1. according to the six-degree-of-freedom series branched chain leg based on ground closure, through the design of the first lifting module, the first steering module and the first walking module, when a first wheel is in contact with the ground, six-degree-of-freedom omnidirectional motion can be realized, and the six-degree-of-freedom series branched chain leg based on ground closure has the advantages of high flexibility, strong applicability and the like.
2. According to the six-degree-of-freedom series branched chain leg based on ground closure, the two first steering small gears and the first steering large gear are in meshing transmission, so that the meshing gaps of the gears can be eliminated, and the accuracy of a steering angle is realized.
3. The invention provides a six-degree-of-freedom series branched chain leg based on ground closure, belongs to a series mechanism, and is simple in structure and large in bearing load.
4. The six-degree-of-freedom series branched chain leg based on ground closure provided by the invention adopts motor drive to replace hydraulic drive, so that the oil leakage phenomenon is avoided.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a six-degree-of-freedom series branched leg of the present invention;
FIG. 2 is a front view of a six degree-of-freedom tandem branched leg of the present invention;
FIG. 3 is a schematic structural diagram of a first lifting module of a six-degree-of-freedom series branched leg according to the present invention;
FIG. 4 is a partial cross-sectional view of a first lifting module of a six degree-of-freedom series branched leg of the present invention;
FIG. 5 is a schematic structural diagram of a first steering module of a six-degree-of-freedom series branched leg according to the present invention;
FIG. 6 is a schematic structural diagram of a first walking module of a six-degree-of-freedom series branched leg according to the present invention;
FIG. 7 is a schematic diagram of the overall structure of a six-degree-of-freedom series branched leg of the present invention;
FIG. 8 is a front view of a six degree of freedom tandem branched leg of the present invention;
FIG. 9 is a schematic structural diagram of a second steering module of a six-degree-of-freedom series branched leg according to the present invention;
FIG. 10 is a top view of a second steering module of a six degree-of-freedom series branched leg of the present invention;
FIG. 11 is a cross-sectional view of a second steering module A-A of a six degree-of-freedom series branched leg of the present invention;
FIG. 12 is a schematic structural view of a second lifting module of a six-DOF tandem branched leg according to the present invention;
FIG. 13 is a partial cross-sectional view of a second lifting module of a six degree-of-freedom series branched leg of the present invention; and
FIG. 14 is a schematic structural diagram of a second walking module of the six-DOF tandem branched leg of the present invention.
The main reference numbers:
a first lifting module 1; a first lift motor 101; a first lift reducer 102; a first displacement sensor 103; a first lifting support 104; a first elevating driving pulley 105; a first lifting synchronous belt 106; a first elevating driven pulley 107; a first guide rail 108; a first lift bearing support 109; a first lead screw 110; a first lifting torque sensor 111; a first substrate 112; a second lift bearing support 113; a first lifter assembly 114; a first nut 1141; a first force sensor 1142; a first nut holder 1143; a first slider 1144; a first connection plate 1145; a first steering module 2; a first steering bearing support 201; a first steering goniometer 202; a first steering shaft 203; a first steering bull gear 204; a first round nut 205; a first steering motor 206, 206'; a first steering reducer 207, 207'; a first steering torque sensor 208, 208'; a first steering pinion 209, 209'; a first steering support 210, 210'; a first traveling module 3; a first traveling motor 301; a first travel reducer 302; a first walking torque sensor 303; a U-shaped support 304; a first wheel 305; a first walking goniometer 306; a first wheel axle 307; a second steering module 4; a second steering motor 401, 401'; a second steering reducer 402, 402'; a second steering torque sensor 403, 403'; a second steering pinion 404, 404'; a second steering support 405, 405'; an encoder 406; a rotation angle encoder 4061; a coded pinion 4062; a code support base 4063; a turntable bearing 407; inner ring 4071; an outer ring 4072; rolling bodies 4073; an outer connecting plate 408; an outer shell 409; a second lifting module 5; a second lift motor 501; a second lift reducer 502; a second displacement sensor 503; a second lifting support 504; a second elevating driving pulley 505; a second lifting synchronous belt 506; a second elevating driven pulley 507; a second guide rail 508; a third lift bearing support 509; a second lead screw 510; a second lifting torque sensor 511; a second substrate 512; a fixing boss 5121; a fourth lift bearing support 513; a second lift block assembly 514; a second nut 5141; a second force sensor 5142; a second nut frame 5143; a second slider 5144; a second connecting plate 5145; a second L-shaped connecting plate 5146; a second walking module 6; a second travel motor 601; a second travel speed reducer 602; a second walking torque sensor 603; a second wheel 604; a second walking goniometer 605; a second L-shaped support 606; a traveling driving pulley 607; a travel timing belt 608; a travel driven pulley 609 and a second wheel axle 610.
Detailed Description
The invention will be described in detail with reference to the drawings for carrying out the invention.
The invention provides a six-degree-of-freedom series branched chain leg based on ground closure, as shown in fig. 1 to 6, which comprises a first lifting module 1, a first steering module 2 and a first traveling module 3, wherein the first lifting module 1 comprises a first lifting motor 101, a first lifting reducer 102, a first displacement sensor 103, a first lifting support 104, a first lifting driving pulley 105, a first lifting synchronous belt 106, a first lifting driven pulley 107, a first guide rail 108, a first lifting bearing support 109, a first lead screw 110, a first lifting torque sensor 111, a first base plate 112, a second lifting bearing support 113 and a first lifting slider assembly 114, the first lifting motor 101 is mounted on the first lifting support 104 through the first lifting reducer 102 and the first lifting torque sensor 111, the first lifting torque sensor 111 is used for detecting the driving torque of the first lifting motor 101, the first lifting support 104 is disposed on the first end surface of the first base plate 112, the output shaft of the first lifting torque sensor 111 is connected with the first lifting driving pulley 105, the first end of the first lead screw 110 passes through the first lifting bearing support 109 to be connected with the first lifting driven pulley 107, and the second end thereof is connected with the second lifting bearing support 113, the first lifting bearing support 109 and the second lifting bearing support 113 are respectively disposed on the second end surface of the first base plate 112, the first guide rail 108 is respectively disposed on the first end and the second end of the second end surface of the first base plate 112, and the third end surface of the first base plate 112 is provided with the first displacement sensor 103 for measuring the lifting height of the first slider 1144 in the first lifting module 1, the first lifting driving pulley 105 is in transmission connection with the first lifting driven pulley 107 through the first lifting synchronous belt 106, the first guide rail 108 is connected with the first lifting module Pz pair of the first slider 1144 of the first lifting slider assembly 114, and the first lifting module Pz pair is in transmission connection with the first nut 1141 of the first lifting slider assembly 114 through the first lead screw 110.
Specifically, the first lifting slide block assembly 114 includes a first nut 1141, four first force sensors 1142, a first nut frame 1143, a first slide block 1144 and a first connection plate 1145, the first slide blocks 1144 are uniformly arranged at corners of a first end surface of the first connection plate 1145, the first nut 1141 is fixedly connected with the first nut frame 1143 through a set screw, the first nut frame 1143 is fixedly connected with the first connection plate 1145 through a set screw, and the first force sensors 1142 are arranged between the first nut 1141 and the first nut frame 1143 and used for detecting force transmitted from the first nut frame 1143 to the first nut 1141.
The first steering module 2 includes a first steering bearing support 201, a first steering angle indicator 202, a first steering shaft 203, a first steering large gear 204, a first round nut 205, a first steering motor 206, 206 ', a first steering reducer 207, 207', a first steering torque sensor 208, 208 ', a first steering pinion 209, 209', and a first steering support 210, 210 ', the first steering motor 206, 206' being mounted on the first steering support 210, 210 'through the first steering reducer 207, 207' and the first steering torque sensor 208, 208 ', the first steering torque sensor 208, 208' being configured to detect a driving torque of the first steering pinion 209, 209 ', and an output shaft of the first steering torque sensor 208, 208' being connected to the first steering pinion 209, 209 ', the first steering support 210, 210' being respectively provided at a first end and a second end of a first end surface of the first base plate 112, and first steering pinions 209, 209' are respectively provided on both sides of the first steering bull gear 204 and mesh with the first steering bull gear 204RzThe first steering gear wheel 204 is fixedly mounted at a first end of the first steering shaft 203 through a first round nut 205, a second end of the first steering shaft 203 penetrates through a first steering bearing support 201 and is fixedly connected with a U-shaped support 304 of the first walking module 3, the first steering bearing support 201 is fixedly arranged at a first end face of the first base plate 112, and the first steering angle indicator 202 is arranged at a second end of the first steering shaft 203 and is positioned at a first end face of the first steering bearing support 201 and is used for detecting the rotating angle of the first steering shaft 203.
The first traveling module 3 includes a first traveling motor 301, a first traveling reducer 302, a first traveling torque sensor 303, a U-shaped support 304, a first wheel 305, a first traveling angle indicator 306, and a first wheel axle 307, the first traveling motor 301 is mounted on a first end surface of the U-shaped support 304 through the first traveling reducer 302 and the first traveling torque sensor 303, and the first traveling torque sensor 303 is configured to detect a driving torque of the first traveling motor 301And the first wheel 305 is mounted on the first wheel axle 307, the first end of the first wheel axle 307 passes through the first end of the U-shaped support 304 to be connected with the output shaft of the first running torque sensor 303, and the first wheel 305 is connected with the first running motor 301RyA secondary drive, a second end of the first wheel shaft 307 is supported at a second end of the U-shaped support 304 through a bearing, a first walking angle meter 306 is arranged at the first end of the first wheel shaft 307 and is used for detecting the rotating angle of the first wheel shaft 307 in real time, when the first wheel 305 is in contact with the ground, the first wheel can form a closed structure with the ground and can rotate around the x axis, the y axis and the z axis in unequal amount, so that the first wheel can be equivalent to an S pair in nonstandard spherical contact, and the second wheel can be distinguished from a common S pair and is defined as the S pair+Sub-thus constituting S+Is connected secondarily and forms a configuration P together with the first lifting module 1, the first steering module 2 and the first traveling module 3zRzRyS+The six-degree-of-freedom series branched chain leg.
In another aspect of the present invention, there is provided a six-degree-of-freedom tandem branched leg based on ground closure, as shown in fig. 7 to 14, which includes a second steering module 4, a second lifting module 5, and a second traveling module 6, wherein the second steering module 4 includes a second steering motor 401, 401 ', a second steering reducer 402, 402 ', a second steering torque sensor 403, 403 ', a second steering pinion 404, 404 ', a second steering support 405, 405 ', an encoder 406, a turntable bearing 407, an outer connecting plate 408, and an outer housing 409, the second steering motor 401, 401 ' is mounted on the second steering support 405, 405 ' through the second steering reducer 402, 402 ' and the second steering torque sensor 403, 403 ', for detecting a driving torque of the second steering motor 401, 401 ', and an output shaft of the second steering torque sensor 403, 403 ' and the second steering pinion 404, 404 ', a second steering support 405, 405 ' is arranged on the first end surface and the second end surface of the outer shell 409 respectively, a second steering pinion 404, 404 ' is arranged on the two sides of the turntable bearing 407 respectively and is meshed with the turntable bearing 407RzIn the auxiliary drive mode, two second steering motors 401 and 401' are adopted to drive the turntable bearing 407 to rotate forward and backward so as to eliminate the gear transmissionThe gap, turntable bearing 407 includes inner ring 4071, outer ring 4072 and rolling element 4073, inner ring 4071 and outer ring 4072 are connected by rolling element 4073, the first end face of inner ring 4071 is fixedly connected with the third end face of outer shell 409, the first end face of outer ring 4072 is fixedly connected with the first end face of outer connecting plate 408, encoder 406 is disposed between second steering pinion 404, 404', and is mounted on the first end face of outer shell 409 through encoder supporting seat 4063 of encoder 406.
Specifically, the encoder 406 includes a rotational angle encoder 4061, a encoder pinion 4062, and a encoder support 4063, the rotational angle encoder 4061 is mounted on the encoder support 4063, and an output shaft thereof passes through the encoder support 4063 and is connected to the encoder pinion 4062, and the encoder pinion 4062 is engaged with the turntable bearing 407.
The second lifting module 5 comprises a second lifting motor 501, a second lifting reducer 502, a second displacement sensor 503, a second lifting support 504, a second lifting driving pulley 505, a second lifting synchronous belt 506, a second lifting driven pulley 507, a second guide rail 508, a third lifting bearing support 509, a second lead screw 510, a second lifting torque sensor 511, a second base plate 512, a fourth lifting bearing support 513 and a second lifting slider assembly 514, wherein the second lifting motor 501 is mounted on the second lifting support 504 through the second lifting reducer 502 and the second lifting torque sensor 511, the second lifting torque sensor 511 is used for detecting the driving torque of the second lifting motor 501, the second lifting support 504 is arranged at a first end of a first end surface of the second base plate 512, a second end of the first end surface of the second base plate 512 is provided with a fixing boss 5121, an output shaft of the second lifting torque sensor 511 is connected with the second lifting driving pulley 505, a first end of the second lead screw 510 passes through a third lifting bearing support 509 to be connected with the second lifting driven pulley 507, a second end of the second lead screw is connected with a fourth lifting bearing support 513, the third lifting bearing support 509 and the fourth lifting bearing support 513 are respectively arranged on a second end surface of the second base plate 512, the second guide rail 508 is respectively arranged on a first end and a second end of the second end surface of the second base plate 512, a second displacement sensor 503 is arranged on a third end surface of the second base plate 512, the second lifting driving pulley 505 is in transmission connection with the second lifting driven pulley 507 through a second lifting synchronous belt 506, the second guide rail 508 is connected with a first lifting module Pz pair of a second slider 5144 of the second lifting slider assembly 514, the first lifting module Pz pair is in transmission connection with a second nut 5141 of the second lifting slider assembly 514 through the second lead screw 510, and the second lifting module 5 is fixedly connected with a second end surface of an outer connecting plate 408 of the second steering module 4 through a second L-shaped connecting plate 5146 of the second lifting slider assembly 514.
Specifically, the second lifting slider assembly 514 includes a second nut 5141, a second force sensor 5142, a second nut frame 5143, a second slider 5144, a second connecting plate 5145 and a second L-shaped connecting plate 5146, wherein the second sliders 5144 are uniformly distributed at corners of a first end surface of the second connecting plate 5145, a second L-shaped connecting plate 5146 is disposed at a middle position of a second end surface of the second connecting plate 5145, the second nut 5141 is fixedly connected to the second nut frame 5143 through a set screw, the second nut frame 5143 is fixedly connected to the second connecting plate 5145 through a set screw, and the second force sensor 5142 is disposed between the second nut 5141 and the second nut frame 5143 and is configured to detect a force transmitted from the second nut frame 5143 to the second nut 5141.
The second traveling module 6 includes a second traveling motor 601, a second traveling reducer 602, a second traveling torque sensor 603, a second wheel 604, a second traveling goniometer 605, a second L-shaped support 606, a traveling driving pulley 607, a traveling timing belt 608, a traveling driven pulley 609, and a second wheel axle 610, the second traveling motor 601 is mounted on a first end surface of the second L-shaped support 606 through the second traveling reducer 602 and the second traveling torque sensor 603, the second traveling torque sensor 603 is configured to detect a driving torque of the second traveling motor 601, an output shaft of the second traveling torque sensor 603 is connected to the traveling driving pulley 607, the second wheel 604 is mounted on the second wheel axle 610, a first end of the second wheel axle 610 passes through a second end surface of the second L-shaped support 606 to be connected to the traveling driven pulley 609, a second end of the second wheel axle 610 is supported in a fixing boss 5121 of the second lifting module 5 through a bearing, the walking driving pulley 607 is in transmission connection with the walking driven pulley 609 through a walking synchronous belt 608, and the second wheel 604 is in transmission connection with a second walking motor 601RySub-drive, second walking goniometer 605The second wheel 604 is disposed at a first end of the second wheel shaft 610, and when contacting the ground, it can form a closed structure with the ground, and can rotate around the x-axis, y-axis and z-axis in unequal amounts, so that it can be equivalent to an S pair in nonstandard spherical contact, and is defined as S pair, which is different from a common S pair+Sub-thus constituting S+Is connected in a secondary way and forms a structure R together with the second steering module 4, the second lifting module 5 and the second walking module 6zPzRyS+The six-degree-of-freedom series branched chain leg.
Example 1
As shown in fig. 1 to 6, the six-degree-of-freedom series branched chain leg based on ground closure of the present invention includes a first lifting module 1, a first steering module 2 and a first traveling module 3, wherein the first lifting module 1 includes a first lifting motor 101, a first lifting reducer 102, a first displacement sensor 103, a first lifting support 104, a first lifting driving pulley 105, a first lifting timing belt 106, a first lifting driven pulley 107, a first guide rail 108, a first lifting bearing support 109, a first lead screw 110, a first lifting torque sensor 111, a first base plate 112, a second lifting bearing support 113 and a first lifting slider assembly 114, the first guide rail 108 is connected to a first lifting module Pz pair of a first slider 1144 of the first lifting slider assembly 114, and the first lifting module Pz pair is in transmission connection with a first nut 1141 of the first lifting slider assembly 114 through the first lead screw 110, the first steering module 2 comprises a first steering bearing support 201, a first steering angle indicator 202, a first steering shaft 203, a first steering gearwheel 204, a first round nut 205, first steering motors 206, 206 ', first steering reducers 207, 207', first steering torque sensors 208, 208 ', first steering pinions 209, 209' and first steering supports 210, 210 ', wherein the first steering pinions 209, 209' are respectively arranged on two sides of the first steering gearwheel 204 and are meshed with the first steering gearwheel 204 to form a gear RzThe first walking module 3 comprises a first walking motor 301, a first walking reducer 302, a first walking torque sensor 303, a U-shaped support 304, a first wheel 305, a first walking angle instrument 306 and a first wheel shaft 307, wherein the first wheel 305 passes through the first walking motor 301RyAuxiliary driveThe first wheel 305 is in contact with the ground to form S+Is connected secondarily and forms a configuration P together with the first lifting module 1, the first steering module 2 and the first traveling module 3zRzRyS+The six-degree-of-freedom series branched chain leg.
In the implementation process, first, the first connecting plate 1145 of the first lifting module 1 is fixedly connected with the vehicle body, the first sliding block 1144 can move up and down along the first guide rail 108 through the transmission of a synchronous pulley and a lead screw nut, so as to realize the lifting motion of the serial branched-chain leg along the z-axis, and simultaneously, the first steering pinions 209 and 209' are respectively arranged at two sides of the first steering bull gear 204, and through the meshing transmission of gears, the U-shaped support 304 is driven to rotate, so as to realize the steering motion of the serial branched-chain leg around the z-axis, and the first traveling motor 301 drives the first wheel 305 to rotate, so as to realize the rotation of the first wheel 305 around the central axis of the first wheel shaft 307, and finally realize the traveling motion of the serial branched-chain leg along the x-axis, and simultaneously, when the first wheel 305 is in contact with the ground, the first wheel 305 can form a seal with the ground, and can generate a motion around the x-axis, The unequal rotation of the y axis and the z axis can be equivalent to an S pair in nonstandard spherical contact, and is different from a common S pair and defined as S+Sub-thus constituting S+And the secondary connection is adopted, so that the omnidirectional movement of the serial branched-chain legs is realized.
Example 2
As shown in fig. 7 to 14, the six-degree-of-freedom series branched chain leg based on ground closure of the present invention includes a second steering module 4, a second lifting module 5 and a second walking module 6, wherein the second steering module 4 includes a second steering motor 401, 401 ', a second steering reducer 402, 402', a second steering torque sensor 403, 403 ', a second steering pinion 404, 404', a second steering support 405, 405 ', an encoder 406, a turntable bearing 407, an outer connecting plate 408 and an outer housing 409, the second steering pinion 404, 404' are respectively disposed on two sides of the turntable bearing 407, and are engaged with the turntable bearing 407, and R is engaged with the turntable bearing 407zThe second lifting module 5 comprises a second lifting motor 501, a second lifting reducer 502, a second displacement sensor 503, a second lifting support 504 and a second lifting driving beltA wheel 505, a second lifting synchronous belt 506, a second lifting driven pulley 507, a second guide rail 508, a third lifting bearing support 509, a second lead screw 510, a second lifting torque sensor 511, a second base plate 512, a fourth lifting bearing support 513 and a second lifting slider component 514, wherein the second guide rail 508 is connected with a first lifting module Pz pair of a second slider 5144 of the second lifting slider component 514, the first lifting module Pz pair is in transmission connection with a second nut 5141 of the second lifting slider component 514 through the second lead screw 510, the second lifting module 5 is fixedly connected with a second end face of an outer connecting plate 408 in the second steering module 4 through a second L-shaped connecting plate 5146 in the second lifting slider component 514, the second walking module 6 comprises a second walking motor 601, a second walking speed reducer 602, a second walking torque sensor 603, a second wheel 604, a second walking angle indicator 605, a second L-shaped support 606, A traveling driving pulley 607, a traveling timing belt 608, a traveling driven pulley 609, and a second wheel shaft 610, and the second wheel 604 is driven by a second traveling motor 601RyA secondary drive, a second running angle gauge 605 is provided at a first end of the second wheel shaft 610, and the second wheel 604 is in contact with the ground to form a S+Is connected in a secondary way and forms a structure R together with the second steering module 4, the second lifting module 5 and the second walking module 6zPzRyS+The six-degree-of-freedom series branched chain leg.
In the implementation process, the outer shell 409 of the second steering module 4 is first fixedly connected with the vehicle body, the second steering pinions 404, 404' are respectively arranged at two sides of the turntable bearing 407, and are in meshing transmission through gears so as to drive the outer connecting plate 408 to rotate for realizing the steering motion of the serial branched chain leg around the z-axis, the second slider 5144 can move up and down along the second guide rail 508 through the transmission of the synchronous pulley and the screw nut, so as to realize the lifting motion of the serial branched chain leg along the z-axis, and drive the second wheel 604 to rotate through the transmission of the synchronous pulley, so as to realize the rotation of the second wheel 604 around the central axis of the second wheel shaft 610, and finally realize the walking motion of the serial branched chain leg along the x-axis, and meanwhile, when the second wheel 604 is in contact with the ground during the advancing process, the second wheel 604 can form a seal with the ground and can rotate around the x-axis, the y-axis and the z-axis by unequal amounts,therefore, the S pair can be equivalent to the S pair of the non-standard spherical contact, and is different from the common S pair and is defined as S+Sub-thus constituting S+And the secondary connection is adopted, so that the omnidirectional movement of the serial branched-chain legs is realized.
While the foregoing is directed to the preferred embodiment of the present invention, and not to the limitations thereof, it is noted that various modifications and adaptations of those embodiments may occur to one skilled in the art without departing from the principles of the present invention and are intended to be included within the scope of the present invention.
Claims (9)
1. A six-degree-of-freedom serial branched chain leg based on ground closure is characterized by comprising a first lifting module, a first steering module and a first walking module,
the first lifting module comprises a first lifting motor, a first lifting reducer, a first displacement sensor, a first lifting support, a first lifting driving belt wheel, a first lifting synchronous belt, a first lifting driven belt wheel, a first guide rail, a first lifting bearing support, a first lead screw, a first lifting torque sensor, a first base plate, a second lifting bearing support and a first lifting slider component, the first lifting motor is arranged on the first lifting support through the first lifting reducer and the first lifting torque sensor, the first lifting support is arranged on the first end surface of the first base plate, the output shaft of the first lifting torque sensor is connected with the first lifting driving belt wheel, the first end of the first lead screw penetrates through the first lifting bearing support to be connected with the first lifting driven belt wheel, and the second end of the first lead screw is connected with the second lifting bearing support, the first lifting bearing support and the second lifting bearing support are respectively arranged on a second end face of the first substrate, the first guide rails are respectively arranged on a first end and a second end of the second end face of the first substrate, the third end face of the first substrate is provided with the first displacement sensor, the first lifting driving belt wheel is in transmission connection with the first lifting driven belt wheel through the first lifting synchronous belt, the first guide rails and a first slider of the first lifting slider assembly form first lifting module Pz pair connection, and the first lifting module Pz pair is in transmission connection with a first nut of the first lifting slider assembly through the first lead screw;
first module of turning to includes first steering bearing support, first steering angle appearance, first steering shaft, first steering gear wheel, first round nut, first steering motor, first steering reduction gear, first steering torque sensor, first steering pinion and first steering support, first steering motor passes through first steering reduction gear and first steering torque sensor install in on the first steering support, just first steering torque sensor's output shaft with first steering pinion connects, first steering support is located respectively the first end and the second end of the first terminal surface of first base plate, just first steering pinion locates respectively the both sides of first steering gear wheel, and with first steering gear wheel meshing R gear wheelzThe first steering large gear is fixedly mounted at a first end of the first steering shaft through the first round nut, a second end of the first steering shaft penetrates through the first steering bearing support to be fixedly connected with the U-shaped support of the first traveling module, the first steering bearing support is fixedly arranged on a first end face of the first base plate, and the first steering angle indicator is arranged at a second end of the first steering shaft and is positioned on a first end face of the first steering bearing support; and
the first walking module comprises a first walking motor, a first walking reducer, a first walking torque sensor, a U-shaped support, a first wheel, a first walking angle instrument and a first wheel shaft, the first walking motor is installed on the first end face of the U-shaped support through the first walking reducer and the first walking torque sensor, the first wheel is installed on the first wheel shaft, the first end of the first wheel shaft penetrates through the first end of the U-shaped support to be connected with the output shaft of the first walking torque sensor, and the first wheel passes through the first walking motor RyA secondary drive, the second end of the first wheel shaft is supported on the second end of the U-shaped support through a bearing, and the first walkingThe angle indicator is arranged at the first end of the first wheel axle.
2. The six-degree-of-freedom series branched leg based on ground sealing as claimed in claim 1, wherein the first lifting slider assembly comprises a first nut, a first force sensor, a first nut frame, a first slider and a first connecting plate, the first slider is uniformly distributed at corners of a first end face of the first connecting plate, the first nut is fixedly connected with the first nut frame through a set screw, the first nut frame is fixedly connected with the first connecting plate through the set screw, and the first force sensor is arranged between the first nut and the first nut frame.
3. The six-degree-of-freedom serial branched leg based on ground closure according to claim 2, wherein the number of the first sliding blocks is four, and the four first sliding blocks are uniformly arranged at the corners of the first end surface of the first connecting plate.
4. The ground based closed six degree of freedom tandem branched leg of claim 1, wherein the central axis of the first steering shaft coincides with the central axis of the first steering gear wheel and the central axis of the first steering gear wheel is parallel with the central axis of the first steering pinion gear.
5. A six-degree-of-freedom series branched chain leg based on ground closure is characterized by comprising a second steering module, a second lifting module and a second walking module,
the second turns to the module and includes that the second turns to motor, second and turns to reduction gear, second and turns to torque sensor, second and turns to pinion, second and turns to support, encoder, carousel bearing, outer joint plate and shell body, the second turns to the motor and passes through second turns to reduction gear and second and turns to torque sensor install in the second turns to on the support, just the second turn to torque sensor's output shaft with the second turns to the pinion and connects, the second turns to the support and locates respectively that instituteThe first end surface and the second end surface of the outer shell, the second steering pinion is respectively arranged at two sides of the turntable bearing and is meshed with the turntable bearing RzThe turntable bearing comprises an inner ring, an outer ring and a rolling body, the inner ring and the outer ring are in rolling connection through the rolling body, a first end face of the inner ring is fixedly connected with a third end face of the outer shell, a first end face of the outer ring is fixedly connected with a first end face of the outer connecting plate, the encoder is arranged between the second steering pinions and is installed on the first end face of the outer shell through an encoding supporting seat of the encoder;
the second lifting module comprises a second lifting motor, a second lifting reducer, a second displacement sensor, a second lifting support, a second lifting driving belt wheel, a second lifting synchronous belt, a second lifting driven belt wheel, a second guide rail, a third lifting bearing support, a second lead screw, a second lifting torque sensor, a second substrate, a fourth lifting bearing support and a second lifting slider component, wherein the second lifting motor is arranged on the second lifting support through the second lifting reducer and the second lifting torque sensor, the second lifting support is arranged at the first end of the first end surface of the second substrate, a fixing boss is arranged at the second end of the first end surface of the second substrate, an output shaft of the second lifting torque sensor is connected with the second lifting driving belt wheel, and the first end of the second lead screw penetrates through the third lifting bearing support to be connected with the second lifting driven belt wheel, and the second end of the second guide rail is connected with the fourth lifting bearing support, the third lifting bearing support and the fourth lifting bearing support are respectively arranged on the second end surface of the second substrate, the second guide rail is respectively arranged on the first end and the second end of the second end surface of the second substrate, the third end surface of the second substrate is provided with the second displacement sensor, the second lifting driving belt wheel is in transmission connection with the second lifting driven belt wheel through the second lifting synchronous belt, the second guide rail is connected with a second slider second lifting module Pz pair of the second lifting slider component, and the second lifting module Pz pair is in transmission connection with a second nut of the second lifting slide block assembly through the second lead screw, the second lifting module is fixedly connected with a second end face of an outer connecting plate in the second steering module through a second L-shaped connecting plate in the second lifting slide block assembly; and
the second walking module comprises a second walking motor, a second walking speed reducer, a second walking torque sensor, a second wheel, a second walking angle indicator, a second L-shaped support, a walking driving pulley, a walking synchronous belt, a walking driven pulley and a second wheel shaft, the second walking motor is installed on a first end face of the second L-shaped support through the second walking speed reducer and the second walking torque sensor, an output shaft of the second walking torque sensor is connected with the walking driving pulley, the second wheel is installed on the second wheel shaft, a first end of the second wheel shaft penetrates through a second end face of the second L-shaped support to be connected with the walking driven pulley, a second end of the second wheel shaft is supported in a fixing boss of the second lifting module through a bearing, and the walking driving pulley is in transmission connection with the walking driven pulley through the walking synchronous belt, the second wheel passes through the second walking motor RyAnd the second walking rotation angle instrument is arranged at the first end of the second wheel shaft.
6. The ground-closure-based six-degree-of-freedom series branched chain leg according to claim 5, wherein the second lifting slide block assembly comprises a second nut, a second force sensor, a second nut frame, a second slide block, a second connecting plate and a second L-shaped connecting plate, the second slide blocks are uniformly distributed at corners of a first end face of the second connecting plate, the second L-shaped connecting plate is arranged in the middle of a second end face of the second connecting plate, the second nut is fixedly connected with the second nut frame through a set screw, the second nut frame is fixedly connected with the second connecting plate through the set screw, and the second force sensor is arranged between the second nut and the second nut frame.
7. The ground closure based six-degree-of-freedom series branched leg according to claim 5, wherein the encoder comprises a rotation angle encoder, a code pinion and a code support base, the rotation angle encoder is mounted on the code support base, an output shaft of the rotation angle encoder penetrates through the code support base to be connected with the code pinion, and the code pinion is in meshed connection with the turntable bearing.
8. The six-degree-of-freedom series branched leg based on ground closure according to claim 6, wherein the number of the second sliding blocks is four, and the second sliding blocks are uniformly arranged at corners of the first end surface of the second connecting plate.
9. The ground closure based six degree of freedom tandem branched leg of claim 7 wherein the central axis of the slewing bearing is parallel with the central axis of the second steering pinion and the central axis of the second steering pinion is parallel with the central axis of the encoder pinion.
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| CN112622521B (en) * | 2020-12-28 | 2022-07-15 | 宁波曙翔新材料股份有限公司 | Traveling system for shelter |
| CN114453857B (en) * | 2022-03-02 | 2023-04-14 | 燕山大学 | Four-degree-of-freedom branched chain module for omni-directional mobile parallel attitude-adjusting platform |
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