CN110682976B - Multi-degree-of-freedom mechanical wheel leg structure of wheel leg combined type mobile robot - Google Patents
Multi-degree-of-freedom mechanical wheel leg structure of wheel leg combined type mobile robot Download PDFInfo
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- CN110682976B CN110682976B CN201911162093.7A CN201911162093A CN110682976B CN 110682976 B CN110682976 B CN 110682976B CN 201911162093 A CN201911162093 A CN 201911162093A CN 110682976 B CN110682976 B CN 110682976B
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- 210000002414 leg Anatomy 0.000 claims abstract description 75
- 230000007246 mechanism Effects 0.000 claims abstract description 63
- 210000000629 knee joint Anatomy 0.000 claims abstract description 62
- 210000000689 upper leg Anatomy 0.000 claims abstract description 38
- 230000005540 biological transmission Effects 0.000 claims abstract description 30
- 210000004394 hip joint Anatomy 0.000 claims abstract description 28
- 230000033001 locomotion Effects 0.000 claims abstract description 24
- 238000013016 damping Methods 0.000 claims abstract description 23
- 230000003287 optical effect Effects 0.000 claims description 38
- 239000003638 chemical reducing agent Substances 0.000 claims description 26
- 210000003127 knee Anatomy 0.000 claims description 17
- 230000009471 action Effects 0.000 claims description 7
- 230000003139 buffering effect Effects 0.000 claims description 4
- 230000005484 gravity Effects 0.000 abstract description 3
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 239000002131 composite material Substances 0.000 description 6
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 230000007547 defect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 230000009194 climbing Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 210000001624 hip Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000003108 foot joint Anatomy 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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Abstract
The invention discloses a multi-degree-of-freedom mechanical wheel leg structure of a wheel-leg combined type mobile robot, wherein the motion modes of wheels and legs can be flexibly switched, and the wheel type high maneuverability and the leg type strong environmental adaptability are effectively combined; the wheel legs have a plurality of degrees of freedom, and can realize all-around motion to adjust the attitude and the gravity center balance of the machine body. Wherein, be provided with damping spring in wheel leg knee joint department, utilize the buffer capacity of spring to improve the adaptability of shank joint when receiving ground impact. The thigh screw sliding table lifting stretching and retracting mechanism and the shank electric cylinder force feedback retracting mechanism operate cooperatively through controlling the motor. The hip joint chain transmission lockable swing mechanism can drive the mechanical wheel legs to swing along a rotating shaft vertical to the ground. And the wheel legs can realize the omnibearing running function or the variable-wheel-track and variable-wheel-base running by matching with the hub steering mechanism. The mechanical wheel legs have a modular character, as well as good dynamic ride and high throughput of complex terrain.
Description
Technical Field
The invention relates to the technical field of robots and automatic control, in particular to a multi-degree-of-freedom mechanical wheel leg structure of a wheel leg combined type mobile robot.
Background
The application requirements of the mobile robot in the fields of military affairs, agriculture and scientific investigation are more and more extensive. The conventional mobile robot can be divided into a wheel type, a leg and foot type and a crawler type according to different driving modes. The wheel type mobile robot is most commonly applied, the structure and the control are simple, the movement efficiency is high, the moving speed is high, and the defect is that the adaptability to the terrain is poor. Leg-foot type robots are generally in a biped, quadruped and hexapod configuration, and compared with wheel type robots, the leg-foot type robots are high in terrain adaptability and have strong obstacle crossing capability, but are slow in movement, low in efficiency and high in energy consumption. Compared with the first two types of robots, the crawler-type robot has a large contact area with the ground, is suitable for moving on soil or loose ground, has strong climbing and obstacle-crossing capabilities, but has the defects of large weight and slow walking. The wheel-leg combined type mobile robot adopts a high-efficiency wheel-leg combined type walking mechanism, and can travel in various motion modes under different road conditions and terrain environments. When the terrain is leveled, the terrain is mainly moved forward by the wheel type mechanism, and the moving efficiency is higher. The wheel-leg composite structure is adopted for the complex rugged terrain, the adaptability of the robot to the terrain is greatly improved, the cross-country performance is strong, and the robot can pass extreme terrain conditions such as vertical obstacles, trenches and the like. Due to the characteristics of strong terrain adaptability, low energy consumption and high speed, the method is rapidly developed in recent years and widely applied to the fields of unmanned transportation, unmanned mine clearance, unmanned weapon carrying military and civil fields of agriculture, logistics, rescue and underwater construction.
The invention patent 201711105290.6 discloses a wheel leg structure of a wheel leg composite robot, which comprises an actuator, a tripod, a damping spring, a double-wishbone suspension, a steering motor, wheel legs and a driving wheel with a hub motor. The wheel leg structure realizes the movement along the height direction by controlling the actuator, but has the defects that the length of the mechanical leg is fixed and cannot be changed; meanwhile, the hip joint cannot freely rotate horizontally.
In patent 201910054295.3, a "wheel-leg structure of wheel-leg composite robot" is proposed, which is composed of three parts, namely a leg joint, a foot joint and a wheel mechanism. The wheel type mechanism at the head section of the foot section and the tail end of the foot section can be used as ground contact ends, and the ground contact ends of the foot sections are controlled through the controller to realize wheel type and leg type movement switching. But the motion range of the wheel type movement is reduced compared with that of the leg type movement; meanwhile, two legs can be controlled simultaneously only through the movement of the sliding block, and the independent control of a single leg cannot be realized.
Disclosure of Invention
In order to avoid the defects in the prior art, the invention provides a multi-degree-of-freedom mechanical wheel leg structure of a wheel leg combined type mobile robot.
The technical scheme adopted for solving the technical problems is that the hip joint chain transmission locking swing mechanism comprises a hip joint chain transmission locking swing mechanism, a thigh lead screw sliding table lifting and stretching telescopic mechanism, a knee joint impact-resistant spring buffer mechanism, a shank electric cylinder force feedback telescopic mechanism, a hub large-angle steering structure and an electric hub, and is characterized in that the hip joint chain transmission locking swing mechanism comprises a frame top connecting plate, a frame bottom connecting plate, a main transmission shaft, a driving chain wheel, a first hip joint supporting plate, a driven transmission shaft, a sliding table lower connecting plate, a driven chain wheel, a chain, a second hip joint supporting plate and a chain tensioning support, the frame top connecting plate and the frame bottom connecting plate are connected with a central frame, a first servo motor and a first speed reducer are fixedly connected with a motor connecting frame plate and positioned at the upper part of the central frame, the main transmission shaft is respectively connected with the first speed reducer and the driving chain wheel, the upper end of the first, the lower end of the second hip joint support plate is fixedly connected with the frame bottom connecting plate, the upper end of the second hip joint support plate is connected with the frame top connecting plate, the lower end of the second hip joint support plate is fixedly connected with the frame bottom connecting plate, the electromagnetic brake support is fixedly connected with the frame top connecting plate, the upper part of the jaw-type electromagnetic brake is fixedly connected with the electromagnetic brake support, the lower part of the jaw-type electromagnetic brake is connected with the driven shaft, the upper connecting plate of the sliding table is connected with the frame top connecting plate, the driven shaft is connected with the driven chain wheel, and the frame bottom; the first servo motor drives the main transmission shaft and the driving chain wheel to rotate through the first speed reducer, and drives the driven transmission shaft to rotate through chain transmission, so that the mechanical legs rotate around the driven shaft;
the thigh screw sliding table lifting tensioning and stretching mechanism comprises a second servo motor, a thigh upper connecting plate, a supporting rod, a thigh lower connecting plate, a sliding block, a screw sliding table frame, a motor supporting seat and a second speed reducer, wherein the screw sliding table frame is fixedly connected with the sliding table upper connecting plate and the sliding table lower connecting plate; the second servo motor and the second speed reducer are connected with a motor support seat, the motor support seat is fixedly connected with a lead screw sliding table frame, a support rod is fixedly connected with a slide block and a thigh upper connecting plate, and the lead screw sliding table frame is connected with a thigh lower connecting plate; the lead screw sliding table frame, the upper thigh connecting plate, the lower thigh connecting plate and the knee joint inner connecting rod form a parallelogram mechanism; the second servo motor drives the ball screw to rotate through a second speed reducer and a coupler, the slide block moves up and down to drive the support rod to rotate, the vertical direction rotation of the parallel four-bar linkage mechanism is realized, and various lifting actions of the mechanical leg are completed;
the knee joint impact-resistant spring buffer mechanism comprises a knee connecting rod, a second connecting rod optical axis, a knee joint outer connecting rod, a knee joint inner connecting rod, a first connecting rod optical axis, a spring connecting plate, a first damping spring and a second damping spring, wherein the first connecting rod optical axis penetrates through the knee joint inner connecting rod and a thigh upper connecting plate to be connected with the knee joint inner connecting rod through a deep groove ball bearing, a thigh lower connecting plate is hinged with the knee joint inner connecting rod, the knee joint outer connecting rod and a shank lower connecting rod are hinged, the first damping spring is fixedly connected with the knee joint inner connecting rod and the knee joint outer connecting rod, the second damping spring is fixedly connected with the knee joint inner connecting rod and the knee joint outer connecting rod, the outer sides of the first damping spring and the second damping spring are prevented from radial movement through the spring connecting plate, the outer side of the spring connecting plate is provided with a check nut to prevent axial movement, and, the knee connecting rod is provided with a sliding chute, the knee joint outer connecting rod moves relative to the knee connecting rod, and the damping spring is used for connecting the knee inner connecting rod and the knee outer connecting rod to play a role in buffering external impact;
the shank electric cylinder force feedback telescopic mechanism comprises a third speed reducer, a third servo motor, a shank upper connecting rod, a third connecting rod optical axis, a hub frame, a fourth connecting rod optical axis, a shank lower connecting rod and an electric cylinder, wherein the second connecting rod optical axis penetrates through the shank upper connecting rod to be connected with the knee joint outer connecting rod and the shank upper connecting rod through deep groove ball bearings, and the knee joint inner connecting rod, the knee joint outer connecting rod and the shank lower connecting rod are hinged; the optical axis of a third connecting rod penetrates through an upper shank connecting rod and a hub frame to be connected with the upper shank connecting rod through a deep groove ball bearing, the optical axis of a fourth connecting rod penetrates through a lower shank connecting rod and the hub frame to be connected with the lower shank connecting rod through the deep groove ball bearing, the rod end of an electric cylinder is connected with the upper shank connecting rod, the cylinder end of the electric cylinder is connected with the lower shank connecting rod, and the upper shank connecting rod, the lower shank connecting rod, a knee outer connecting rod and the hub frame in a hub steering structure form a parallel four-bar mechanism; the third servo motor drives the piston rod of the electric cylinder to move linearly through the third speed reducer and the coupler, so that the parallelogram mechanism rotates around the knee joint buffer structure, and the telescopic action of the mechanical legs is completed.
The large-angle steering structure of the wheel hub comprises a swing type hydraulic cylinder, a wheel hub rotating shaft, a wheel hub motor, a brake support, a wheel hub side plate, a wheel hub rotation stopping plate and a wheel hub transverse plate, wherein mounting holes are formed in the upper portion and the lower portion of a wheel hub frame respectively; when pressure oil enters an oil cavity of the swing type hydraulic cylinder, the rotating shaft of the hub is pushed to rotate, and oil in the other cavity is discharged back to the oil cavity; when the pressure oil reversely enters the oil cavity, the rotating shaft of the hub reversely moves, so that the steering of the hub is realized; by controlling the flow direction of the pressure oil, the hub rotating shaft can realize large-angle rotation of-178 degrees.
Advantageous effects
According to the multi-degree-of-freedom mechanical wheel leg structure of the wheel-leg combined type mobile robot, the mechanical wheel legs have the modular characteristic, the motion modes of the wheels and the legs can be flexibly switched, and the wheel type high mobility and the leg-foot type strong environmental adaptability are effectively combined; the wheel legs have a plurality of degrees of freedom, and can realize all-around motion to adjust the attitude and the gravity center balance of the machine body.
According to the multi-degree-of-freedom mechanical wheel leg structure, the four high-rigidity damping springs are arranged at the knee joints of the mechanical wheel legs, the passive adaptability of the leg joints when the leg joints are impacted by the ground is improved by utilizing the buffering capacity of the springs, and the driving device and the structure are prevented from being damaged.
The multi-degree-of-freedom mechanical wheel leg structure can enable the thigh lead screw sliding table lifting stretching and retracting mechanism and the shank electric cylinder force feedback and retracting mechanism to operate cooperatively through the control motor, so that the power wheel at the tail end of the leg can reach a large space range, the machine body is guaranteed to have enough supporting area, spanning width, stepping depth and climbing height in a complex terrain environment, the gravity center balance of the machine body is guaranteed, and obstacle crossing is completed. The thigh screw sliding table lifting stretching mechanism and the shank electric cylinder force feedback stretching mechanism are designed in a stretching force bearing mode, so that the mechanism weight of the mechanical wheel leg and the weight of the driving device are effectively reduced, and the lightweight wheel leg is realized.
According to the multi-degree-of-freedom mechanical wheel leg structure, the hip joint chain drives the lockable swing mechanism, and the mechanical wheel leg can be driven to swing along the rotating shaft vertical to the ground. A jaw electromagnetic braking locking mechanism is designed at the swing joint, and the swing joint can keep a swing angle and resist torsional impact force in the motion process of uneven ground through a control command. The steering mechanism is matched with a hub steering mechanism to act, so that the all-directional running function of the mechanical wheel legs or the running with variable wheel track and variable wheel base can be realized.
The invention relates to a motor hydraulic brake unit of a multi-degree-of-freedom mechanical wheel leg structure, which can lock partial degrees of freedom to realize switching between wheel type movement and leg and foot walking. The brake unit also enables the hub motor to have service brake and parking brake functions.
Drawings
The following describes a multi-degree-of-freedom mechanical wheel leg structure of a wheel-leg combined mobile robot in further detail with reference to the accompanying drawings and embodiments.
Fig. 1 is a front view of a multi-degree-of-freedom mechanical wheel leg structure of a wheel leg composite mobile robot.
Fig. 2 is a structural schematic diagram of a multi-degree-of-freedom mechanical wheel leg of the wheel leg composite mobile robot.
Fig. 3 is a front view of the hip chain drive locking swing mechanism.
Fig. 4 is an assembly schematic view of the hip chain drive locking swing mechanism.
Fig. 5 is a front view of a thigh screw sliding table lifting, tensioning and stretching mechanism.
Fig. 6 is an assembly schematic diagram of a thigh screw sliding table lifting tensioning telescopic mechanism.
Fig. 7 is a front view of the impact resistant spring cushioning mechanism of the knee joint.
Fig. 8 is an assembly view of the impact-resistant spring buffer mechanism of the knee joint.
Fig. 9 is a front view of the shank electric cylinder force feedback telescopic mechanism.
Fig. 10 is an assembly schematic diagram of the shank electric cylinder force feedback telescopic mechanism.
FIG. 11 is a front view of a hub macro-steering arrangement.
FIG. 12 is an assembly view of a large-angle steering structure of the hub.
In the drawings
1. The central frame 2, the first reducer 3, the first servo motor 4, the motor connecting frame plate 5, the frame top connecting plate 6, the electromagnetic brake bracket 7, the jaw electromagnetic brake 8, the sliding table upper connecting plate 9, the first hip joint support plate 10, the driven transmission shaft 11, the sliding table lower connecting plate 12, the driven chain wheel 13, the chain 14, the second hip joint support plate 15, the frame bottom connecting plate 16, the driving chain wheel 17, the main transmission shaft 18, the chain tensioning bracket 19, the second servo motor 20, the thigh upper connecting plate 21, the support rod 22, the thigh lower connecting plate 23, the slide block 24, the lead screw sliding table frame 25, the motor supporting seat 26, the second reducer 27, the knee connecting rod 28, the second connecting rod optical axis 29, the knee joint outer connecting rod 30, the knee joint inner connecting rod 31, the first connecting rod optical axis 32, the spring connecting plate 33, the first damping spring 34, the second damping spring 35, the third reducer 36, the third servo spring 36 Motor 37, upper shank connecting rod 38, third connecting rod optical axis 39, hub frame 40, fourth connecting rod optical axis 41, lower shank connecting rod 42, electric cylinder 43, swing hydraulic cylinder 44, hub rotating shaft 45, wheel 46, hub motor 47, brake bracket 48, hub side plate 49, hub rotation stopping plate 50, hub transverse plate
Detailed Description
The embodiment is a multi-degree-of-freedom mechanical wheel leg structure of a wheel leg combined type mobile robot.
Referring to fig. 1 to 12, the multi-degree-of-freedom mechanical wheel leg structure of the wheel leg composite mobile robot in this embodiment is composed of a hip joint chain transmission locking swing mechanism, a thigh screw sliding table lifting tensioning telescopic mechanism, a knee joint impact spring buffer mechanism, a shank electric cylinder force feedback telescopic mechanism, a hub large-angle steering structure, and an electric hub. The four mechanical wheel legs are symmetrically arranged at four corners of the central frame. Each mechanical wheel leg has six degrees of freedom relative to the central frame. Wherein, the hip joint chain transmission locking swing mechanism comprises a frame top connecting plate 5, a frame bottom connecting plate 15, a main transmission shaft 17, a driving chain wheel 16, a first hip joint support plate 9, a driven transmission shaft 10, a sliding table lower connecting plate 11, a driven chain wheel 12, a chain 13, a second hip joint support plate 14 and a chain tensioning support 18, the frame top connecting plate 5 and the frame bottom connecting plate 15 of the hip joint chain transmission locking swing mechanism are fixedly connected with the central frame 1 through screws, a first servo motor 3 and a first speed reducer 2 are fixedly connected with the motor connecting frame plate 4 through screws, the main transmission shaft 17 is connected with the first speed reducer 2 through flat keys, the main transmission shaft 17 is connected with the driving chain wheel 16 through two flat keys, the upper end of the first hip joint support plate 9 is fixedly connected with the frame top connecting plate 5 through screws, the lower end of the first joint support plate 9 is fixedly connected with the frame bottom connecting plate 15 through screws, the upper end of the second hip joint support plate 14 is fixedly connected with the frame, the lower end of a second hip joint support plate 14 is fixedly connected with a frame bottom connecting plate 15 through screws, an electromagnetic brake support 6 is fixedly connected with a frame top connecting plate 5 through screws, upper teeth of a jaw-type electromagnetic brake 7 are fixedly connected with the electromagnetic brake support 6 through screws, lower teeth of the jaw-type electromagnetic brake 7 are connected with a driven shaft 10 through flat keys, a sliding table upper connecting plate 8 is connected with the frame top connecting plate 5 through a cylindrical roller bearing, the driven shaft 10 is connected with a driven chain wheel 12 through two flat keys, the frame bottom connecting plate 15 is connected with the sliding table lower connecting plate 11 through the cylindrical roller bearing, and axial movement of the sliding table lower connecting plate 11 is prevented by loosening nuts from the lower end of the driven shaft 10. The first servo motor 3 drives the main transmission shaft 17 and the driving chain wheel 16 to rotate through the first speed reducer 2 and the shaft coupling, and drives the driven transmission shaft 10 to rotate through the chain transmission of the chain 13, so that the rotation of the mechanical leg around the driven shaft is realized, and various expected actions of the mechanical leg are completed.
Thigh lead screw slip table lift stretch-draw telescopic machanism includes second servo motor 19, even board 20 on the thigh, bracing piece 21, under the thigh even board 22, slider 23, lead screw slip table frame 24, motor supporting seat 25, second reduction gear 26, among the thigh lead screw slip table lift stretch-draw telescopic machanism, 24 frame side upper portions of lead screw slip table frame and lower part have 6 screw holes respectively, even board 8 passes through 6 screw rigid couplings with 24 upper portion screw holes of lead screw slip table frame on the slip table, even board 11 passes through 6 screw rigid couplings with lead screw slip table frame 24 under the slip table. The second servo motor 19 and the second speed reducer 26 are fixedly connected with the motor support base 25 through screws, the motor support base 25 is fixedly connected with the screw rod sliding table frame 24 through screws, the support rod 21 is fixedly connected with the slide block 23 and the upper thigh connecting plate 20 through screws, and the screw rod sliding table frame 24 is fixedly connected with the lower thigh connecting plate 22 through screws. All the screw fixing positions need to be provided with loosening nuts to prevent the screws from axially moving. The lead screw sliding table frame 24, the upper thigh connecting plate 20, the lower thigh connecting plate 22 and the inner knee joint connecting rod form a parallelogram mechanism. The second servo motor 19 drives the ball screw to rotate through the second speed reducer 26 and the shaft coupling, and the slide block 23 moves up and down to drive the support rod 21 to rotate, so that the rotation of the parallelogram mechanism is realized, and various lifting actions of the mechanical legs are completed.
The knee joint impact-resistant spring buffer mechanism comprises a knee connecting rod 27, a second connecting rod optical axis 28, a knee joint outer connecting rod 29, a knee joint inner connecting rod 30, a first connecting rod optical axis 31, a spring connecting plate 32, a first damping spring 33 and a second damping spring 34, wherein in the knee joint impact-resistant spring buffer mechanism, the first connecting rod optical axis 31 simultaneously penetrates through the knee joint inner connecting rod 30 and a thigh upper connecting plate 20, the first connecting rod optical axis 31 and the knee joint inner connecting rod 30 are connected through a deep groove ball bearing, a thigh lower connecting plate 22 and the knee joint inner connecting rod 30 are hinged through screws, the knee joint inner connecting rod 30, the knee joint outer connecting rod 29 and a shank lower connecting rod 41 are hinged through pins, the first damping spring 33 is fixedly connected with the knee joint inner connecting rod 30 and the knee joint outer connecting rod 29 through screws, the second damping spring 34 is fixedly connected with the knee joint inner connecting rod 30 and the knee joint outer connecting rod 29 through screws, and the outer sides of the first, the spring connecting plate 32 is prevented from axially moving by loosening the nut, the first connecting rod optical axis 31 and the second connecting rod optical axis 28 are prevented from axially moving by loosening the nut, and the pin is prevented from axially moving by a clamp spring. The knee link 27 is provided with a slide groove, and under external impact, the spring is shortened, and the knee joint outer link 29 moves relative to the knee link 27, so that the passive adaptability of the leg structure when the leg structure is impacted by the ground is improved by utilizing the buffering capacity of the spring.
The shank electric cylinder force feedback telescopic mechanism comprises a third speed reducer 35, a third servo motor 36, a shank upper connecting rod 37, a third connecting rod optical axis 38, a hub frame 39, a fourth connecting rod optical axis 40, a shank lower connecting rod 41 and an electric cylinder 42, wherein in the shank electric cylinder force feedback telescopic mechanism, the second connecting rod optical axis 28 simultaneously passes through the shank upper connecting rod 37 and the knee joint outer connecting rod 29, the second connecting rod optical axis 28 is connected with the shank upper connecting rod 37 through a deep groove ball bearing, the knee joint inner connecting rod 30, the knee joint outer connecting rod 29 and the shank lower connecting rod 41 are hinged through pins, the third connecting rod optical axis 38 passes through the shank upper connecting rod 37 and the hub frame 39, the third connecting rod optical axis 38 is connected with the shank upper connecting rod 37 through a deep groove ball bearing, the fourth connecting rod optical axis 40 passes through the shank lower connecting rod 41 and the hub frame 39, the fourth connecting rod optical axis 40 is connected with the shank lower connecting rod 41 through a deep groove ball bearing, the electric, the rod end of the electric cylinder 42 is hinged with the upper shank connecting rod 37 through a screw. The lower leg upper link 37, the lower leg lower link 42, the knee outer link 29, and the hub frame 39 in the hub steering structure constitute a parallel four-bar linkage. The third servo motor 36 drives the piston rod of the electric cylinder 42 to move linearly through the third speed reducer 35 and the coupling, so that the parallelogram mechanism rotates around the knee joint buffer structure to complete the stretching action of the mechanical leg.
The wheel hub large-angle steering structure comprises a swing type hydraulic cylinder 43, a wheel hub rotating shaft 44, a wheel 45, a wheel hub motor 46, a brake bracket 47, a wheel hub side plate 48, a wheel hub rotation stopping plate 49 and a wheel hub transverse plate 50, wherein the upper part and the lower part of a wheel hub frame 39 in the wheel hub large-angle steering structure are respectively provided with two mounting holes, a shank upper connecting rod 37 is connected with the mounting hole at the upper part of the wheel hub frame 39 through a third connecting rod optical axis 38, a shank lower connecting rod 41 is connected with the mounting hole at the lower part of the wheel hub frame 39 through a fourth connecting rod optical axis 40, the wheel hub rotating shaft 44 penetrates through the bottom of the wheel hub frame 39 and is fixedly connected with the wheel hub transverse plate 50 through a flange plate, the wheel hub rotating shaft 44 is connected with the wheel hub frame 39 through a deep groove ball bearing, the swing type hydraulic cylinder 43 is connected with the wheel hub rotating shaft 44 through a flat, the hub motor 46 is fixedly connected to the inner side of the wheel 45, and the hub motor 46 is fixedly connected with the hub side plate 48. When pressure oil enters an oil cavity of the swing type hydraulic cylinder 43, the hub rotating shaft 44 is pushed to rotate, and oil in the other cavity is discharged back to the oil cavity; when the pressure oil reversely enters the oil cavity, the hub rotating shaft 44 reversely moves, so that the steering of the hub is realized. By controlling the flow direction of the pressure oil, the hub rotating shaft 44 can realize large-angle rotation of-178 degrees, and the omnidirectional movement of the robot is realized.
In this embodiment, the central frame 1 is connected to each mechanical wheel leg or a controller for loading the complete machine and various devices, the four mechanical wheel legs are installed at four corners of the central frame 1, each mechanical wheel leg has six degrees of freedom, and the mechanical wheel legs can be braked by controlling a jaw-type electromagnetic brake or a motor respectively, so that a part of the degrees of freedom can be locked to realize switching between wheel-type movement and foot-walking. The mechanical wheel legs are controlled by various servo motors, electric cylinders, swing type hydraulic cylinders and hub motors, and the motion is transmitted through a series of leg rod pieces and rotating shafts, so that the wheel legs perform spatial three-dimensional motion relative to the central frame.
Claims (2)
1. A multi-degree-of-freedom mechanical wheel leg structure of a wheel leg combined type mobile robot comprises a hip joint chain transmission locking swing mechanism, a thigh lead screw sliding table lifting and stretching telescopic mechanism, a knee joint impact-resistant spring buffer mechanism, a shank electric cylinder force feedback telescopic mechanism, a wheel hub large-angle steering structure and an electric wheel hub, and is characterized in that the hip joint chain transmission locking swing mechanism comprises a frame top connecting plate, a frame bottom connecting plate, a main transmission shaft, a driving chain wheel, a first hip joint supporting plate, a driven transmission shaft, a sliding table lower connecting plate, a driven chain wheel, a chain, a second hip joint supporting plate and a chain tensioning support, the frame top connecting plate and the frame bottom connecting plate are connected with a central frame, a first servo motor and a first speed reducer are fixedly connected with a motor connecting frame plate and positioned on the upper portion of the central frame, the main transmission shaft is respectively connected with the first speed reducer and the driving chain wheel, the upper end of the, the lower end of the second hip joint support plate is fixedly connected with the frame bottom connecting plate, the upper end of the second hip joint support plate is connected with the frame top connecting plate, the lower end of the second hip joint support plate is fixedly connected with the frame bottom connecting plate, the electromagnetic brake support is fixedly connected with the frame top connecting plate, the upper part of the jaw-type electromagnetic brake is fixedly connected with the electromagnetic brake support, the lower part of the jaw-type electromagnetic brake is connected with the driven shaft, the upper connecting plate of the sliding table is connected with the frame top connecting plate, the driven shaft is connected with the driven chain wheel, and the frame bottom; the first servo motor drives the main transmission shaft and the driving chain wheel to rotate through the first speed reducer, and drives the driven transmission shaft to rotate through chain transmission, so that the mechanical legs rotate around the driven shaft;
the thigh screw sliding table lifting tensioning and stretching mechanism comprises a second servo motor, a thigh upper connecting plate, a supporting rod, a thigh lower connecting plate, a sliding block, a screw sliding table frame, a motor supporting seat and a second speed reducer, wherein the screw sliding table frame is fixedly connected with the sliding table upper connecting plate and the sliding table lower connecting plate; the second servo motor and the second speed reducer are connected with a motor support seat, the motor support seat is fixedly connected with a lead screw sliding table frame, a support rod is fixedly connected with a slide block and a thigh upper connecting plate, and the lead screw sliding table frame is connected with a thigh lower connecting plate; the lead screw sliding table frame, the upper thigh connecting plate, the lower thigh connecting plate and the knee joint inner connecting rod form a parallelogram mechanism; the second servo motor drives the ball screw to rotate through a second speed reducer and a coupler, the slide block moves up and down to drive the support rod to rotate, the vertical direction rotation of the parallel four-bar linkage mechanism is realized, and various lifting actions of the mechanical leg are completed;
the knee joint impact-resistant spring buffer mechanism comprises a knee connecting rod, a second connecting rod optical axis, a knee joint outer connecting rod, a knee joint inner connecting rod, a first connecting rod optical axis, a spring connecting plate, a first damping spring and a second damping spring, wherein the first connecting rod optical axis penetrates through the knee joint inner connecting rod and a thigh upper connecting plate to be connected with the knee joint inner connecting rod through a deep groove ball bearing, a thigh lower connecting plate is hinged with the knee joint inner connecting rod, the knee joint outer connecting rod and a shank lower connecting rod are hinged, the first damping spring is fixedly connected with the knee joint inner connecting rod and the knee joint outer connecting rod, the second damping spring is fixedly connected with the knee joint inner connecting rod and the knee joint outer connecting rod, the outer sides of the first damping spring and the second damping spring are prevented from radial movement through the spring connecting plate, the outer side of the spring connecting plate is provided with a check nut to prevent axial movement, and, the knee connecting rod is provided with a sliding chute, the knee joint outer connecting rod moves relative to the knee connecting rod, and the damping spring is used for connecting the knee inner connecting rod and the knee outer connecting rod to play a role in buffering external impact;
the shank electric cylinder force feedback telescopic mechanism comprises a third speed reducer, a third servo motor, a shank upper connecting rod, a third connecting rod optical axis, a hub frame, a fourth connecting rod optical axis, a shank lower connecting rod and an electric cylinder, wherein the second connecting rod optical axis penetrates through the shank upper connecting rod to be connected with the knee joint outer connecting rod and the shank upper connecting rod through deep groove ball bearings, and the knee joint inner connecting rod, the knee joint outer connecting rod and the shank lower connecting rod are hinged; the optical axis of a third connecting rod penetrates through an upper shank connecting rod and a hub frame to be connected with the upper shank connecting rod through a deep groove ball bearing, the optical axis of a fourth connecting rod penetrates through a lower shank connecting rod and the hub frame to be connected with the lower shank connecting rod through the deep groove ball bearing, the rod end of an electric cylinder is connected with the upper shank connecting rod, the cylinder end of the electric cylinder is connected with the lower shank connecting rod, and the upper shank connecting rod, the lower shank connecting rod, a knee outer connecting rod and the hub frame in a hub steering structure form a parallel four-bar mechanism; the third servo motor drives the piston rod of the electric cylinder to move linearly through the third speed reducer and the coupler, so that the parallelogram mechanism rotates around the knee joint buffer structure, and the telescopic action of the mechanical legs is completed.
2. The multi-degree-of-freedom mechanical wheel leg structure of the wheel leg combined type mobile robot as claimed in claim 1, wherein the wheel hub large-angle steering structure comprises a swing type hydraulic cylinder, a wheel hub rotating shaft, a wheel, a wheel hub motor, a brake bracket, a wheel hub side plate, a wheel hub rotation stopping plate and a wheel hub transverse plate, wherein mounting holes are respectively formed in the upper portion and the lower portion of a wheel hub frame, a shank upper connecting rod is connected with the mounting hole in the upper portion of the wheel hub frame through a third connecting rod optical axis, a shank lower connecting rod is connected with the mounting hole in the lower portion of the wheel hub frame through a fourth connecting rod optical axis, the wheel hub rotating shaft penetrates through the bottom of the wheel hub frame and is fixedly connected with the wheel hub transverse plate through a flange plate, the wheel hub rotating shaft is connected with the wheel hub rotating shaft through a deep groove ball bearing, the hub motor is positioned on the inner side of the wheel and fixedly connected with the hub side plate; when pressure oil enters an oil cavity of the swing type hydraulic cylinder, the rotating shaft of the hub is pushed to rotate, and oil in the other cavity is discharged back to the oil cavity; when the pressure oil reversely enters the oil cavity, the rotating shaft of the hub reversely moves, so that the steering of the hub is realized; by controlling the flow direction of the pressure oil, the hub rotating shaft can realize large-angle rotation of-178 degrees.
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| CN112061262B (en) * | 2020-09-22 | 2022-01-25 | 北京航空航天大学 | Single-leg device of double-parallel four-rod transmission mechanism and six-wheel-leg robot |
| CN113043804B (en) * | 2021-05-13 | 2022-11-08 | 李玉平 | Drive structure of food and beverage transport vehicle chassis |
| CN113306644B (en) * | 2021-07-01 | 2022-06-07 | 北京理工大学 | Wheel leg mechanism and wheel leg type vehicle using same |
| CN113602528B (en) * | 2021-08-30 | 2024-03-26 | 吉林大学 | Reconfigurable wheel leg moving device for Mars detection |
| CN115042894B (en) * | 2022-06-29 | 2023-06-23 | 南京农业大学 | Motion control system and steering control method for four-wheel electric drive robot in dry farmland |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS60245869A (en) * | 1984-05-17 | 1985-12-05 | Shigeo Hirose | Link mechanism |
| FI100098B (en) * | 1995-11-06 | 1997-09-30 | Plustech Oy | foot mechanism |
| CN1956822A (en) * | 2005-03-30 | 2007-05-02 | 提姆查克股份有限公司 | Quadruped walking robot |
| CN104002889B (en) * | 2014-06-10 | 2016-03-16 | 北京航空航天大学 | A kind of multi-functional leg wheel composite mobile robot |
| CN110406613B (en) * | 2019-08-28 | 2024-10-22 | 长安大学 | Multi-degree-of-freedom light single-leg mechanism |
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