CN111439321A - Parallel leg type hexapod robot device - Google Patents

Abstract

The invention relates to a parallel-legged hexapod robot device, which is mainly composed of a body and six identical parallel legs. The six legs are symmetrically distributed on both sides of the body and are connected with the body by bolts. Among them, the six legs are composed of upper and lower platforms and three branch chains connecting the upper and lower platforms. The first branch chain consists of two rotating pairs and one moving pair. The rotating pair connected to the upper platform intersects the adjacent rotating pair vertically, and the moving pair is perpendicular to its adjacent rotating pair; the second branch chain consists of two rotating pairs and one moving pair. and a ball pair, the rotating pair connected to the upper platform intersects with the adjacent rotating pair perpendicularly, and the moving pair is perpendicular to its adjacent rotating pair; the branch chain three is composed of three rotating pairs and one moving pair, which are connected to the rotating pair of the upper platform. The pair intersects perpendicularly with the adjacent rotating pair, and the two rotating pairs adjacent to the moving pair are parallel to each other and perpendicular to the moving pair. The device has good structural stability, large bearing capacity, strong obstacle-surmounting ability, and can realize movement in different directions without turning.

Description

A parallel legged hexapod robot

technical field

The invention relates to the technical field of bionic robots, in particular to a parallel leg type hexapod robot device.

Background technique

Hexapod mobile robot is a legged motion robot that imitates the movement of polypods. It has rich gait and redundant limb structure. Compared with traditional wheeled and crawler mobile robots, it can use discrete ground support. It can achieve non-contact obstacle avoidance, obstacle crossing and uneven ground movement, and can achieve continuous movement on small ground, with strong adaptability and good movement stability to complex terrain and unpredictable environmental changes. It has important applications in military reconnaissance, rescue and disaster relief, interstellar exploration, anti-terrorism blasting, archaeological exploration, hilly and mountain operations and other fields.

Since the 1980s, many universities and scientific research institutions at home and abroad have successively developed a variety of hexapod robots with superior performance. , Robot II and Robot V developed by the Biomimetic Robot Laboratory, School of Mechanical and Aerospace Engineering, Case Western Reserve University, Scorpion, developed by the Fraunhofer Institute for Autonomous Intelligent Systems, Germany, and Tarry II, developed by the School of Mechanical Engineering, University of Duisburg, Germany, USA LEMUR I and LEMUR II developed by the Jet Propulsion Laboratory of Caltech. Most of the above-mentioned robots are tandem-legged walking mechanisms, and their main shortcomings are: low carrying capacity, complicated realization of turning, and low motion accuracy. The patent CN 108909873A adopts a parallel leg structure. Although the above-mentioned deficiencies are solved, the structure is complicated and the control is not convenient; the walking mechanism adopts a quadruped mechanism, and the fault tolerance ability is insufficient. Therefore, the footed robot has not been well developed and applied.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the deficiencies of the prior art, and to provide a product with large bearing capacity, wide application range, good walking stability, strong obstacle surmounting ability, high system reliability, convenient control, strong fault-tolerant ability, and can be realized without turning. A commutated parallel-legged hexapod robotic device.

The technical scheme of the present invention is: a parallel leg type hexapod robot device, comprising a body, a walking leg, a walking leg two, a walking leg three, a walking leg four, a walking leg five, and a walking leg six. The legs have the same structure and are symmetrically distributed on both sides of the body. The six walking legs are all parallel mechanisms, and they are all composed of an upper platform, a lower platform and three branch chains connecting the upper and lower platforms. , Connecting rod 2, rotating pair 1 and rotating pair 2. One end of the connecting rod is fixed to the lower platform, the other end of the connecting rod 1 and the second end of the connecting rod are connected by the moving pair 1, and the other end of the connecting rod 2 is connected by the rotating pair. 1. The second rotating pair is connected with the upper platform; the second branch chain is composed of a ball pair, a third connecting rod, a moving pair 2, a connecting rod 4, a rotating pair 3, and a rotating pair 4. The three ends of the connecting rod are connected to the lower platform through the ball pair. , the other end of the third connecting rod is connected with one end of the fourth connecting rod through the moving pair 2, the other end of the connecting rod 4 is connected with the upper platform through the rotating pair 3 and the rotating pair 4; 3. The sixth connecting rod, the sixth rotating pair and the seventh rotating pair are composed. One end of the fifth connecting rod is connected with the lower platform through the rotating pair five, the other end of the fifth connecting rod is connected with one end of the sixth connecting rod through the moving pair three, and the other end of the connecting rod 6 is connected with the lower platform. One end is connected with the upper platform through the rotating pair 6 and the rotating pair 7; the ball pair and the rotating pair 5 are connected with the lower platform, and the lower leg is fixed on the lower platform; There are threaded holes for mounting bolts 1 and 2, and the bolts 1 and 2 are connected to the body.

Further, the axes of the rotating pair one and the rotating pair two, the rotating pair three and the rotating pair four, the rotating pair six and the rotating pair seven are perpendicular to each other, the axes of the rotating pair five and the rotating pair six are parallel to each other, the moving pair one and the rotating pair one, The axes of the moving pair two and the rotating pair three, and the moving pair three and the rotating pair six are perpendicular to each other.

Further, the rotation axes of the rotating pair 2 and the rotating pair 7 on the upper platform are parallel to each other, and are perpendicular to the rotation axes of the rotating pair 4; the guide rail of the moving pair 1 is perpendicular to the plane of the lower platform; Platforms are parallel.

Further, the upper platform and the lower platform are both isosceles triangles; on the upper platform, the rotating pair 2 is installed at the right-angle vertex of the isosceles triangle, and the rotating pair 4 and the rotating pair 7 are installed at the two acute angles of the isosceles triangle; on the lower platform, The first connecting rod is fixed at the vertex of the right angle of the isosceles triangle, and the fifth rotating pair and the ball pair are installed at the two acute angles of the isosceles triangle.

Further, the rotation pair 1 and rotation pair 2, the rotation pair 3 and the rotation pair 4, the rotation pair 6 and the rotation pair 7 whose axes are perpendicular to each other on the six walking legs can all be replaced by a Hooke hinge.

Further, the ball pairs coupled with the lower platform can be replaced by three rotating pairs whose axes intersect at one point.

The advantages of the present invention are: the device has the advantages of simple structure, good walking stability, large bearing capacity, strong obstacle-surmounting ability, walking forward, left and right without turning process, and flexible movement, and the parallel leg mechanism has partial motion input-output. It has the advantages of decoupling, simple control, and strong fault tolerance.

In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. The present invention will be further described below with reference to the drawings.

Description of drawings

Figure 1 is a schematic structural diagram of the present invention.

FIG. 2 is a schematic view of the structure of the parallel legs of the present invention.

3 is a partial enlarged schematic view of the parallel leg structure of the present invention.

Fig. 4 is a schematic diagram showing the moment when the first group of legs is about to touch the ground in the forward movement of the body of the present invention.

Fig. 5 is a schematic diagram showing the moment when the second group of legs is about to touch the ground when the body moves forward in accordance with the present invention.

Fig. 6 is a schematic diagram of the moment when the body moves to the left and the legs of the second group are about to hit the ground.

FIG. 7 is a schematic diagram of the moment when the first group of legs of the body moves to the left of the present invention is about to touch the ground.

Reference sign: body 0, walking leg one I, walking leg two II, walking leg three III, walking leg four IV, walking leg five V, walking leg six VI;

Branch 1 C1, Branch 2 C2, Branch 3 C3; calf 1, lower platform 2, connecting rod 1 3, moving pair P1, connecting rod 3 4, connecting rod 2 5, rotating pair 1 R1, rotating pair 2 R2, ball pair S, moving pair two P2, connecting rod four 6, rotating pair three R3, rotating pair four R4, rotating pair five R5, rotating pair six R6, rotating pair seven R7, moving pair three P3, upper platform 7, Bolt one 8, bolt two 9, connecting rod six 10, connecting rod five 11.

Detailed ways

Embodiment 1, please refer to Fig. 1-Fig. 7, a kind of parallel leg type hexapod robot device, including body 0, walking leg I, walking leg II II, walking leg III III, walking leg IV, walking leg V V , walking leg VI; it is characterized in that: the six walking legs have the same structure, and are symmetrically distributed on both sides of the body 0, and the six walking legs are parallel mechanisms, all composed of upper platform 7, lower platform 2 and the branch chain C1 connecting the upper and lower platforms , branch chain C2, branch chain C3; among them, branch chain one C1 is composed of connecting rod one 3, moving pair one P1, connecting rod two 5, rotating pair one R1, rotating pair two R2, one end of connecting rod one 3 is connected with the lower one. Platform 2 is fixedly connected, the other end of connecting rod 1 3 is connected with one end of connecting rod 2 5 by moving pair 1 P1, and the other end of connecting rod 2 5 is connected with upper platform 7 through rotating pair 1 R1 and rotating pair R2; branch chain 2 C2 It is composed of ball pair S, connecting rod three 4, moving pair P2, connecting rod four 6, rotating pair R3, and rotating pair R4. The other end is connected with one end of the connecting rod four 6 through the moving pair two P2, and the other end of the connecting rod four 6 is connected with the upper platform 7 through the rotating pair three R3 and the rotating pair four R4; 11. The moving pair 3 P3, the connecting rod 6 10, the rotating pair 6 R6 and the rotating pair 7 R7 are composed. One end of the connecting rod 5 11 is connected with the lower platform 2 through the rotating pair 5 R5, and the other end of the connecting rod 5 11 is connected with the lower platform 2 through the moving pair 3 P3. It is connected with one end of the connecting rod six 10, and the other end of the connecting rod six 10 is connected with the upper platform 7 through the rotating pair six R6 and the rotating pair R7; the ball pair S and the rotating pair five R5 are connected with the lower platform 2, and the lower leg 1 is fixed on the lower platform. 2 upper; Rotating pair R2, rotating pair 4 R4, rotating pair 7 R7 are connected with the upper platform 7, and the upper platform 7 is provided with threaded holes for mounting bolts 18 and 29, through which bolts 18 and 29 are connected to the body. 0 to join.

Specifically, the axes of rotating pair one R1 and rotating pair two R2, rotating pair three R3 and rotating pair four R4, rotating pair six R6 and rotating pair seven R7 are perpendicular to each other, and the axes of rotating pair five R5 and rotating pair six R6 are parallel to each other. The axes of the first pair P1 and the rotating pair R1, the moving pair P2 and the rotating pair R3, and the moving pair P3 and the rotating pair six R6 are perpendicular to each other.

Specifically, the rotation axes of the rotating pair R2 and the rotating pair R7 on the upper platform 7 are parallel to each other, and are perpendicular to the rotating axes of the rotating pair four R4; the guide rail of the moving pair P1 is perpendicular to the plane of the lower platform 2; At the time of assembly, the upper platform 7 is parallel to the lower platform 2 .

Specifically, the upper platform 7 and the lower platform 2 are both isosceles triangles; on the upper platform 7, the rotating pair R2 is installed at the right-angle vertex of the isosceles triangle, and the rotating pair R4 and the rotating pair R7 are installed at the two acute angles of the isosceles triangle. On the lower platform 2, the connecting rod one 3 is fixed at the apex of the right angle of the isosceles triangle, and the rotating pair R5 and the ball pair S are installed at the two acute angles of the isosceles triangle.

Specifically, on the walking leg I, the walking leg II II, the walking leg III III, the walking leg IV IV, the walking leg V V, and the walking leg VI VI, the axes of the rotating pair 1 R1 and the rotating pair R2, the rotating pair are perpendicular to each other. The third R3, the rotating pair four R4, the rotating pair six R6 and the rotating pair seven R can all be replaced by a Hooke hinge.

Specifically, on the walking leg I, the walking leg II II, the walking leg III III, the walking leg IV IV, the walking leg V V, and the walking leg VI VI, the ball pair S connected with the lower platform can use the three axes whose axes intersect at one point. instead of a rotating pair.

Embodiment 2, please refer to Figure 1, Figure 4, Figure 5, a parallel-legged hexapod robot device, which can walk forward and backward stably, and the working principle of its forward walking is described with a triangular gait: I, walking leg III III, walking leg V V are the first group of legs, walking leg II II, walking leg IV IV, and walking leg VI VI are the second group of legs. In the initial state, the six walking legs (I~VI) landed on the ground at the same time; when the first group of legs was lifted and stepped forward, the second group of legs landed on the ground and pushed the body 0 to move forward; when it moved to a certain position, the first group of legs When the legs just land on the ground, the second group of legs lifts and steps forward, at the same time, the first group of legs pushes the body 0 to move forward; when the movement reaches a certain position, the second group of legs just hits the ground; ...; in this way, Thus, the hexapod robot walks forward. Figure 4 is a schematic diagram of the moment when the second group of legs touches the ground and pushes the body 0 to move forward, and the first group of legs is about to touch the ground. Figure 5 is a schematic diagram of the moment when the first group of legs touches the ground and pushes the body 0 to move forward, and the second group of legs is about to touch the ground.

Embodiment 3, please refer to Figure 1, Figure 6, Figure 7, a parallel legged hexapod robot device, in addition to stably walking forward and backward, without turning, can stably walk in the left and right directions, and now describe its triangular gait. The working principle of walking to the left: define the walking leg I, the walking leg III, and the walking leg V V as the first group of legs, and the walking leg II, the walking leg IV, and the walking leg VI as the second group of legs. In the initial state, the six walking legs (I~VI) landed on the ground at the same time; when the second group of legs was lifted and moved to the left, the first group of legs landed on the ground and pushed the body 0 to move to the left; when it moved to a certain position, the second group of legs When the legs just land on the ground, the first group of legs lifts up and moves to the left, and at the same time, the second group of legs pushes the body 0 to move to the left; when the movement reaches a certain position, the first group of legs just hits the ground; ...; in this way, Thus, the hexapod robot walks to the left. Figure 6 is a schematic diagram of the moment when the first group of legs touches the ground and pushes the body 0 to the left, and the second group of legs is about to touch the ground. Figure 7 is a schematic diagram of the moment when the second group of legs touches the ground and pushes the body 0 to the left, and the first group of legs is about to touch the ground.

It should be noted that the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device comprising a series of elements includes not only those elements, but also no Other elements expressly listed, or which are also inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the present invention is defined by the appended claims and their equivalents.

Claims (6)

1. A parallel leg type hexapod robot device comprises a body (0) and six walking legs (I-VI); the method is characterized in that: the six walking legs have the same structure and are symmetrically distributed on two sides of the body (0), and the six walking legs are parallel mechanisms and are composed of an upper platform (7), a lower platform (2) and three branched chains (C1-C3) connecting the upper platform and the lower platform; the branched chain I (C1) consists of a connecting rod I (3), a sliding pair I (P1), a connecting rod II (5), a revolute pair I (R1) and a revolute pair II (R2), one end of the connecting rod I (3) is fixedly connected with the lower platform (2), the other end of the connecting rod I (3) is connected with one end of the connecting rod II (5) through the sliding pair I (P1), and the other end of the connecting rod II (5) is connected with the upper platform (7) through the revolute pair I (R1) and the revolute pair II (R2); the branched chain II (C2) consists of a ball pair (S), a connecting rod III (4), a sliding pair II (P2), a connecting rod IV (6), a sliding pair III (R3) and a sliding pair IV (R4), one end of the connecting rod III (4) is connected with the lower platform (2) through the ball pair (S), the other end of the connecting rod III (4) is connected with one end of the connecting rod IV (6) through the sliding pair II (P2), and the other end of the connecting rod IV (6) is connected with the upper platform (7) through the sliding pair III (R3) and the sliding pair IV (R4); the branched chain III (C3) consists of a revolute pair V (R5), a connecting rod V (11), a revolute pair III (P3), a connecting rod VI (10), a revolute pair VI (R6) and a revolute pair VII (R7), one end of the connecting rod V (11) is connected with the lower platform (2) through the revolute pair V (R5), the other end of the connecting rod V (11) is connected with one end of the connecting rod VI (10) through the revolute pair III (P3), and the other end of the connecting rod VI (10) is connected with the upper platform (7) through the revolute pair VI (R6) and the revolute pair VII (R7); the ball pair (S) and the revolute pair five (R5) are connected with the lower platform (2), and the lower leg (1) is fixedly connected on the lower platform (2); and the second revolute pair (R2), the fourth revolute pair (R4) and the seventh revolute pair (R7) are connected with the upper platform (7), the upper platform (7) is provided with threaded holes for mounting the first bolt (8) and the second bolt (9), and the first bolt (8) and the second bolt (9) are connected with the body (0).

2. The parallel legged hexapod robotic device of claim 1, wherein: the axes of the first revolute pair (R1) and the second revolute pair (R2), the third revolute pair (R3) and the fourth revolute pair (R4), the sixth revolute pair (R6) and the seventh revolute pair (R7) are perpendicular to each other, the axes of the fifth revolute pair (R5) and the sixth revolute pair (R6) are parallel to each other, and the axes of the first revolute pair (P1) and the first revolute pair (R1), the second revolute pair (P2) and the third revolute pair (R3), and the third revolute pair (P3) and the sixth revolute pair (R6) are perpendicular to each other.

3. The parallel legged hexapod robotic device of claim 1, wherein: the second revolute pair (R2) on the upper platform (7) is parallel to the rotational axis of the seventh revolute pair (R7) and is perpendicular to the rotational axis of the fourth revolute pair (R4); the guide rail of the first sliding pair (P1) is vertical to the plane of the lower platform (2).

4. The parallel legged hexapod robotic device of claim 1, wherein: the upper platform (7) and the lower platform (2) are both isosceles triangles; on the upper platform (7), a second revolute pair (R2) is installed at the vertex of the right angle of the isosceles triangle, and a fourth revolute pair (R4) and a seventh revolute pair (R7) are installed at the two acute angles of the isosceles triangle; on the lower platform (2), a first connecting rod (3) is fixedly connected to the vertex of the right angle of the isosceles triangle, and a fifth revolute pair (R5) and a ball pair (S) are arranged at two acute angles of the isosceles triangle.

5. The parallel legged hexapod robotic device of claim 1, wherein: the axes of the six walking legs (I-VI) are mutually vertical to each other, namely a first revolute pair (R1) and a second revolute pair (R2), a third revolute pair (R3) and a fourth revolute pair (R4), and a sixth revolute pair (R6) and a seventh revolute pair (R7) or replaced by Hooke hinges.

6. The parallel legged hexapod robotic device of claim 1, wherein: the six walking legs (I-VI) are replaced by a ball pair (S) connected with the lower platform or three revolute pairs with axes intersecting at one point.

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