CN111942491A - UP and UPS based parallel connection mechanism wheel foot mobile robot - Google Patents
UP and UPS based parallel connection mechanism wheel foot mobile robot Download PDFInfo
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- CN111942491A CN111942491A CN202010751693.3A CN202010751693A CN111942491A CN 111942491 A CN111942491 A CN 111942491A CN 202010751693 A CN202010751693 A CN 202010751693A CN 111942491 A CN111942491 A CN 111942491A
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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
Abstract
The invention provides a UP and UPS based parallel connection wheel foot moving robot, which comprises a rack and six mechanical leg assemblies, wherein a support plate is arranged on the rack, each mechanical leg assembly comprises a power telescopic device and a walking foot end, a wheel folding and unfolding device is arranged on each power telescopic device, wheels are arranged on each wheel folding and unfolding device, one end of each power telescopic device is movably matched with the walking foot end, and the other end of each power telescopic device is arranged on the support plate. The robot comprises a wheel type motion mode and a foot type motion mode, and can be switched between the wheel type motion mode and the foot type motion mode according to different scenes.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a parallel connection mechanism wheel foot mobile robot based on UP and UPS.
Background
The autonomous mobile robot can carry some specific equipment to go deep into to carry out the operation in the abominable even dangerous environment, accomplishes work such as environmental exploration, personnel search and rescue and goods and materials transportation. Common mobile robots include wheeled, foot-type, crawler-type, and compound mechanisms. The single-form mobile robot has outstanding limitation and insufficient adaptability to complex terrains, and the wheel-foot combined robot integrates the advantages of high movement speed of the wheel robot, strong obstacle crossing capability of the foot robot, small turning radius and the like, and has good terrain adaptability and maneuverability. A common wheel-foot combined type robot adopts a series mechanism, has the advantage of simple mechanism, but has poor bearing capacity and cannot meet the transportation work under the condition of large load. Therefore, the research on the six-wheel-foot mobile robot with the parallel structure has important practical significance.
Through the search of the existing documents, the Chinese patent application numbers are: 201810765511.0, the name is: a parallel type compliant wheel foot device for a wheel foot robot, which is composed of an inverted parallel six-degree-of-freedom motion structure and a foot end driving wheel component, comprises: the electric control device comprises a driving motor, a machine body, an upper hook hinge, a transmission connecting rod, an electric cylinder, a lower hook hinge, a foot end wheel fixing base, a speed reducer, a spring damper, a tire, a key sleeve, a via hole and a key rod. Wherein: each electric cylinder in the inverted parallel six-degree-of-freedom motion structure is connected with a robot part machine body through an upper hook hinge, connected with a foot end wheel fixing base through a lower hook hinge, and driven to move in six degrees of freedom through telescopic control over the electric cylinders; the driving motor in the foot end driving wheel component is fixedly connected to the robot body, the driving motor drives the speed reducer to move through the transmission component, the output shaft of the speed reducer is coaxially and fixedly connected with the tire, and the 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. However, six degrees of freedom of the leg of the robot need six independent motors to control, the control is complex, the system stability is poor, the rolling power of the wheels is transmitted through the middle transmission shaft, the power loss is large, the mechanical structure is complex, and the reliability is low.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a parallel connection mechanism wheel foot mobile robot based on UP and UPS.
The parallel connection mechanism wheel-foot mobile robot based on the UP and the UPS comprises a frame and a plurality of mechanical leg assemblies;
the mechanical leg assembly is provided with a wheel retraction device, one end of the mechanical leg assembly is movably matched with the rack, and the other end of the mechanical leg assembly is a free end;
the robot comprises a wheeled motion mode and a foot type motion mode, and the robot can be switched between the wheeled motion mode and the foot type motion mode according to different scenes.
Preferably, the number of the mechanical leg assemblies is six, and the six mechanical leg assemblies are symmetrically arranged in a hexagon at one end connected with the rack;
the number of the wheel retraction devices is matched with the number of the mechanical leg assemblies.
Preferably, the mechanical leg assembly comprises a walking foot end and a power telescopic device, and a support plate is arranged on the rack;
one end of the power telescopic device is movably matched with the walking foot end through a first connecting piece, and the other end of the power telescopic device is arranged on the supporting plate.
Preferably, the power telescopic device comprises a first telescopic mechanism, a second telescopic mechanism and a third telescopic mechanism;
the first telescopic mechanism comprises a first UPS branched chain lower end connecting rod, a second connecting piece and a first UPS branched chain upper end connecting rod, one end of the first UPS branched chain lower end connecting rod is movably matched with the first connecting piece, the other end of the first UPS branched chain lower end connecting rod extends into the first UPS branched chain upper end connecting rod from one end of the first UPS branched chain upper end connecting rod and is in driving connection with the first UPS branched chain upper end connecting rod, and the other end of the first UPS branched chain upper end connecting rod is movably matched with the supporting plate through the second connecting piece;
the second telescopic mechanism comprises a second UPS branched chain lower end connecting rod, a third connecting piece and a second UPS branched chain upper end connecting rod, one end of the second UPS branched chain lower end connecting rod is movably matched with the first connecting piece, the other end of the second UPS branched chain lower end connecting rod extends into the inside of the second UPS branched chain upper end connecting rod from one end of the second UPS branched chain upper end connecting rod and is in driving connection with the second UPS branched chain upper end connecting rod, and the other end of the second UPS branched chain upper end connecting rod is movably matched with the supporting plate through the third connecting piece;
the third telescopic mechanism comprises a UP branched chain lower end connecting rod, a fourth connecting piece and a UP branched chain upper end connecting rod, one end of the UP branched chain lower end connecting rod is connected with the walking foot end, the other end of the UP branched chain lower end connecting rod extends into the UP branched chain upper end connecting rod from one end of the UP branched chain upper end connecting rod and is in driving connection with the UP branched chain upper end connecting rod, and the other end of the UP branched chain upper end connecting rod is in movable fit with the supporting plate through the fourth connecting piece.
Preferably, the wheel retraction device comprises a wheel connecting piece, a wheel motor, a wheel, a transmission rod, a wheel retraction driving motor, a first connecting bracket and a second connecting bracket;
one end of the first connecting support is mounted at the lower end of the connecting rod at the upper end of the UP branched chain, one end of the wheel connecting piece is rotatably connected with the other end of the first connecting support, the wheel motor is mounted at one side of the other end of the wheel connecting piece, one end of the transmission rod is movably matched with the other side of the other end of the wheel connecting piece, the other end of the transmission rod is in driving connection with the wheel retraction driving motor, and the wheel retraction driving motor is mounted at the upper end of the connecting rod at the upper end of the UP branched chain through the second;
the wheels are mounted on an output shaft of the wheel motor.
Preferably, the UP branched chain upper end link, the second UPs branched chain upper end link, and the first UPs branched chain upper end link respectively adopt any one of the following driving methods:
-pneumatic actuation;
-a hydraulic drive;
-motor drive.
Preferably, the first connecting bracket and the second connecting bracket both adopt hinges;
the transmission rod is connected with the wheel connecting piece through a hinge;
the transmission rod is connected with the wheel retraction driving motor through a screw pair;
the first connecting piece adopts a spherical hinge;
the second connecting piece, the third connecting piece and the fourth connecting piece are respectively provided with Hooke hinges.
Preferably, the walking foot end is of a hemispherical structure and is made of solid rubber.
Preferably, force sensors are respectively arranged on the UP branch chain upper end connecting rod, the second UPs branch chain upper end connecting rod and the first UPs branch chain upper end connecting rod.
Preferably, when the robot is in a foot type motion mode, the wheel retraction driving motor is started to rotate so that the wheel motor on each power expansion device is retracted and the wheel retraction driving motor and the wheel motor are locked, the spatial three-degree-of-freedom motion of the walking foot end relative to the rack under a specific gait is resolved into eighteen P pairs of displacement control on six power expansion devices through an inverse solution algorithm of the parallel three-degree-of-freedom mechanism, and then the foot end is driven to move according to a given track by controlling the expansion motion on the first expansion mechanism, the second expansion mechanism and the third expansion mechanism, so that a foot type motion effect is achieved, wherein the foot type motion mode comprises straight line walking, in-situ steering and jumping motion;
when the robot is in a wheel type motion mode, the wheel retraction driving motor is started to rotate, so that the wheel motor on each power expansion device is put down to enable wheels to be in contact with the ground, the expansion motion of the first expansion mechanism, the second expansion mechanism and the third expansion mechanism on each power expansion device is controlled to ensure that the walking foot end cannot be in contact with the ground in the wheel type motion mode, the rotating speed of the wheel motor on each power expansion device is controlled to control the motion direction and speed of the robot, and steering control, wheel distance adjustment, axle distance adjustment and body pose height adjustment can be achieved by controlling the six parallel power expansion devices in the motion process of the robot.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention adopts a parallel mechanical structure, has high mechanical rigidity, can meet the requirement of large bearing, has no serial relation among joints, avoids the defect of position error accumulation in a serial mechanism, can determine and uniquely control the corresponding stretching amount of the hemispherical walking foot end relative to the pose of the rack through calculation, and has high control precision and strong stability.
2. The wheel device can be folded and unfolded to ensure that the wheels are not contacted with the ground in a foot type movement mode, and the wheels are perfectly attached to the ground in a wheel type movement mode, so that the ineffective abrasion to the wheels in the foot type movement mode can be effectively reduced.
3. The wheel motor is directly connected with the wheel, so that intermediate transmission links are reduced, and mechanical loss caused by transmission is greatly reduced.
4. In the invention, the linear drive of the P pair is provided with a corresponding sensor, and the corresponding bearing condition of the three branched chains can be read, so that the active vibration reduction of the mechanical leg in a wheel type motion mode is realized.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a robotic leg assembly;
fig. 3 is a schematic structural diagram of a hooke joint.
The figures show that:
second connecting piece 25 of walking foot end 1 UP branched chain upper end connecting rod 10
First UPS branch lower end link 2 second UPS branch upper end link 11 third connector 26
Second UPS leg lower end link 3 first UPS leg upper end link 12 fourth connector 27
UP branched chain lower end connecting rod 4, rack 13 and wheel retraction device 30
Wheel link 5 forked hinge mount 31 on multiple mechanical leg assemblies 20
Wheel 7 first connector 22 apex block 33
First connecting bracket 23 of transmission rod 8
Second connecting bracket 24 of wheel retraction driving motor 9
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The invention provides a UP and UPS based parallel connection wheel-foot-constructed mobile robot, which comprises a frame 13 and a plurality of mechanical leg assemblies 20, wherein a wheel retraction device 30 is arranged on each mechanical leg assembly 20, one end of each mechanical leg assembly 20 is movably matched with the frame 13, the other end of each mechanical leg assembly is a free end, the robot comprises a wheel type motion mode and a foot type motion mode, the robot can be switched between the wheel type motion mode and the foot type motion mode according to different scenes, in a preferred example, the number of the mechanical leg assemblies 20 is six, the six mechanical leg assemblies 20 and one end connected with the frame 13 are arranged in a hexagonal symmetry mode, and the number of the wheel retraction devices 30 is matched with the number of the mechanical leg assemblies 20.
Specifically, as shown in fig. 1 and 2, the mechanical leg assembly 20 includes a walking foot end 1 and a power telescopic device, a support plate 21 is disposed on the frame 13, one end of the power telescopic device is movably matched with the walking foot end 1 through a first connecting member 22, and the other end of the power telescopic device is mounted on the support plate 21. In a preferred embodiment, the power telescopic device comprises a first telescopic mechanism, a second telescopic mechanism and a third telescopic mechanism, and forms a three-degree-of-freedom parallel platform.
Further, as shown in fig. 2, the first telescoping mechanism includes a first UPS branch lower end link 2, a second connecting member 25 and a first UPS branch upper end link 12, one end of the first UPS branch lower end link 2 is movably engaged with the first connecting member 22, the other end of the first UPS branch lower end link 2 extends from one end of the first UPS branch upper end link 12 to the inside of the first UPS branch upper end link 12 and is drivingly connected to the first UPS branch upper end link 12, and the other end of the first UPS branch upper end link 12 is movably engaged with the support plate 21 through the second connecting member 25; the second telescopic mechanism comprises a second UPS branched chain lower end connecting rod 3, a third connecting piece 26 and a second UPS branched chain upper end connecting rod 11, one end of the second UPS branched chain lower end connecting rod 3 is movably matched with the first connecting piece 22, the other end of the second UPS branched chain lower end connecting rod 3 extends into the interior of the second UPS branched chain upper end connecting rod 11 from one end of the second UPS branched chain upper end connecting rod 11 and is in driving connection with the second UPS branched chain upper end connecting rod 11, and the other end of the second UPS branched chain upper end connecting rod 11 is movably matched with the supporting plate 21 through the third connecting piece 26; the third telescopic mechanism comprises a UP branched chain lower end connecting rod 4, a fourth connecting piece 27 and a UP branched chain upper end connecting rod 10, wherein one end of the UP branched chain lower end connecting rod 4 is connected with the walking foot end 1, and in a preferred embodiment, the UP branched chain lower end connecting rod 4 is tightly connected with the walking foot end 1. The other end of the UP branched chain lower end connecting rod 4 extends into the UP branched chain upper end connecting rod 10 from one end of the UP branched chain upper end connecting rod 10 and is in driving connection with the UP branched chain upper end connecting rod 10, and the other end of the UP branched chain upper end connecting rod 10 is in movable fit with the supporting plate 21 through a fourth connecting piece 27.
Further, in a preferred embodiment, the first connecting bracket 23 and the second connecting bracket 24 are both hinged; the first connecting member 22 is a ball joint, and the second connecting member 25, the third connecting member 26 and the fourth connecting member 27 are hook joints.
Specifically, U, P, S respectively represents a hooke hinge, a sliding pair and a ball hinge, and the first telescoping mechanism, the second telescoping mechanism and the third telescoping mechanism in the invention respectively adopt P pairs of linear motion modes, for example, in the motion control of the first UPS branch chain lower end link (2) and the first UPS branch chain upper end link (12) in the first telescoping mechanism, the first UPS branch chain upper end link (12) can drive the first UPS branch chain lower end link (2) to retract into the first UPS branch chain upper end link (12) or extend out from the first UPS branch chain upper end link (12) so as to finally realize the effect of extension or shortening of the first telescoping mechanism.
Further, as shown in fig. 3, the hooke hinge of the present invention is a split hooke hinge, and includes an upper forked hinge seat 31, a lower forked hinge seat 32, a tip block 33, and four thimbles, wherein two pairs of opposite outer surfaces of the tip block 33 are respectively provided with a conical tip hole, and the small diameter ends of each two conical tip holes are opposite and the center lines thereof coincide; the four thimbles are respectively in threaded connection with the side walls of the forked bodies of the upper and lower forked hinge seats, and the conical heads of the thimbles are respectively arranged in the conical tip holes of the tip block 33. The two-dimensional relative rotation is realized by two transmission pairs formed by four ejector pins and an ejector pin block 33, so that the upper fork-shaped hinge seat 31 rotates along two independent axes relative to the lower fork-shaped hinge seat 32.
Specifically, the wheel retraction device 30 includes a wheel connecting member 5, a wheel motor 6, a wheel 7, a transmission rod 8, a wheel retraction driving motor 9, a first connecting bracket 23 and a second connecting bracket 24, one end of the first connecting bracket 23 is installed at the lower end of the UP branched chain upper end connecting rod 10, one end of the wheel connecting member 5 is rotatably connected to the other end of the first connecting bracket 23, the wheel motor 6 is installed at one side of the other end of the wheel connecting member 5, one end of the transmission rod 8 is movably matched with the other side of the other end of the wheel connecting member 5, the other end of the transmission rod 8 is in driving connection with the wheel retraction driving motor 9, the wheel retraction driving motor 9 is installed at the upper end of the UP branched chain upper end connecting rod 10 through the second connecting bracket 24, and the wheel 7 is installed on an output.
Specifically, the lower end connecting rod 2 of the first UPS branched chain, the lower end connecting rod 3 of the second UPS branched chain, and the lower end connecting rod 4 of the UP branched chain can extend out or retract into the upper end connecting rod 12 of the first UPS branched chain, the upper end connecting rod 11 of the second UPS branched chain, and the upper end connecting rod 10 of the UP branched chain, respectively, so that the distance between the walking foot end 1 and the rack 13 can be adjusted.
Further, when the lower end connecting rod 2 of the first UPS branched chain, the lower end connecting rod 3 of the second UPS branched chain and the lower end connecting rod 4 of the UP branched chain respectively extend out of the upper end connecting rod 12 of the first UPS branched chain, the upper end connecting rod 11 of the second UPS branched chain and the upper end connecting rod 10 of the UP branched chain, the transmission rod 8 retracts into the wheel retraction driving motor 9 and enters a foot type motion mode; when the lower end connecting rod 2 of the first UPS branched chain, the lower end connecting rod 3 of the second UPS branched chain and the lower end connecting rod 4 of the UP branched chain are respectively retracted into the upper end connecting rod 12 of the first UPS branched chain, the upper end connecting rod 11 of the second UPS branched chain and the upper end connecting rod 10 of the UP branched chain, the transmission rod 8 enters a wheel type movement mode when extending out of the wheel retraction driving motor 9.
Specifically, the UP branch chain upper end connecting rod 10, the second UPs branch chain upper end connecting rod 11, and the first UPs branch chain upper end connecting rod 12 can respectively adopt a plurality of driving methods, in a preferred example, a motor drive is adopted, and in a variation, an air pressure drive is adopted; in another variant, a hydraulic drive is used.
Specifically, in a preferred embodiment, the transmission rod 8 is connected with the wheel connecting piece 5 through a hinge, the transmission rod 8 is connected with the wheel retraction driving motor 9 through a screw pair, a screw driving mode is adopted, the screw pair connection can control retraction of wheels and has a self-locking characteristic, and the wheel retraction device of the robot cannot fail in a wheel type motion mode;
specifically, the walking foot end 1 is of a hemispherical structure, and the walking foot end 1 is made of solid rubber, so that the friction force between the walking foot end 1 and the ground can be increased.
Specifically, force sensors are respectively arranged on the UP branch chain upper end connecting rod 10, the second UPs branch chain upper end connecting rod 11, and the first UPs branch chain upper end connecting rod 12, and can detect corresponding bearing conditions of the three branch chains.
The invention adopts a parallel mechanism six-wheel-foot mobile robot. The robot can walk in a foot type manner under the condition that the wheels 7 are folded, is a six-foot parallel robot, and can realize the movement of complex terrains under the condition of large load of the robot. The six mechanical legs are arranged in a hexagonal symmetrical mode relative to the rack 13, a strict positive direction is not formed, and the robot takes any direction as a forward moving positive direction. The wheel-type walking can be carried out under the condition that the wheels 7 are placed, and different wheel-type walking modes can be adopted for different six-wheel arrangement modes, for example, a turning frame and driving wheel separation structure moving mode in an automobile mode or a differential moving mode in which six wheels are uniformly arranged can be adopted to meet different terrain movement requirements.
The parallel mechanical leg is composed of two UPS mechanism branched chains and an UP mechanism branched chain in parallel, the hemispherical walking foot end 1 of each mechanical leg is a three-degree-of-freedom end effector which moves relative to the rack 13, and the three-degree-of-freedom motion of the hemispherical walking foot end 1 is driven through telescopic control of three P pairs on each mechanical leg, so that the spatial movement of the walking foot end 1 is realized, the foot end track is further controlled, and the leg motion of the robot is realized. And each leg is provided with three P pairs of active inputs to completely decouple the three spatial degrees of freedom, and the three spatial degrees of freedom of the mechanical leg can be realized by controlling the length expansion and contraction change of the three P pairs. The retraction of the wheel device can be controlled by controlling the rotation of the wheel retraction driving motor 9, so that the conversion between the wheel type motion state and the foot type motion state of the robot is realized.
In one embodiment of the invention, the robot body working space is as follows: 1300 mm, 1300 mm and 600 mm; the variation range of the effective length of the P pair in the two UPS branched chains and the UP branched chains is 350-600 mm, the maximum step length of the robot during foot type walking is 300mm, the maximum bearing capacity is 500kg, the climbing capacity is 30 degrees, and the obstacle crossing height is 0.5 m.
The working principle of the invention is as follows:
when the robot is in a foot type motion mode, the wheel retraction driving motor 9 is started to rotate so that the wheel motor 6 on each leg is retracted, so that the wheels 7 cannot interfere with the ground in the foot type motion mode, and the wheel retraction driving motor 9 and the wheel motor 6 are locked. The spatial three-degree-of-freedom motion of the hemispherical walking foot end 1 relative to the rack 13 under a specific gait is resolved into eighteen P pairs of displacement control of six legs through an inverse solution algorithm of a parallel three-degree-of-freedom mechanism, and then the foot end is driven to move according to a given track by controlling the telescopic motion on the P pairs, so that a foot type motion effect is achieved, and complex motions such as linear walking, pivot steering, jumping and the like can be performed.
When the robot is in a wheel type motion mode, the wheel retraction driving motor 9 is started to rotate so that the wheel motor 6 on each leg is retracted, and therefore the wheels 7 are enabled to be in contact with the ground in a foot type motion mode. The P pairs of telescopic motion on each leg is controlled to ensure that the hemispherical walking foot end 1 can not contact the ground in the wheel type motion mode. The rotation speed of the wheel motor 6 on each leg is controlled to control the moving direction and speed of the robot. In the moving process of the robot, steering control, wheel track adjustment, wheel base adjustment and machine body height adjustment can be achieved by controlling the pose of six parallel mechanical legs, in addition, active suspension vibration isolation can be performed on legs, and machine body posture stability maintenance under uneven road conditions is achieved.
The parallel three-degree-of-freedom mechanism is adopted, the mechanical rigidity is high, and the requirement of large bearing capacity can be met; the parallel mechanical structure is adopted, the serial relation among joints is avoided, the defect of position error accumulation in the serial mechanism is avoided, the inverse solution of the P pair expansion amount corresponding to the pose of the machine frame at the hemispherical foot end is determined and unique, the control precision is high, and the stability is strong; the wheel device can be folded and unfolded to ensure that the wheels are not contacted with the ground in a foot type motion mode, and the wheels are perfectly attached to the ground in a wheel type motion mode, so that the ineffective wear to the wheels in the foot type motion mode can be effectively reduced; the wheel motor 6 is directly connected with the wheel 7, so that intermediate transmission links are reduced, and mechanical loss caused by transmission is greatly reduced; the P pair of linear drives is provided with a corresponding sensor, and the corresponding bearing conditions of the three branched chains can be read, so that the active vibration reduction of the mechanical leg in the wheel type mode is realized.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A parallel-connection wheel-foot mobile robot based on UP and UPS is characterized by comprising a frame (13) and a plurality of mechanical leg assemblies (20);
a wheel retraction device (30) is arranged on the mechanical leg assembly (20), one end of the mechanical leg assembly (20) is movably matched with the rack (13), and the other end of the mechanical leg assembly (20) is a free end;
the robot comprises a wheeled motion mode and a foot type motion mode, and the robot can be switched between the wheeled motion mode and the foot type motion mode according to different scenes.
2. The UP and UPS based parallel coupling wheel foot mobile robot according to claim 1, wherein the number of the mechanical leg assemblies (20) is six, and one ends of the six mechanical leg assemblies (20) connected with the frame (13) are arranged in a hexagonal symmetry manner;
the number of the wheel retraction devices (30) is matched with the number of the mechanical leg assemblies (20).
3. The UP and UPS based parallel coupling wheel foot mobile robot according to claim 1, wherein the mechanical leg assembly (20) comprises a walking foot end (1) and a power telescopic device, and a support plate (21) is arranged on the frame (13);
one end of the power telescopic device is movably matched with the walking foot end (1) through a first connecting piece (22), and the other end of the power telescopic device is arranged on the supporting plate (21).
4. The UP and UPS based parallel linkage wheel foot mobile robot of claim 3, wherein the power telescoping device comprises a first telescoping mechanism, a second telescoping mechanism and a third telescoping mechanism;
the first telescopic mechanism comprises a first UPS branched chain lower end connecting rod (2), a second connecting piece (25) and a first UPS branched chain upper end connecting rod (12), one end of the first UPS branched chain lower end connecting rod (2) is movably matched with the first connecting piece (22), the other end of the first UPS branched chain lower end connecting rod (2) extends into the first UPS branched chain upper end connecting rod (12) from one end of the first UPS branched chain upper end connecting rod (12) and is in driving connection with the first UPS branched chain upper end connecting rod (12), and the other end of the first UPS branched chain upper end connecting rod (12) is movably matched with the supporting plate (21) through the second connecting piece (25);
the second telescopic mechanism comprises a second UPS branched chain lower end connecting rod (3), a third connecting piece (26) and a second UPS branched chain upper end connecting rod (11), one end of the second UPS branched chain lower end connecting rod (3) is movably matched with the first connecting piece (22), the other end of the second UPS branched chain lower end connecting rod (3) extends into the second UPS branched chain upper end connecting rod (11) from one end of the second UPS branched chain upper end connecting rod (11) and is in driving connection with the second UPS branched chain upper end connecting rod (11), and the other end of the second UPS branched chain upper end connecting rod (11) is movably matched with the supporting plate (21) through the third connecting piece (26);
the third telescopic mechanism comprises a UP branched chain lower end connecting rod (4), a fourth connecting piece (27) and a UP branched chain upper end connecting rod (10), one end of the UP branched chain lower end connecting rod (4) is connected with the walking foot end (1), the other end of the UP branched chain lower end connecting rod (4) extends into the UP branched chain upper end connecting rod (10) from one end of the UP branched chain upper end connecting rod (10) and is in driving connection with the UP branched chain upper end connecting rod (10), and the other end of the UP branched chain upper end connecting rod (10) is in movable fit with the supporting plate (21) through the fourth connecting piece (27).
5. The UP and UPS based parallel connection wheel foot mobile robot according to claim 4, wherein the wheel retraction device (30) comprises a wheel connecting piece (5), a wheel motor (6), a wheel (7), a transmission rod (8), a wheel retraction driving motor (9), a first connecting bracket (23) and a second connecting bracket (24);
one end of the first connecting support (23) is mounted at the lower end of the connecting rod (10) at the upper end of the UP branched chain, one end of the wheel connecting piece (5) is rotatably connected with the other end of the first connecting support (23), the wheel motor (6) is mounted at one side of the other end of the wheel connecting piece (5), one end of the transmission rod (8) is movably matched with the other side of the other end of the wheel connecting piece (5), the other end of the transmission rod (8) is in driving connection with the wheel retraction driving motor (9), and the wheel retraction driving motor (9) is mounted at the upper end of the connecting rod (10) at the upper end of the UP branched chain through the second connecting support (24);
the wheels (7) are arranged on an output shaft of the wheel motor (6).
6. The UP and UPS based parallel linkage mechanism wheel foot mobile robot according to claim 4, wherein the UP branched chain upper end link (10), the second UPS branched chain upper end link (11) and the first UPS branched chain upper end link (12) adopt any one of the following driving modes respectively:
-pneumatic actuation;
-a hydraulic drive;
-motor drive.
7. The UP and UPS based parallel coupling wheel foot mobile robot according to claim 5, wherein the first connecting bracket (23) and the second connecting bracket (24) both adopt hinges;
the transmission rod (8) is connected with the wheel connecting piece (5) through a hinge;
the transmission rod (8) is connected with a wheel retraction driving motor (9) through a screw pair;
the first connecting piece (22) adopts a spherical hinge;
the second connecting piece (25), the third connecting piece (26) and the fourth connecting piece (27) are respectively of Hooke hinges.
8. The UP and UPS based parallel coupling wheel foot mobile robot according to claim 3, wherein the walking foot end (1) is of a hemispherical structure, and the walking foot end (1) is made of solid rubber.
9. The UP and UPS based parallel linkage mechanism wheel foot mobile robot according to claim 4, wherein the UP branch chain upper end link (10), the second UPS branch chain upper end link (11) and the first UPS branch chain upper end link (12) are respectively provided with a force sensor.
10. The UP and UPS based parallel connection wheel-foot mobile robot is characterized in that when the robot is in a foot type motion mode, a wheel retraction driving motor (9) is started to rotate to enable a wheel motor (6) on a power expansion device to retract and lock the wheel retraction driving motor (9) and the wheel motor (6), the robot outputs spatial three-degree-of-freedom motion of a walking foot end (1) under a preset gait relative to a rack (13) to be displacement control of six power expansion devices through calculation, and then drives the foot end to move according to a given track through controlling the expansion motion on a first expansion mechanism, a second expansion mechanism and a third expansion mechanism to achieve a foot type motion effect, wherein the foot type motion mode comprises straight line walking, in-place steering and jumping motion;
when the robot is in a wheel type motion mode, a wheel retraction driving motor (9) is started to rotate so that a wheel motor (6) on a power telescopic device is put down to enable wheels (7) to be in contact with the ground, telescopic motions of a first telescopic mechanism, a second telescopic mechanism and a third telescopic mechanism on each power telescopic device are controlled so as to ensure that a walking foot end (1) cannot be in contact with the ground in the wheel type motion mode, the rotating speed of the wheel motor (6) on each power telescopic device is controlled so as to control the motion direction and speed of the robot, and steering control, wheel distance adjustment and machine body height can be achieved by controlling the pose of six parallel power telescopic devices in the motion process of the robot.
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