CN112026951A - Multi-legged robot with modular tensioning overall structure - Google Patents
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Abstract
本发明公开了一种模块化张拉整体结构多足机器人,包括与移动平台刚性或柔性固定连接的多个模块化张拉整体结构足腿,模块化张拉整体结构足腿包括机架、随动转向模组、足腿模组和三组结构相同的驱动绕线模组;驱动绕线模组包括绕线轮和与机架转动连接的三个转轴;随动转向模组包括可以改变夹角的三个万向节,足腿模组中的拉伸结构包括连接的绳索和弹簧,三个驱动电机带动绕线轮改变机架两侧绳索的长度,从而驱动足端上平台和足端下平台实现空间三自由度运动。极大简化了传统足腿结构、提高了足腿的灵活性、适应性及动态性能,降低了制造成本同时具有运动灵便、操作简便、维护方便诸多优点。
The invention discloses a multi-legged robot with a modular tension integral structure, comprising a plurality of modular tension integral structure legs rigidly or flexibly connected with a mobile platform. The modular tension integral structure legs include a frame, The moving steering module, the leg module and three sets of driving winding modules with the same structure; the driving winding module includes a winding wheel and three shafts rotatably connected with the frame; the follow-up steering module includes a clamp that can be changed The three universal joints of the corners, the tensile structure in the foot and leg module includes connected ropes and springs, and the three drive motors drive the reel to change the length of the ropes on both sides of the frame, thereby driving the upper platform and the foot end. The lower platform realizes three-degree-of-freedom motion in space. The traditional leg structure is greatly simplified, the flexibility, adaptability and dynamic performance of the leg are improved, the manufacturing cost is reduced, and the utility model has the advantages of flexible movement, simple operation and convenient maintenance.
Description
技术领域technical field
本发明涉及一种多足机器人,尤其涉及一种张拉整体结构的多足机器人。The invention relates to a multi-legged robot, in particular to a multi-legged robot with a tensioned integral structure.
背景技术Background technique
传统的多足机器人通常采用多关节减速驱动或液压驱动等刚性机构作为其足腿结构。足腿结构复杂、自重高且承载能力弱。而张拉整体结构主要由绳和杆组成,结构简单,刚度/自重比高,适应能力强,更适用于对动态性能要求高的机器人足腿结构。Traditional multi-legged robots usually use rigid mechanisms such as multi-joint deceleration drives or hydraulic drives as their leg structures. The legs have complex structure, high self-weight and weak bearing capacity. The overall structure of tensioning is mainly composed of ropes and rods, with simple structure, high stiffness/weight ratio, and strong adaptability, which is more suitable for robot leg structures with high dynamic performance requirements.
发明内容SUMMARY OF THE INVENTION
针对上述现有技术,本发明提出一种采用模块化张拉整体结构的多足机器人,较传统足腿机器人具有结构简单、自重轻,承载高、动态性能好、环境适应能力强、制造成本低等诸多优点。In view of the above-mentioned prior art, the present invention proposes a multi-legged robot with a modular tensioned integral structure, which has the advantages of simple structure, light weight, high load-bearing capacity, good dynamic performance, strong environmental adaptability and low manufacturing cost compared with the traditional legged robot. and many other advantages.
为了解决上述技术问题,本发明提出的一种模块化张拉整体结构多足机器人,包括移动平台和不少于两个的模块化张拉整体结构足腿,所有的模块化张拉整体结构足腿的结构相同,所述移动平台与所有的模块化张拉整体结构足腿之间为刚性或柔性固定连接;In order to solve the above technical problems, the present invention proposes a multi-legged robot with a modular tensioned integral structure, including a mobile platform and no less than two modular tensioned integral structure legs. The structure of the legs is the same, and the mobile platform is rigid or flexible fixed connection with all the legs of the modular tension integral structure;
所述模块化张拉整体结构足腿包括机架、三组结构相同的驱动绕线模组、随动转向模组和足腿模组;所述机架与所述移动平台刚性或柔性固定连接;The legs of the modular tensioned integral structure include a frame, three groups of drive winding modules with the same structure, a follow-up steering module and a leg module; the frame is rigidly or flexibly connected to the mobile platform. ;
所述驱动绕线模组包括电机支架、驱动电机、绕线轮和转轴,所述驱动电机与所述绕线轮安装于所述电机支架上,所述绕线轮与所述电机支架转动连接,所述驱动电机通过传动机构带动所述绕线轮转动,每组中的所述转轴通过轴承转动安装于所述机架上,三组中的所述转轴轴线相交于一点;The driving winding module includes a motor bracket, a driving motor, a winding wheel and a rotating shaft, the driving motor and the winding wheel are mounted on the motor bracket, and the winding wheel is rotatably connected to the motor bracket , the drive motor drives the reel to rotate through a transmission mechanism, the rotating shafts in each group are rotatably mounted on the frame through bearings, and the axes of the rotating shafts in the three groups intersect at one point;
所述随动转向模组包括一个轴套筒、一个主万向节和两个副万向节,所述主万向节和两个副万向节均分别通过一对圆柱销或一对转轴与所述轴套筒转动连接,两个副万向节在与所述轴套筒的连接处开有横槽;所述主万向节与驱动绕线模组中的一个转轴固结,两个副万向节分别与驱动绕线模组中的另两个转轴固结;The follow-up steering module includes a shaft sleeve, a main universal joint and two auxiliary universal joints, and the main universal joint and the two auxiliary universal joints pass through a pair of cylindrical pins or a pair of rotating shafts respectively. It is rotatably connected with the shaft sleeve, and the two auxiliary universal joints are provided with transverse grooves at the connection with the shaft sleeve; the main universal joint is consolidated with a rotating shaft in the drive winding module, and the two Each auxiliary universal joint is respectively fixed with the other two rotating shafts in the driving winding module;
所述足腿模组包括花键轴套、花键轴、足端上平台、足端下平台和三组拉伸结构;所述花键轴套与所述随动转向模组中的所述轴套筒固定安装,所述花键轴与所述花键轴套滑动安装,所述足端下平台与所述足端上平台分别固接于所述花键轴的两端;每组拉伸结构包括一条绳索,所述绳索的一端连接有一个弹簧,三组拉伸结构中的每条绳索缠绕于三组驱动绕线模组中的绕线轮上,所述拉伸结构的两端分别与所述足端上平台和所述足端下平台连接;The foot leg module includes a spline shaft sleeve, a spline shaft, an upper platform at the foot end, a lower platform at the foot end and three sets of tensile structures; the spline shaft sleeve and the The shaft sleeve is fixedly installed, the spline shaft and the spline shaft sleeve are slidably installed, and the foot end lower platform and the foot end upper platform are respectively fixed to both ends of the spline shaft; The extension structure includes a rope, one end of the rope is connected with a spring, each rope in the three groups of tension structures is wound on the winding wheels in the three groups of driving winding modules, and the two ends of the tension structure are respectively connected with the upper platform of the foot end and the lower platform of the foot end;
所述模块化张拉整体结构足腿中,三个驱动电机带动所述绕线轮改变机架两侧绳索的长度,在三组拉伸结构的驱动下,所述足端上平台和足端下平台实现空间三自由度运动。In the legs of the modular tensioning overall structure, three driving motors drive the reel to change the length of the ropes on both sides of the frame. The lower platform realizes three-degree-of-freedom motion in space.
进一步讲,本发明所述的模块化张拉整体结构多足机器人,其中,所述随动转向模组中,在所述轴套筒的周向均匀布置有六个贯穿所述轴套筒筒壁的圆柱销或转轴,相对的两个圆柱销或转轴构成一对,其中的一对与所述主万向节转动连接,其余的两对分别与两个副万向节连接,与所述副万向节连接的所述圆柱销或转轴在所述横槽内转动及滑动,从而实现包括一个主万向节和两个副万向节的三个万向节间夹角的变化。Further, in the multi-legged robot with a modular tensioned overall structure according to the present invention, in the follow-up steering module, six penetrating shaft sleeves are evenly arranged in the circumferential direction of the shaft sleeve. The cylindrical pins or rotating shafts of the wall, two opposite cylindrical pins or rotating shafts form a pair, one pair of which is rotatably connected with the main universal joint, and the other two pairs are respectively connected with the two auxiliary universal joints, which are connected with the said main universal joint. The cylindrical pin or the rotating shaft connected with the auxiliary universal joint rotates and slides in the transverse groove, so as to realize the change of the angle between the three universal joints including one main universal joint and two auxiliary universal joints.
本发明中,所述足腿模组的每组拉伸结构中,所述绳索的另一端与所述足端上平台固定连接,所述弹簧的另一端与足端下平台连接。或是,所述绳索的另一端与所述足端下平台固定连接,所述弹簧的另一端与足端上平台连接。In the present invention, in each group of tensile structures of the foot and leg module, the other end of the rope is fixedly connected to the upper platform of the foot end, and the other end of the spring is connected to the lower platform of the foot end. Or, the other end of the rope is fixedly connected to the lower platform of the foot end, and the other end of the spring is connected to the upper platform of the foot end.
本发明中,所述模块化张拉整体结构足腿的个数为4个,4个模块化张拉整体结构足腿与所述移动平台固定连接,通过协同控制,实现四足机器人运动。In the present invention, the number of legs of the modular tensioned integral structure is 4, and the four modular tensioned integral structure legs are fixedly connected to the mobile platform, and the movement of the quadruped robot is realized through cooperative control.
与现有技术相比,本发明的有益效果是:Compared with the prior art, the beneficial effects of the present invention are:
本发明具有的优点和积极效果是:本发明应用张拉整体结构作为多足机器人的驱动模块,极大简化了传统足腿结构、提高了足腿的灵活性、适应性及动态性能,降低了制造成本同时具有运动灵便、操作简便、维护方便诸多优点。The advantages and positive effects of the present invention are as follows: the present invention applies the tensioning integral structure as the driving module of the multi-legged robot, which greatly simplifies the traditional leg structure, improves the flexibility, adaptability and dynamic performance of the legs, reduces the The manufacturing cost also has the advantages of flexible movement, simple operation and convenient maintenance.
附图说明Description of drawings
图1为实施例1模块化张拉整体结构四足机器人结构示意图;1 is a schematic structural diagram of a quadruped robot with a modular tensioned overall structure in
图2为本发明中模块化张拉整体结构足腿的结构示意图;Fig. 2 is the structural representation of the leg of the modular tension integral structure in the present invention;
图3为本发明中随动转向模组的结构示意图;3 is a schematic structural diagram of a follow-up steering module in the present invention;
图4为图3所示的随动转向模组中轴套筒及三对圆柱销的位置示意图;Fig. 4 is the position schematic diagram of the center shaft sleeve and three pairs of cylindrical pins of the follow-up steering module shown in Fig. 3;
图中:In the picture:
100-移动平台 200-模块化张拉整体结构足腿 1-机架100-Mobile Platform 200-Modular Tensioned Overall Structure Legs 1-Rack
2-电机支架 3-绕线轮 4-驱动电机2-motor bracket 3-winding wheel 4-drive motor
5-足端下平台 6-弹簧 7-副万向节5-Foot end lower platform 6-Spring 7-Secondary universal joint
8-主万向节 9-转轴 10-轴套筒8-Main universal joint 9-Rotating shaft 10-Shaft sleeve
11-花键轴套 12-绳索 13-足端上平台11-Spline bushing 12-Rope 13-Foot end platform
14-花键轴 15-横槽14-spline shaft 15-transverse groove
具体实施方式Detailed ways
下面结合附图及具体实施例对本发明做进一步的说明,但下述实施例绝非对本发明有任何限制。The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the following embodiments do not limit the present invention by any means.
如图1所示,本发明提出的一种模块化张拉整体结构多足机器人,包括移动平台100和不少于两个的模块化张拉整体结构足腿200,所有的模块化张拉整体结构足腿200的结构相同,所述移动平台100与所有的模块化张拉整体结构足腿100之间为刚性或柔性固定连接。As shown in FIG. 1, a multi-legged robot with a modular tension integral structure proposed by the present invention includes a
所述模块化张拉整体结构足腿200包括机架1、三组结构相同的驱动绕线模组、随动转向模组和足腿模组;所述机架1与所述移动平台100刚性或柔性固定连接,如图1和图2所示。The modular tensioned
如图2所示,所述驱动绕线模组包括电机支架2、驱动电机4、绕线轮3和转轴9,所述驱动电机4与所述绕线轮3安装于所述电机支架2上,所述绕线轮3与所述电机支架2转动连接,所述驱动电机4通过传动机构带动所述绕线轮3(例如,通过联轴器、同步带、齿轮等装置直接或间接连接),每组中的所述转轴9通过轴承转动的安装于所述机架1上,所述转轴9的一端与所述电机支架2固定连接,所述转轴9的另一端与所述随动转向模组中的三个万向节连接,三组中的所述转轴9相交于一点。As shown in FIG. 2 , the driving winding module includes a motor bracket 2 , a
如图2和图3所示,所述随动转向模组包括一个轴套筒10和三个万向节,三个万向节包括一个主万向节8和两个副万向节7,所述主万向节8和两个副万向节7均分别通过一对圆柱销或一对转轴与所述轴套筒10转动连接,两个副万向节7在与所述轴套筒10的连接处开有横槽15;所述主万向节8与驱动绕线模组中的一个转轴9固结,两个副万向节7分别与驱动绕线模组中的另两个转轴9固结。As shown in Figures 2 and 3, the follow-up steering module includes a
如图4所示,所述随动转向模组中,在所述轴套筒10的周向均匀布置有六个贯穿所述轴套筒10筒壁的圆柱销或转轴,如图中a,b,c,d,e,f所示;相对的两个圆柱销或转轴构成一对,共分为三对,图中a,d为一对,b,e为一对,c,f为一对,其中的a,d一对与所述主万向节8转动连接,其余的b,e和c,f两对分别与两个副万向节7连接,由于在每个副万向节7的侧面开有横槽15(如图3中所示),因此,与所述副万向节7连接的所述圆柱销或转轴可以在所述横槽15内转动及滑动,从而实现三个万向节(包括一个主万向节8和两个副万向节7)间夹角的变化,如图3中的A,B所示。如图2所示,所述主万向节8与驱动绕线模组中的一个转轴9固结,两个副万向节7分别与驱动绕线模组中的另两个转轴9固结。As shown in FIG. 4 , in the follow-up steering module, six cylindrical pins or rotating shafts penetrating the cylindrical wall of the
如图2所示,所述足腿模组包括花键轴套11、花键轴14、足端上平台14、足端下平台5和三组拉伸结构;所述花键轴套11与所述随动转向模组中的所述轴套筒10固定安装,所述花键轴14与所述花键轴套11滑动安装,所述足端下平台5与所述足端上平台13分别固接于所述花键轴14的两端;每组拉伸结构包括一条绳索12,所述绳索12的一端连接有一个弹簧6,三组拉伸结构中的每条绳索缠绕于三组驱动绕线模组中的绕线轮3上,所述拉伸结构的两端分别连接至所述足端上平台13和所述足端下平台5,即,每组拉伸结构中的所述绳索12的另一端与所述足端上平台13(或是足端下平台5)固定连接,所述弹簧6的另一端与足端下平台5(或是足端上平台13)连接。图2所示实施例是,每组中所述绳索12的一端与足端上平台13固定连接,所述绳索12的另一端绕过驱动绕线模组中的相应的绕线轮3,并且与所述弹簧6的一端连接,所述弹簧6的另一端与足端下平台5连接。As shown in FIG. 2 , the foot leg module includes a
每个模块化张拉整体结构足腿200中的三个驱动电机4带动所述绕线轮3,从而改变机架1两侧的绳索12的长度,从而驱动所述足端上平台13和足端下平台5实现空间三自由度运动,将两个或两个以上模块与移动平台连接后,通过协同控制,可实现双足、三足、四足以及多足机器人的运动。图1示出的是具有4个所述模块化张拉整体结构足腿200的实例,4个模块化张拉整体结构足腿200与所述移动平台100固定连接,通过协同控制,可以实现四足机器人运动。The three
本发明应用张拉整体结构作为多足机器人腿部驱动模块,极大简化了传统足腿结构的复杂度,提高了足腿的灵活性适应性及动态性能,降低了制造成本的同时具有运动灵便、控制简便、维护方便诸多优点。The present invention uses the overall tension structure as the leg drive module of the multi-legged robot, which greatly simplifies the complexity of the traditional leg structure, improves the flexibility, adaptability and dynamic performance of the legs, reduces the manufacturing cost, and has the advantages of flexible movement. , Simple control, easy maintenance and many advantages.
尽管上面结合附图对本发明的优选实施例进行了描述,但是本发明并不局限于上述的具体实施方式,上述的具体实施方式仅仅是示意性的,并不是限制性的,本领域的普通技术人员在本发明的启示下,在不脱离本发明宗旨和权利要求所保护的范围情况下,还可以做出很多形式,这些均属于本发明的保护范围之内。Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments. Under the inspiration of the present invention, without departing from the spirit of the present invention and the protection scope of the claims, personnel can also make many forms, which all fall within the protection scope of the present invention.
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