CN112061262B - Single-leg device of double-parallel four-rod transmission mechanism and six-wheel-leg robot - Google Patents
Single-leg device of double-parallel four-rod transmission mechanism and six-wheel-leg robot Download PDFInfo
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- CN112061262B CN112061262B CN202011003952.0A CN202011003952A CN112061262B CN 112061262 B CN112061262 B CN 112061262B CN 202011003952 A CN202011003952 A CN 202011003952A CN 112061262 B CN112061262 B CN 112061262B
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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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- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The invention discloses a single-leg device of a double-parallel four-bar transmission mechanism and a six-wheel leg robot. The knee joint is driven by a double parallel four-bar mechanism, so that the knee joint can obtain a motion range larger than 180 degrees while the shank mass is reduced. The hip joint driving motor and the knee joint driving motor are embedded into the thigh part, so that the motion range of the waist joint is enlarged. A modular driving wheel component can be additionally arranged on the single-leg device according to the requirement. The six-wheel leg robot of the single-leg device with the double parallel four-rod transmission mechanism can realize leg type movement or wheel type movement, simple operation is carried out, the posture of the robot body does not need to be adjusted to return to the state before overturning during overturning, and the robot can continue to move only by reversely standing.
Description
Technical Field
The invention belongs to the field of robot design, and particularly relates to a single-leg device with a double-parallel four-rod transmission mechanism and a six-wheel-leg robot.
Background
The wheel-type mobile robot has a simple structure, and has high moving efficiency under a flat terrain, but has poor passing performance on a rugged terrain. The legged mobile robot has a complicated structure and has better passing performance over rough terrain than a wheeled robot. The wheel-leg type mobile robot is developed by combining the characteristics of the wheel type robot and the leg type robot, the wheel-leg type mobile robot moves through the wheels under the flat terrain, the moving efficiency is high, the wheel-leg type mobile robot moves through the legs under the rugged terrain, and the passing performance is good. Wheel-legged mobile robots have become a major hotspot in mobile robot research.
For example, chinese patent publication No. CN111204382A discloses a wheel-leg combined quadruped robot, in which a driven wheel is installed in the middle of a lower leg, and a driving wheel is installed under the robot; the knee joint is driven by a connecting rod, and the connecting rod and the big and small legs are in the same plane. The structural layout has the defects that due to the introduction of the connecting rod, the movement range of the knee joint is greatly reduced, and the working space of the robot is limited. Chinese patent publication No. CN110962955A discloses a "less-driving-wheel-leg type composite robot for star detection", in which waist joints and hip joint driving motors are coaxially arranged on both sides of thighs. The structure layout has the defects that the structure of a single leg is overstaffed due to the outward protrusion of the waist joint driving motor and the hip joint driving motor, the movement range of the waist joint is reduced, and the working space of the robot is limited.
In order to reduce the weight of the lower leg and obtain better motion performance, the knee joint of the existing legged mobile robot is driven by a parallel four-bar mechanism. The structural layout has the defects that when the side link of the parallel four-bar mechanism is collinear with the connecting rod, the mechanism is in a singular configuration, the motion is not unique, and meanwhile, the transmission angle of the mechanism is 0, so that the motion range of the knee joint is limited to be less than 180 degrees, and the working space of the robot is limited.
Disclosure of Invention
In order to solve the problems of singularity of parallel four-bar mechanism driving of a legged mobile robot, overstaffed single-leg structure design, limited joint motion range and the like in the prior art, the invention provides a single-leg device of a double-parallel four-bar transmission mechanism and a six-wheel leg robot, and the robot has a larger working space.
The invention relates to a single-leg device of a double-parallel four-rod transmission mechanism and a six-wheel leg robot, which comprise a foundation section component, a thigh component and a shank component; the base section component is connected with the robot body and is provided with a waist joint driving motor for driving the thigh component to transversely rotate; the tail end of the thigh part is provided with a hip joint driving motor which is used for driving the thigh to rotate up and down; the lower leg part is arranged at the front end of the upper leg part and is driven to rotate up and down by the knee joint driving motor.
The knee joint driving motor drives the shank part to rotate through a double parallel four-bar structure; the double parallel four-bar structure comprises a driving side link, a connecting bar, an auxiliary connecting bar, a driven side link, a first auxiliary side link and a second auxiliary side link.
Wherein, the tail end of the driven side link is connected with the front end of the thigh plate through a bearing to form a revolute pair; meanwhile, the tail end of the driven connecting rod is connected with the rotating shaft of the shank component through a spline to transfer force. The big end of the driving connecting frame rod is connected with an output shaft of the knee joint driving motor; the connecting rod is arranged in parallel with the right thigh plate, and the tail end and the front end are provided with 2 connecting positions. Wherein the tail end connecting position is connected with a connecting shaft designed on the small end of the driving connecting frame rod through a bearing; the connecting position at the front end of the connecting rod is connected with a connecting shaft designed at the front end of the driven connecting rod through a bearing; the thigh plate, the driving side link, the driven side link and the connecting rod form a first parallel four-bar mechanism.
The tail end of the first auxiliary side link and the small end of the driving side link are connected for force transmission; the tail end of the second auxiliary side link is connected with the end part of the connecting shaft at the front end of the driven side link for force transmission. Two ends of the auxiliary connecting rod are respectively connected with the front ends of the first auxiliary side link and the second auxiliary side link through bearings to form two revolute pairs; the connecting rod, the first auxiliary connecting rod, the second auxiliary connecting rod and the auxiliary connecting rod form a second parallel four-bar mechanism.
Through the double parallel four-bar mechanism, the knee joint can be overturned by 180 degrees under the driving of the knee joint driving motor 207. When the first parallel four-bar mechanism is in the singular configuration, the second parallel four-bar mechanism is not in the singular configuration, and at the moment, under the action of the second parallel four-bar mechanism, the first parallel four-bar mechanism gets rid of the singular configuration; when the second parallel four-bar mechanism is in the singular configuration, the whole-circle movement of the knee joint can be realized by the same way as the process.
The invention has the advantages that:
(1) according to the single-leg device of the double-parallel four-bar transmission mechanism, the knee joint is driven by the double-parallel four-bar mechanism, and the double-parallel four-bar mechanism is offset, so that the knee joint can cross the singular position of the driving side link and the connecting bar in a superposition manner, and the movement range of the knee joint is greatly increased. The double parallel four-bar mechanism is offset, so that the crus with the simple structure of the carbon fiber round tube can be contracted into the thighs, and the occupied storage space is smaller.
(2) According to the single-leg device with the double-parallel four-rod transmission mechanism, the waist joint driving motor and the hip joint driving motor are embedded into the thighs, the structure of the single-leg device is more compact, and the movement range of the waist joint is enlarged.
(3) According to the single-leg device of the double-parallel four-bar transmission mechanism, the driving wheel component is used as a modular component, so that the mounting or non-mounting can be flexibly selected, and the switching between the wheel-leg device and the single-leg device is realized.
(4) The hexapod robot with the single-leg device of the double-parallel four-bar transmission mechanism can realize the switching of wheel type movement and leg type movement, has high-efficiency movement capability and complex terrain passing capability, wherein the wheel type movement can be three wheels, four wheels or six wheels, and the height of a robot body can be adjusted through joint movement.
(5) The six-legged robot with the single-legged device of the double-parallel four-rod transmission mechanism has the advantages that the robot body is vertically symmetrical and does not have the front and back surfaces, so that the robot body can continuously move when standing in the reverse direction without adjusting the front and back surfaces of the robot body when the robot body overturns. The front and back surfaces of the robot body do not need to be adjusted, so that the posture of the robot body does not need to be adjusted when the six-wheel leg robot jumps from one bulkhead of the space station to another bulkhead parallel to the space station, and the whole process is greatly simplified.
(6) The six-legged robot with the single-leg device with the double-parallel four-rod transmission mechanism can realize simple operation, such as standing on four legs, taking an express box from the ground to a machine body by other two legs, and finally sending the express box to a receiver.
Drawings
Fig. 1 is a schematic front view of a single leg device of a double parallel four bar linkage of the present invention.
Fig. 2 is a schematic top view of a single leg arrangement of the dual parallel four bar linkage of the present invention.
Fig. 3 is a schematic view of the base section components of the single leg device of the dual parallel four bar linkage of the present invention.
FIG. 4 is a schematic cross-sectional view of the base section component of the single leg device of the dual parallel four bar linkage of the present invention.
Fig. 5 is a schematic view of the thigh member of the single-legged device of the dual parallel four-bar linkage of the present invention.
Fig. 6 is a schematic cross-sectional view of the thigh member of the single-legged device of the dual parallel four-bar linkage of the present invention.
Fig. 7 is a schematic view of the thigh support structure of the single-leg device of the double parallel four-bar transmission mechanism of the present invention.
Fig. 8 is a schematic diagram showing the leg motion of a six-wheel leg robot using a single-leg device of the double parallel four-bar transmission mechanism of the present invention.
Fig. 9 is a schematic diagram showing a manner of gripping an object by a six-wheel leg robot using a single-leg device of a double parallel four-bar linkage mechanism according to the present invention.
Fig. 10 is a schematic diagram of the six-wheel motion of a six-wheel leg machine employing a single-leg arrangement of the dual parallel four-bar linkage of the present invention.
Fig. 11 is a schematic diagram of four wheel motion for a six-wheel leg machine employing a single leg arrangement of the dual parallel four bar linkage of the present invention.
FIG. 12 is a schematic diagram of the three-wheel motion of a six-wheel leg machine using the single-leg device of the dual parallel four-bar linkage of the present invention.
Fig. 13 is a schematic view of a six-wheel leg machine employing a single-leg arrangement of the dual parallel four-bar linkage of the present invention in a storage position.
In the figure:
1-base section part 2-thigh part 3-shank part
4-driving wheel part 5-machine body 101-machine body connecting piece
102-waist joint driving motor 103-base joint cushion 104-base joint connecting piece
105-base joint connecting piece lower 106-waist joint driving motor suite upper 107-waist joint driving motor suite lower
108-first bearing 109-first axial retainer ring 110-first bearing retainer plate
201-hip joint driving motor 202-hip joint driving motor suite right 203-hip joint driving motor suite left
204-thigh link right 205-thigh link left 206-drive side link
207-knee joint drive motor 208-connecting rod 209-auxiliary connecting rod
210-driven side link 211-thigh support 212-retaining ring for second shaft
213-second bearing plate 214-second bearing 215-right thigh plate
216-thigh left plate 217-first auxiliary side link 218-second auxiliary side link
301-shank link 302-shank 303-flexible buffer foot
401-wheel 402-driving wheel motor
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
The invention discloses a single-leg device of a double-parallel four-bar transmission mechanism, which comprises a base section component 1, a thigh component 2 and a shank component 3, and is shown in figures 1 and 2.
The base section component 1 comprises a machine body connecting piece 101, a waist joint driving motor 102, a base section buffer cushion 103, a base section connecting piece upper 104, a base section connecting piece lower 105, a waist joint driving motor suite upper 106, a waist joint driving motor suite lower 107, a first bearing 108, a first shaft retainer ring 109 and a first bearing pressure plate 110. As shown in fig. 3 and 4.
The axis of the waist joint driving motor 102 is perpendicular to the horizontal plane, and the upper end and the lower end of the waist joint driving motor are respectively fixedly sleeved with an upper waist joint driving motor suite 106 and a lower waist joint driving motor suite 107. The tail end of the base section connecting piece lower 105 is fixed with the output shaft of the motor; the tail end of the upper 104 base joint connecting piece is connected with the upper 106 waist joint driving motor suite through a first bearing 108, and the method specifically comprises the following steps: the tail end of the base joint connecting piece 104 is fixed with the outer ring of the first bearing 108 in an interference fit manner, and the inner ring of the first bearing 108 is fixed with a protrusion which is arranged on the waist joint driving motor suite 106 and is coaxial with the waist joint driving motor 102 in an interference fit manner; at the same time, the first bearing 108 is axially positioned and clamped by the first axial retainer ring 109 and the first bearing press plate 110. Thereby simultaneously driving the base joint connecting piece upper 104 and the base joint connecting piece lower 105 to rotate in equal angles through the waist joint driving motor 102. The front ends of the upper base joint connecting piece 104 and the lower base joint connecting piece 105 are arc-shaped structures and are used for connecting thigh parts, so that the rigidity and the strength of connection are ensured.
The fuselage connecting piece 101 is an arc-shaped plate, and the inner wall position of the fuselage connecting piece is respectively attached to the upper part 106 of the waist joint driving motor suite and the lower part 107 of the waist joint driving motor suite in the circumferential direction. The edge design has the flange about fuselage connecting piece 101 outer wall, and the equal angle in flange circumference has seted up the axial through-hole A of perpendicular to motor for it is fixed with waist joint driving motor external member lower 107 to pass on screw and the waist joint driving motor external member 106, and the flange circumference is gone up still equal angle and has seted up the axial through-hole B that is on a parallel with the motor, with through-hole A staggered arrangement, is used for passing the screw connection fuselage.
The base joint buffer pad 103 is made of soft rubber and fixed on the outer side wall of the tail end of the lower 105 of the base joint connecting piece, and plays a role in buffering the robot during storage and transportation.
The thigh part 2 comprises a hip joint driving motor 201, a hip joint driving motor suite right 202, a hip joint driving motor suite left 203, a thigh connecting piece right 204, a thigh connecting piece left 205, a driving connecting rod 206, a knee joint driving motor 207, a connecting rod 208, an auxiliary connecting rod 209, a driven connecting rod 210, a thigh support 211, a second shaft retainer ring 212, a second bearing plate 213, a second bearing 214, a thigh right plate 215, a thigh left plate 216, a first auxiliary connecting rod 217 and a second auxiliary connecting rod 218, as shown in fig. 5 and 6.
The axis of the hip joint driving motor 201 is perpendicular to the hip joint driving motor 102 and is arranged along the left and right direction, and the left end 203 and the right end 202 of the hip joint driving motor suite are respectively sleeved with the left hip joint driving motor suite and the right hip joint driving motor suite. The installation mode of the thigh connecting piece right 204 and the thigh connecting piece left 205 is the same as the installation mode of the waist joint driving motor suite upper 106 and the waist joint driving motor suite lower 107, and the tail end of the thigh connecting piece left 205 is fixed with the motor output shaft; the end of the thigh link right 204 is connected with the hip joint drive motor suite right 202 through a second bearing 214, specifically: the tail end of the thigh connecting piece right 204 is fixed with the outer ring of a second bearing 214 in an interference fit manner, and the inner ring of the second bearing 214 is fixed with a protrusion which is arranged on the hip joint driving motor suite right 202 and is coaxial with the hip joint driving motor 201 in an interference fit manner; meanwhile, the second bearing 214 is axially positioned and clamped by the second retainer ring 212 and the second bearing support plate 213. Thereby simultaneously driving the right thigh link 204 and the left thigh link 205 to rotate at equal angles by the hip joint driving motor 201. The front ends of the thigh connecting piece right 204 and the thigh connecting piece left 205 are respectively fixed with the tail ends of a thigh right plate 215 and a thigh left plate 216 which are arranged in parallel. The thigh support 211 is installed between the right thigh plate 215 and the left thigh plate 216, and has a structure as shown in fig. 7, with connection surfaces on the left and right sides, and a stopper in the middle. The left and right side connecting surfaces of the thigh support 211 are respectively attached to the inner walls of the right thigh plate 215 and the left thigh plate 216, and the right thigh plate 215, the left thigh plate 216 and the thigh support 211 are fixed together through bolts; the rigidity and strength of the thigh member 2 are ensured by the thigh support 211. The rear part and the front part of the thigh support 211 are designed to be concave structures, and grooves communicated with the concave structures on the front part are formed in the upper outer side wall and the lower outer side wall, so that an installation space is provided for subsequent parts, and meanwhile, the weight reduction of the thigh support 211 is realized.
The knee joint driving motor 207 is arranged in the rear concave structure of the thigh support 211, so that the whole thigh part 2 is compact in structure, and the volume of the thigh part 2 is reduced. The end surface of one end of the body of the knee joint driving motor 207 is fixed with the right thigh plate 215 by a screw, and the end surface of the other end is in clearance fit with the left thigh plate 216.
The lower leg component 3 comprises a lower leg connecting piece 301, a lower leg 302 and a flexible buffering foot 303, as shown in figures 1 and 2. The shank link 301 is a T-shaped structure having three connecting ends, two opposite connecting ends are respectively connected to the front ends of the right thigh plate 215 and the left thigh plate 216 of the thigh member 2 through bearings, and one of the connecting ends extends out of the right thigh plate 215 for connection of subsequent members. The lower leg 302 adopts a carbon fiber round tube structure, so that the structure of the lower leg 302 is simplified, and the weight of the lower leg part 3 is reduced. The tail end of the lower leg 302 is in interference fit with a sleeve structure designed at the other connecting end of the lower leg connecting piece 301, and is tightly pressed and fixed through a set screw. The ground contacting end of the lower leg 302 is fixedly provided with a flexible buffer foot 303. The flexible buffering foot 303 adopts a rubber hemisphere structure, and the impact of the contact between the ground and the foot is relieved within a certain range.
The shank component 3 is driven by a knee joint driving motor 207, and a double parallel four-bar mechanism transmission is formed by a thigh right plate 215, a driving side link 206, a driven side link 210, a connecting bar 208, an auxiliary connecting bar 209, a first auxiliary side link 217 and a second auxiliary side link 218, so that the shank component can rotate around the connecting bearing axis of the shank connecting piece 301 within the range of +/-164 degrees.
The tail end of the driven side link 210 is connected with the front end of the thigh right plate 215 through a bearing to form a revolute pair, and the axial positioning of the bearing is realized through a retainer ring; meanwhile, the tail end of the driven side link 210 is also in splined connection with the output end of the thigh right plate 215 extending out of the shank connecting piece 301 for force transmission. The big end of the driving side link 206 is connected with the output shaft of the knee joint driving motor 207 through a screw in the circumferential direction; the connecting rod 208 is arranged in parallel with the right thigh plate 215, and the tail end and the front end are provided with 2 connecting positions; the tail end connecting position is connected with a connecting shaft designed on the small end of the driving connecting frame rod 210 through a bearing, and the axial positioning of the bearing is realized through a retainer ring. The connecting position at the front end of the connecting rod 208 is connected with a connecting shaft designed at the front end of the driven connecting rod 210 through a bearing, and the axial positioning of the bearing is realized by a retainer ring. Thereby the right thigh plate 215, the driving side link 206, the driven side link 210 and the link 208 constitute a first parallel four-bar mechanism.
The end of the first auxiliary side link 217 is designed with a square protrusion, which is butted with a square hole designed at the end of the connecting shaft at the small end of the driving side link 206 for force transmission. The end of the second auxiliary side link 218 is also designed with a square protrusion, which is in butt joint with a square hole designed at the end of the connecting shaft at the front end of the driven side link 210 to transmit force. Two ends of the auxiliary connecting rod 209 are respectively connected with the front ends of the first auxiliary side link 217 and the second auxiliary side link 218 through screws through bearings to form two revolute pairs. The link 208 is located in a different spatial plane from the thigh member 2, the shank member 3 and the auxiliary link 209, and avoids interference with each other. Thereby the link 208, the first auxiliary link 217, the second auxiliary link 218 and the auxiliary link 209 constitute a second parallel four-bar mechanism.
Through the double parallel four-bar mechanism, the knee joint can be overturned by 180 degrees under the driving of the knee joint driving motor 207. When the first parallel four-bar mechanism is in the singular configuration, the second parallel four-bar mechanism is not in the singular configuration, and at the moment, under the action of the second parallel four-bar mechanism, the first parallel four-bar mechanism gets rid of the singular configuration; when the second parallel four-bar mechanism is in the singular configuration, the whole-circle movement of the knee joint can be realized by the same way as the process. This range of motion in the knee joint is achieved by the contact fit between the bottom end of the concave structure in the front of thigh support 211 and lower leg 302.
The single-leg device of the double-parallel four-bar transmission mechanism with the structure can also be provided with a driving wheel part 4 on the outer wall of the front end of the thigh part 2, as shown in fig. 1 and 2, and comprises a wheel 401 and a driving wheel motor 402. Wherein, the organism of action wheel motor 402 links firmly through the screw with thigh left plate 216 outer wall in thigh spare 2, and the output of action wheel motor 402 links firmly through the screw with wheel 401, and the output axis of action wheel motor 402, wheel 401 axis and knee joint axis of rotation collineation. The driving wheel part 4 is a modular part, and can be flexibly selected to be installed or not according to requirements.
The six-wheel leg robot applying the single-leg device with the double-parallel four-bar transmission mechanism comprises a machine body 5 with a double-layer structure and 6 single-leg devices of the double-parallel four-bar transmission mechanism, wherein the single-leg devices of the double-parallel four-bar transmission mechanism are uniformly distributed in the circumferential direction of the machine body, and the single-leg devices of the double-parallel four-bar transmission mechanism are fixedly connected with the upper layer and the lower layer of the machine body 5 through holes in a machine body connecting piece 101. And whether a driving wheel part is additionally arranged or not is selected according to the requirement, so that the six-wheel leg robot can realize leg type motion or wheel type motion.
As shown in fig. 9. During legged movement, the flexible buffer feet 303 of the lower leg component 3 contact the ground and can be typical 3+3 gait, 4+2 gait or 5+1 gait, the adjacent lower legs 302 are close to each other by controlling the adjacent waist joint driving motors 102 to clamp objects between the adjacent lower legs 302, then the adjacent lower legs 302 are driven to rotate upwards by controlling the knee joint driving motors 207, and finally the objects between the adjacent lower legs 302 are placed on the top surface of the machine body 5; then, the waist joint driving motor 102 is controlled to release the object from the adjacent lower leg 302, and the knee joint driving motor 207 is controlled to drive the adjacent lower leg 302 to return to the original state, as shown in fig. 10. Similarly, the object can be removed from the top surface of the body 5 by controlling the lower leg 302 in the reverse direction.
As shown in fig. 11, 12, and 13, the wheel-type exercise may be a three-wheel exercise, a four-wheel exercise, or a six-wheel exercise, in which the lower leg 302 is rotated upward to the limit position by controlling the knee joint drive motor 207 and the thigh member 2 is rotated downward by controlling the hip joint drive motor 201, so that the wheel 401 touches the ground. The more wheels 401 that contact the ground, the better the stability of the body 5, and the worse the turning performance, the height of the body 6 can be adjusted by the joint motion when the wheels move. In the state of three-wheel movement and four-wheel movement, only four single-leg structures needing to be grounded are additionally provided with driving wheel components, and the postures of the single-leg structures not needing to be grounded are flexible and changeable, as shown in fig. 12 and 13, a hip joint driving motor 201 is controlled to enable a thigh component 2 to rotate upwards to the limit, and a knee joint driving motor 207 is controlled to enable a shank 302 to rotate downwards to the limit position, so that the single leg is folded and positioned above a machine body 5; and the posture of the single-leg device can be used for the whole robot to be contracted when the robot is stored and transported, as shown in fig. 13. The single-leg structure without grounding can have other postures than the single-leg device controlled to be stretched. The body reaches a more stable state (similar to the effect of the tail of an animal on the body balance) through the coordinated movement of the single leg without landing.
Because the robot body 5 has the up-down symmetry and the single-leg device of the double-parallel four-bar transmission mechanism has the symmetry of the joint motion range, the six-wheel-leg robot can continue to move only by reversely standing without adjusting the posture of the robot body to return to the state before turning when turning.
Claims (7)
1. A single leg device of a double-parallel four-bar transmission mechanism comprises a base section component, a thigh component and a shank component; the base section component is connected with the robot body and is provided with a waist joint driving motor for driving the thigh component to transversely rotate; the hip joint driving motor is arranged at the tail end of the thigh part and used for driving the thigh part to rotate up and down; the lower leg part is arranged at the front end of the upper leg part and is driven to rotate up and down by a knee joint driving motor; the method is characterized in that: the knee joint driving motor drives the shank part to rotate through a double parallel four-bar structure;
the thigh supporting structure is provided with connecting surfaces at the left side and the right side and a limiting block at the middle part; the left and right connecting surfaces of the thigh support are respectively fixed with the thigh plates at the two sides; the rear part and the front part of the thigh support are designed into concave structures, and grooves communicated with the concave structures of the front part are formed in the upper outer side wall and the lower outer side wall; the knee joint driving motor is arranged in the concave structure at the rear part of the thigh support; the motion range of the knee joint is realized by the contact and the cooperation between the bottom end of the concave structure at the front part of the thigh support and the shank part;
the double parallel four-bar structure comprises a driving side link, a connecting bar, an auxiliary connecting bar, a driven side link, a first auxiliary side link and a second auxiliary side link;
wherein, the tail end of the driven side link is connected with the front end of the thigh plate through a bearing to form a revolute pair; meanwhile, the tail end of the driven connecting rod is connected with a rotating shaft of the shank part through a spline to transfer force; the big end of the driving connecting frame rod is connected with an output shaft of the knee joint driving motor; the connecting rod is arranged in parallel to the thigh plate, and the tail end and the front end are provided with 2 connecting positions; wherein the tail end connecting position is connected with a connecting shaft designed on the small end of the driving connecting frame rod through a bearing; the connecting position at the front end of the connecting rod is connected with a connecting shaft designed at the front end of the driven connecting rod through a bearing; the thigh plate, the driving side link, the driven side link and the connecting rod form a first parallel four-bar mechanism;
the tail end of the first auxiliary side link and the small end of the driving side link are connected for force transmission; the tail end of the second auxiliary side link is connected with the end part of the connecting shaft at the front end of the driven side link for force transmission; one end of the auxiliary connecting rod is connected with the front end of the first auxiliary side link through a bearing, and the other end of the auxiliary connecting rod is connected with the front end of the second auxiliary side link through a bearing to form two revolute pairs; the connecting rod, the first auxiliary connecting rod, the second auxiliary connecting rod and the auxiliary connecting rod form a second parallel four-bar mechanism;
the knee joint can be overturned for 180 degrees under the driving of the knee joint driving motor; when the first parallel four-bar mechanism is in the singular configuration, the second parallel four-bar mechanism is not in the singular configuration, and at the moment, under the action of the second parallel four-bar mechanism, the first parallel four-bar mechanism gets rid of the singular configuration; when the second parallel four-bar mechanism is in the singular configuration, the first parallel four-bar mechanism is not in the singular configuration, and at the moment, under the action of the first parallel four-bar mechanism, the second parallel four-bar mechanism gets rid of the singular configuration; thus, the whole-circle movement of the knee joint can be realized.
2. The single-leg device of a double parallel four-bar linkage as claimed in claim 1, wherein: in the base section component, two ends of a waist joint driving motor are respectively fixedly sleeved with an upper waist joint driving motor suite and a lower waist joint driving motor suite; the inner cambered surfaces of the machine body connecting pieces with the arc-shaped plate structures are respectively attached to the upper part of the waist joint driving motor suite and the lower part of the waist joint driving motor suite in the circumferential direction; the edge design has the flange about the fuselage connecting piece outer wall, and the equidistance is seted up perpendicular to motor axial through-hole A on the flange circumference for pass on screw and the waist joint driving motor external member with waist joint driving motor external member under fixed, and the flange circumference is gone back the equidistance and is seted up the through-hole B that is on a parallel with the motor axial, with through-hole A staggered arrangement, be used for passing the screw connection fuselage.
3. The single-leg device of a double parallel four-bar linkage as claimed in claim 1, wherein: the waist joint driving motor drives the base joint connecting pieces on the two sides to synchronously rotate so as to drive the thigh part to rotate; the front ends of the two side base joint connecting pieces are provided with opposite cambered surfaces, and the two cambered surfaces are respectively fixed on the left side of a hip joint driving motor suite and the upper right side of the hip joint driving motor suite, which are sleeved at the two ends of a hip joint driving motor in the thigh piece.
4. The single-leg device of a double parallel four-bar linkage as claimed in claim 1, wherein: the hip joint driving motor drives the thigh plates on the two sides to synchronously rotate, so that the thigh parts rotate; and a thigh supporting structure is fixedly arranged between the thigh plates at the two sides.
5. The single-leg device of a double parallel four-bar linkage as claimed in claim 1, wherein: the bottom end of the base joint component is provided with a base joint cushion pad made of soft rubber.
6. The single-leg device of a double parallel four-bar linkage as claimed in claim 1, wherein: the outer wall of the front end of the thigh part is provided with a driving wheel part which comprises a wheel and a driving wheel motor; the machine body of the driving wheel motor is fixedly connected with the outer wall of the thigh plate, the output end of the driving wheel motor is fixedly connected with the wheel, and the axis of the output end of the driving wheel motor, the axis of the wheel and the axis of the knee joint rotation are collinear.
7. A six-wheel legged robot having a single-legged apparatus of a double parallel four-bar linkage as claimed in claim 1, characterized in that: the device comprises a machine body with a double-layer structure and 6 single-leg devices of double-parallel four-rod transmission mechanisms uniformly distributed in the circumferential direction of the machine body, wherein the single-leg device of each double-parallel four-rod transmission mechanism is fixedly connected with the upper layer and the lower layer of the machine body through a through hole on a connecting piece of the machine body; whether a driving wheel part is additionally arranged or not is selected according to requirements, so that the six-wheel leg robot can realize leg type motion or wheel type motion;
during legged movement, the flexible buffer foot of the lower leg part touches the ground, and the typical gait is 3+3, 4+2 or 5+ 1;
the wheel type movement is three-wheel movement, four-wheel movement or six-wheel movement, at the moment, in the single-leg device, the knee joint driving motor is controlled to enable the shank to rotate upwards to the limit position, and meanwhile, the hip joint driving motor is controlled to enable the thigh part to rotate downwards, so that the wheels touch the ground; the height of the machine body is adjusted through joint movement during wheel type movement; under the state of three-wheel movement and four-wheel movement, driving wheel components are additionally arranged on four single-leg structures needing to be landed, the thigh components are enabled to rotate upwards to the limit by controlling a hip joint driving motor, and meanwhile, the crus are enabled to rotate downwards to the limit position by controlling a knee joint driving motor, so that the single legs are folded and positioned above the machine body.
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| CN202011003952.0A CN112061262B (en) | 2020-09-22 | 2020-09-22 | Single-leg device of double-parallel four-rod transmission mechanism and six-wheel-leg robot |
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| CN202011003952.0A CN112061262B (en) | 2020-09-22 | 2020-09-22 | Single-leg device of double-parallel four-rod transmission mechanism and six-wheel-leg robot |
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