CN112693540B - Parallel driving mechanism for crawling mechanical legs - Google Patents
Parallel driving mechanism for crawling mechanical legs Download PDFInfo
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- CN112693540B CN112693540B CN202011599247.1A CN202011599247A CN112693540B CN 112693540 B CN112693540 B CN 112693540B CN 202011599247 A CN202011599247 A CN 202011599247A CN 112693540 B CN112693540 B CN 112693540B
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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
Abstract
The invention discloses a parallel driving mechanism of a crawling mechanical leg, which comprises a fixed platform, a movable platform, a third branch, a fourth branch, a first branch and a second branch which are the same in structure, wherein the first branch, the second branch, the third branch and the fourth branch are connected with the movable platform and the fixed platform, moving pairs are arranged in the first branch, the second branch and the fourth branch, the three moving pairs can drive the fixed platform to move in space, the third branch comprises SU, SR and UR, the parallel mechanism is a two-to-one moving mechanism, and the movement is flexible. The parallel mechanism has no singular position in a working space, the motion is continuous and smooth, and the mechanical legs take the moving pair as a driving pair, so that the mechanical legs have better support rigidity; the crawling robot based on the novel parallel mechanism mechanical legs can move along any direction on a plane.
Description
Technical Field
The invention relates to the field of robots, in particular to a three-degree-of-freedom parallel driving mechanism for crawling mechanical legs.
Background
The traditional wheel type moving mode has poor adaptation to soft ground and uneven ground, the maneuverability of the crawler type moving mode on the uneven ground is still poor, and the body shakes seriously when the vehicle runs. The research of the multi-legged walking robot is vigorously developed under the background that the walking robot has unique and superior performance compared with a wheeled and tracked mobile robot on a rugged road. The appearance of the crawling walking robot shows the advantages of the walking robot; the parallel mechanism has certain advantages in bearing capacity and rapidity of movement, so that the parallel mechanism has wide application in the driving mechanism of the leg of the crawling machinery.
Disclosure of Invention
The purpose of the invention is to provide a two-rotation one-movement parallel driving mechanism which has reliable structure, certain bearing capacity and better movement performance and can be used for a leg structure of a crawling machine.
The technical scheme of the invention is to provide a parallel mechanism of a crawling mechanical leg, which comprises a statorThe movable platform and the fixed platform are connected in parallel by the first branch, the second branch, the third branch and the fourth branch, moving pairs are arranged in the first branch, the second branch and the fourth branch, and the three moving pairs can drive the fixed platform to perform spatial motion; the first branch and the second branch have the same structure and are of an SPU (unified peripheral system) configuration, the first branch comprises a first ball pair, a first moving rod group and a first universal hinge, the center of the first ball pair and the center of the first universal hinge are both positioned on the axis of the first moving rod group, two ends of the first moving rod group are respectively connected with the fixed platform and the movable platform through the first ball pair and the first universal hinge, the second branch comprises a second ball pair, a second moving rod group and a second universal hinge, the center of the second ball pair and the center of the second universal hinge are both positioned on the axis of the second moving rod group, and two ends of the second moving rod group are respectively connected with the fixed platform and the movable platform through the second ball pair and the second universal hinge; the third branch is of SU configuration and comprises a third ball pair, a fixed long rod and a third universal hinge, the center of the third ball pair and the center of the third universal hinge are both positioned on the axis of the fixed long rod, and two ends of the fixed long rod are respectively connected with the fixed platform and the movable platform through the third ball pair and the third universal hinge; the fourth branch is of a UPR configuration and comprises a fourth universal hinge, a third moving rod group and a revolute pair, the center of the fourth universal hinge and the center of the revolute pair are both positioned on the axis of the third moving rod group, and two ends of the third moving rod group are respectively connected with the fixed platform and the movable platform through the fourth universal hinge and the revolute pair; the axis l of the first rotating shaft of the fourth universal hinge1Passes through the center of the third ball pair, the third branch, the fourth branch and the rotation axis l1In the same plane, the movable platform can rotate around the axis l under the drive of the first movable rod group and the second movable rod group1Rotating; the axes of the first rotating shaft of the first universal hinge, the first rotating shaft of the second universal hinge and the first rotating shaft of the third universal hinge are all overlapped and are set as l2Axis l1To the axis l2Are perpendicular to each other.
Preferably, the first and second branches are arranged on either side of the geometric plane in which the third and fourth branches are located, respectively.
Preferably, the configuration of the third branch further comprises SR and UR, and the degree of freedom of the parallel mechanism is two-rotation one-shift.
Preferably, the axis of the second rotating shaft of the fourth universal hinge is parallel to the axis of the fourth rotating pair.
Preferably, the fourth revolute pair axis is parallel to the axis l2Parallel.
Preferably, the axis of the fourth revolute pair is parallel to the axis l2Are parallel to each other.
Preferably, each parallel mechanism is connected with the main body of the crawling robot through a fixed platform.
Compared with the prior art, the invention has the following advantages:
1) the parallel mechanical leg driving mechanism has a simple structure and two rotational degrees of freedom and one moving degree of freedom, and the tail end of the movable platform can reach a larger working space to fully meet the foot type movement of the mechanical leg;
2) the mechanical legs can move continuously and smoothly without a singular position in a working space at the tail end of the movable platform;
3) the walking robot can move towards any direction in a plane;
4) the mechanical leg takes the moving pair as a driving pair and has better supporting rigidity.
Drawings
FIG. 1 is a schematic diagram of a parallel driving mechanism of a crawling mechanical leg with three degrees of freedom;
fig. 2 is a perspective view of the mechanical leg driving mechanism embodiment 1;
FIG. 3 is a perspective view of a first branch;
FIG. 4 is a perspective view of a third branch;
FIG. 5 is a perspective view of a fourth branch;
fig. 6 is a perspective view of embodiment 2 of the mechanical leg driving mechanism;
FIG. 7 is a perspective view of a third arm in accordance with embodiment 2;
fig. 8 is a perspective view of embodiment 3 of the mechanical leg drive mechanism;
FIG. 9 is a perspective view of a third arm in accordance with embodiment 3;
fig. 10 is a perspective view illustrating a crawling robot.
Reference numerals:
1, a robot main body, 2 mechanical legs connected in parallel, 21 a first branch, 22 a second branch, 23 a third branch, 24 a fourth branch, 25 a fixed platform and 26 a movable platform;
211 a first ball pair, 212 a first moving rod group, 213 a first universal hinge, 221 a second ball pair, 222 a second moving rod group, 223 a second universal hinge, 231 a third ball pair, 232 a fixed long rod, 233 a third universal hinge, 241 a fourth universal hinge, 242 a third moving rod group and 243 a fourth rotating pair;
2131 a first rotating shaft of a first universal hinge, 2231 a first rotating shaft of a second universal hinge, 2331 a first rotating shaft of a third universal hinge, 2332 a second rotating shaft of a third universal hinge, 2411 a first rotating shaft of a fourth universal hinge and 2412 a second rotating shaft of a fourth universal hinge.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments that can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
As shown in fig. 1 to 5, the parallel mechanism for the legs of the crawling machinery comprises a fixed platform 25, a movable platform 26, a first branch 21, a second branch 22, a third branch 23 and a fourth branch 24. As shown in fig. 3, the first branch 21 and the second branch 22 have the same structure and are both SPU configurations, the configurations of the two branches do not generate any constraint on the degree of freedom of spatial motion of the moving platform, the first branch 21 includes a first ball pair 211, a first moving rod group 212 and a first universal hinge 213, two ends of the first moving rod group 212 are respectively connected to the fixed platform 25 and the moving platform 26 through the first ball pair 211 and the first universal hinge 213, the second branch 22 includes a second ball pair 221, a second moving rod group 222 and a second universal hinge 223, two ends of the second moving rod group 222 are respectively connected to the fixed platform 25 and the moving platform 26 through the second ball pair 221 and the second universal hinge 223; as shown in fig. 4, the third branch 23 is in SU configuration, and the branch restricts the freedom of movement of the movable platform 26 along the z-axis, and includes a third ball pair 231, a fixed long rod 232 and a third universal hinge 233, wherein two ends of the fixed long rod 232 are respectively connected to the fixed platform 25 and the movable platform 26 through the third ball pair 231 and the third universal hinge 233; as shown in fig. 5, the fourth branch 24 is in a UPR configuration, and the branch restricts the freedom of movement of the movable platform 26 along the x-axis and rotation around the z-axis, and includes a fourth universal hinge 241, a fourth moving rod set 242, and a fourth revolute pair 243, both ends of the third moving rod set 242 are respectively connected to the fixed platform 25 and the movable platform 26 through the fourth universal hinge 241 and the fourth revolute pair 243, and a second rotating shaft 2412 of the fourth universal hinge is parallel to an axis of the fourth revolute pair 243.
The moving platform is constrained by integrating four branches, so that the freedom degree of the parallel mechanism is two-rotation one-movement, such as a coordinate system shown in figure 1, and the moving platform can rotate around an x axis, rotate around a y axis and move along the y axis direction relative to the fixed platform.
The center of the first ball pair 211 and the center of the first universal hinge 213 are located on the axis of the first moving rod set 212, the center of the second ball pair 221 and the center of the second universal hinge 223 are located on the axis of the second moving rod set 222, the center of the third ball pair 231 and the center of the third universal hinge 233 are located on the axis of the fixed long rod 232, and the center of the fourth universal hinge 241 and the center of the fourth revolute pair 243 are located on the axis of the third moving rod set 242.
Axis l of first shaft 2431 of fourth universal hinge1Passing through the center of the third ball pair 231, the third branch 23, the fourth branch 24 and the rotation axis l1In the same plane, the movable platform 26 can rotate around the axis l under the driving of the first movable rod set 212 and the second movable rod set 2221Rotating; the axes of the first rotation shaft 2131 of the first universal hinge, the first rotation shaft 2231 of the second universal hinge, and the first rotation shaft 2331 of the third universal hinge all coincide, and are set to l2And l2Parallel to the axis of the fourth revolute pair 243, so that when the first branch 21, the second branch 22 and the third branch 23 are fixed, the movable platform 26 can be driven by only the third movable rod set to rotate around the axis l2The rotation is performed. Axis l1To the axis l2Perpendicular to each other, the first branch 21 and the second branch 22 being distributed on the axis l1On both sides, the movable platform 26 can be moved about the axis l by the co-operative actuation of the first set of moving bars 212 and the second set of moving bars 2221And (4) rotating.
The driving pair of the mechanism is a moving pair on three branches, and compared with a rotating pair used as the driving pair, the driving pair has large driving force, can carry out reverse self-locking, has good integral supporting rigidity and larger bearing capacity.
For embodiment 2, the kinematic pair connecting the third branch 23 and the movable platform 26 is changed into a third revolute pair, the structure of which is shown in fig. 6 and is configured as SR, and the branch restricts the freedom of movement of the movable platform 26 along the x-axis and the z-axis after the modification. The modified rotation axis of the third rotation pair 233 of the present example coincides with the rotation axis of the first rotation shaft 2331 of the third rotation pair of the embodiment 1, the structures and installation methods of the other branches remain unchanged, the comprehensive constraint effect of the four branches on the spatial freedom of the movable platform 26 is completely consistent, the freedom of the parallel mechanism is still two-rotation one-movement, and the movable platform 26 can rotate around the x-axis, rotate around the y-axis and move along the y-axis direction relative to the fixed platform 25. In this example, the third branch 23 and the fourth branch 24 both restrict the freedom of movement of the movable platform 26 in the x-axis direction, so that the present example has a higher requirement on the parallelism between the axis of the third rotating pair 233 and the axis of the fourth rotating pair during assembly, but the third rotating pair 233 has a smaller rotating shaft than the third universal hinge 233 in the first example, and the movable platform has better rigidity.
For example 3, which is to be compared to example two, the secondThe kinematic pair of the three branches 23 connected with the fixed platform 25 is changed into a third universal hinge, the structure of which is shown in fig. 9 and is in UR shape, and the branches restrict the freedom of movement of the movable platform 26 along the x axis and the z axis and the freedom of rotation around the z axis after modification. Modified axis of rotation and axis l of first rotation shaft 2311 of the third universal joint1And (4) overlapping. The kinematic pair mounting structures of other branches and branches of the modified embodiment 3 are consistent with those of the embodiment 2, the comprehensive constraint effects of the four branches on the space freedom degree of the movable platform 26 are completely consistent, the freedom degree of the parallel mechanism is still two-rotation one-movement, and the movable platform 26 can rotate around the x axis, rotate around the y axis and move along the y axis direction relative to the fixed platform 25.
In this embodiment 3, the third branch 23 and the fourth branch 24 both restrict the freedom of movement of the movable platform 26 along the x-axis direction and the freedom of rotation around the z-axis, so that, compared to embodiment 1, this embodiment puts higher requirements on the parallelism of the axis of the third revolute pair 233 and the axis of the fourth revolute pair, and the coaxiality of the first revolute shaft 2311 of the third universal joint and the first revolute shaft 2411 of the fourth universal joint, and the assembly difficulty is higher. However, the third revolute pair 233 has one rotation axis less than that of the third universal hinge 233 in example 1, the third universal hinge 231 has one rotation degree less than that of the third spherical pair in example 1, and the movable platform has more redundant constraints, so that the mechanism has better rigidity.
As shown in fig. 10, the crawling robot includes a robot main body 1 and 6 parallel mechanical legs 2, and a fixed platform 25 of the parallel mechanical legs 2 is fixed on the robot main body 1. Since the parallel drive mechanism has three degrees of freedom, the movable platform 26 can rotate about the z-axis and y-axis of the coordinate system of fig. 10, and move in the x-axis direction with a degree of freedom. The moving freedom degrees of the 6 mechanical legs in the x-axis direction can enable the robot to simulate the transverse crawling of crabs and move in the x-direction in a crawling mode; the 6 mechanical legs can swing around the z-axis through the rotational freedom degree around the z-axis, so that the robot can crawl and move along the y-axis direction. Through the cooperation of the two motion modes, the robot can move along any direction on a plane.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other ways. The above-described apparatus embodiments are merely illustrative.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. As a result of the observation: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Claims (4)
1. The utility model provides a parallel drive mechanism of mechanical leg of crawling, includes and decides the platform, moves platform, first branch, second branch, third branch and fourth branch, its characterized in that:
the first branch, the second branch, the third branch and the fourth branch are connected with the movable platform and the fixed platform in a parallel mode, moving pairs are arranged in the first branch, the second branch and the fourth branch, and the three moving pairs can drive the fixed platform to perform space motion;
the first branch and the second branch have the same structure and are of an SPU (unified peripheral system) configuration, the first branch comprises a first ball pair, a first moving rod group and a first universal hinge, the center of the first ball pair and the center of the first universal hinge are both positioned on the axis of the first moving rod group, two ends of the first moving rod group are respectively connected with the fixed platform and the movable platform through the first ball pair and the first universal hinge, the second branch comprises a second ball pair, a second moving rod group and a second universal hinge, the center of the second ball pair and the center of the second universal hinge are both positioned on the axis of the second moving rod group, and two ends of the second moving rod group are respectively connected with the fixed platform and the movable platform through the second ball pair and the second universal hinge;
the third branch is in an SU configuration and restrains the moving freedom degree of the moving platform along the z axis, the third branch comprises a third ball pair, a fixed long rod and a third universal hinge, the center of the third ball pair and the center of the third universal hinge are both positioned on the axis of the fixed long rod, and two ends of the fixed long rod are respectively connected with the fixed platform and the moving platform through the third ball pair and the third universal hinge;
the fourth branch is of a UPR configuration, the fourth branch restricts the movement of the movable platform along the x axis and the rotational freedom degree of the movable platform around the z axis, the fourth branch comprises a fourth universal hinge, a third movable rod group and a fourth revolute pair, the center of the fourth universal hinge and the center of the fourth revolute pair are both positioned on the axis of the third movable rod group, and two ends of the third movable rod group are respectively connected with the fixed platform and the movable platform through the fourth universal hinge and the fourth revolute pair; a second rotating shaft of the fourth universal hinge is parallel to the axis of the fourth rotating pair;
the axis of the first rotating shaft of the fourth universal hingel 1Passes through the center of the third ball pair, the third branch, the fourth branch and the rotation axisl 1In the same plane, the movable platform can rotate around the axis under the drive of the first movable rod group and the second movable rod groupl 1Rotating;
the axes of the first rotating shaft of the first universal hinge, the first rotating shaft of the second universal hinge and the first rotating shaft of the third universal hinge are all overlapped and are set asl 2Axis of rotationl 1And the axis linel 2The parallel driving mechanism is perpendicular to each other, and the movable platform is restrained through four branches, so that the degree of freedom of the parallel driving mechanism is two-rotation one-movement.
2. The parallel leg drive mechanism of a crawling machine as claimed in claim 1, wherein: the first branch and the second branch are respectively arranged at two sides of a geometric plane where the third branch and the fourth branch are located.
3. The parallel leg drive mechanism of a crawling machine as claimed in claim 1, wherein: the third branch also comprises SR and UR, and the freedom degree of the parallel driving mechanism is still two-rotation one-shift.
4. The parallel leg drive mechanism of a crawling machine as claimed in claim 1, wherein: each parallel driving mechanism is connected with the main body of the crawling robot through a fixed platform.
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| CN202011599247.1A CN112693540B (en) | 2020-12-29 | 2020-12-29 | Parallel driving mechanism for crawling mechanical legs |
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| CN202011599247.1A CN112693540B (en) | 2020-12-29 | 2020-12-29 | Parallel driving mechanism for crawling mechanical legs |
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| CN112693540A CN112693540A (en) | 2021-04-23 |
| CN112693540B true CN112693540B (en) | 2022-03-15 |
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2020
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