CN113443041A

CN113443041A - Composite leg and foot mechanism and 3-UPS parallel wheel and foot composite bouncing robot

Info

Publication number: CN113443041A
Application number: CN202110861443.XA
Authority: CN
Inventors: 姚云龙; 刘思民; 马广英; 李鸿博; 张玉妍
Original assignee: Shandong University
Current assignee: Shandong University
Priority date: 2021-07-29
Filing date: 2021-07-29
Publication date: 2021-09-28
Anticipated expiration: 2041-07-29
Also published as: CN113443041B

Abstract

The invention relates to a composite leg-foot mechanism and a 3-UPS parallel wheel-foot composite bouncing robot, wherein the composite leg-foot mechanism comprises an upper semicircular ring, a lower semicircular ring and a parallel swinging mechanism, wherein wheels are formed when the upper semicircular ring and the lower semicircular ring are spliced into a circular ring, so that wheel type movement is realized, and foot type walking is realized under the control of the parallel swinging mechanism; and the upper semicircular ring and the lower semicircular ring realize bouncing movement when being overlapped. The composite leg-foot mechanism and the 3-UPS parallel wheel-foot composite bouncing robot are high in flexibility and strong in bearing capacity and are suitable for lunar rugged ground detection.

Description

Composite leg and foot mechanism and 3-UPS parallel wheel and foot composite bouncing robot

Technical Field

The invention relates to a robot with a driving walking propulsion device, in particular to a composite leg and foot mechanism and a 3-UPS parallel wheel and foot composite bouncing robot.

Background

The four-legged walking robot can be divided into a series robot, a parallel robot and a series-parallel robot according to different leg structures. The existing wheel-foot composite robot or the existing bouncing robot mostly adopts a serial joint connection mode, so that the single leg has defects in load capacity and foot end dynamic characteristics. The mobile robot based on the series structure has small single-leg rigidity and cannot bear a task with high bearing requirement; the accumulated error of the serial joints influences the motion precision of the single leg and foot end of the robot; if a high-load hydraulic structure is adopted, the noise problem of hydraulic drive is generated, and the flexibility of a single leg is reduced.

The mobile robot is classified into a foot type, a wheel type, a crawler type, a peristaltic type, and the like according to a motion manner, wherein the foot type and the wheel type are most widely used. The wheel type movement has higher movement speed, stability and load capacity, is the most mature movement form, but has unsatisfactory obstacle avoidance capacity and movement performance in an unstructured environment. The foot type movement speed and efficiency are low, but the track of the foot end is a series of discrete points, and isolated ground support can be utilized, so that the obstacle avoidance capability and the terrain adaptability are strong. The bouncing robot is used as a mobile platform, is flexible to move, has great advantages in rugged terrains, can easily cross when meeting gullies or obstacles, and has much higher space movement capacity than a pure wheel type or foot type robot particularly in the environment of low gravity of the moon.

However, the field of compound motion robots is slow to develop, and a compound robot capable of operating in multiple motion modes is lacking.

Disclosure of Invention

The invention aims to provide a composite leg-foot mechanism which is high in flexibility and strong in bearing capacity and is suitable for lunar rugged ground detection and a 3-UPS parallel wheel-foot composite bouncing robot.

In order to solve the technical problem, the application provides the following technical scheme:

on one hand, the invention provides a composite leg and foot mechanism which comprises an upper semicircular ring, a lower semicircular ring and a parallel swinging mechanism, wherein wheels are formed when the upper semicircular ring and the lower semicircular ring are spliced into a circular ring, so that wheel type movement is realized, and foot type walking is realized under the control of the parallel swinging mechanism; and the upper semicircular ring and the lower semicircular ring realize bouncing movement when being overlapped.

Furthermore, the device comprises a static platform, wherein the static platform is connected with a movable platform through the parallel swing mechanism, and the movable platform is connected with the upper semicircular ring and drives the upper semicircular ring to rotate.

Furthermore, the arc part circumference fretwork of last semicircle ring and fretwork department inner wall set up the profile of tooth and form circular-arc rack, be connected with wide gear on the circular-arc rack, gear drive ware is connected to the axle one end of wide gear, semicircle ring down is connected to the other end.

Furthermore, a pair of long holes are symmetrically arranged at two ends of the straight line part of the upper semicircular ring at intervals, spring connecting blocks are connected to the long holes in a sliding mode, a spring is connected between the two spring connecting blocks and is respectively connected with a first spring rod and a second spring rod in a rotating mode, and the other ends of the first spring rod and the second spring rod are hinged to each other and then fixedly connected with bouncing foot ends.

Furthermore, the parallel swinging mechanism comprises a base symmetrically fixed on the static platform, a rotary driver and a linear driver, wherein the rotary driver and the linear driver are connected to the base, the end part of the linear driver is hinged to a parallel link rod on the movable platform, and the rotary driver and the linear driver respectively drive the parallel link rod to swing up and down, extend and shorten and drive wheels to walk in a foot type through the movable platform.

Further, the linear driver is rotatably connected with the base through a connecting block.

On the other hand, the invention also provides a 3-UPS parallel wheel-foot composite bouncing robot comprising any one of the composite leg-foot mechanisms.

Furthermore, the 3-UPS parallel wheel foot composite bouncing robot comprises a robot body, and the composite leg foot mechanisms are symmetrically arranged on two sides of the robot body.

Further, 3-UPS connects in parallel sufficient compound bounce robot of wheel still includes gesture adjustment mechanism, gesture adjustment mechanism includes cavity, sliding connection that fuselage center department seted up are in slider in the cavity and set up in the fuselage and with a plurality of liquid circulation passageways of cavity intercommunication, the slider is in under the liquid action slowly slide in the cavity in order to adjust the balance of fuselage.

Further, the static platform is connected with the machine body through a threaded rod.

Compared with the prior art, the composite leg-foot mechanism and the 3-UPS parallel wheel-foot composite bouncing robot have at least the following beneficial effects:

the invention uses a 3-UPS six-freedom-degree parallel swinging mechanism on a composite leg-foot mechanism, the bearing capacity of the robot is increased, the moving flexibility is not lost, the moving mode can be flexibly adjusted according to the ground condition under the environment of low gravity in the outer space, the robot can more quickly and stably reach the destination by using wheel type moving on the flat ground, the flexibility of the robot can be greatly improved by small step stepping, namely foot type walking under the condition of small obstacle, and meanwhile, the jumping space moving range is far larger than that of wheel type or foot type moving in some special fields, so the robot can also jump and advance to meet the walking requirement under the complex condition. In a word, the composite leg-foot mechanism and the 3-UPS parallel wheel-foot composite bouncing robot can be flexibly switched among 3 modes of wheel type, foot type and bouncing, and are particularly suitable for lunar rugged ground detection.

The invention further discloses a composite leg and foot mechanism and a 3-UPS parallel wheel and foot composite bouncing robot by combining the attached drawings.

Drawings

FIG. 1 is a schematic structural diagram of a composite leg and foot mechanism and a 3-UPS parallel wheel and foot composite bounce robot in a rolling mode and a walking mode;

FIG. 2 is a schematic diagram of a side view structure of the composite leg and foot mechanism and the 3-UPS parallel wheel foot composite bounce robot in a rolling mode and a walking mode;

FIG. 3 is a schematic structural diagram of the composite leg and foot mechanism and the 3-UPS parallel wheel and foot composite bounce robot in the bounce mode;

FIG. 4 is a partial cross-sectional view of the body of the composite leg and foot mechanism and 3-UPS parallel wheel and foot composite bouncing robot of the invention;

FIG. 5 is a schematic structural diagram of a composite leg and foot mechanism and a composite bouncing robot with a 3-UPS parallel wheel foot according to the present invention;

FIG. 6 is another schematic structural diagram of the composite leg and foot mechanism and the composite bouncing robot with 3-UPS parallel wheel and foot according to the present invention;

FIG. 7 is a schematic diagram of another structure of the composite leg and foot mechanism and a 3-UPS parallel wheel foot composite bounce robot;

FIG. 8 is an enlarged view of a portion of FIG. 7 at A;

fig. 9 is a schematic structural diagram of a composite leg-foot mechanism and a parallel swinging mechanism in a 3-UPS parallel wheel-foot composite bouncing robot.

Detailed Description

As shown in fig. 1 to 9:

the invention discloses a 3-UPS parallel wheel-foot composite bouncing robot, which comprises a robot body 1 and composite leg-foot mechanisms symmetrically arranged on two sides of the robot body 1. In this embodiment, the machine body 1 is dumbbell-shaped, and the composite leg and foot mechanisms are 4 groups, and are arranged on two sides of the machine body 1 in pairs. The structure of the 1-group composite leg-foot mechanism is described below by way of example, and the rest 3 groups are the same and are not described in detail.

The composite leg and foot mechanism comprises an upper semicircular ring 4, a lower semicircular ring 5, a static platform 2, a parallel swinging mechanism and a movable platform 3. The two ends of the long shaft of the machine body 1 are fixedly provided with a threaded rod 103 in a penetrating way, and the two ends of the threaded rod 103 extend out of the machine body 1 to be fixedly connected with a static platform 2 respectively, so that the static platform 2 is fixedly connected with the machine body 1. Meanwhile, the static platform 2 is connected with the movable platform 3 through a parallel swing mechanism.

The arc part circumference fretwork of upper semicircle ring 4 and fretwork department inner wall set up the profile of tooth and form circular-arc rack, are connected with wide gear 6 on the circular-arc rack, and the radial both ends of wide gear 6 all mesh with circular-arc rack, stable transmission. One end of the shaft of the wide gear 6 is connected with the gear driver 13, and the other end is connected with the lower semicircular ring 5. Be provided with the solid fixed cylinder 51 that stretches out towards last semicircle ring 4 on the semicircle ring 5 down, the axle of wide gear 6 stretches into in the solid fixed cylinder 51 and is connected rather than rotating, a solid fixed device 7 of still body coupling on the solid fixed cylinder 51, solid fixed device 7 includes

straight rod portion

71 and 3 shaft-like jack catchs 72 of vertical fixation on straight rod portion 71, in 3

jack catchs

72, 1 an organic whole is fixed on solid fixed cylinder 51, all the other 2 block respectively in the both sides of first semicircle ring 4 and with first semicircle ring 4 clearance fit, when wide gear 6 moves on circular-arc rack, it moves together to drive semicircle ring 5 down through solid fixed cylinder 51, gu fixed device 7 on solid fixed cylinder 51 slides along circular arc circumference simultaneously, axial displacement takes place when preventing down semicircle ring 5 to move along with wide gear 6, guarantee that axial interval distance is stable between first semicircle ring 4, the lower semicircle ring 5. When the wide gear 6 moves from one end of the arc-shaped rack to the other end, the upper semicircular ring 4 and the lower semicircular ring 5 are overlapped. A pair of long holes 41 are symmetrically arranged at two ends of a straight line part of the upper semicircular ring 4 at intervals, spring connecting blocks 8 are connected to the long holes 41 in a sliding mode, a spring 9 is connected between the two spring connecting blocks 8, meanwhile, the two spring connecting blocks 8 are respectively connected with the top ends of a first spring rod 10 and a second spring rod 11 in a rotating mode, and the bottom ends of the first spring rod 10 and the second spring rod 11 are hinged to each other and then fixedly connected with a bouncing foot end 12.

When the upper semicircular ring 4 and the lower semicircular ring 5 are spliced into the round wheel 100, the bounce foot end 12 is positioned at the inner side of the lower semicircular ring 5, namely, at one side close to the machine body 1.

The bottom of one side of the movable platform 3 close to the static platform 2 is embedded with a rolling driver 30, namely a motor, the middle part of the straight line part of the upper semicircular ring 4 is integrally provided with a connecting rod 31 extending towards the movable platform 3, the output shaft of the rolling driver 30 is fixedly connected with the connecting rod 31, the motor is started, the connecting rod 31 drives the wheel 100 to integrally rotate to realize wheel type movement, and the driving is direct and rapid.

The parallel swing mechanism comprises 3 bases symmetrically fixed on the static platform 2, namely a first base 17, a second base 18 and a third base 19, wherein 3 connecting blocks, namely a first connecting block 20, a second connecting block 21 and a third connecting block 22, are provided with cylindrical rods, round holes matched with the cylindrical rods are formed in the first base 17, the second base 18 and the third base 19, the cylindrical rods are respectively inserted into the corresponding round holes, and the first connecting block 20, the second connecting block 21 and the third connecting block 22 are respectively rotatably connected with the first base 17, the second base 18 and the third base 19. The first base 17, the second base 18 and the third base 19 are respectively provided with a first rotary driver 23, a second rotary driver 24 and a third rotary driver 25, and output shafts of the first rotary driver 23, the second rotary driver 24 and the third rotary driver 25 are respectively fixedly connected with the first connecting block 20, the second connecting block 21 and the third connecting block 22. One end of each of the 3 linear actuators, namely the first linear actuator 26, the second linear actuator 27 and the third linear actuator 28, is a sphere, a cylindrical rod is respectively fixed at two radial ends of the sphere, through holes matched with the cylindrical rods are formed in the first connecting block 20, the second connecting block 21 and the third connecting block 22, and the cylindrical rods are inserted into the through holes to be rotatably connected with the through holes, so that the first linear actuator 26, the second linear actuator 27 and the third linear actuator 28 are respectively rotatably connected with the first connecting block 20, the second connecting block 21 and the third connecting block 22. The three linear drivers are respectively connected with a parallel link, the three parallel links are a first parallel link 14, a second parallel link 16 and a third parallel link 15, one end of each of the first parallel link 14, the second parallel link 16 and the third parallel link 15 is respectively connected with a first linear driver 26, a second linear driver 27 and a third linear driver 28 in a sliding mode, the other end of each of the first parallel link 14, the second parallel link 16 and the third parallel link 15 is a ball head, and the three ball heads are embedded in the movable platform 3 and hinged with the movable platform. In this embodiment, the electric push rod is used for all 3 linear drivers. The first rotary actuator 23, the second rotary actuator 24 and the third rotary actuator 25 respectively drive the first linear actuator 26, the second linear actuator 27 and the third linear actuator 28 to swing up and down through the first connecting block 20, the second connecting block 21 and the third connecting block 22, so that the first parallel link 14, the second parallel link 16 and the third parallel link 15 swing up and down, and after the first linear actuator 26, the second linear actuator 27 and the third linear actuator 28 respectively drive the first parallel link 14, the second parallel link 16 and the third parallel link 15 to extend or retract after the first parallel link 14, the second parallel link 16 and the third parallel link 15 swing to the right position, so that the robot performs a foot type walking action.

In order to keep the overall balance, the 3-UPS parallel wheel-foot composite bouncing robot further comprises a posture adjusting mechanism, the posture adjusting mechanism comprises a cavity 101 formed in the center of the robot body 1, a sliding block 29 connected in the cavity 101 in a sliding mode, and a plurality of liquid circulating channels 102 arranged in the robot body 1 and communicated with the cavity 101, and the sliding block 29 slowly slides in the cavity 101 under the action of liquid to adjust the balance of the robot body 1. The liquid circulation passage 102 is provided in plural and the pipe diameters of the pipes are different. In the jumping stage, due to the influence of impurities in outer space or air, the robot body 1 of the robot can incline, liquid enters the cavity 101 from two sides through the liquid circulation channel 102, resistance is applied to the sliding block 29 by utilizing the friction of the liquid and the pressure difference of the liquid in pipelines with different pipe diameters to enable the sliding block to move slowly, in the jumping process, the sliding block 29 can move under the synergistic effect of gravity and resistance, the whole body 1 is pulled to keep balance, the robot can stably land, and the problem that the robot shakes in the jumping process is really solved.

The working principle of the robot in different moving modes is as follows:

1. a rolling mode: the upper semicircular ring 4 and the lower semicircular ring 5 are spliced into a circular ring to form the wheel 100, and the upper semicircular ring 4 and the lower semicircular ring 5 are coaxial and are combined into a whole circle to form the wheel 100 capable of rolling. Because the two radial ends of the wide gear 6 are meshed with the arc-shaped racks, namely, the wide gear 6 is clamped at the hollowed-out part, under the limiting action of the wide gear 6 and the fixing device 7, the matching state of the upper semicircular ring 4 and the lower semicircular ring 5 is stable in the rotation process of the wheel 100, the smooth walking of the robot is ensured, the rolling driver 30 drives the wheel 100 to roll under the conditions of flat road surfaces and no need of avoiding obstacles or crossing gullies, the wheel type moving of the robot is driven to move forwards, the robot is allowed to pass quickly, and the moving efficiency of the robot in surveying and transporting or some special conditions is improved.

2. A walking mode: the parallel swinging mechanism is a 3-UPS mechanism, has six degrees of freedom and more movement modes, a first rotary driver 23, a second rotary driver 24 and a third rotary driver 25 are matched with a first linear driver 26, a second linear driver 27 and a third linear driver 28 to enable the robot to generate walking gait, for example, the first parallel link 14 is driven to rotate downwards by the first rotary driver 23, and then the first parallel link 14, the second parallel link 16 and the third parallel link 15 are extended by the first linear driver 26, the second linear driver 27 and the third linear driver 28 to enable the movable platform 3 to move downwards vertically and stably, so that foot type walking is realized.

3. A bounce mode: the wide gear 6 is driven by the gear driver 13 to rotate, the lower semi-circular ring 5 is driven to rotate until the lower semi-circular ring 5 is overlapped with the upper semi-circular ring 4, the bouncing foot end 12 is exposed and landed, the platform 3 is driven to move downwards by the parallel swinging mechanism through 3 parallel rods, the upper semi-circular ring 4 is further driven to move downwards by the connecting rod 31, under the action of the downward movement pressure of the upper semi-circular ring 4, the two spring connecting blocks 8 move backwards in the long hole 41, after the spring 9 is stretched to generate enough elasticity, the parallel swinging mechanism stops working, the downward movement pressure disappears, the spring 9 rebounds and pulls the top ends of the first spring rod 10 and the second spring rod 11 to reset, and in the process, the bouncing foot end 12 jumps up, and the process is repeated, and bouncing movement is realized.

The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.

Claims

1. The utility model provides a compound leg and foot mechanism, includes last semicircle ring (4), lower semicircle ring (5), its characterized in that: the walking device also comprises a parallel swinging mechanism, and wheels (100) are formed when the upper semicircular ring (4) and the lower semicircular ring (5) are spliced into a circular ring, so that wheel type movement is realized, and foot type walking is realized under the control of the parallel swinging mechanism; and when the upper semicircular ring (4) and the lower semicircular ring (5) are overlapped, bouncing movement is realized.

2. The composite leg and foot mechanism of claim 1, wherein: the device comprises a static platform (2), wherein the static platform (2) is connected with a movable platform (3) through a parallel swing mechanism, and the movable platform (3) is connected with an upper semicircular ring (4) and drives the upper semicircular ring to rotate.

3. The composite leg and foot mechanism of claim 2, wherein: the arc-shaped gear rack is characterized in that the arc part of the upper semicircular ring (4) is circumferentially hollowed out, the inner wall of the hollowed-out part is provided with a tooth form to form an arc-shaped rack, a wide gear (6) is connected onto the arc-shaped rack, one end of a shaft of the wide gear (6) is connected with a gear driver (13), and the other end of the shaft is connected with the lower semicircular ring (5).

4. The composite leg and foot mechanism of claim 3, wherein: a pair of long holes (41) are symmetrically arranged at two ends of a straight line part of the upper semicircular ring (4) at intervals, spring connecting blocks (8) are connected to the long holes (41) in a sliding mode, a spring (9) is connected between the two spring connecting blocks (8) and is respectively connected with a first spring rod (10) and a second spring rod (11) in a rotating mode, and the other ends of the first spring rod (10) and the second spring rod (11) are hinged to each other and then fixedly connected with a bouncing foot end (12).

5. The composite leg and foot mechanism of claim 4, wherein: the parallel swinging mechanism comprises bases (17, 18 and 19) symmetrically fixed on the static platform (2), rotary drivers (23, 24 and 25) connected to the bases (17, 18 and 19), and linear drivers (26, 27 and 28), wherein the linear drivers (26, 27 and 28) are connected with parallel connecting rods (14, 16 and 15) with ends hinged to the movable platform (3) in a sliding manner, the rotary drivers (23, 24 and 25) and the linear drivers (26, 27 and 28) respectively drive the parallel connecting rods (14, 16 and 15) to swing up and down, extend and shorten, and drive wheels (100) to walk in a foot type through the movable platform (3).

6. The composite leg and foot mechanism of claim 5, wherein: the linear drive (26, 27, 28) is connected in a rotatable manner to the base (17, 18, 19) via a connecting piece (20, 21, 22).

7. The utility model provides a sufficient compound spring robot of parallel wheel of 3-UPS which characterized in that: a composite leg and foot mechanism according to any one of claims 1-6.

8. The 3-UPS parallel wheel-foot compound hopping robot of claim 7, wherein: the leg and foot combined machine comprises a machine body (1), wherein the composite leg and foot mechanisms are symmetrically arranged on two sides of the machine body (1).

9. The 3-UPS parallel wheel-foot compound hopping robot of claim 8, wherein: still include gesture adjustment mechanism, gesture adjustment mechanism includes cavity (101) that fuselage (1) center department was seted up, sliding connection be in slider (29) in cavity (101) and set up in fuselage (1) in and with a plurality of liquid circulation passageway (102) of cavity (101) intercommunication, slider (29) are in under the liquid action slowly slide in cavity (101) in order to adjust the balance of fuselage (1).

10. The 3-UPS parallel wheel-foot compound hopping robot of claim 9, wherein: the static platform (2) is connected with the machine body (1) through a threaded rod (103).