CN113562093A - Wheel-foot robot with balancing device - Google Patents
Wheel-foot robot with balancing device Download PDFInfo
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- CN113562093A CN113562093A CN202110907584.0A CN202110907584A CN113562093A CN 113562093 A CN113562093 A CN 113562093A CN 202110907584 A CN202110907584 A CN 202110907584A CN 113562093 A CN113562093 A CN 113562093A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
Abstract
The invention discloses a wheel-foot robot with a balancing device, which comprises a robot body, the balancing device and two legs symmetrically arranged on two sides of the robot body, wherein the working modes of the balancing device comprise a balancing mode and a grabbing mode, and two ends of the balancing device are provided with connecting structures, wherein one end of the balancing device can be connected with operating structures such as a mechanical arm and the like, so that the balancing device has the functions of grabbing objects and the like while keeping the robot in a balanced state, and the functional diversity of the wheel-foot robot is increased. The wheel-foot robot integrates a foot end suite of a leg part and a wheel-type component on the same robot, and can realize free switching between a foot-type motion state and a wheel-type motion state in different environments; the motor is arranged on the machine body and is driven by the connecting rod system, so that the effects of reducing the inertia of the foot end, improving the movement speed and reducing the energy consumption are achieved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a wheel-foot robot with a balancing device.
Background
The biped walking robot-upright walking has good freedom degree, flexible action, free and stable. The biped robot is a bionic robot, can realize biped walking and relevant action of the robot, and in future production life, the humanoid biped walking robot can help human beings to solve a series of dangerous or heavy work such as carrying things, emergency rescue and the like. Although the biped robot has been proved to be suitable for many aspects of human life, the characteristics of slow movement, high energy consumption and the like in the structured terrain still are obstacles for playing more key roles in the society.
The wheel type robot is a relatively traditional mobile robot structure, has simple dynamic characteristics, high stability and high energy efficiency ratio, and is widely applied in modern society. Compared with a biped robot, the wheel type robot has the characteristics of mature technology, high reliability, low energy consumption, high-speed passing and low energy consumption under the structured terrain. Whether the robot is a biped robot or a two-wheeled robot, the motion characteristics of the robot determine that the robot is in an underactuated state when the robot respectively supports a single item and rolls the item, and the state enables the motion state of the robot to be uncontrollable.
The main structure of the existing humanoid robot is a simple leg structure to control the robot, and few robots are added with extra balancing devices, so that when the robot finishes high-difficulty actions such as bouncing and overturning, the robot is easy to lose balance and causes machine damage, and the working environment of the robot is greatly limited.
The existing robot balancing methods are roughly two types: the first is to realize space balance ability by adding a flywheel, realize single-shaft balance by using reaction force generated during acceleration and deceleration of the flywheel-motor, and ensure front-back and left-right balance by two orthogonal shafts. In the aspect of movement, the method can only simply realize balance control during advancing, and cannot complete complex movement. The second type is that a balancing device is added at the tail of the wheel-legged robot, the device can additionally provide angular momentum for the robot, help the robot to finish high-difficulty actions such as bouncing or overturning, and can play a role in quickly restoring balance when the robot is unbalanced, so that balance motion under various states is realized. However, in the conventional method, the action in the balance is taken into consideration, and for the robot movement, only the front and back movement but not the left and right balance movement can be performed, and the load of the robot is too small during the movement, which are fatal disadvantages in the actual application field.
Disclosure of Invention
In view of this, the invention provides a wheel-foot robot with a balancing device, which can maintain balance in various motion modes, realize flexible and reliable work in various complex environments, and has the functions of grabbing objects and the like, and has functional diversity.
The specific scheme of the invention is as follows:
a wheeled foot robot incorporating a balancing device, comprising: the balance device comprises a machine body, a balance device and two leg parts which are symmetrically arranged on two sides of the machine body;
the balancing device comprises a plurality of bone structures, a steel rope group, a plurality of connecting joints, a motor group and a manipulator;
the bone structures and the connecting joints are sequentially and alternately arranged and rotationally connected; one end of the steel rope set sequentially penetrates through each connecting joint and is used for serially connecting the bone type structure and the connecting joints, and the other end of the steel rope set is wound and connected with the motor set;
the connecting joints at the two ends of the balancing device are provided with connecting structures; the motor set is used for controlling the action of the balancing device through the steel rope set;
the working mode of the balancing device comprises a balancing mode and a grabbing mode;
when the balancing device is in a balancing mode, the motor group pulls the steel rope group to drive the connecting joint and the bone type structure to move, and the posture of the balancing device is changed, so that the mass center of the robot is adjusted, and a balancing state is achieved;
when the balancing device is in a grabbing mode, the motor group pulls the steel rope group to drive the balancing device to move, so that the position of the manipulator is adjusted, and an object is grabbed.
Furthermore, the bone structure is a spherical connecting rod structure and comprises spheres at two ends and a connecting rod fixedly connected between the two spheres;
the connecting joint is in a round table shape, two end faces are respectively provided with a semicircular groove matched with the ball body in shape, and four connecting blocks are uniformly distributed on the outer side in the circumferential direction; the top of the connecting block is provided with a connecting through hole;
the steel rope group comprises two horizontal steel ropes and two vertical steel ropes; the horizontal steel rope and the vertical steel rope penetrate through the connecting through holes of the connecting joints to connect the connecting joints together; the horizontal steel rope is used for controlling the balance device to swing in the horizontal direction, and the vertical steel rope is used for controlling the balance device to swing in the vertical direction.
Furthermore, the machine body is provided with a power wheel bevel gear, a driving motor, a leg longitudinal motor and a leg forward motor; an output shaft of the driving motor is fixedly connected with the bevel gear of the power wheel;
the leg part comprises a thigh part, a shank part and a wheel type part;
the thigh part is hinged between the machine body and the shank part;
the wheel type part comprises a driving wheel and a wheel connection bevel gear which are coaxially and fixedly connected; the driving wheel is rotatably arranged on a hinged shaft of the thigh part and the lower leg part;
the shank part comprises a supporting inner cylinder, a gear transmission mechanism and a foot end sleeve piece;
the gear transmission mechanism is sleeved on the supporting inner cylinder in a relatively rotating manner; the top end of the supporting inner cylinder is hinged with the thigh part, and the bottom end is fixedly provided with a foot end sleeve.
Furthermore, the gear transmission mechanism comprises a lower leg output bevel gear, a lower leg transmission sleeve and a lower leg input bevel gear; the shank transmission sleeve is relatively rotatably sleeved on the outer peripheral side of the support inner cylinder, a shank output bevel gear is fixedly connected to one end, facing the thigh, of the shank transmission sleeve, and a shank input bevel gear is fixedly connected to one end, far away from the thigh, of the shank transmission sleeve;
the shank part also comprises a bearing I and a bearing II;
the support inner cylinder is connected with the shank transmission sleeve through a bearing I and a bearing II; the bearing is positioned at one end of the supporting inner cylinder close to the wheel type component; the bearing is located at one end of the support inner cylinder close to the foot end sleeve.
Furthermore, two end parts of the support inner cylinder are provided with limiting flanges;
a limiting groove is formed in the inner peripheral side of the shank transmission sleeve;
the limiting flange is accommodated in the limiting groove in a shape matching manner.
Furthermore, the thigh part comprises two thigh connecting rods, a thigh damping spring and a damping rod;
the two thigh connecting rods are oppositely arranged, wherein one thigh connecting rod is hinged with the machine body, and the other thigh connecting rod is hinged with the shank part;
the thigh damping spring is sleeved on the damping rod and fixedly connected between the two thigh connecting rods.
Further, the wheel-foot robot comprises a foot type motion state and a wheel type motion state;
when the wheel-foot robot is in a foot type motion state, the leg longitudinal motor and the leg front motor provide driving force, and the foot end suite is driven to move through the connecting rod system;
when the wheel-foot robot is in a wheel type motion state, the bevel gear of the power wheel is meshed with the input bevel gear of the lower leg, and the driving wheel is contacted with the ground; when the robot moves forwards, the driving motor drives the bevel gear of the power wheel to rotate, the bevel gear of the power wheel drives the wheel connecting bevel gear to rotate through the gear transmission mechanism, and the wheel connecting bevel gear drives the driving wheel to rotate, so that the robot moves.
Further, the connecting rod system comprises a first connecting rod, a second connecting rod, a hip joint plate and a shank transmission connecting rod;
one end of the first connecting rod is hinged to an output shaft of the leg longitudinal motor, and the other end of the first connecting rod is hinged to one end of the second connecting rod;
the other end of the connecting rod II is hinged with the hip joint plate;
the hip joint plate is hinged with the leg forward motor;
the shank transmission connecting rod and the thigh connecting rod are arranged in parallel, the shank transmission connecting rod and the thigh connecting rod are hinged with the support inner cylinder, the thigh connecting rod and the support inner cylinder form a first hinge point, a second hinge point is formed between the shank transmission connecting rod and the support inner cylinder, and the first hinge point is located between the foot end sleeve and the second hinge point.
Further, the fuselage is made of aluminum alloy; the material of the link system is carbon fiber.
Furthermore, when the motion state of the wheel-foot robot is a wheel-type motion state, the thigh part, the shank part and the robot body are in a right-angled triangle structure;
the thigh part and the machine body form two right-angle sides of a right-angled triangle respectively, and the shank part forms the hypotenuse of the right-angled triangle.
Has the advantages that:
(1) a wheel-foot robot containing a balancing device adds extra balance control to the wheel-foot robot by arranging the balancing device, so that the wheel-foot robot can keep balance in various motion modes, and flexible and reliable work in various complex environments is realized; the both ends of balancing unit are provided with connection structure, and wherein one end can be connected with operation structure such as manipulator for balancing unit has the function such as snatching the object simultaneously when keeping the robot in balanced state, has increased the functional diversity of wheel sufficient robot.
(2) The steel rope group comprises four steel ropes which respectively control the actions of the balancing device in the horizontal direction and the vertical direction, so that the balancing control function of the balancing device is more reliable.
(3) The foot end suite and the wheel type component of the leg part are integrated on the same robot, so that the free switching between a foot type motion state and a wheel type motion state can be realized under different environments; meanwhile, the wheel type part is arranged on a hinged shaft of the thigh part and the shank part, and the motor is arranged on the machine body and is driven by a connecting rod system, so that the effects of reducing the inertia of the foot end, improving the movement speed and reducing the energy consumption are achieved.
(4) The two ends of the supporting inner cylinder are provided with limiting flanges which are used for being clamped with limiting grooves of the shank transmission sleeve, so that the supporting inner cylinder and the shank transmission sleeve can not slide relatively when power is effectively transmitted, and stable traveling of the biped robot is facilitated.
(5) When the robot moves in a wheel type mode, the leg structure of the robot is of a right-angled triangle structure, the spring damping element formed by the damping spring and the damping rod can achieve cushioning, the effect that impact force is applied to the robot body and the motor from the rod direction in the advancing process is reduced, meanwhile, energy can be absorbed and stored, energy is released timely in the advancing process, and the energy utilization rate is improved.
Drawings
FIG. 1 is a structural view of a robot having a wheel foot with a balancing device according to the present invention;
FIG. 2 is a front view of the single leg of the robot of FIG. 1;
FIG. 3 is a diagram of the reverse side of the single leg of the robot of FIG. 1;
FIG. 4 is a cross-sectional view of the lower leg of the robot of FIG. 1;
FIG. 5 is a schematic diagram of the power transmission of the robot wheel-foot of FIG. 1;
FIG. 6 is a cross-sectional view of the balancing apparatus of the robot of FIG. 1;
FIG. 7 is a diagram showing the effect of the balance device of the robot wheel-foot of FIG. 1;
FIG. 8 is a structural view of a balancing device-mounted manipulator of the robot with wheel feet in FIG. 1;
FIG. 9 is a schematic view showing the configuration of the leg of the robot shown in FIG. 1 when the robot is wheeled forward
Fig. 10 is a schematic view of the connecting joint structure of the balancing device.
Wherein, 1-a machine body, 2-a balancing device, 3-a shank, 4-a wheel component, 5-a power wheel bevel gear, 6-a driving motor, 7-a shank longitudinal motor, 8-a shank forward motor, 9-a shank connecting rod, 10-a thigh damping spring, 11-a shank transmission connecting rod, 12-a supporting inner cylinder, 13-a foot end external member, 14-a shank output bevel gear, 15-a shank transmission sleeve, 16-a shank input bevel gear, 17-a bearing I, 18-a bearing II, 19-a driving wheel, 20-a wheel connection bevel gear, 21-a bone structure, 22-a steel rope group, 23-a connection joint, 24-a motor group, 25-a mechanical arm, 26-a connecting rod I, 27-a connecting rod II and 28-a hip joint plate, 29-thigh link group, 30-relay link group, 31-shank link group, 32-vertical steel rope and 33-horizontal steel rope.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The present invention provides a robot wheel foot with a balancing device, as shown in fig. 1, the robot wheel foot comprises: the device comprises a machine body 1, a balancing device 2 and two leg parts which are symmetrically arranged at two sides of the machine body 1.
As shown in fig. 6, the balancing device 2 comprises a plurality of bone structures 21, a steel cable group 22, a plurality of connecting joints 23, a motor group 24 as shown in fig. 7 and a manipulator 25 as shown in fig. 8, wherein the manipulator 25 is an optional structure, the manipulator 25 can be connected when gripping is needed, and other structures meeting other needs can be connected according to actual conditions when other needs exist.
As shown in fig. 6, the bone structures 21 and the connecting joints 23 are alternately arranged and rotatably connected, and one end of the steel cable set 22 sequentially passes through the connecting joints 23 to connect the connecting joints 23 and the bone structures 21 in series. As shown in fig. 7, the other end of the cable set 22 is wound around and connected to the motor set 24.
As shown in fig. 10, the cable set 22 includes two horizontal cables 33 and two vertical cables 32, and the horizontal cables 33 and the vertical cables 32 pass through the connecting through holes to connect the cable set 22 and the connecting joints 23. The horizontal steel rope is wound on the motor set 24 to control the balance device 2 to move in the horizontal direction; the vertical steel rope is wound on the motor set 24 to control the movement of the balancing device 2 in the vertical direction.
As shown in fig. 7, when the balancing apparatus 2 moves to the left end in the horizontal direction, the motor unit 24 pulls the left horizontal wire 33 to tighten, and the tightening degree of the right horizontal wire 33 is lower than that of the left, so that the balancing apparatus 2 swings to the left. Similarly, when the balance device 2 needs to move in the vertical direction and towards the upper side, the motor set 24 pulls the upper vertical steel rope 32 to tighten, and the tightening degree of the lower vertical steel rope 32 is lower than the upper side, so that the balance device 2 swings upwards.
The connection joints 23 located at both ends of the balancing device 2 are provided with connection structures that can be connected with the rear end of the body 1 and the robot arm 25, respectively. In a particular embodiment, the connection structure may be a threaded structure.
The operation mode of the balancing device 2 comprises a balancing mode and a grabbing mode;
when the balancing device 2 is in a balancing mode, the motor unit 24 pulls the horizontal steel rope and the vertical steel rope to drive the connecting joint 23 and the bone type structure 21 to move, and the posture of the balancing device 2 is changed, so that the mass center of the robot is adjusted, and a balancing state is achieved. The balance mode mainly acts on the robot in a state that the robot is about to topple over, and the robot is kept stable by swinging the balance device 2, and the operation mode is as follows: firstly, a gyroscope positioned on a robot body 1 detects that the robot topples, and transmits related attitude information to a control algorithm. And then, the control algorithm obtains the swing track and speed of the tail mass center through a machine body dynamic model, controls the motor set 24 of the tail swing angle to move, and pulls the horizontal steel rope and the vertical steel rope to sequentially drive the bone type structure 21, the connecting joint 23 and the mechanical arm 25 to move, so that the adjustment of the mass center of the robot is realized.
When the balancing device 2 is in the grabbing mode, the motor unit 24 pulls the horizontal steel rope and the vertical steel rope to drive the balancing device 2 to move, so that the position of the manipulator 25 is adjusted, and an object is grabbed. When the robot grabs a certain article, the robot controls the end manipulator to grab the article through the motion of the balance structure, and the operation mode is as follows: firstly, the sensing module acquires position information of a target to be grabbed, the position information and the posture information of the target to be grabbed are transmitted to a control algorithm, then a motor group 24 which is positioned on a machine body and controls the swing angle of the tail part moves, a horizontal steel rope and a vertical steel rope are pulled to drive a bone type structure 21, a connecting joint 23 and a mechanical arm 25 to move in sequence, the tail end position of the mechanical arm is adjusted, and finally the tail end mechanical arm clamps the target object through a tail clamping device, so that the object grabbing is completed.
As shown in fig. 6, the bone structure 21 is a spherical connecting rod structure, which includes two spherical bodies at two ends and a connecting rod fixedly connected between the two spherical bodies. In a preferred embodiment, the connecting joint 23 is in the shape of a truncated cone, and both end faces of the connecting joint 23 are provided with semicircular grooves, and the diameters of the grooves are matched with the diameter of the sphere. The bottom outside evenly distributed of joint 23 connects 4 connecting blocks, and the top of connecting block is provided with connect the through-hole, and connect the through-hole and be used for holding the steel cable of steel cable group.
As shown in fig. 2, the machine body 1 is provided with a power wheel bevel gear 5, a driving motor 6, a leg longitudinal motor 7 and a leg forward motor 8, and an output shaft of the driving motor 6 is fixedly connected with the power wheel bevel gear 5. Compared with the traditional robot in which the motor is arranged at the position of the knee joint, the invention adjusts the position of the motor and arranges the motor on the body of the biped robot, can allow the motor with higher power and lower energy consumption to drive the wheel type component, and effectively reduces the energy consumption while improving the speed.
As shown in fig. 3, the leg portion includes a thigh portion, a lower leg portion 3, and a wheel member 4. The thigh part is hinged between the machine body 1 and the shank part 3,
the wheel-type part 4 comprises a driving wheel 19 and a wheel-connected bevel gear 20 which are coaxially and fixedly connected, and the driving wheel 19 is rotatably arranged on a hinged shaft of the thigh part and the lower leg part 3.
As shown in FIG. 4, the lower leg portion 3 includes a support inner cylinder 12, a gear train and a foot end piece 13. The gear transmission mechanism is sleeved on the supporting inner cylinder 12 in a relatively rotating manner, the top end of the supporting inner cylinder 12 is hinged with the thigh part, and the bottom end is fixedly provided with a foot end sleeve part 13. In the embodiment shown in fig. 4, the gear train includes a lower leg output bevel gear 14, a lower leg transmission sleeve 15 and a lower leg input bevel gear 16. The shank transmission sleeve 15 is relatively rotatably sleeved on the outer peripheral side of the support inner cylinder 12, a shank output bevel gear 14 is fixedly connected to one end of the shank transmission sleeve 15 facing the thigh, and a shank input bevel gear 16 is fixedly connected to one end of the shank transmission sleeve 15 far away from the thigh. The two ends of the support inner cylinder 12 are provided with limit flanges, the inner peripheral side of the shank transmission sleeve 15 is provided with limit grooves, and the limit flanges are accommodated in the limit grooves in a shape-matched manner, so that the support inner cylinder and the shank transmission sleeve can not slide relatively while power is effectively transmitted, and stable traveling of the biped robot is facilitated.
As shown in fig. 4, the lower leg portion 3 further includes a first bearing 17 and a second bearing 18. The support inner cylinder 12 is connected with the shank transmission sleeve 15 through a first bearing 17 and a second bearing 18, the first bearing 17 is positioned at one end of the support inner cylinder 12 close to the wheel type part 4, and the second bearing 18 is positioned at one end of the support inner cylinder 12 close to the foot end sleeve part 13. The toe box 13 is a Point-foot structure, which reduces the toe mass compared to a conventional plate-shaped toe support structure.
The motion states of the wheeled robot with the balancing device comprise a foot type motion state and a wheel type motion state.
In the invention, when the wheel-foot robot is in a foot type motion state, the leg longitudinal motor 7 and the leg forward motor 8 provide driving force, and the foot end external member 13 is driven to move through the connecting rod system. The implementation steps of controlling the motion of the robot are as follows: 1) planning a foot end track according to a robot mass center state and a dynamic model through a track planning algorithm; 2) converting the foot end track under a Cartesian coordinate system into an angle between the machine body 1 and the thigh connecting rod 9 and an angle between the thigh connecting rod 9 and the shank part 3 through a joint calculation algorithm; 3) the angle between the thigh connecting rod 9 and the shank part 3 is calculated into the angle of the leg longitudinal motor 7 through a connecting rod system; 4) the driving motor 6 drives an algorithm, the leg longitudinal motor 7 and the leg forward motor 8 provide forward power, and the foot end external member 13 is driven to move through the transmission of a connecting rod system.
When the foot end sleeve 13 is impacted, the impact force is transmitted to the thigh link 9, and part of the impact force is absorbed by the thigh damper spring 10.
When the robot senses that the surrounding environment is mostly structured terrain, the robot is switched from a foot type motion state to a wheel type motion state. When the wheel-foot robot is in a wheel type motion state, the power wheel bevel gear 5 and the shank input bevel gear 16 are meshed with the driving wheel 19 and are contacted with the ground; when the robot moves forwards, the driving motor 6 drives the power wheel bevel gear 5 to rotate, the power wheel bevel gear 5 drives the wheel connecting bevel gear 20 to rotate through the gear transmission mechanism, and the wheel connecting bevel gear 20 drives the driving wheel 19 to rotate, so that the robot moves. Specifically, the power wheel bevel gear 5 rotates to drive the lower leg input bevel gear 16, the lower leg transmission sleeve 15, the lower leg output bevel gear 14, the wheel connection bevel gear 20 and the driving wheel 19 to rotate in sequence, and dynamic balance is achieved through a control algorithm.
The thigh part is provided with two thigh connecting rods 9, a thigh damping spring 10 and a damping rod. Two thigh links 9 are oppositely arranged, wherein one thigh link 9 is hinged with the body, and the other thigh link 9 is hinged with the shank part 3. The thigh damping spring 10 is sleeved on the damping rod and is fixedly connected between the two thigh links 9. The thigh cushioning springs 10, the damping rods constitute spring damping elements which can perform the functions of cushioning and absorbing stored energy both in a foot-type motion state and in a wheel-type motion state.
When the motion state of the robot is a wheel-type motion state, the thigh part, the shank part 3 and the robot body 1 are in a right-angled triangle structure, the thigh part and the robot body 1 form two right-angled sides of the right-angled triangle, and the shank part 3 forms a hypotenuse of the right-angled triangle, as shown in fig. 9. At the moment, the spring damping element can realize the similar shock absorption effect as an automobile, and the damage of impact to the machine body and the motor is reduced. In the phase of the foot-type movement state, the spring damping element has a good effect on absorbing and converting the rod-to-impact force of the thigh. In conclusion, the design of the spring damping element can realize the compression and energy storage at the leg falling stage of the robot, and simultaneously consume part of energy to reduce the peak torque of the motor; in the leg lifting stage of the robot, energy is released in a relaxation mode, and therefore the energy utilization rate is improved.
As shown in fig. 2, the link system of the robot of the present invention includes a first link 26, a second link 27, a hip plate 28, and a lower leg transmission link 11.
One end of the first connecting rod 26 is hinged to the output shaft of the leg longitudinal motor 7, and the other end of the first connecting rod is hinged to one end of the second connecting rod 27. The other end of the second connecting rod 27 is hinged with a hip joint plate 28, and the hip joint plate 28 is hinged with the leg forward motor 8. The shank transmission connecting rod 11 and the thigh connecting rod 9 are arranged in parallel, the shank transmission connecting rod 11 and the thigh connecting rod 9 are hinged to the supporting inner cylinder 12, the thigh connecting rod 9 and the supporting inner cylinder 12 form a first hinge point, a second hinge point is formed between the shank transmission connecting rod 11 and the supporting inner cylinder 12, and the first hinge point is located between the foot end sleeve part 13 and the second hinge point.
As shown in fig. 5, the power transmission principle of the link system of the present invention is illustrated, which includes a thigh link 29, a relay link 30 and a shank link 31, which are not all simple link combinations in a specific embodiment, but rather are realized by simplifying part of the leg and body structure of the robot into a link form, thereby facilitating those skilled in the art to better understand the power transmission principle of the robot of the present invention. For example, the thigh link group 29 includes a first link 26 and a second link 27, but in practice, there may be a link between the leg longitudinal motor 7 and the leg forward motor 8, which is not shown in fig. 5. While the relay linkage 30 is simplified by the hip plate 28, the lower leg linkage 31 is simplified in structure including the thigh link 9 and the lower leg transmission link 11 of the thigh. The schematic diagram of the link system shown in fig. 5 is only an example for illustrating the power transmission process and transmission manner of the present invention and for defining specific features, and in the specific implementation, the link system can be adjusted according to actual conditions.
In a preferred embodiment, the material of the fuselage 1 is an aluminum alloy and the material of the link system is carbon fiber. The leg structural members of the robot are made of aluminum alloy and carbon fiber, and are similar to human bones, so that the whole robot is supported. The light aluminum alloy material with certain strength is used for manufacturing the body and the hip joint plate of the robot, and the hip joint of the human is simulated, so that the walking and the stability of the robot are supported.
The above embodiments only describe the design principle of the present invention, and the shapes and names of the components in the description may be different without limitation. Therefore, a person skilled in the art of the present invention can modify or substitute the technical solutions described in the foregoing embodiments; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. A wheeled robot having a balancing device, comprising: the balance device comprises a machine body (1), a balance device (2) and two leg parts which are symmetrically arranged on two sides of the machine body (1);
the balancing device (2) comprises a plurality of bone structures (21), a steel cable group (22), a plurality of connecting joints (23), a motor group (24) and a manipulator (25);
the bone structures (21) and the connecting joints (23) are sequentially arranged alternately and are connected in a rotating manner; one end of the steel rope group (22) sequentially penetrates through each connecting joint (23) and is used for connecting the bone structure (21) and the connecting joints (23) in series, and the other end of the steel rope group (22) is wound and connected with the motor group (24);
the connecting joints (23) positioned at the two ends of the balancing device (2) are provided with connecting structures; the motor group (24) is used for controlling the action of the balancing device (2) through the steel rope group (22);
the working modes of the balancing device (2) comprise a balancing mode and a grabbing mode;
when the balancing device (2) is in a balancing mode, the motor group (24) pulls the steel rope group (22) to drive the connecting joint (23) and the bone type structure (21) to move, and the posture of the balancing device (2) is changed, so that the mass center of the robot is adjusted, and a balancing state is achieved;
when the balancing device (2) is in a grabbing mode, the motor group (24) pulls the steel rope group (22) to drive the balancing device (2) to move, so that the position of the manipulator (25) is adjusted, and an object is grabbed.
2. The wheel-foot robot according to claim 1, characterized in that the bone structure (21) is a spherical connecting rod structure comprising two spheres at two ends and a connecting rod fixedly connected between the two spheres;
the connecting joint (23) is in a round table shape, two end faces are respectively provided with a semicircular groove matched with the ball body in shape, and four connecting blocks are uniformly distributed on the outer side in the circumferential direction; the top of the connecting block is provided with a connecting through hole;
the steel rope set (22) comprises two horizontal steel ropes (33) and two vertical steel ropes (32); the horizontal steel rope (33) and the vertical steel rope (32) penetrate through the connecting through hole of each connecting joint (23) to connect the connecting joints (23) together; the horizontal steel rope (33) is used for controlling the balance device (2) to swing in the horizontal direction, and the vertical steel rope (32) is used for controlling the balance device (2) to swing in the vertical direction.
3. The wheel-foot robot according to claim 2, characterized in that the body (1) is provided with a power wheel bevel gear (5), a driving motor (6), a leg longitudinal motor (7) and a leg forward motor (8); an output shaft of the driving motor (6) is fixedly connected with the power wheel bevel gear (5);
the leg part comprises a thigh part, a lower leg part (3) and a wheel type part (4);
the big leg part is hinged between the machine body (1) and the small leg part (3);
the wheel type part (4) comprises a driving wheel (19) and a wheel connection bevel gear (20) which are coaxial and fixedly connected; the driving wheel (19) is rotatably arranged on a hinged shaft of the thigh part and the small leg part (3);
the small leg part (3) comprises a supporting inner cylinder (12), a gear transmission mechanism and a foot end sleeve piece (13);
the gear transmission mechanism is sleeved on the supporting inner cylinder (12) in a relatively rotating manner; the top end of the supporting inner cylinder (12) is hinged with the thigh part, and the bottom end is fixedly provided with the foot end sleeve piece (13).
4. The robot of claim 3, wherein the gear transmission comprises a lower leg output bevel gear (14), a lower leg transmission sleeve (15) and a lower leg input bevel gear (16); the shank transmission sleeve (15) is relatively rotatably sleeved on the outer peripheral side of the support inner cylinder (12), one end, facing the thigh part, of the shank transmission sleeve (15) is fixedly connected with the shank output bevel gear (14), and one end, far away from the thigh part, of the shank transmission sleeve (15) is fixedly connected with the shank input bevel gear (16);
the small leg part (3) further comprises a first bearing (17) and a second bearing (18);
the support inner cylinder (12) is connected with the shank transmission sleeve (15) through a bearing I (17) and a bearing II (18); the bearing I (17) is positioned at one end of the supporting inner cylinder (12) close to the wheel type component (4); the second bearing (18) is positioned at one end of the support inner cylinder (12) close to the foot end sleeve piece (13).
5. The robot wheel foot according to claim 4, characterized in that the two ends of the supporting inner cylinder (12) are provided with limit flanges;
a limiting groove is formed in the inner peripheral side of the shank transmission sleeve (15);
the limiting flange is accommodated in the limiting groove in a shape matching mode.
6. The wheeled foot robot according to claim 4, characterized in that said thigh section comprises two thigh links (9), a thigh shock absorbing spring (10), a damping lever;
the two thigh connecting rods (9) are oppositely arranged, wherein one thigh connecting rod (9) is hinged with the machine body, and the other thigh connecting rod (9) is hinged with the small leg part (3);
the thigh damping spring (10) is sleeved on the damping rod and is fixedly connected between the two thigh connecting rods (9).
7. The wheeled foot robot of claim 4 wherein said wheeled foot robot comprises a foot-type state of motion and a wheeled state of motion;
when the wheel-foot robot is in a foot type motion state, a leg longitudinal motor (7) and a leg forward motor (8) provide driving force, and a foot end external member (13) is driven to move through a connecting rod system;
when the wheel-foot robot is in a wheel type motion state, the power wheel bevel gear (5) is meshed with the shank input bevel gear (16), and the driving wheel (19) is contacted with the ground; when the robot moves forwards, the driving motor (6) drives the power wheel bevel gear (5) to rotate, the power wheel bevel gear (5) drives the wheel connecting bevel gear (20) to rotate through the gear transmission mechanism, and the wheel connecting bevel gear (20) drives the driving wheel (19) to rotate, so that the robot moves.
8. The rotaryrobot of claim 7, wherein said linkage system comprises a first link (26), a second link (27), a hip plate (28) and a lower leg transmission link (11);
one end of the first connecting rod (26) is hinged to an output shaft of the leg longitudinal motor (7), and the other end of the first connecting rod is hinged to one end of the second connecting rod (27);
the other end of the second connecting rod (27) is hinged with the hip joint plate (28);
the hip joint plate (28) is articulated with the leg forward motor (8);
the shank transmission connecting rod (11) and the thigh connecting rod (9) are arranged in parallel, the shank transmission connecting rod (11) and the thigh connecting rod (9) are hinged to the supporting inner cylinder (12), the thigh connecting rod (9) and the supporting inner cylinder (12) form a first hinge point, a second hinge point is formed between the shank transmission connecting rod (11) and the supporting inner cylinder (12), and the first hinge point is located between the foot end sleeve piece (13) and the second hinge point.
9. The robot wheel foot according to claim 8, characterized in that the material of the body (1) is aluminum alloy; the connecting rod system is made of carbon fiber.
10. The wheeled legged robot according to claim 7, characterized in that when the moving state of the wheeled legged robot is a wheeled moving state, the thigh, the small leg (3) and the robot body (1) are in a right triangle structure;
the thigh part with fuselage (1) forms two right-angle sides of right triangle respectively, little shank (3) form right triangle's hypotenuse.
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| CN202110907584.0A CN113562093A (en) | 2021-08-09 | 2021-08-09 | Wheel-foot robot with balancing device |
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| CN113978567A (en) * | 2021-12-08 | 2022-01-28 | 哈尔滨工业大学 | Large-load double-wheel foot type structure |
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Application publication date: 20211029 |