CN114454980B - High-flexibility seven-degree-of-freedom wheel-foot robot leg structure - Google Patents
High-flexibility seven-degree-of-freedom wheel-foot robot leg structure Download PDFInfo
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- CN114454980B CN114454980B CN202111601303.5A CN202111601303A CN114454980B CN 114454980 B CN114454980 B CN 114454980B CN 202111601303 A CN202111601303 A CN 202111601303A CN 114454980 B CN114454980 B CN 114454980B
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- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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Abstract
The invention provides a high-flexibility leg structure of a seven-degree-of-freedom wheeled foot robot, which comprises a hip joint module, a thigh, a knee joint, a shank, an ankle joint module and a wheel type motion module which are sequentially connected from top to bottom, wherein under the mixed driving of a hydraulic driving unit and a servo motor, the hip joint can realize yawing, yawing and pitching motions, the knee joint can realize pitching motions, the ankle joint can realize pitching motions and overturning motions of wheels along the axis of a connecting bearing, and the wheel type motion module can realize rotation motions of the wheels along the axis. The leg structure of the wheel-foot robot has seven degrees of freedom, and has the advantages of higher overall flexibility, higher movement speed, stronger adaptability to complex environments, more stable movement, higher power-weight ratio, smaller overall weight and volume of the robot and stronger practicability.
Description
Technical Field
The invention relates to the field of robots, in particular to a high-flexibility leg structure of a seven-degree-of-freedom wheel-foot robot.
Background
The robot is a machine device for automatically executing work, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the work efficiency and quality, serves human life, expands or extends the activity and capacity range of the human beings, and is widely applied to the fields of industry, medicine, agriculture, service industry, building industry, even military and the like. With the rapid development of computer network technology and the improvement of the level of machine manufacturing, automation and intelligence have become the subjects of a new generation of industrial revolution, and therefore, in recent years, robotics has been rapidly developed.
The mobile robots are classified according to movement forms and can be classified into wheeled robots, legged robots, tracked robots, and composite robots. The wheel-foot robot is the most common combined robot, and the robot can realize wheel-type motion, foot-type motion and wheel-foot combined motion, so that the wheel-foot robot has the advantages of low energy consumption, high motion speed and strong environmental adaptability of the foot-type robot.
However, the existing wheel-foot robot still has the following limitations:
(1) The existing wheel-foot robot is driven by a motor, so that the power-weight ratio is low and the practicability is not strong; (2) The existing wheel-foot robot has limited degree of freedom and insufficient flexibility, so that the application of the wheel-foot robot in more complex environments is limited; (3) Various complex environments put higher requirements on the moving speed and the stability of the high-speed working condition of the existing wheel-foot robot; therefore, the leg structure of the wheel-foot robot is high in leg flexibility, strong in adaptability to complex environments, high in power-weight ratio, high in movement speed and strong in working stability, and needs to be solved urgently in the field.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides a hydraulic and servo motor hybrid-driven seven-degree-of-freedom wheel-foot robot leg structure with high flexibility, which can solve the problems and enables the whole leg structure of the wheel-foot robot to have higher power-to-weight ratio, better flexibility, stronger obstacle avoidance capability, higher movement speed and more stable movement state.
Specifically, the invention provides a high-flexibility seven-degree-of-freedom wheeled foot robot leg structure, which is fixedly connected to a rack of a robot to serve as a leg of the wheeled foot robot, and comprises a foot type motion system and a wheeled motion system;
the foot type motion system comprises a hydraulic system and a motion assembly, the motion assembly sequentially comprises a rack connecting platform, a hip joint mounting assembly, a thigh, a knee joint, a shank, an ankle joint, a foot end and a connecting bearing from top to bottom, the hip joint has three degrees of freedom, and the hip joint can realize yaw motion of the whole leg structure, yaw motion of the whole leg structure and pitch motion of the hip joint; the knee joint has one degree of freedom, and the knee joint can realize the pitching motion of the knee joint; the ankle joint has two degrees of freedom, and the ankle joint can realize pitching motion of the ankle joint and overturning motion of the wheel along the connecting bearing axis; the hydraulic system comprises a hip joint hydraulic system, a knee joint hydraulic system and an ankle joint hydraulic system;
the hip joint installation assembly comprises a hip joint middle rotating shaft, a hip joint base, a hip joint hydraulic driving unit fixing plate and a connecting shaft, the top end of the hip joint middle rotating shaft is hinged to the frame connecting platform, the hip joint hydraulic driving unit fixing plate is fixedly connected to the top end of the hip joint middle rotating shaft, the hip joint base is connected with the bottom end of the hip joint middle rotating shaft through the connecting shaft, and the bottom of the hip joint base is hinged with the upper part of the thigh;
the hip joint hydraulic system comprises a hip joint yaw hydraulic driving unit, a hip joint yaw hydraulic driving unit and a hip joint pitching hydraulic driving unit, one end of the hip joint yaw hydraulic driving unit is hinged on the frame connecting platform, the other end of the hip joint yaw hydraulic driving unit is hinged on a hip joint hydraulic driving unit fixing plate, and the hip joint hydraulic driving unit fixing plate realizes up-and-down connection linkage through a shaft key and a hip joint middle rotating shaft; the hip joint yaw hydraulic driving unit can drive the hip joint middle rotating shaft to rotate, so that the whole leg mechanism is driven to realize integral yaw motion, and the turning motion of the wheel-foot robot is realized; one end of the hip joint yaw hydraulic driving unit is hinged to the hip joint hydraulic driving unit fixing plate, the other end of the hip joint yaw hydraulic driving unit is hinged to the hip joint base, and the structure formed by the hip joint base, the hip joint hydraulic driving unit fixing plate and the hip joint yaw hydraulic driving unit can convert the linear reciprocating motion of the hip joint yaw hydraulic driving unit into the yaw motion of the whole leg mechanism relative to the rack connecting platform; one end of the hip joint pitching hydraulic driving unit is hinged to the hip joint base, the other end of the hip joint pitching hydraulic driving unit is hinged to the lower end of the thigh, and the structure formed by the hip joint pitching hydraulic driving unit, the thigh and the hip joint base can convert the linear reciprocating motion of the hip joint pitching hydraulic driving unit into the pitching motion of the hip joint relative to the frame connecting platform;
the knee joint hydraulic system is a knee joint pitching hydraulic driving unit; the lower end of the thigh and the upper end of the shank are hinged to form the center of the knee joint pitching motion, one end of the knee joint pitching hydraulic driving unit is hinged to the upper end of the thigh, the other end of the knee joint pitching hydraulic driving unit is hinged to the upper end of the shank, and the thigh, the shank and the knee joint pitching hydraulic driving unit form a structure capable of converting the linear reciprocating motion of the knee joint hydraulic driving unit into the pitching motion of the knee joint relative to the rack connecting platform;
the ankle joint hydraulic system comprises an ankle joint pitching hydraulic driving unit and a wheel overturning hydraulic driving unit, and the lower part of the shank and the upper part of the foot end are hinged to form an ankle joint pitching movement center; one end of the ankle joint pitching hydraulic driving unit is hinged to the upper part of the shank, and the other end of the ankle joint pitching hydraulic driving unit is hinged to the upper part of the foot end; the structure formed by the shank, the foot end and the ankle joint pitching hydraulic driving unit can convert the linear reciprocating motion of the ankle joint pitching hydraulic driving unit into pitching motion of the ankle joint relative to the rack connecting platform, so that the foot end is always in the vertical direction in the motion process of the robot;
the outer side of the foot end is fixedly connected with the connecting bearing, and the connecting bearing is hinged on a hub bearing outer ring of the wheel type motion system, so that the outer side of the foot end can rotate along the axis of the connecting bearing; one end of the wheel turning hydraulic driving unit is hinged to the side face of the foot end, and the other end of the wheel turning hydraulic driving unit is hinged to the outer ring of the hub bearing; the structure consisting of the foot end, the hub bearing and the wheel turning hydraulic driving unit can convert the linear reciprocating motion of the wheel turning hydraulic driving unit into the turning motion of the wheel along the axis of the connecting bearing;
the wheel type motion system comprises a servo motor and a power transmission mechanism, and has one degree of freedom, so that the rotation of the wheel along the axis can be realized.
Preferably, the power transmission mechanism comprises a universal joint, a transmission shaft, a hub bearing and a wheel, the servo motor is fixedly connected with the foot end, one end of the universal joint penetrates through the foot end and then is connected with an output shaft of the servo motor, the other end of the universal joint is connected with the transmission shaft, the inner side of the transmission shaft is fixedly connected with an inner ring of the hub bearing, and the outer side of the transmission shaft is fixedly connected with the wheel; the power of the wheel type motion system is transmitted to the wheels through the servo motor, the universal joint, the transmission shaft and the hub bearing, so that the wheel type motion of the wheel-foot robot is completed.
Preferably, each hydraulic drive unit uses a valve-controlled hydraulic cylinder including a joint bearing, a servo cylinder rod, a displacement sensor mount, a servo valve, a servo cylinder, and a pipe joint.
Preferably, the entire leg structure of the robot using a high-strength steel material.
Preferably, the tyre surface of the wheel-foot robot adopts wear-resistant rubber materials and radial tyre veins.
Compared with the prior art, the invention has the following technical effects:
(1) The leg structure of the invention adopts hydraulic drive, and compared with the leg structure adopting motor drive, the leg structure has higher overall machine power-weight ratio and better robustness.
(2) The leg structure comprises a foot type motion system and a wheel type motion system, and the whole wheel-foot robot can realize two motion modes of wheel type motion and foot type motion; wherein the foot-type motion system comprises a hip joint, a knee joint and an ankle joint; the hip joint has three degrees of freedom, and can realize yawing and yawing of the whole leg structure and pitching of the hip joint; the knee joint has one degree of freedom, and the pitching motion of the knee joint can be realized; the ankle joint has two degrees of freedom, and pitching motion of the ankle joint and overturning motion of the wheel can be realized; the wheel type motion system has one degree of freedom and can realize the rotation of the wheel along the axis; the whole leg structure has seven degrees of freedom, the overall height and other postures of the robot can be adjusted during wheeled movement, in-situ turning movement can be realized through the yaw degree of freedom of the hip joint, overbending can also be realized through the differential action of different driving wheels, the whole leg structure has six degrees of freedom under foot type movement, more movement postures can be realized, and a larger movement space is provided; in summary, the leg structure has more degrees of freedom and flexibility than the conventional wheel-foot robot.
(3) The leg structure is provided with a wheel turning hydraulic driving unit which is used for ensuring the motion stability of the robot and improving the motion speed of the robot; the wheel overturning hydraulic driving unit enables wheels to be in full contact with the ground through the wheels of the robot when the robot is bent at a high speed, so that a better adhesion condition is obtained, the high-speed motion stability of the robot is improved, and the motion speed of the robot is further improved.
(4) By combining the three advantages, the leg structure of the wheel-foot robot designed by the invention has higher load capacity and stronger adaptability to complex environments, so that the wheel-foot robot has stronger practicability and is more favorable for application of the wheel-foot robot in daily life.
Drawings
FIG. 1 is a diagram of the overall degree of freedom distribution of a highly flexible leg structure of a seven-degree-of-freedom wheeled legged robot;
FIG. 2 is an overall three-dimensional axial view of a high-flexibility seven-degree-of-freedom wheeled legged robot leg structure;
FIG. 3 is an overall three-dimensional left view of a high flexibility seven degree-of-freedom wheel-foot robot leg structure;
FIG. 4 is an overall three-dimensional elevation view of a high flexibility seven degree-of-freedom wheeled legged robot leg structure;
FIG. 5 is a left side view of a hydraulic driving unit of a leg structure of a seven-degree-of-freedom wheel-foot robot with high flexibility;
fig. 6 is a schematic diagram of wheel turning motion of a leg structure of a seven-degree-of-freedom wheeled foot robot with high flexibility.
Wherein:
01-hip joint; 02-knee joint; 03-ankle joint; 0101-yaw degree of freedom of the hip joint; 0102-yaw degree of freedom of the hip joint; 0103-hip joint pitching degree of freedom; 0201-knee joint pitch degree of freedom; 0301-ankle pitch degree of freedom; 0302-degree of freedom of wheel turnover; 0401-degree of freedom of wheel rotation;
a 001-foot motion system; 002-wheeled motion system; 1-a hip joint hydraulic drive unit fixing plate; 2-hip joint yaw hydraulic drive unit; 3-a frame connecting platform; 4-hip joint intermediate shaft; 5-a hip joint base; 6-thigh; 7-knee joint pitch hydraulic drive unit; 8, crus; 9-foot end; 10-wheel turning hydraulic driving unit; 11-a wheel; 12-a drive shaft; 13-hip pitch hydraulic drive unit; 14-ankle joint pitch hydraulic drive unit; 15-hip joint yaw hydraulic drive unit; 16-a hub bearing; 17-a gimbal; 18-connecting bearings; 19-a servo motor; 20-knuckle bearing; 21-servo cylinder rod; 22-displacement sensor rod; 23-a displacement sensor mount; 24-a servo valve; 25-a servo cylinder; 26-a pipe joint; a-foot end and connecting bearing connecting point.
Detailed Description
Exemplary embodiments, features and aspects of the present invention will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The invention aims to provide a hydraulic and servo motor hybrid-driven high-flexibility seven-degree-of-freedom wheel-foot robot leg structure, so that the wheel-foot robot has higher flexibility, stronger obstacle-crossing capability, higher power-weight ratio of the whole robot, higher movement speed, more stable high-speed movement and stronger practicability.
The present invention will be described in more detail with reference to the accompanying drawings and detailed description thereof so that the above objects, features and advantages of the present invention can be understood more easily.
Example (b):
the embodiment provides a hydraulic and servo motor hybrid driven high-flexibility seven-degree-of-freedom wheeled foot robot leg structure, as shown in fig. 1 and fig. 2, the leg structure comprises two parts, namely a foot type motion system 001 and a wheeled motion system 002; the foot type motion system 001 can be divided into a hip joint 01, a knee joint 02 and an ankle joint 03 from top to bottom and is driven by hydraulic pressure; as shown in fig. 1, the hip joint 01 of the leg structure has three degrees of freedom, and can realize yaw movement of the entire foot motion system 001, that is, the leg system, that is, the yaw degree of freedom 0101 of the hip joint, yaw movement of the entire leg system, that is, the yaw degree of freedom 0102 of the hip joint, and pitch movement of the hip joint 01, that is, the pitch degree of freedom 0103 of the hip joint. The knee joint 02 has one degree of freedom, and the pitching motion of the knee joint 02, namely the knee joint pitching degree of freedom 0201, can be realized. The ankle joint 03 has two degrees of freedom, and the pitching motion of the ankle joint 03, namely the pitching motion 0301 of the ankle joint and the overturning motion of the wheel 11 along the connecting bearing 18, namely the overturning motion 0302 of the wheel can be realized; the wheel motion system 002 has one degree of freedom, and can realize the rotation of the wheel 11 along the axis, i.e. the wheel rotational degree of freedom 0401.
Wherein, the hydraulic system comprises a hip joint hydraulic system, a knee joint hydraulic system and an ankle joint hydraulic system. The hip joint hydraulic system comprises a hip joint yaw hydraulic driving unit, a hip joint yaw hydraulic driving unit and a hip joint pitching hydraulic driving unit. The knee joint hydraulic system is a knee joint pitching hydraulic driving unit. The ankle joint hydraulic system comprises an ankle joint pitching hydraulic driving unit and a wheel overturning hydraulic driving unit.
In this embodiment, the servo motor 19 for driving the wheel to move is a standard component, and is not described herein.
As shown in fig. 5, each hydraulic drive unit is composed of a joint bearing 20, a servo cylinder rod 21, a displacement sensor rod 22, a displacement sensor mount 23, a servo valve 24, a servo cylinder 25, and a pipe joint 26.
In the embodiment, the rigid strength cylinder material is used for the integral leg structure of the wheel-foot robot, so that the integral strength of the robot body is ensured; the tire tread of the robot wheel adopts wear-resistant rubber materials and radial tire lines with reference to the automobile wheel, and the wear resistance and the buffering capacity of the robot wheel are improved, and the heat dissipation performance of the wheel during high-speed movement is improved.
In this embodiment, as shown in fig. 2 to fig. 4, the motion process of the leg structure of the hydraulic and servo motor hybrid driven seven-degree-of-freedom wheel-foot robot is illustrated:
leg hip joint yaw motion:
the top of the hip joint middle rotating shaft 4 is hinged on the frame connecting platform 3 and is linked with the hip joint hydraulic driving unit fixing plate 1 up and down through a shaft key; one end of the hip joint yaw hydraulic driving unit 2 is hinged on the frame connecting platform 3, the other end of the hip joint yaw hydraulic driving unit 2 is hinged on the hip joint hydraulic driving unit fixing plate 1, the hip joint yaw hydraulic driving unit 2 pushes the hip joint hydraulic driving unit fixing plate 1 to drive the hip joint middle rotating shaft 4 to perform yaw motion relative to the frame connecting platform 3, and therefore the whole yaw motion of the whole leg structure is achieved.
Leg hip joint yaw motion:
the top of the hip joint middle rotating shaft 4 is connected with a hip joint hydraulic driving unit fixing plate 1, and the lower part of the hip joint middle rotating shaft 4 is connected to a hip joint base 5 through a connecting shaft; one end of the hip joint horizontal swing hydraulic driving unit 15 is hinged on the hip joint hydraulic driving unit fixing plate 1, and the other end of the hip joint horizontal swing hydraulic driving unit 15 is hinged on the hip joint base 5. The structure consisting of the hip joint base 5, the hip joint hydraulic driving unit fixing plate 1 and the hip joint yaw hydraulic driving unit 15 can convert the linear reciprocating motion of the hip joint yaw hydraulic driving unit 15 into the yaw motion of the whole leg mechanism relative to the frame connecting platform 3.
Pitching movement of the hip joint:
the hip joint base 5 is connected to the bottom of the hip joint middle rotating shaft 4 through a connecting shaft, one end of a hip joint pitching hydraulic driving unit 13 is hinged to the hip joint base 5, and the other end of the hip joint pitching hydraulic driving unit 13 is hinged to the lower end of a thigh 6; the structure consisting of the hip pitch hydraulic drive unit 13, the thigh 6 and the hip base 5 can convert the linear reciprocating motion of the hip pitch hydraulic drive unit 13 into the pitching motion of the hip joint relative to the frame connecting platform 3.
Leg knee joint pitch motion:
the lower part of the thigh 6 and the upper part of the shank 8 are hinged to form a knee joint rotation center which can rotate relatively; one end of the knee joint pitching hydraulic driving unit 7 is hinged at the upper end of the thigh 6, and the other end of the knee joint pitching hydraulic driving unit 7 is hinged at the upper end of the shank 8; the thigh 6, the shank 8 and the knee joint pitching hydraulic drive unit 7 can convert the linear reciprocating motion of the knee joint hydraulic drive unit 7 into the pitching motion of the knee joint relative to the frame connecting platform 3.
The ankle joint 03 comprises a foot end 9, a connecting bearing 18 and a wheel overturning hydraulic driving unit 10, wherein the upper part of the foot end 9 and the lower part of the shank 8 are hinged to form an ankle joint pitching motion center; the lateral side of the foot end 9 is fixedly connected with the connecting bearing 18 at the point A.
Pitching motion of the ankle joint:
one end of the ankle joint pitching hydraulic driving unit 14 is hinged to the upper part of the lower leg 8, and the other end of the ankle joint pitching hydraulic driving unit 14 is hinged to the upper part of the foot end 9; the structure composed of the shank 8, the foot end 9 and the ankle joint pitching hydraulic driving unit 14 can convert the linear reciprocating motion of the ankle joint pitching hydraulic driving unit 14 into the pitching motion of the ankle joint relative to the rack connecting platform 3, so that the foot end 9 is ensured to be always in the vertical direction in the robot motion process.
The wheel rotates:
the servo motor 19 is fixedly connected with the foot end 9, one end of the universal joint 17 penetrates through the foot end 9 and is connected with an output shaft of the servo motor 19, the other end of the universal joint 17 is connected with the transmission shaft 12, the inner side of the transmission shaft 12 is fixedly connected with an inner ring of the hub bearing 16, and the outer side of the transmission shaft 12 is fixedly connected with the wheel 11; the power of the wheel type motion is transmitted to the wheel 11 through the servo motor 19, the universal joint 17, the transmission shaft 12 and the hub bearing 16, thereby completing the wheel type motion of the wheel-foot robot.
Fig. 6 illustrates the working principle and advantages of the wheel turning hydraulic driving unit of the leg structure of the seven-degree-of-freedom wheeled legged robot with high flexibility. The left diagram of fig. 6 shows the contact condition between the wheels and the ground when the traditional robot moves through a curve rapidly, only a small part of the inner sides of the wheels can contact with the ground, the adhesion condition of the wheels is extremely poor, the speed of the robot is improved, and the stability of high-speed movement is low; the right drawing in the attached figure 6 is the wheel-foot posture of the wheel-foot robot during high-speed over-bending, and the wheels are enabled to generate a turning motion along the axis of the connecting bearing under the action of the wheel turning hydraulic driving unit, so that the wheels are righted and completely contacted with the ground, and the wheel-type motion speed and the high-speed motion stability of the wheel-foot robot are improved.
As shown in fig. 2 to 4 and fig. 6, when the wheel moves, the power is transmitted to the wheel 11 through the output shaft of the servo motor 19, the universal joint 17 and the transmission shaft 12, so as to drive the wheel 11 to rotate; when the posture of the robot is in the state shown in the right diagram of the attached figure 6, the power of the wheel type motion is transmitted in a variable angle mode through the universal joint, and the stability of the multi-posture motion of the wheel-foot robot is guaranteed.
In this embodiment, the connection and the cooperation of the connection shaft, the threaded shaft, the connection shaft, the bolt, the nut, and the like are not described in detail; in addition, the structure and the pipeline of the hydraulic driving unit are the prior art, and are not described again.
The leg structure comprises a foot type motion system and a wheel type motion system, the whole wheel-foot robot can realize two motion modes of wheel type motion and foot type motion, and the foot type motion system comprises a hip joint, a knee joint and an ankle joint. The hip joint has three degrees of freedom, and can realize yawing and yawing of the whole leg structure and pitching of the hip joint; the knee joint has one degree of freedom, and the pitching motion of the knee joint can be realized; the ankle joint has two degrees of freedom, and pitching motion of the ankle joint and overturning motion of the wheel can be realized; the wheel type motion system has one degree of freedom and can realize the rotation of the wheel along the axis; the whole leg structure has seven degrees of freedom, the overall height and other postures of the robot can be adjusted during wheeled movement, the turning movement in situ or in a narrow space can be realized through the yaw degree of freedom of the hip joint, the overbending movement can also be realized through the differential action of different driving wheels, the whole leg structure has six degrees of freedom under foot type movement, more movement postures can be realized, and a larger movement space is provided; in conclusion, the leg structure has more degrees of freedom and flexibility compared with the traditional wheel-foot robot.
Finally, it should be noted that: the above-mentioned embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. The utility model provides a seven degree of freedom wheel foot robot leg structure of high flexibility which characterized in that: the leg structure is fixedly connected to a rack of the robot and used as a leg of the wheeled legged robot, and the leg structure comprises a foot type motion system and a wheeled motion system;
the foot type motion system comprises a hydraulic system and a motion assembly, the motion assembly sequentially comprises a rack connecting platform, a hip joint installation assembly, a thigh, a knee joint, a shank, an ankle joint, a foot end and a connecting bearing from top to bottom, the hip joint has three degrees of freedom, and the hip joint can realize yaw motion of the whole leg structure, yaw motion of the whole leg structure and pitch motion of the hip joint; the knee joint has one degree of freedom, and the knee joint can realize the pitching motion of the knee joint; the ankle joint has two degrees of freedom, and the ankle joint can realize pitching motion of the ankle joint and overturning motion of the wheel along the connecting bearing axis; the hydraulic system comprises a hip joint hydraulic system, a knee joint hydraulic system and an ankle joint hydraulic system;
the hip joint installation assembly comprises a hip joint middle rotating shaft, a hip joint base, a hip joint hydraulic driving unit fixing plate and a connecting shaft, the top end of the hip joint middle rotating shaft is hinged to the frame connecting platform, the hip joint hydraulic driving unit fixing plate is fixedly connected to the top end of the hip joint middle rotating shaft, the hip joint base is connected with the bottom end of the hip joint middle rotating shaft through the connecting shaft, and the bottom of the hip joint base is hinged with the upper part of the thigh;
the hip joint hydraulic system comprises a hip joint yaw hydraulic driving unit, a hip joint yaw hydraulic driving unit and a hip joint pitching hydraulic driving unit, one end of the hip joint yaw hydraulic driving unit is hinged to the frame connecting platform, the other end of the hip joint yaw hydraulic driving unit is hinged to a hip joint hydraulic driving unit fixing plate, and the hip joint hydraulic driving unit fixing plate is connected and linked up and down through a shaft key and a hip joint middle rotating shaft; the hip joint yaw hydraulic driving unit can drive the hip joint middle rotating shaft to rotate, so that the whole leg mechanism is driven to realize integral yaw motion, and the turning motion of the wheel-foot robot is realized; one end of the hip joint yaw hydraulic driving unit is hinged to the hip joint hydraulic driving unit fixing plate, the other end of the hip joint yaw hydraulic driving unit is hinged to the hip joint base, and the structure formed by the hip joint base, the hip joint hydraulic driving unit fixing plate and the hip joint yaw hydraulic driving unit can convert the linear reciprocating motion of the hip joint yaw hydraulic driving unit into the yaw motion of the whole leg mechanism relative to the rack connecting platform; one end of the hip joint pitching hydraulic driving unit is hinged on the hip joint base, the other end of the hip joint pitching hydraulic driving unit is hinged at the lower end of the thigh, and the structure consisting of the hip joint pitching hydraulic driving unit, the thigh and the hip joint base can convert the linear reciprocating motion of the hip joint pitching hydraulic driving unit into the pitching motion of the hip joint relative to the frame connecting platform;
the knee joint hydraulic system is a knee joint pitching hydraulic driving unit; the lower thigh end and the upper leg end are hinged to form a center of the knee joint pitching motion, one end of the knee joint pitching hydraulic driving unit is hinged to the upper end of the thigh, the other end of the knee joint pitching hydraulic driving unit is hinged to the upper end of the lower leg, and the thigh, the lower leg and the knee joint pitching hydraulic driving unit can convert the linear reciprocating motion of the knee joint pitching hydraulic driving unit into the pitching motion of the knee joint relative to the rack connecting platform;
the ankle joint hydraulic system comprises an ankle joint pitching hydraulic driving unit and a wheel overturning hydraulic driving unit, and the lower part of the shank and the upper part of the foot end are hinged to form an ankle joint pitching movement center; one end of the ankle joint pitching hydraulic driving unit is hinged to the upper part of the shank, and the other end of the ankle joint pitching hydraulic driving unit is hinged to the upper part of the foot end; the structure consisting of the shank, the foot end and the ankle joint pitching hydraulic driving unit can convert the linear reciprocating motion of the ankle joint pitching hydraulic driving unit into the pitching motion of the ankle joint relative to the stand connecting platform, so that the foot end is always in the vertical direction in the motion process of the robot;
the outer side of the foot end is fixedly connected with the connecting bearing, and the connecting bearing is hinged to a hub bearing outer ring of the wheel type motion system, so that the outer side of the foot end can rotate along the axis of the connecting bearing; one end of the wheel turning hydraulic driving unit is hinged to the side face of the foot end, and the other end of the wheel turning hydraulic driving unit is hinged to the outer ring of the hub bearing; the structure consisting of the foot end, the hub bearing and the wheel turning hydraulic driving unit can convert the linear reciprocating motion of the wheel turning hydraulic driving unit into the turning motion of the wheel along the axis of the connecting bearing;
the wheel type motion system comprises a servo motor and a power transmission mechanism, and has one degree of freedom, so that the rotation of the wheel along the axis can be realized.
2. The high flexibility seven degree-of-freedom wheeled legged robot leg structure of claim 1, characterized by: the power transmission mechanism comprises a universal joint, a transmission shaft, a hub bearing and a wheel, the servo motor is fixedly connected with the foot end, one end of the universal joint penetrates through the foot end and then is connected with an output shaft of the servo motor, the other end of the universal joint is connected with the transmission shaft, the inner side of the transmission shaft is fixedly connected with an inner ring of the hub bearing, and the outer side of the transmission shaft is fixedly connected with the wheel; the power of the wheel type motion system is transmitted to the wheels through the servo motor, the universal joint, the transmission shaft and the hub bearing, so that the wheel type motion of the wheel-foot robot is completed.
3. The high flexibility seven degree-of-freedom wheeled legged robot leg structure of claim 1, characterized by: each hydraulic drive unit uses a valve-controlled hydraulic cylinder, and the valve-controlled hydraulic cylinder comprises a joint bearing, a servo cylinder rod, a displacement sensor fixing piece, a servo valve, a servo cylinder and a pipe joint.
4. The high flexibility seven degree-of-freedom wheeled legged robot leg structure of claim 1, characterized by: the whole leg structure of the wheel-foot robot uses high-strength steel materials.
5. The high flexibility seven degree-of-freedom wheeled legged robot leg structure of claim 1, characterized by: the tyre surface of the wheel-foot robot adopts wear-resistant rubber materials and radial tyre veins.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111601303.5A CN114454980B (en) | 2021-12-24 | 2021-12-24 | High-flexibility seven-degree-of-freedom wheel-foot robot leg structure |
| NL2031560A NL2031560A (en) | 2021-12-24 | 2022-04-12 | Highly flexible seven-degree-of-freedom wheel-legged robot leg structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111601303.5A CN114454980B (en) | 2021-12-24 | 2021-12-24 | High-flexibility seven-degree-of-freedom wheel-foot robot leg structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114454980A CN114454980A (en) | 2022-05-10 |
| CN114454980B true CN114454980B (en) | 2022-10-28 |
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| CN114454980A (en) | 2022-05-10 |
| NL2031560A (en) | 2023-06-30 |
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