CN114475849A - Multi-foot walker based on three-degree-of-freedom planar parallel mechanical legs - Google Patents
Multi-foot walker based on three-degree-of-freedom planar parallel mechanical legs Download PDFInfo
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- CN114475849A CN114475849A CN202210190328.9A CN202210190328A CN114475849A CN 114475849 A CN114475849 A CN 114475849A CN 202210190328 A CN202210190328 A CN 202210190328A CN 114475849 A CN114475849 A CN 114475849A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention relates to a multi-legged walker based on three-degree-of-freedom plane parallel mechanical legs, which comprises a rack, a plurality of mechanical legs and a control unit, wherein the control unit is fixedly arranged on the upper end surface of the rack, a battery pack is arranged in the rack, the mechanical legs are symmetrically arranged on two sides of the rack through rack connecting pieces, and a shank connecting rod, a first H-shaped connecting rod, a second H-shaped connecting rod, a third H-shaped connecting rod, a first linear driver, a second linear driver, a fourth H-shaped connecting rod, a rack connecting piece and a third linear driver in each mechanical leg are connected through revolute pairs. Each mechanical leg in the multi-foot walker is designed by adopting a three-degree-of-freedom plane parallel mechanism, the motion characteristics are clear, the leg foot end piece can realize the swinging and the movement in two directions in a plane, and meanwhile, the plurality of mechanical legs are symmetrically arranged on two sides of the frame, so that the multi-foot walker has larger leg working space and good bearing capacity.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a multi-legged walker based on three-degree-of-freedom planar parallel mechanical legs.
Background
With the continuous development of robot technology, mobile robots have gradually participated in industrial and agricultural production and service industries. The multi-foot walker is used as one of mobile robots, compared with a wheeled mobile robot and a crawler mobile robot, the multi-foot walker has the characteristics of discrete foot drop points, flexible movement, strong adaptability to the ground and the like, is an ideal mobile carrying platform in non-structural grounds such as mountainous regions, hills, stairs and the like, adopts triangular gaits in the walking process, and has good stability and bearing capacity, so that the multi-foot walker has strong execution capacity in practical engineering application. Therefore, the research of the multi-foot walker has important practical significance.
Mechanical legs, as a key component of the motion and load of the multi-legged walker, have important influence on the performance of the walker. The mechanical legs of the existing multi-legged walker mainly have two forms of series connection and parallel connection, wherein the series connection mechanical legs are mainly characterized by large working space, flexible movement, simple control, larger leg swing inertia force, lower rigidity and large self weight/load ratio; the parallel mechanical legs are mainly characterized by compact structure, large rigidity, small self weight/load ratio, small working space and complex control. In parallel mechanical legs, it is not uncommon for a multi-legged walker to have both good load carrying capacity and large leg working space. Therefore, the design of the multi-foot walker with larger leg working space and better bearing capacity has important value for widening the application range of the mobile walker.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the multi-foot walker based on the three-degree-of-freedom planar parallel mechanical legs, which has large working space of legs and strong bearing capacity.
The technical scheme adopted by the invention is that the multi-foot walker based on three-degree-of-freedom plane parallel connection mechanical legs comprises a frame, a plurality of mechanical legs and a control unit, wherein the control unit is fixedly arranged on the upper end surface of the frame, a battery pack is arranged in the frame, and the plurality of mechanical legs are symmetrically arranged on two sides of the frame through frame connecting pieces; each mechanical leg comprises a lower leg connecting rod, a first H-shaped connecting rod, a second H-shaped connecting rod, a third H-shaped connecting rod, a first linear driver, a second linear driver, a fourth H-shaped connecting rod, a rack connecting piece and a third linear driver, wherein each lower leg connecting rod comprises a foot end piece and a foot end connecting rod, the foot end piece is fixedly connected with the lower end of the foot end connecting rod, the middle part of each lower leg connecting rod is connected with the first end of the corresponding first H-shaped connecting rod through a first rotating shaft, the first end of each lower leg connecting rod is rotatably connected with the first end of the corresponding third H-shaped connecting rod through a fourth rotating shaft, the middle part of each first H-shaped connecting rod is rotatably connected with the first end of the corresponding second H-shaped connecting rod through a second rotating shaft, the second end of each first H-shaped connecting rod is rotatably connected with the first end of the corresponding first linear driver through a third rotating shaft, and the second end of the corresponding first linear driver is rotatably connected with the bottom end of the rack connecting piece through a seventh rotating shaft The middle part of the second H-shaped connecting rod is rotatably connected with the second end of the third H-shaped connecting rod and the first end of the second linear actuator through a fifth rotating shaft, the second end of the second linear actuator is rotatably connected with the middle part of the frame connecting piece and the first end of the fourth H-shaped connecting rod through a ninth rotating shaft, the second end of the fourth H-shaped connecting rod is rotatably connected with the second end of the second H-shaped connecting rod through a sixth rotating shaft, the middle part of the fourth H-shaped connecting rod is rotatably connected with the first end of the third linear actuator through an eighth rotating shaft, the second end of the third linear actuator is connected with the top end of the frame connecting piece through a tenth rotating shaft, and the shank connecting rod, the first H-shaped connecting rod, the second H-shaped connecting rod and the third H-shaped connecting rod form a plane four-bar mechanism and pass through the first linear actuator, The second linear driver and the third linear driver can realize the coordinated movement of each mechanical leg in the movement plane, and then the multi-foot walker can be driven to move by the plurality of mechanical legs.
Further, the first turning axis central axis, the second turning axis central axis, the third turning axis central axis, the fourth turning axis central axis, the fifth turning axis central axis, the sixth turning axis central axis, the seventh turning axis central axis, the eighth turning axis central axis, the ninth turning axis central axis and the tenth turning axis central axis in each of the mechanical legs are all parallel to each other.
Preferably, the seventh turning shaft central axis, the ninth turning shaft central axis and the tenth turning shaft central axis among the plurality of mechanical legs at different sides of the frame are parallel to each other.
Further, the motion plane of each mechanical leg is a plane passing through the center of the foot end piece and perpendicular to the central axis of the first rotating shaft, and the two-dimensional movement and the one-dimensional swing of the foot end piece in the motion plane can be realized through the coordinated driving of the first linear driver, the second linear driver and the third linear driver.
Preferably, the frame connecting piece is a U-shaped piece of which the bottom is provided with a connecting hole, and two side walls of the U-shaped piece are both provided with through holes.
Preferably, the plurality of mechanical legs comprises 4, 6 or 8 mechanical legs.
The invention has the characteristics and beneficial effects that:
1. according to the multi-foot walker based on the three-degree-of-freedom plane parallel mechanical legs, the multiple mechanical legs are symmetrically arranged on the two sides of the frame, the multi-foot walker has a large leg working space and good bearing capacity, and the multi-foot walker is significant in widening the application range of the movable walker.
2. According to the multi-foot walker based on the three-degree-of-freedom plane parallel mechanical legs, each mechanical leg in the multi-foot walker is designed by the three-degree-of-freedom plane parallel mechanism, the motion characteristics are clear, the leg foot end piece can swing and simultaneously can move in two directions in a plane, and the working space of the tail end of the leg foot end piece is greatly enlarged.
3. According to the multi-foot walker based on the three-degree-of-freedom plane parallel mechanical legs, the three linear drivers of each mechanical leg are all installed on the frame connecting piece, so that the leg structure of the walker is easy to protect, the foot end inertia of each mechanical leg is small, the walker moves stably, the mechanical legs are driven by linear driving, and the bearing capacity is good.
4. The multi-foot walker based on the three-degree-of-freedom plane parallel mechanical legs provided by the invention has the advantages that each mechanical leg is compact in structure, good in overall manufacturability, easy to install, very convenient to use, quite suitable for being applied to the interior of a narrow space, simple and convenient to control and high in accuracy.
Drawings
FIG. 1 is a schematic overall view of a hexapod walker in accordance with an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a three-degree-of-freedom planar parallel mechanical leg according to the present invention;
FIG. 3 is a cross-sectional view of a three-degree-of-freedom planar parallel mechanical leg according to the present invention;
FIG. 4 is a schematic diagram of a first attitude of a three-degree-of-freedom planar parallel mechanical leg according to the present invention;
FIG. 5 is a schematic diagram of a second attitude of a three-degree-of-freedom planar parallel mechanical leg according to the present invention;
fig. 6 is a third posture diagram of the three-degree-of-freedom planar parallel mechanical leg according to the present invention.
The main reference numbers:
1-a first mechanical leg; 2-a second mechanical leg; 3-a third mechanical leg; 4-a frame; 5-a control unit; 6-a battery pack; 7-a fourth mechanical leg; 8-a fifth mechanical leg; 9-a sixth mechanical leg; 91-shank link; 92-a first H-shaped link; 93-a second H-shaped link; 94-a third H-shaped link; 95-a first linear driver; 96-a second linear drive; 97-fourth H-shaped link; 98-a frame connection; 99-a third linear drive; 911-foot end piece; 912-foot end link; r01-first axis of rotation; r02-second rotating shaft; r03-third rotating shaft; r04-fourth rotating shaft; r05-fifth rotating shaft; r06-sixth rotating shaft; r07-seventh rotating shaft; r08-eighth rotating shaft; r09-ninth rotating shaft; r10-tenth axis of rotation.
Detailed Description
The technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.
In this embodiment, the number of the three-degree-of-freedom planar parallel mechanical legs is 6, and the walker is a hexapod walker, as shown in fig. 1, the walker includes a rack 4, 6 mechanical legs, and a control unit 5, the control unit 5 is fixedly disposed on the upper end surface of the rack 4, a battery pack 6 is disposed inside the rack 4, and the mechanical legs are symmetrically disposed on two sides of the rack 4 through rack connectors 98.
Preferably, the frame 4 is a square hollow structure, the battery pack 6 is fixedly installed in a cavity inside the hollow structure, and the battery pack 6 is electrically connected with the control unit 5.
As shown in fig. 1 to 3, the 6 mechanical legs include a first mechanical leg 1, a second mechanical leg 2, a third mechanical leg 3, a fourth mechanical leg 7, a fifth mechanical leg 8 and a sixth mechanical leg 9, each of the mechanical legs includes a leg link 91, a first H-shaped link 92, a second H-shaped link 93, a third H-shaped link 94, a first linear driver 95, a second linear driver 96, a fourth H-shaped link 97, a frame connecting member 98 and a third linear driver 99, the leg link 91 includes a foot end piece 911 and a foot end link 912, the foot end piece 911 is fixedly connected to a lower end of the foot end link 912, an intermediate portion of the leg link 91 is connected to a first end of the first H-shaped link 92 through a first rotating shaft R01, a first end of the leg link 91 is rotatably connected to a first end of the third H-shaped link 94 through a fourth rotating shaft R04, an intermediate portion of the first H-shaped link 92 is rotatably connected to a first end of the second H-shaped link 93 through a second rotating shaft R02, and the second end of the first H-shaped link 92 is rotatably connected to the first end of the first linear actuator 95 through the third rotation axis R03, the second end of the first linear actuator 95 is rotatably connected to the bottom end of the frame connecting member 98 through the seventh rotation axis R07, and the middle portion of the second H-shaped link 93 is rotatably connected to the second end of the third H-shaped link 94 and the first end of the second linear actuator 96 through the fifth rotation axis R05, the second end of the second linear actuator 96 is rotatably connected to the middle portion of the frame connecting member 98 and the first end of the fourth H-shaped link 97 through the ninth rotation axis R09, and the second end of the fourth H-shaped link 97 is rotatably connected to the second end of the second H-shaped link 93 through the sixth rotation axis R06, the middle portion of the fourth H-shaped link 97 is rotatably connected to the first end of the third linear actuator 99 through the eighth rotation axis R08, and the second end of the third linear actuator 99 is connected to the top end of the frame connecting member 98 through the tenth rotation axis R10, the shank link 91, the first H-shaped link 92, the second H-shaped link 93 and the third H-shaped link 94 form a planar four-bar mechanism, coordinated movement of each mechanical leg in a movement plane can be realized through coordinated driving of the first linear actuator 95, the second linear actuator 96 and the third linear actuator 99, and then the multi-legged walker can be driven to move through a plurality of mechanical legs.
In a preferred mode, 4 or 8 mechanical legs can be symmetrically arranged on two sides of the machine frame 4.
Preferably, the central axes of first rotary shaft R01, second rotary shaft R02, third rotary shaft R03, fourth rotary shaft R04, fifth rotary shaft R05, sixth rotary shaft R06, seventh rotary shaft R07, eighth rotary shaft R08, ninth rotary shaft R09 and tenth rotary shaft R10 of first mechanical leg 1, second mechanical leg 2, third mechanical leg 3, fourth mechanical leg 7, fifth mechanical leg 8 and sixth mechanical leg 9 are all parallel to each other.
Preferably, the first mechanical leg 1 and the seventh, ninth and tenth axes of rotation R07, R09 and R10 of the fourth, fifth and sixth mechanical legs 7, 8 and 9, respectively, on different sides of the frame 4 are parallel to each other.
Preferably, the motion plane of each mechanical leg is a plane passing through the center of the foot end piece 911 and perpendicular to the central axis of the first rotating shaft R1, and two-dimensional movement and one-dimensional swing of the foot end piece 911 in the motion plane can be realized through the coordinated driving of the first linear driver 95, the second linear driver 96 and the third linear driver 99.
Preferably, the frame connecting member 98 is a U-shaped member having a connecting hole at the bottom thereof, and both sidewalls of the U-shaped member are provided with through holes.
In a specific working process, the third linear actuator 99 can drive the fourth H-shaped link 97 to rotate around the ninth rotation axis R09, the fourth H-shaped link 97 continues to drive the second H-shaped link 93 to rotate around the sixth rotation axis R06, the second linear actuator 96 drives the third H-shaped link 94 to move so as to rotate the shank link 91 around the first rotation axis R01, and the first linear actuator 95 drives the first H-shaped link 92 to move so as to rotate the shank link 91 around the fourth rotation axis R04. The plane of motion of the robot leg is defined as the plane passing through the center of the foot end piece 911 perpendicular to the axis of the first rotational axis R01. The coordinated driving of the first linear drive 95, the second linear drive 96 and the third linear drive 99 effects a two-dimensional movement and a one-dimensional oscillation of the foot piece 911 in the plane of motion. And, the first linear actuator 95, the second linear actuator 96 and the third linear actuator 99 are communicatively connected with the control unit 5 and controlled by the control unit 5. In a specific application process, the first linear driver 95, the second linear driver 96 and the third linear driver 99 act according to the instruction of the control unit 5, so as to drive the foot end piece 911 to move, and complete the movement instruction of the walker.
As shown in fig. 4, it is one of the multiple-motion driving schemes that the linear driver drives the mechanical leg to move along the X-axis direction in the movement plane, that is, when the mechanical leg translates along the X-axis negative direction in the movement plane, the first linear driver 95, the second linear driver 96 and the third linear driver 99 are driven in coordination and all in a contraction state, and when the mechanical leg translates along the X-axis positive direction in the movement plane, the first linear driver 95, the second linear driver 96 and the third linear driver 99 are driven in coordination and all in an extension state.
As shown in fig. 5, the linear actuator drives the mechanical leg in the motion plane in one of multiple motion driving schemes in the Y-axis direction, that is, when the mechanical leg translates in the positive Y-axis direction in the motion plane, the first linear actuator 95, the second linear actuator 96 and the third linear actuator 99 are driven in coordination and all in a contracted state, and when the mechanical leg translates in the negative Y-axis direction in the motion plane, the first linear actuator 95, the second linear actuator 96 and the third linear actuator 99 are driven in coordination and all in an extended state.
As shown in fig. 6, it is one of the multi-motion driving schemes in which the linear actuator drives the mechanical leg to swing in the motion plane, that is, when the mechanical leg swings in the counterclockwise direction in the motion plane, the second linear actuator 96 and the third linear actuator 99 are in the contracted state, and the first linear actuator 95 is in the extended state; when the mechanical leg swings in a clockwise direction in the plane of motion, the second linear actuator 96 and the third linear actuator 99 are in an extended state and the first linear actuator 95 is in a retracted state.
The hexapod walker in the embodiment of the invention can adopt various gaits to control, such as triangular gaits, namely the first mechanical leg 1, the third mechanical leg 3 and the fifth mechanical leg 8 form a group, the second mechanical leg 2, the fourth mechanical leg 7 and the sixth mechanical leg 9 form a group, the two groups of mechanical legs alternately lift legs to move, the advancing movement of the hexapod walker is realized, the structures of the six mechanical legs are the same, the design and manufacturing cost can be reduced, the installation is simple and convenient, and the universality is improved.
On the other hand, the invention adopts three-degree-of-freedom plane parallel mechanical legs with parallel configuration, and has compact structure, thus leading the whole structure of the walker to be more compact. Three linear drivers of the mechanical legs are all connected to the frame connecting piece, so that the leg structure of the walker is easy to protect; the inertia of the foot end of the mechanical leg is small, and the motion is stable; the mechanical legs adopt three linear drivers, so that the bearing capacity of the walker can be greatly improved. The walker with larger working space of the leg part and better bearing capacity has important value for widening the application range of the movable walker.
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 made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.
Claims (6)
1. A multi-foot walker based on three-degree-of-freedom plane parallel mechanical legs is characterized by comprising a frame, a plurality of mechanical legs and a control unit,
the control unit is fixedly arranged on the upper end face of the rack, a battery pack is arranged in the rack, and the mechanical legs are symmetrically arranged on two sides of the rack through rack connecting pieces;
each mechanical leg comprises a lower leg connecting rod, a first H-shaped connecting rod, a second H-shaped connecting rod, a third H-shaped connecting rod, a first linear driver, a second linear driver, a fourth H-shaped connecting rod, a rack connecting piece and a third linear driver, wherein each lower leg connecting rod comprises a foot end piece and a foot end connecting rod, the foot end piece is fixedly connected with the lower end of the foot end connecting rod, the middle part of each lower leg connecting rod is connected with the first end of the corresponding first H-shaped connecting rod through a first rotating shaft, the first end of each lower leg connecting rod is rotatably connected with the first end of the corresponding third H-shaped connecting rod through a fourth rotating shaft, the middle part of each first H-shaped connecting rod is rotatably connected with the first end of the corresponding second H-shaped connecting rod through a second rotating shaft, the second end of each first H-shaped connecting rod is rotatably connected with the first end of the corresponding first linear driver through a third rotating shaft, and the second end of the corresponding first linear driver is rotatably connected with the bottom end of the rack connecting piece through a seventh rotating shaft And the middle part of the second H-shaped connecting rod is rotatably connected with the second end of the third H-shaped connecting rod and the first end of the second linear actuator through a fifth rotating shaft, the second end of the second linear actuator is rotatably connected with the middle part of the rack connecting piece and the first end of the fourth H-shaped connecting rod through a ninth rotating shaft, the second end of the fourth H-shaped connecting rod is rotatably connected with the second end of the second H-shaped connecting rod through a sixth rotating shaft, the middle part of the fourth H-shaped connecting rod is rotatably connected with the first end of the third linear actuator through an eighth rotating shaft, the second end of the third linear actuator is connected with the top end of the rack connecting piece through a tenth rotating shaft, and the shank connecting rod, the first H-shaped connecting rod, the second H-shaped connecting rod and the third H-shaped connecting rod form a planar four-bar mechanism and are connected through the first linear actuator, The second linear driver and the third linear driver can realize the coordinated movement of each mechanical leg in the movement plane, and then the multi-foot walker can be driven to move by the plurality of mechanical legs.
2. The multi-legged walker with plane-parallel mechanical legs having three degrees of freedom according to claim 1, wherein the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth and tenth pivot center axes of each of the mechanical legs are all parallel to each other.
3. The multi-legged walker with planar parallel mechanical legs having three degrees of freedom according to claim 1, wherein the seventh, ninth and tenth axes of rotation of the plurality of mechanical legs on different sides of the frame are parallel to each other.
4. The multi-legged walker with three-degree-of-freedom planar parallel mechanical legs according to claim 1, wherein the motion plane of each mechanical leg is a plane passing through the center of the foot end piece and perpendicular to the central axis of the first rotating shaft, and the two-dimensional movement and the one-dimensional swing of the foot end piece in the motion plane can be realized through the coordinated driving of the first linear driver, the second linear driver and the third linear driver.
5. The multi-legged walker with planar parallel mechanical legs having three degrees of freedom according to claim 1, wherein the frame connecting member is a U-shaped member having a connecting hole at the bottom thereof, and both side walls of the U-shaped member are provided with through holes.
6. The three-degree-of-freedom planar parallel mechanical leg-based multi-legged walker of claim 1, wherein the plurality of mechanical legs includes 4, 6, or 8 mechanical legs.
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| CN2022100165352 | 2022-01-07 | ||
| CN202210016535 | 2022-01-07 |
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2022
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