CN115123419A - Leg of wheeled foot robot with force balance and hollow routing and working method - Google Patents
Leg of wheeled foot robot with force balance and hollow routing and working method Download PDFInfo
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- CN115123419A CN115123419A CN202210910233.XA CN202210910233A CN115123419A CN 115123419 A CN115123419 A CN 115123419A CN 202210910233 A CN202210910233 A CN 202210910233A CN 115123419 A CN115123419 A CN 115123419A
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- upper arm
- rotating shaft
- arm
- lower arm
- robot
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000009191 jumping Effects 0.000 claims abstract description 4
- 230000002441 reversible effect Effects 0.000 claims description 5
- 230000006835 compression Effects 0.000 claims description 2
- 238000007906 compression Methods 0.000 claims description 2
- 210000002414 leg Anatomy 0.000 abstract description 14
- 230000036544 posture Effects 0.000 abstract description 7
- 210000004394 hip joint Anatomy 0.000 abstract description 5
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000037396 body weight Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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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 provides a leg part of a wheel-foot robot with force balance and hollow routing and a working method. The upper end of the second upper arm is connected with the machine body, the lower end of the second upper arm is connected with the lower arm in the axial direction through a second rotating shaft structure, and the lower arm rotates around the second rotating shaft structure; the lower end of the lower arm is connected with a hub through a first motor module and a hub flange in sequence, and the first motor module drives the hub to rotate; the upper end of the first upper arm is connected with the machine body through the second motor module, the lower end of the first upper arm is connected with the lower arm in the axial direction through the first rotating shaft structure, and the lower arm rotates around the first rotating shaft structure. The robot has a compact structure and an ingenious design, can match corresponding rigidity parameters according to different weights of the robot body, effectively reduces the output torque of the hip joint module, simultaneously enables the balance, jumping and other postures of the robot with wheels and feet, and greatly improves the energy efficiency, safety and attractiveness of the robot.
Description
Technical Field
The invention relates to the field of mobile robots, in particular to a leg of a wheel-foot robot with force balance and hollow routing and a working method.
Background
Mobile robots are an important branch of the field of robotics, and the moving modes of mobile robots include limb-free motion, crawler type, leg type, wheel type and the like. Different moving modes have different characteristics, for example, a crawler-type robot has the advantages of obstacle crossing capability and strong terrain adaptability, the defects are that the speed is low, the efficiency is low, the movement noise is large, the wheel-type robot has the characteristics of simple structure, light weight, high flat ground moving speed and the like, but the capability of crossing trenches and steps is poor, the legged robot has the characteristic of strong terrain adaptability and can cross large trenches and steps, and the defects are that the energy consumption is large and the speed is low.
Along with mobile robot in the life field, the transportation field, the wide application in the field of patrolling and examining etc, market is more and more high to mobile robot's requirement, legged robot and wheeled robot are fused relatively gradually and are extended a neotype sufficient mobile robot of wheel, it is fast to possess the level land moving speed, the ability of crossing obstacle of certain height step, but with this while existence requires hip joint motor moment height, need the weight of hip joint motor support robot body, consequently, the time of endurance is short, and the wheel sufficient robot on the present market all walks the line and leaks outward, the body is gone into from the outside to the following shank structure, easy pencil is easily sheared in the motion process, influence equipment security. Therefore, the invention effectively solves the problems that the torque output of the motor is reduced, the endurance time is prolonged, the routing of industrial products is prevented from being exposed, and the running safety of equipment is improved through the design of the leg-shaped structure.
Disclosure of Invention
The leg of the wheel-foot robot with the functions of balance and hollow routing and the working method are provided for solving the problems in the prior art, the structure is compact, the design is ingenious, corresponding rigidity parameters can be matched according to different weights of the robot body, the output torque of a hip joint module is effectively reduced, the postures of balance, jumping and the like of the wheel-foot robot are enabled, and the energy efficiency, safety and attractiveness of the robot are greatly improved.
The invention comprises a first upper arm, a second upper arm, a lower arm and a hub.
The upper end of the second upper arm is connected with the machine body, the lower end of the second upper arm is connected with the lower arm in the axial direction through a second rotating shaft structure, and the lower arm rotates around the second rotating shaft structure;
the lower end of the lower arm is connected with a hub through a first motor module and a hub flange in sequence, and the first motor module drives the hub to rotate;
the upper end of the first upper arm is connected with the machine body through a second motor module, the lower end of the first upper arm is connected with the lower arm in the axial direction through a first rotating shaft structure, and the lower arm rotates around the first rotating shaft structure; when the second motor module rotates, the first upper arm, the second upper arm and the lower arm are driven to fold upwards or unfold downwards according to the rotating direction of the second motor module, and the hub is restrained by the second upper arm to move upwards or downwards in an approximate straight line.
In a further improvement, the first rotating shaft structure comprises a first rotating shaft, a first bearing, a torsion spring and a bearing end cover which are connected in sequence, wherein the first rotating shaft is connected with the lower arm, and the bearing end cover is connected with the first upper arm, so that the lower arm can rotate around the first rotating shaft.
In a further improvement, the second rotating shaft structure comprises a second bearing, a second rotating shaft and a second bearing end cover which are sequentially connected, wherein the second bearing is connected with the lower arm, and the second bearing end cover is connected with the first upper arm, so that the lower arm can rotate around the second rotating shaft. The second bearing is an ultrathin bearing and is fixed with the lower arm through a fastening bracket.
The first upper arm, the second upper arm and the lower arm are all hollow structures, and wire pressing supports are arranged inside the first upper arm, the second upper arm and the lower arm; the first rotating shaft and the second rotating shaft are both of hollow structures, and a wiring through groove is reserved in the center.
The invention also provides a working method of the leg of the wheel-foot robot with force balance and hollow routing, which comprises the following steps of moving, squatting and jumping:
in the moving process, the first upper arm, the second upper arm and the lower arm are fixed, and the wheel hub is driven to rotate by the first motor module, so that the robot is controlled to move;
in the squatting process, the second motor module rotates anticlockwise to drive the first upper arm, the second upper arm and the lower arm to be folded upwards, and the wheel hub moves upwards in an approximate straight line under the constraint of the second upper arm; the torsion spring is compressed, when the guide wheel of the robot contacts the ground, the compression amount of the torsion spring is maximum, and the reverse torque stored by the torsion spring is maximum;
in the standing process, the two motor modules rotate clockwise to drive the first upper arm, the second upper arm and the lower arm to extend downwards, the hub moves downwards in an approximate straight line, and the reverse torque stored by the torsion spring in the squatting process is superposed on the second motor module to increase the take-off height.
The invention has the beneficial effects that: compact structure, design benefit can match corresponding rigidity parameter according to the different weight of robot body, effectively reduces the output torque of hip joint module, enables gesture such as wheel sufficient robot balance, jump simultaneously, improves robot efficiency, security and aesthetic property greatly.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a perspective view of a leg structure of a biped robot;
FIG. 2 is an exploded view of a leg structure of a biped robot;
FIG. 3 is a semi-sectional view of a leg structure of a bipedal robot;
fig. 4 is a schematic perspective view of the posture of the biped robot.
In the figure, 01 a first upper arm, 02 a bearing end cover, 03 a torsion spring, 04 a lower arm, 05 a motor cover plate, 06 a hub flange, 07 a hub, 08 a first motor module, 09 a lower arm cover plate, 10 a first rotating shaft, 11 a first bearing, 12 a fastening bracket, 13 a second bearing, 14 a second rotating shaft, 15 a second upper arm, 16 a second upper arm cover plate, 17 a pressing line bracket, 18 a second motor module and 19 cables.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In one embodiment of the present invention, as shown in fig. 1 and 2, a second motor module 18 is connected with a first upper arm 01 through screws, the first upper arm 01 is connected and fixed with a lower arm 04 in an axial direction through a first rotating shaft 10, a first bearing 11, a torsion spring 03 and a bearing end cover 02 in sequence, so that the lower arm 04 can rotate around the first rotating shaft 10, the upper end of the lower arm 04 is connected and fixed with a second upper arm 15 through a fastening bracket 12, a second bearing 13, a second rotating shaft 14 and a bearing end cover 02 in the axial direction, so that the end of the lower arm 04 can rotate through the second rotating shaft 14, the connection with the second upper arm 15 is used for limiting the motion track of a front end hub 07 of the lower arm 04, the first motor module 08 and the lower arm 04 are fixed through screws, the first motor module 08 is installed at the lower end of the lower arm 04 and is provided with a corresponding motor cover 05, the hub flange 06 is fixed on the first motor module 08, then the hub 07 is mounted on the hub flange 06 through a screw, the first motor module 08 rotates to drive the hub 07 to rotate, through the above mounting process, the second motor module 18 rotates counterclockwise, the first upper arm 01, the second upper arm 15 and the lower arm 04 can be driven to fold upwards, the hub 07 moves upwards in an approximate straight line under the constraint of the second upper arm 15, the second motor module 18 rotates clockwise, and the hub 07 moves downwards in the opposite direction.
As shown in fig. 4, the second motor module 18 moves to drive the first upper arm 01 to rotate, so as to control the standing and squatting postures of the robot, when the robot is in the highest standing posture, the torsion spring 03 is in a pre-pressing state, when the robot is in balance, the torsion spring 03 is pre-pressed, the pre-pressed spring generates an upward elastic force to offset part of the weight of the robot body, and the moment of the second motor module 18 for maintaining the fixed height of the body is reduced, for example, the torsion spring coefficient K is 15704g.mm/g, the wire diameter is 4mm, the spiral middle diameter is 4mm, the number of turns is 3, the arm length of the fixing and force applying side is 40mm, the acting force P of the torsion spring is 7571.33g, which is equivalent to reducing the weight of the body 7571.33g, and further reducing the output moment of the second motor module 18, if there is no structure, the body weight directly acts on the second motor module 18, in this way, the load of the second motor module 18 is relatively large, so that the margin of the second motor module is increased in model selection, and meanwhile, if the load of the motor is large, the power is also increased, so that the power consumption of the robot is relatively high, and the endurance of the robot is influenced.
In addition, like the posture that the robot of wheel foot squats down in fig. 4, the torsional spring is compressed, and when the robot leading wheel contacted ground, the torsional spring decrement was the biggest, and the reverse moment of torsion that the torsional spring was stored this moment is also the biggest, and when the robot will carry out the jump posture, this part of moment of torsion superpose on second motor module 18, lets the wheel foot robot can jump higher height. If there is not the torsional spring, can only utilize the moment of torsion of second motor module 18 during the jump, through mechanics simulation, at body weight M15 Kg, when motor module moment of torsion T45 N.m, torsion spring coefficient K15704 g.mm/g, the jump height H of robot can reach 300mm, if do not have this structure, jump height H only is 230mm, this structure has utilized ingeniously between first rotation axis 10 of first upper arm 01 and the first rotation axis of lower arm 04 junction, do not additionally increase installation space, the structure does not expose, safe and reliable. In addition, the structure has another function, namely, when the robot is abnormally powered off in the working process, the body freely falls off the ground to play a very good buffering role, and the electronic elements in the body are effectively prevented from being damaged due to impact.
The leg structure of the wheel-foot robot is simultaneously provided with hollow routing lines, the lower arm 04 is made of aviation aluminum and is hollow inside, a routing space is reserved, as shown in figure 3, cables of a first motor module 08 are routed to the tail end of the lower arm 04 along the inner side of the lower arm 04, a second rotating shaft 14 is designed to be in a hollow state, the design space can pass through the cables of the first motor module 08, a joint position is an ultrathin bearing under the condition of meeting the load condition by using a second bearing 13 and is axially fixed by a fastening bracket 12, the design effectively increases the hollow diameter while avoiding excessively increasing the diameter of the joint, the processing cost of the lower arm 04 is saved, cables 19 pass through the second rotating shaft 14 and enter a body along the inner side of the second upper arm 15 to the tail end, the second upper arm 15 is similarly made of aviation aluminum, the inner side processing line groove position is designed, and a wire pressing bracket 17 is designed for cable fixing, after the cables are installed, the lower arm cover plate 09 and the second upper arm cover plate 16 are installed through screws respectively, after the installation is finished, the cables are hidden in the leg units of the robot, when the legs of the robot move, the cables do not have relative displacement because the cables pass through the center of the second rotating shaft 14, the risk that the leg units extrude or shear the cables in the moving process is directly eliminated, and certain cable movable wires are not required to be expected at joints of other robot leg structures.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus embodiment, the above is only a preferred embodiment of the present invention, and since it is basically similar to the method embodiment, it is described simply, and the relevant points can be referred to the partial description of the method embodiment. The above description is only for the specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the protection scope of the present invention should be covered by the principle of the present invention without departing from the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. The utility model provides a possess balanced and the hollow wheel sufficient robot shank of walking the line of power which characterized in that: comprises a first upper arm, a second upper arm, a lower arm and a hub;
the upper end of the second upper arm is connected with the machine body, the lower end of the second upper arm is connected with the lower arm in the axial direction through a second rotating shaft structure, and the lower arm rotates around the second rotating shaft structure;
the lower end of the lower arm is connected with a hub through a first motor module and a hub flange in sequence, and the first motor module drives the hub to rotate;
the upper end of the first upper arm is connected with the machine body through a second motor module, the lower end of the first upper arm is connected with the lower arm in the axial direction through a first rotating shaft structure, and the lower arm rotates around the first rotating shaft structure; when the second motor module rotates, the first upper arm, the second upper arm and the lower arm are driven to fold upwards or unfold downwards according to the rotating direction of the second motor module, and the hub is restrained by the second upper arm to move upwards or downwards in an approximate straight line.
2. The wheeled legged robot leg with force balance and hollow routing of claim 1, wherein: the first rotating shaft structure comprises a first rotating shaft, a first bearing, a torsion spring and a bearing end cover which are sequentially connected, wherein the first rotating shaft is connected with the lower arm, and the bearing end cover is connected with the first upper arm, so that the lower arm can rotate around the first rotating shaft.
3. The wheeled legged robot leg with force balance and hollow routing of claim 1, wherein: the second rotating shaft structure comprises a second bearing, a second rotating shaft and a second bearing end cover which are sequentially connected, wherein the second bearing is connected with the lower arm, and the second bearing end cover is connected with the first upper arm, so that the lower arm can rotate around the second rotating shaft.
4. The wheeled legged robot leg with force balance and hollow routing of claim 1, wherein: the second bearing is an ultrathin bearing and is fixed with the lower arm through a fastening bracket.
5. The wheeled legged robot leg with force balance and hollow routing of claim 1, wherein: the first upper arm, the second upper arm and the lower arm are all of hollow structures, and wire pressing supports are arranged inside the first upper arm, the second upper arm and the lower arm; the first rotating shaft and the second rotating shaft are both of hollow structures, and a wiring through groove is reserved in the center.
6. The working method of the leg of the wheel-foot robot with force balance and hollow routing is characterized by comprising a moving process, a squatting process and a jumping process:
in the moving process, the first upper arm, the second upper arm and the lower arm are fixed, and the wheel hub is driven to rotate by the first motor module, so that the robot is controlled to move;
in the squatting process, the second motor module rotates anticlockwise to drive the first upper arm, the second upper arm and the lower arm to be folded upwards, and the wheel hub moves upwards in an approximate straight line under the constraint of the second upper arm; the torsion spring is compressed, when the guide wheel of the robot contacts the ground, the compression amount of the torsion spring is maximum, and the reverse torque stored by the torsion spring is maximum;
in the standing process, the two motor modules rotate clockwise to drive the first upper arm, the second upper arm and the lower arm to extend downwards, the hub moves downwards in an approximate straight line, and the reverse torque stored by the torsion spring in the squatting process is superposed on the second motor module to increase the take-off height.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210910233.XA CN115123419A (en) | 2022-07-29 | 2022-07-29 | Leg of wheeled foot robot with force balance and hollow routing and working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210910233.XA CN115123419A (en) | 2022-07-29 | 2022-07-29 | Leg of wheeled foot robot with force balance and hollow routing and working method |
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| CN115123419A true CN115123419A (en) | 2022-09-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210910233.XA Pending CN115123419A (en) | 2022-07-29 | 2022-07-29 | Leg of wheeled foot robot with force balance and hollow routing and working method |
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| CN (1) | CN115123419A (en) |
Citations (9)
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|---|---|---|---|---|
| JP2007290054A (en) * | 2006-04-24 | 2007-11-08 | Hitachi Ltd | Bipedal type moving mechanism |
| US20080230285A1 (en) * | 2006-12-06 | 2008-09-25 | The Regents Of The University Of California | Multimodal agile robots |
| CN208392045U (en) * | 2018-07-06 | 2019-01-18 | 佛山华数机器人有限公司 | A kind of high protection bispin articulated robot |
| CN110525535A (en) * | 2019-07-25 | 2019-12-03 | 广东省智能制造研究所 | A kind of two-wheel foot mixing self-balance robot |
| CN111846000A (en) * | 2020-07-30 | 2020-10-30 | 上海交通大学 | Wheel leg robot leg structure and mobile robot |
| CN113173216A (en) * | 2021-05-17 | 2021-07-27 | 西安电子科技大学广州研究院 | Moving device of robot and robot |
| CN113200099A (en) * | 2021-06-11 | 2021-08-03 | 西安电子科技大学 | All-terrain wheel-leg robot |
| CN114771688A (en) * | 2022-05-10 | 2022-07-22 | 中国北方车辆研究所 | Cable-free three-degree-of-freedom joint module and bionic leg and foot structure |
| CN114771684A (en) * | 2022-04-27 | 2022-07-22 | 深圳市优必选科技股份有限公司 | Wheel-leg robot |
-
2022
- 2022-07-29 CN CN202210910233.XA patent/CN115123419A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007290054A (en) * | 2006-04-24 | 2007-11-08 | Hitachi Ltd | Bipedal type moving mechanism |
| US20080230285A1 (en) * | 2006-12-06 | 2008-09-25 | The Regents Of The University Of California | Multimodal agile robots |
| CN208392045U (en) * | 2018-07-06 | 2019-01-18 | 佛山华数机器人有限公司 | A kind of high protection bispin articulated robot |
| CN110525535A (en) * | 2019-07-25 | 2019-12-03 | 广东省智能制造研究所 | A kind of two-wheel foot mixing self-balance robot |
| CN111846000A (en) * | 2020-07-30 | 2020-10-30 | 上海交通大学 | Wheel leg robot leg structure and mobile robot |
| CN113173216A (en) * | 2021-05-17 | 2021-07-27 | 西安电子科技大学广州研究院 | Moving device of robot and robot |
| CN113200099A (en) * | 2021-06-11 | 2021-08-03 | 西安电子科技大学 | All-terrain wheel-leg robot |
| CN114771684A (en) * | 2022-04-27 | 2022-07-22 | 深圳市优必选科技股份有限公司 | Wheel-leg robot |
| CN114771688A (en) * | 2022-05-10 | 2022-07-22 | 中国北方车辆研究所 | Cable-free three-degree-of-freedom joint module and bionic leg and foot structure |
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