CN116750101A - Energy storage leg structure for wheel leg robot and wheel leg robot with same - Google Patents
Energy storage leg structure for wheel leg robot and wheel leg robot with same Download PDFInfo
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- CN116750101A CN116750101A CN202310720188.6A CN202310720188A CN116750101A CN 116750101 A CN116750101 A CN 116750101A CN 202310720188 A CN202310720188 A CN 202310720188A CN 116750101 A CN116750101 A CN 116750101A
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- shank
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- 238000004146 energy storage Methods 0.000 title claims abstract description 42
- 210000000689 upper leg Anatomy 0.000 claims abstract description 224
- 210000002414 leg Anatomy 0.000 claims abstract description 96
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims abstract description 87
- 229910052757 nitrogen Inorganic materials 0.000 claims abstract description 44
- 210000003127 knee Anatomy 0.000 claims abstract description 6
- 230000008878 coupling Effects 0.000 claims description 16
- 238000010168 coupling process Methods 0.000 claims description 16
- 238000005859 coupling reaction Methods 0.000 claims description 16
- 230000007246 mechanism Effects 0.000 claims description 11
- 244000309466 calf Species 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 abstract description 18
- 238000005265 energy consumption Methods 0.000 abstract description 3
- 230000005021 gait Effects 0.000 abstract description 3
- 230000005484 gravity Effects 0.000 abstract description 3
- 230000006641 stabilisation Effects 0.000 abstract description 3
- 238000011105 stabilization Methods 0.000 abstract description 3
- 210000001503 joint Anatomy 0.000 description 10
- 230000009471 action Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 230000008447 perception Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005422 blasting Methods 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
- F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
- F03G7/08—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for recovering energy derived from swinging, rolling, pitching or like movements, e.g. from the vibrations of a machine
- F03G7/081—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for recovering energy derived from swinging, rolling, pitching or like movements, e.g. from the vibrations of a machine recovering energy from moving road or rail vehicles, e.g. collecting vehicle vibrations in the vehicle tyres or shock absorbers
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an energy storage leg structure for a leg robot and the leg robot with the same, and belongs to the technical field of robots. According to the invention, the energy storage device is skillfully designed to participate in constructing the leg structure, and the thigh nitrogen spring and the shank nitrogen spring are used as energy storage elements of the four-legged robot, so that energy can be recovered and released to reduce energy consumption, meanwhile, impact is reduced, the stability of the system is improved, the energy efficiency of the four-legged robot is greatly improved, and further, gait movement crossing obstacle can be completed through swing of the thighs and the shanks on discontinuous ground under the driving of the thigh joint motor and the shank joint motor; the robot can move on the continuously undulating ground through the travelling wheels, and meanwhile, the gravity center of the robot can be better changed under the driving of the thigh joint motor and the thigh joint motor so as to realize the stabilization of the robot body. The leg layout of the four-leg robot adopts a front elbow and rear knee structure, and the robot is symmetrical about the center of the robot when the legs move, so that the inertial force of the leg movement can be weakened, the robot has good operability, and the robot adapts to the rugged road surface environment.
Description
Technical Field
The invention relates to an energy storage leg structure for a wheel leg robot and the wheel leg robot with the same, and belongs to the technical field of robots.
Background
With the continuous development of robot technology, the development of the robot industry in China is at a key stage at present. The quadruped robot is used as an intelligent robot with complex movement, has incomparable advantages of crawler type and wheel type robots because of discrete foot falling points and adaptability to various environments, and plays an important role in a series of high-risk and complex works such as rescue and relief work, military mine relief, mountain transportation, bridge blasting and the like. The conventional robot motion control technology is mainly based on a single form of a wheeled robot and a legged robot, and is difficult to cope with robot motion control in a complex environment. The wheel-leg type quadruped robot combines the advantages of wheels and legs, can move quickly like a common wheel type robot, and can traverse different terrains and obstacles like the quadruped robot. The wheel type movement can rapidly move on a flat road surface, and the leg type movement can walk on different terrains, so that the wheel leg type quadruped robot has higher flexibility and efficiency when exploring an unknown environment and executing tasks.
An important factor that restricts the development of the four-legged robots at present is that the energy efficiency is too low, and the energy efficiency refers to the ratio between the energy consumed in executing the task and the task completion degree, and the higher the ratio is, the higher the energy efficiency of the robot is. Energy efficiency is a very important indicator in robot design and manufacture. The weight of the robot, the layout of the legs, the form of the transmission, etc. all affect the energy efficiency of the robot.
Disclosure of Invention
The invention provides an energy storage leg structure for a wheeled leg robot, which is used for realizing energy storage in leg movement by participating in constructing the leg structure through an energy storage device; further provides a wheeled leg robot, the four legs adopt a front elbow and rear knee design, so that the robot can walk in a switching way in two different movement modes of wheels and legs.
The technical scheme of the invention is as follows:
according to another aspect of the present invention, there is provided an energy storage leg structure for a wheeled leg robot, including a side swing assembly, a first energy storage device, a second energy storage device, a thigh step shaft 105, a thigh support 109, a thigh bearing housing 113, a thigh joint motor 120, a thigh screw coupling 121, a thigh screw nut 122, a thigh plate 123, a thigh screw fixing support 125, a thigh screw 126, a shank screw fixing support 127, a shank joint motor 129, a shank screw coupling 130, a shank screw 131, a shank screw nut 132, a shank bearing 135, a shank bearing housing 138, a shank 139, a wheeled mechanism 140; the thigh support 109 is installed on the side swing assembly, two shaft holes are designed on the thigh support 109, namely an inner support shaft hole and an outer step shaft hole, the inner support shaft hole is used for being rotationally connected with one end of a first energy storage device, the other end of the first energy storage device is rotationally connected with the upper end of a thigh screw nut 122, the short end of the thigh step shaft 105 is matched with the outer step shaft hole, the long end of the thigh step shaft 105 is used for installing two thigh bearing seats 113, one end of a thigh plate 123 is fixedly connected between the two thigh bearing seats 113, and the other end of the thigh plate 123 is fixedly connected between two shank bearing seats 138; the thigh joint motor 120 and the shank joint motor 129 which are vertically arranged on the thigh plate 123 are both arranged on one side of the thigh bearing seat 113, one end of the thigh screw shaft coupler 121 is connected with the thigh joint motor 120, the other end of the thigh screw shaft coupler 121 is connected with one end of the thigh screw 126, the other end of the thigh screw 126 is supported by using the thigh screw fixing support 125, the thigh screw nut 122 is arranged on the thigh screw 126 to form a screw pair, and the lower end of the thigh screw nut 122 is movably matched with the upper end surface of the thigh plate 123; one end of the shank screw coupler 130 is connected with the shank joint motor 129, the other end of the shank screw coupler 130 is connected with one end of the shank screw 131, the other end of the shank screw 131 is supported by using the shank screw fixing support 127, the shank screw nut 132 and the shank screw 131 form a screw pair, the shank bearing seat 138 is rotationally connected with one end of the shank 139, the middle part of the shank 139 is rotationally connected with one end of the second energy storage device, the other end of the second energy storage device is rotationally connected with the lower end of the shank screw nut 132, the upper end of the shank screw nut 132 is movably matched with the lower end face of the thigh plate 123, and the other end of the shank 139 is provided with the wheel mechanism 140.
The side swing assembly comprises a side swing joint motor 102, a side swing joint motor flange 103 and a thigh fixing plate 107; the output shaft of the side swing joint motor 102 is fixedly provided with a side swing joint motor flange 103, a thigh fixing plate 107 is arranged on the side swing joint motor flange 103, and a thigh support 109 is arranged on the thigh fixing plate 107.
The first energy storage device comprises a support shaft flange 108, a support shaft check ring 116, a support shaft 117, a nitrogen spring support frame 118 and a thigh nitrogen spring 124; the support shaft flanges 108 are arranged on the thigh support 109, and the support shaft flanges 108 on two sides of the support shaft hole of the thigh support 109 are used for completing axial positioning and circumferential positioning of the support shaft 117; the nitrogen spring supporting frame 118 is arranged on the supporting shaft 117, and the supporting shaft check ring 116 realizes the function of axial fixation; the upper end of the thigh screw nut 122 is connected with the telescopic end of the thigh nitrogen spring 124 by a pin shaft to form a revolute pair, and the fixed end of the thigh nitrogen spring 124 is fixedly connected with the nitrogen spring supporting frame 118.
Two first travel switches 115 are installed on the upper end of the thigh plate 123 and are respectively used as two travel end points of the thigh screw nut 122, and the distances between the thigh screw nut 122 and the thigh screw fixing support 125 at the travel end points are respectively A + 、A － 。
The second energy storage device includes a calf nitrogen spring 134; the lower end of the shank lead screw nut 132 is connected with the fixed end of the shank nitrogen spring 134 through a pin shaft to form a revolute pair, and the telescopic end of the shank nitrogen spring 134 is connected with the middle part of the shank 139 through a pin shaft to form a revolute pair.
Two second travel switches 115 are arranged at the lower end of the thigh plate 123 and are respectively used as two travel end points of the shank screw nut 132, and the distances between the shank screw nut 132 and the shank screw fixing support 127 at the travel end points are respectively B + 、B － 。
The wheel mechanism 140 employs an integrated in-wheel motor.
According to another aspect of the present invention, there is provided a wheel leg robot comprising a body 2 and the above-described energy storage leg structure arranged in a front elbow and rear knee based on the body 2.
The beneficial effects of the invention are as follows: according to the invention, the energy storage device is skillfully designed to participate in constructing the leg structure, and the thigh nitrogen spring and the shank nitrogen spring are used as energy storage elements of the four-legged robot, so that energy can be recovered and released to reduce energy consumption, meanwhile, impact is reduced, the stability of the system is improved, the energy efficiency of the four-legged robot is greatly improved, and further, gait movement crossing obstacle can be completed through swing of the thighs and the shanks on discontinuous ground under the driving of the thigh joint motor and the shank joint motor; the robot can move on the continuously undulating ground through the travelling wheels, and meanwhile, the gravity center of the robot can be better changed under the driving of the thigh joint motor and the thigh joint motor so as to realize the stabilization of the robot body. The leg layout of the four-leg robot adopts a front elbow and rear knee structure, and the robot is symmetrical about the center of the robot when the legs move, so that the inertial force of the leg movement can be weakened, the robot has good operability, and the robot adapts to the rugged road surface environment.
Drawings
FIG. 1 is an axial view of a four-legged robot of the present invention;
FIG. 2 is an exploded view of the four-legged robot of the present invention;
FIG. 3 is an axial view of a single leg structure of the present invention;
FIG. 4 is an axial view of the thigh structure of the present invention;
FIG. 5 is an exploded view of a single leg structure of the present invention;
FIG. 6 is a partial view of the leg structure of the present invention;
FIG. 7 is a side view of the invention in a single leg extended state;
FIG. 8 is a side view of the present invention in a single leg contracted state;
FIG. 9 is a partial view of the installation of the thigh screw module travel switch of the present invention;
FIG. 10 is a partial view of the installation of the calf screw module travel switch of the present invention;
FIG. 11 is an axial view I of the robot body of the present invention;
FIG. 12 is a second exploded view of the robot body of the present invention;
FIG. 13 is an exploded view III of the robot body of the present invention;
FIG. 14 is an axial view IV of the robot body of the present invention;
FIG. 15 is an axial view of the standing position of the four-legged robot of the present invention;
FIG. 16 is an axial view of the prone position of the four-legged robot of the present invention;
the reference numerals in the figures are: 1-rear leg I, 2-body, 3-radar sensor system, 4-front leg I, 5-vision sensor system, 6-power supply system, 7-rear leg II, 8-front leg II, 9-ultrasonic sensor, 101-side swing joint motor support bracket, 102-side swing joint motor, 103-side swing joint motor flange, 104-side swing joint bearing end cap, 105-thigh step shaft, 106-side swing joint bearing retainer ring, 107-thigh fixed plate, 108-support shaft flange, 109-thigh support, 110-lead screw nut support guide wheel, 111-thigh bearing, 112-thigh bearing housing end cap, 113-thigh bearing housing, 114-thigh bearing retainer ring, 115-travel switch, 116-support shaft lead screw bearing, 117-support shaft, 118-nitrogen spring support bracket, 119-thigh joint motor holder, 121-thigh joint motor, 122-thigh shaft coupling nut, 123-thigh plate, 124-thigh nitrogen spring, 126-thigh fixed support, 126-thigh motor retainer ring, 127-thigh fixed plate, 108-thigh lead screw bearing housing end plate, 113-lead screw shaft bearing housing, 130-lead screw shaft, 133-side plate, 134-lead screw shaft bearing housing, 134-lower leg fixed plate, and 133-lower leg shaft, and 133-upper lead screw shaft bearing housing, 203-upper pipe rack long pipe, 204-upper pipe rack short pipe, 205-rear side plate, 206-lower pipe rack short pipe, 207-upper pipe rack middle pipe, 208-lower pipe rack long pipe, 209-tee, 210-pipe clamp, 211-lower support plate, 212-bottom support pad, 213-long side plate, 214-short side plate, 215-battery, 216-battery support, 217-switch support plate, 218-switch, 219-controller, 301-laser radar, 302-radar support, 501-binocular vision depth camera, 502-camera support.
Detailed Description
The invention will be further described with reference to the drawings and examples, but the invention is not limited to the scope.
Example 1: as shown in fig. 1-16, according to an aspect of an embodiment of the present invention, there is provided an energy storage leg structure for a wheeled robot including a side swing assembly, a first energy storage device, a second energy storage device, a thigh step shaft 105, a thigh support 109, a thigh bearing housing 113, a thigh joint motor 120, a thigh screw coupling 121, a thigh screw nut 122, a thigh plate 123, a thigh screw fixing support 125, a thigh screw 126, a shank screw fixing support 127, a shank joint motor 129, a shank screw coupling 130, a shank screw 131, a shank screw nut 132, a shank bearing 135, a shank bearing housing 138, a shank 139, a wheeled mechanism 140; the thigh support 109 is installed on the side swing assembly, two shaft holes are designed on the thigh support 109, namely an inner support shaft hole and an outer step shaft hole, the inner support shaft hole is used for being rotationally connected with one end of a first energy storage device, the other end of the first energy storage device is rotationally connected with the upper end of a thigh screw nut 122, the short end of the thigh step shaft 105 is matched with the outer step shaft hole, the long end of the thigh step shaft 105 is used for installing two thigh bearing seats 113, one end of a thigh plate 123 is fixedly connected between the two thigh bearing seats 113, and the other end of the thigh plate 123 is fixedly connected between two shank bearing seats 138; the thigh joint motor 120 and the shank joint motor 129 which are vertically arranged on the thigh plate 123 are both arranged on one side of the thigh bearing seat 113, one end of the thigh screw shaft coupler 121 is connected with the thigh joint motor 120, the other end of the thigh screw shaft coupler 121 is connected with one end of the thigh screw 126, the other end of the thigh screw 126 is supported by using the thigh screw fixing support 125, the thigh screw nut 122 is arranged on the thigh screw 126 to form a screw pair, and the lower end of the thigh screw nut 122 is movably matched with the upper end surface of the thigh plate 123; one end of the shank screw coupler 130 is connected with the shank joint motor 129, the other end of the shank screw coupler 130 is connected with one end of the shank screw 131, the other end of the shank screw 131 is supported by using the shank screw fixing support 127, the shank screw nut 132 and the shank screw 131 form a screw pair, the shank bearing seat 138 is rotationally connected with one end of the shank 139, the middle part of the shank 139 is rotationally connected with one end of the second energy storage device, the other end of the second energy storage device is rotationally connected with the lower end of the shank screw nut 132, the upper end of the shank screw nut 132 is movably matched with the lower end face of the thigh plate 123, and the other end of the shank 139 is provided with the wheel mechanism 140.
As shown in fig. 3-6, two sides of the outer step shaft hole designed on the thigh fixing plate 107 are provided with thigh bearings 111 to reduce friction, the outer side of the bearings is provided with a side swing joint bearing end cover 104 to realize the installation and fixation of the bearings, the short end step side of the thigh step shaft 105 is contacted with the inner ring of the outer side bearing, and the short end part of the thigh step shaft 105 is axially fixed by a side swing joint bearing retainer ring 106; the long end of the thigh step shaft 105 is used for installing two thigh bearing seats 113, the thigh bearing seat end caps 112 are respectively installed on two sides of the bearing seats and are used for fixing bearings in the bearing seats, and the thigh bearing retainer rings 114 are used for axially fixing the thigh bearing seats 113. The fixing of the thigh bearing housing 113 to the thigh plate 123 is achieved by using bolts through three bolt holes in the side of the thigh bearing housing 113, and the fixing to the thigh plate 123 is also achieved by using bolts through three bolt holes in the side of the shank bearing housing 138. Thigh joint motor mount 119 is mounted in a recess above thigh plate 123, thigh joint motor 120 is mounted in thigh joint motor mount 119, and is secured with screws. One end of the thigh screw shaft coupling 121 is connected to the thigh joint motor 120, and the other end is connected to the thigh screw 126, and is fixed in the circumferential direction by a fixing pin. The thigh screw fixing support 125 is mounted on the thigh plate 123, and the other end of the thigh screw 126 is supported using the thigh screw fixing support 125. The thigh screw nut 122 is mounted on the thigh screw 126 to form a screw pair, the lower part of the thigh screw nut 122 is provided with the screw nut supporting guide wheel 110, and the thigh screw nut 122 is mounted on the thigh screw nut 122 through a pin shaft to increase the screw rigidity and stability. The lower leg joint motor fixing seat 128 is installed at a groove below the thigh plate 123, and the lower leg joint motor 129 is installed in the lower leg joint motor fixing seat 128 and is fixed by using screws. The shank screw shaft coupling 130 has one end connected to the shank joint motor 129 and one end connected to the shank screw 131, and is fixed by a fixing pin. The shank screw rod fixing 127 is installed on the thigh plate 123, and the other end of the shank screw rod 131 is supported using the shank screw rod fixing support 127. The shank screw nut 132 and the shank screw 131 form a screw pair, shank bearings 135 are mounted on both sides of a shaft hole of a shank 139, a shank shaft 136 is mounted on the shank bearings 135, both ends of the shank shaft 136 are mounted on shank bearing seats 138, and axial fixation of the shank shaft 136 and the shank bearing seats 138 is realized by using shank shaft check rings 133. The upper portion of the shank lead screw nut 132 is provided with a lead screw nut supporting guide wheel 110 which is mounted on the shank lead screw nut 132 through a pin shaft to increase the rigidity and stability of the lead screw.
By applying the above technical solution, the thigh joint motor 120 and the shank joint motor 129 are both installed on one side of the thigh bearing seat 113, and can also be used for reducing moment of inertia and increasing stability of motion without affecting power output. Further, stability may be further increased by designing the upper and lower end surfaces of the thigh plate 123 with pulleys for moving engagement.
Further, the side swing assembly comprises a side swing joint motor 102, a side swing joint motor flange 103 and a thigh fixing plate 107; the output shaft of the side swing joint motor 102 is fixedly provided with a side swing joint motor flange 103, a thigh fixing plate 107 is arranged on the side swing joint motor flange 103, and a thigh support 109 is arranged on the thigh fixing plate 107.
Specifically, as shown in fig. 3 and 5, the roll joint motor 102 is mounted on the roll joint motor support frame 101 through a fixing hole of a housing thereof, the roll joint motor flange 103 is mounted on an output shaft of the roll joint motor 102 by a countersunk screw, the thigh fixing plate 107 is mounted on the roll joint motor flange 103 by a countersunk screw, and the thigh support 109 is mounted on the thigh fixing plate 107 by a countersunk screw.
By applying the technical scheme, on one hand, the side swing assembly can be used for realizing connection between the machine body structure and the leg structure, and on the other hand, the side swing joint motor 102 rotates to realize integral lateral swing of the leg structure, and the four side swing assemblies can realize steering of the robot or lateral movement of the robot by matching with leg actions.
Further, the first energy storage device comprises a support shaft flange 108, a support shaft check ring 116, a support shaft 117, a nitrogen spring support frame 118 and a thigh nitrogen spring 124; wherein, the support shaft flange 108 is installed on the thigh support 109 by countersunk screws, and the axial positioning and the circumferential positioning of the support shaft 117 are completed through the support shaft flanges 108 on the two sides of the support shaft hole of the thigh support 109; the nitrogen spring supporting frame 118 is arranged on the supporting shaft 117, and the supporting shaft check ring 116 realizes the function of axial fixation; the upper end of the thigh screw nut 122 is connected with the telescopic end of the thigh nitrogen spring 124 by a pin shaft to form a revolute pair, and the fixed end of the thigh nitrogen spring 124 is fixedly connected with the nitrogen spring supporting frame 118.
Further, as shown in fig. 7 to 9, two first travel switches 115 are installed in the supporting wheel guide grooves at the upper portion of the thigh plate 123, respectively installed at both ends of travel of the thigh screw nut 122, and respectively spaced apart from the inner end surface of the thigh screw fixing support 125 by a distance of A + 、A － When the lead screw nut supporting guide wheel 110 is pressed against the first travel switch 115, the thigh joint motor 120 stops running, so as to increase the leg safety and protect the lead screw module.
As can be seen from the above technical solution, the thigh support 109 is used as a frame body to mount the support shaft 117 and the thigh step shaft 105 by using the thigh joint motor 120 as a power source, and further, the support shaft 117 is matched with the thigh screw nut 122 by using the first energy storage device, and the thigh plate 123 is mounted on the thigh step shaft 105 by using the thigh bearing seat 113. During movement, since the thigh screw 126 is connected with the thigh joint motor 120 through the thigh screw coupler 121, the thigh joint motor 120 rotates to drive the thigh screw 126 to rotate, and the thigh screw nut 122 moves on the thigh screw 126, and the effective travel of the thigh screw nut 122 moving on the thigh screw 126 is a=a + -A － . Because the thigh nitrogen spring 124 is respectively connected with the thigh screw nut 122 and the components on the thigh support 109, the thigh screw nut 122 moves to drive the thigh nitrogen spring 124 to move through the connecting rod action of the thigh nitrogen spring 124, and finally the swing of the thigh plate 123 is realized. The amplitude of the oscillation ranges from alpha=alpha + -α - . The leg portion is shown in figure 7 in an expanded state alpha + The maximum value of 37.5 deg., fig. 8 shows the contracted state of the leg as alpha - Is 5 deg. minimum.
Further, the second energy storage device includes a calf nitrogen spring 134; the lower end of the shank lead screw nut 132 is connected with the fixed end of the shank nitrogen spring 134 through a pin shaft to form a revolute pair, and the telescopic end of the shank nitrogen spring 134 is connected with the middle part of the shank plus leg 139 through a pin shaft to form a revolute pair.
Further, as shown in fig. 7, 8 and 10, two second travel switches 115 are installed in the supporting wheel guide grooves at the lower part of the thigh plate 123, and are respectively installed at the two ends of travel of the shank screw nut 132, and the distance from the inner end surface of the shank screw fixing support 127 is respectively B + 、B － The method comprises the steps of carrying out a first treatment on the surface of the When the lead screw nut supporting guide wheel 110 presses against the second travel switch 115, the lower leg joint motor 129 stops running, so as to increase the leg safety and protect the lead screw module.
By applying the above technical solution, the shank joint motor 129 mounted on the thigh plate 123 is used as a power source, and further, the shank 139 is matched with the second energy storage device, and during movement, since the shank joint motor 129 is connected with the shank screw 131 through the shank screw coupling 130, the shank screw 131 can be driven to rotate by the rotation of the shank joint motor 129, so that the shank screw nut 132 moves on the shank screw 131, and the effective travel of the shank screw nut 132 moving on the shank screw 131 is b=b + -B － . Further shank lead screw nut 132 drives shank nitrogen spring 134 to move, and shank 139 is finally swung through connection and support of shank nitrogen spring 134. The amplitude of the oscillation ranges from beta=beta + -β － . The leg portion is shown in fig. 7 in a stretched state beta + The maximum value of 80 DEG, figure 8 shows the contracted state of the leg as beta － Is 35 DEG at a minimum value of (2)
Further, the wheel mechanism 140 employs an integrated in-wheel motor. The wheel mechanism 140 is mounted in a mounting and fixing hole at the end of the shank 139.
According to the invention, the transmission mode of the leg joint motor direct-drive rod group of the traditional four-foot robot is changed into the transmission mode of the joint motor drive screw module. The joint motor rotates to provide power to drive each mechanism to execute corresponding actions. The rod group transmission is converted into a lead screw module transmission form, so that the load of the four-foot robot can be improved. When the leg structure does not act, the energy loss of the motors of the joints of the big leg and the small leg can be reduced due to the self-locking property of the movement of the ball screw, and meanwhile, the screw module can enable the control of the four-legged robot to be more accurate, so that the four-legged robot is easier to manufacture and maintain, and the cost of the robot is reduced. Because of the innovative design of the first and second energy storage devices, the thigh nitrogen spring 124 and the shank nitrogen spring 134 are used as the connecting rods of the thigh structure and the shank structure and are used as the energy storage elements of the robot, and the nitrogen spring is a novel elastic component taking high-pressure nitrogen as a working medium and has the advantages of large elasticity, stable work, long service life, smooth elastic curve, convenience in installation, no need of pre-tightening and the like. The nitrogen spring is pressed to store energy in the state that the leg structure does not move and is supported, and the energy is released in the state that the leg structure moves and is lifted. The nitrogen spring can realize the recovery and release of energy, effectively reduce energy consumption, reduce impact and increase system stability, and greatly improve the energy efficiency of the four-legged robot. The gait action on the discontinuous ground can be realized under the drive of the motors of the joints of the big leg and the lower leg; the walking wheels can be used for completing the movement of the robot on the continuously undulating ground, and meanwhile, the gravity center of the robot can be better changed under the driving of the thigh joint motor and the shank joint motor to realize the stabilization of the machine body.
According to another aspect of the embodiment of the present invention, there is provided a wheel leg robot including a body 2 and the above-described energy storage leg structure arranged in a front elbow and rear knee based on the body 2.
Further, as shown in fig. 1 and 2, the whole robot can also be designed to comprise a robot body 2, a leg structure, a radar sensor system 3, a vision sensor system 5, a power supply system 6 and an ultrasonic sensor 9; the leg structure consists of a front leg II 8, a front leg I4, a rear leg II 7 and a rear leg I1; the controller and power supply system 6 are installed inside the robot body 2, and four leg structures, the radar sensor system 3, the vision sensor system 5 and the ultrasonic sensor 9 are installed outside. The power system 6 provides power to the actuators, controllers, and sensors. The radar sensor system 3, the vision sensor system 5 and the ultrasonic sensor 9 realize the perception positioning and mapping of the external environment. The controller performs signal processing on each sensor system to further control the leg structure to perform actions.
Further, the robot body 2 is composed of a pipe frame, a supporting plate and side plates, a controller and a power supply system 6 are installed inside the robot body, and four leg structures, a radar sensor system 3, a vision sensor system 5 and an ultrasonic sensor 9 are installed outside the robot body.
Further, the pipe support comprises an upper pipe support and a lower pipe support, and the whole robot is supported.
Further, the upper pipe rack is composed of an upper pipe rack long pipe 203, an upper pipe rack short pipe 204, an upper pipe rack middle pipe 207, a tee 209 for installation and fixation and a pipe clamp 210; first, four pipe clamps 210 are respectively and equidistantly installed on two upper pipe rack short pipes 204 installed at the front and rear, and two tee joints 209 are installed between the pipe clamps 210 at the two ends. The two upper pipe rack long pipes 203 arranged on the left and right are arranged in three-way 209 holes arranged on the two upper pipe rack short pipes 204, three pipe clamps 210 are respectively arranged on the upper pipe rack long pipes 203 at equal intervals, two three-way 209 are arranged in the middle of the upper pipe rack long pipes, and an upper pipe rack middle pipe 207 is arranged between the two three-way 209.
Further, the lower pipe rack is composed of a lower pipe rack short pipe 206, a lower pipe rack long pipe 208, a tee 209 and a pipe clamp 210 for installation and fixation; two tee joints 209 are respectively arranged at two ends of the front and rear lower pipe support short pipes 206, two pipe clamps 210 are respectively arranged on the inner sides of the tee joints 209 in a clinging manner, two lower pipe support long pipes 208 are arranged in two tee joint 209 holes, and three pipe clamps 210 are respectively arranged on the lower pipe support long pipes 208 at equal intervals.
Further, as shown in fig. 11-14, the upper part of the side swing joint motor support frame 101 is provided with four fixing holes, the lower part is provided with two fixing holes, and the four side swing joint motor support frames 101 are respectively mounted on the pipe clamps 210 on the upper pipe rack short pipe 204 and the lower pipe rack short pipe 206 by bolts, so as to play a role in connecting and supporting the upper pipe rack and the lower pipe rack and realize the mounting of leg structures. Four side plate mounting frames 202 are respectively mounted on the upper support plate 201 and the lower support plate 211 for mounting and fixing the side plates, the upper support plate 201 is mounted on the pipe clamp 210 of the upper pipe frame through bolts, a radar support 302 is mounted on the upper side of the upper support plate 201, and a laser radar 301 is mounted on the radar support 302. The laser radar 301 can make the surrounding environment of the robot sense the environment in a form of generating point cloud through laser scanning, and further synchronously map and position in detail. The lower support plate 211 is mounted on the pipe clamp 210 of the lower pipe frame through bolts, a fixing controller 219 and a battery support 216 are mounted on the upper side of the lower support plate 211, the battery support 216 is used for mounting and fixing a battery 215, and four bottom support pads 212 are mounted and fixed on the bottom of the lower support plate 211. The two sides of the machine body are respectively close to the two ends and are provided with a long side plate 213, one side of the middle position is provided with a short side plate 214, the other side is provided with a switch supporting plate 217, and the switch supporting plate 217 is provided with a switch 218. A camera mount 502 is mounted at one end of the body, and a binocular vision depth camera 501 is mounted on the camera mount 502. The binocular vision depth camera can calculate the distance from the feature points to the robot by comparing the difference of the positions of the feature points in the images, so as to measure the distance from the robot to the surrounding obstacle. The rear side plate 205 is mounted at the other end of the body. Four ultrasonic sensors are respectively arranged on the left side surface, the right side surface, the rear side surface and the bottom of the machine body. Because the binocular vision depth camera judges the distance through the characteristic points in the image, for pure-color obstacles, the binocular vision depth camera cannot obtain satisfactory measurement results due to lack of characteristics on the surfaces of the obstacles, and more accurate environment perception can be realized by matching with an ultrasonic sensor.
Further, the whole structure of the robot body adopts a lightweight structure of carbon fiber and aluminum alloy and consists of a pipe frame, a supporting plate and side plates, and the whole structure is simple, has strong rigidity and reduces self weight.
When the leg structures of the robot complete the following actions, the side swing joint motor 102 drives the side swing assembly to be vertical to the plane of the robot body; thigh joint motor 120 drives thigh lead screw nut 122 to move to a + The thigh plate 123 swings to alpha + Position, the calf joint motor 129 drives the calf lead screw nuts 132 to B － Position, shank 139 swings to beta + Position, leg structure forms an extended state; the four-legged robot forms a standing posture at this time, as shown in fig. 15, in this stateThe switching between the wheel type driving and the leg type driving of the robot can be completed in the state.
When the leg structures of the robot complete the following actions, the side swing joint motor 102 drives the side swing assembly to deflect towards the inner side of the robot body, so that a splayed form is formed; thigh joint motor 120 drives thigh lead screw nut 122 to move to a － The thigh plate 123 swings to alpha － Position, the calf joint motor 129 drives the calf lead screw nuts 132 to B + Position, shank 139 swings to beta － Position, leg structure forms a contracted state; in this way, the four-legged robot forms a prone position, as shown in fig. 16, in this state, the robot mass is concentrated on the bottom support pad 212, so that the stress of each structure of the robot is reduced to the maximum extent, and the storage of the robot can be safely and efficiently completed.
By applying the technical scheme, the wheel-leg type quadruped robot combines the advantages of wheels and legs, can move quickly like a common wheel type robot, and can traverse different terrains and barriers like the quadruped robot. The wheels can rapidly move on a flat road surface, and the legs can walk on different terrains, so that the wheel-leg type quadruped robot has higher flexibility and efficiency when exploring unknown environments and executing tasks, and has higher maneuverability and adaptability. The robot can enter places which cannot be reached by the traditional robot in the fields of rescue, exploration and the like, and the task is executed; the device can freely move in complex terrains in the military field, perform tasks such as reconnaissance, search and rescue, and provide support for military operations; through the perception of the surrounding environment in the field of home service, the wheel leg type quadruped robot can realize more intelligent home service such as cleaning, article carrying and the like. The wheel leg type four-foot robot can flexibly move and turn like the four-foot robot. The obstacle may be bypassed, the ramp climbed, and the obstacle climbed. This flexibility of movement allows for a wheel legged quadruped robot to have a higher flexibility in performing tasks.
While the present invention has been described in detail with reference to the drawings, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (8)
1. An energy storage leg structure for a wheeled leg robot is characterized by comprising a side swing assembly, a first energy storage device, a second energy storage device, a thigh step shaft (105), a thigh support (109), a thigh bearing seat (113), a thigh joint motor (120), a thigh screw shaft coupling (121), a thigh screw nut (122), a thigh plate (123), a thigh screw fixing support (125), a thigh screw (126), a shank screw fixing support (127), a shank joint motor (129), a shank screw shaft coupling (130), a shank screw (131), a shank screw nut (132), a shank bearing (135), a shank bearing seat (138), a shank (139) and a wheeled mechanism (140); the thigh support (109) is arranged on the side swing assembly, two shaft holes are respectively formed in the thigh support (109), the shaft holes are respectively an inner side supporting shaft hole and an outer side step shaft hole, the inner side supporting shaft hole is used for being rotationally connected with one end of a first energy storage device, the other end of the first energy storage device is rotationally connected with the upper end of a thigh screw nut (122), the short end of the thigh step shaft (105) is matched with the outer side step shaft hole, the long end of the thigh step shaft (105) is used for being provided with two thigh bearing seats (113), one end of a thigh plate (123) is fixedly connected between the two thigh bearing seats (113), and the other end of the thigh plate (123) is fixedly connected between the two thigh bearing seats (138); the thigh joint motor (120) and the shank joint motor (129) which are vertically arranged on the thigh plate (123) are both arranged on one side of the thigh bearing seat (113), one end of the thigh screw shaft coupler (121) is connected with the thigh joint motor (120), the other end of the thigh screw shaft coupler (121) is connected with one end of the thigh screw (126), the other end of the thigh screw (126) is supported by using the thigh screw fixing support (125), the thigh screw nut (122) is arranged on the thigh screw (126) to form a screw pair, and the lower end of the thigh screw nut (122) is movably matched with the upper end face of the thigh plate (123); the utility model discloses a shank screw shaft coupling, including shank screw shaft coupling (130), shank screw shaft coupling (132), shank screw shaft coupling (138) and shank (139) one end are rotated with shank screw shaft (131) and are connected, shank screw shaft coupling (130) other end is connected with shank screw shaft (131) one end, shank screw shaft coupling (132) upper end and thigh board (123) lower terminal surface removal cooperation, shank (139) other end installation wheeled mechanism (140).
2. The energy storing leg structure for a wheeled leg robot according to claim 1, wherein the side swing assembly comprises a side swing joint motor (102), a side swing joint motor flange (103), a thigh fixing plate (107); a side swing joint motor flange (103) is fixedly arranged on an output shaft of a side swing joint motor (102), a thigh fixing plate (107) is arranged on the side swing joint motor flange (103), and a thigh support (109) is arranged on the thigh fixing plate (107).
3. The energy storing leg structure for a wheeled leg robot of claim 1, wherein the first energy storing means comprises a support shaft flange (108), a support shaft collar (116), a support shaft (117), a nitrogen spring support frame (118), a thigh nitrogen spring (124); the support shaft flanges (108) are arranged on the thigh support (109), and the support shaft (117) is axially positioned and circumferentially positioned through the support shaft flanges (108) on two sides of the support shaft hole of the thigh support (109); a nitrogen spring support frame (118) is arranged on the support shaft (117), and the support shaft retainer ring (116) realizes the function of axial fixation; the upper end of the thigh screw nut (122) and the telescopic end of the thigh nitrogen spring (124) are connected by a pin shaft to form a revolute pair, and the fixed end of the thigh nitrogen spring (124) is fixedly connected with the nitrogen spring supporting frame (118).
4. The energy storage leg structure for a wheeled leg robot according to claim 1, wherein two first travel switches (115) are installed at the upper end of the thigh plate (123) as travel both ends of the thigh screw nut (122), and the distances between the thigh screw nut (122) and the thigh screw fixing support (125) at the travel ends are a + 、A － 。
5. The energy storing leg structure for a wheeled leg robot of claim 1, wherein the second energy storing means comprises a calf nitrogen spring (134); the lower end of the shank lead screw nut (132) is connected with the fixed end of the shank nitrogen spring (134) through a pin shaft to form a revolute pair, and the telescopic end of the shank nitrogen spring (134) is connected with the middle part of the shank (139) through a pin shaft to form a revolute pair.
6. The energy storage leg structure for a wheeled leg robot according to claim 1, wherein two second travel switches (115) are installed at the lower end of the thigh plate (123) and serve as both travel ends of the shank screw nut (132), and the distances between the shank screw nut (132) and the shank screw fixing support (127) at the travel ends are B + 、B － 。
7. The energy storing leg structure for a wheeled leg robot according to claim 1, wherein the wheeled mechanism (140) employs an integrated in-wheel motor.
8. A wheel leg robot comprising a machine body (2) and an energy storing leg structure according to any one of claims 1-7 arranged in a front elbow and rear knee based on the machine body (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310720188.6A CN116750101A (en) | 2023-06-18 | 2023-06-18 | Energy storage leg structure for wheel leg robot and wheel leg robot with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310720188.6A CN116750101A (en) | 2023-06-18 | 2023-06-18 | Energy storage leg structure for wheel leg robot and wheel leg robot with same |
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| Publication Number | Publication Date |
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| CN116750101A true CN116750101A (en) | 2023-09-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310720188.6A Pending CN116750101A (en) | 2023-06-18 | 2023-06-18 | Energy storage leg structure for wheel leg robot and wheel leg robot with same |
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| Country | Link |
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| CN (1) | CN116750101A (en) |
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2023
- 2023-06-18 CN CN202310720188.6A patent/CN116750101A/en active Pending
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