CN210027663U - Biped walking robot based on parallel mechanism - Google Patents
Biped walking robot based on parallel mechanism Download PDFInfo
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- CN210027663U CN210027663U CN201920741842.0U CN201920741842U CN210027663U CN 210027663 U CN210027663 U CN 210027663U CN 201920741842 U CN201920741842 U CN 201920741842U CN 210027663 U CN210027663 U CN 210027663U
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Abstract
The utility model discloses a biped walking robot based on parallel mechanism, set up the shank mechanism of connecting in waist platform downside including waist platform and bisymmetry, shank mechanism includes upper mounting plate, lower platform, three articulates in the telescopic cylinder between upper mounting plate and lower platform through the universal joint, still including installing steering mechanism on the waist platform, installing the sole mechanism in each shank mechanism bottom. The utility model discloses utilize two three degree of freedom shank mechanisms based on parallelly connected structure of waist driving motor drive of a single degree of freedom, only dispose the condition of 4 degrees of freedom in the both legs totally, realize the stable craspedodrome of robot, turn, hinder and go up and down stairs function more, than the design simple structure of current 6 degree of freedom robots, work space is big, payload and dead weight ratio.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a biped walking robot based on parallel mechanism.
Background
The great application value and market prospect of the service robot have become common in many countries including europe, the united states, japan and china, and special development plans and strategies have been made by some countries. The humanoid robot has three outstanding advantages of being adaptable to the living environment of human beings, being capable of directly using human tools and having affinity due to the characteristics of human beings, thereby becoming the best-seen future robot partner of human beings and becoming one of the research hotspots in the field of service robots. According to incomplete statistics, since the first truly human-like robot in 1973 was born in japan, more than 100 human-like robot projects have been developed all over the world.
At present, researchers all over the world have carried out a great deal of research on bionic design of robot limbs, and the degree of freedom configuration of joints of human beings is simulated on mechanism design so as to simulate the motion and action characteristics of the human beings. In particular, single legs are often designed with a degree of freedom to allow movement of the hands and feet in three dimensions. Most existing biped exercise devices are based on leg designs similar to human body structures, such as serial mechanisms like ASIMO, HUBO, HRP, alals, etc.
The parallel mechanism has better performance in terms of dynamic stability, position accuracy, load/dead weight ratio than the series mechanism. As in US patent No. US7498758B2, a biped walking robot is disclosed, which is a leg design based on a Gough-Stewart parallel mechanism and is the first dynamic biped walking biped robot in the world; as disclosed in chinese patent No. CN102085145B, a reconfigurable device for a quadruped/bipedal walking robot, in which a leg mechanism is 3-UPU when the quadruped walks and a leg mechanism is 6-SPU when the bipedal walks, and the switching between the two leg mechanisms is realized by using a revolute pair stopper device and a combining device, wherein the revolute pair stopper device includes: the combining device comprises an electromagnetic chuck, a guiding device, a push-pull type electromagnet and a locking clamp, the positions of two legs to be combined are controlled, the soles are combined through the electromagnetic chuck and the guiding device, and the push-pull type electromagnet drives the locking clamp to act to lock the combining device.
Although the biped motion robots are all parallel mechanisms, the biped motion robots adopt a six-degree-of-freedom structure to meet various functions of straight movement, turning and obstacle crossing of the robots. The long-term use practice shows that the six-degree-of-freedom parallel mechanisms have the defects of complex kinematics positive solution, coupling position and direction of a motion platform and small working space. Therefore, how to design the biped walker based on the parallel mechanism with less than 6 degrees of freedom on the premise of ensuring multiple functions of straight walking, turning and obstacle surmounting of the robot is a problem which needs to be solved urgently.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to prior art's weak point, provide a simple structure, workspace big, be less than 6 degrees of freedom's biped walking robot based on parallel mechanism.
The utility model provides a biped walking robot based on a parallel mechanism, which comprises a waist platform and two symmetrical leg mechanisms connected with the lower side of the waist platform, wherein each leg mechanism comprises an upper platform, a lower platform, three telescopic cylinders hinged between the upper platform and the lower platform through universal joints, a steering mechanism arranged on the waist platform and a sole mechanism arranged at the bottom of each leg mechanism,
the steering mechanism comprises a waist driving motor and two transmission shafts, the waist driving motor is arranged on the waist platform, the two transmission shafts are rotatably and symmetrically connected on the waist platform, the waist driving motor is connected with electromagnetic clutches arranged on the two transmission shafts through the transmission mechanism, and the waist driving motor drives the transmission shafts to rotate through the transmission mechanism and the electromagnetic clutches which are closed;
the leg mechanism also comprises a sliding rod, the upper platform is connected with the bottom of the transmission shaft and is driven by the transmission shaft to rotate, two ends of the sliding rod are connected with the center of the upper platform and the center of the lower platform through universal joints, the hinge axis on the connecting section of the universal joints and the upper platform points to one universal joint on the upper platform, and the hinge axis on the connecting section of the universal joints and the lower platform points to the corresponding universal joint on the lower platform;
the sole mechanism comprises a six-dimensional force sensor, a sensor base, a tire type coupler and a sole which are sequentially connected from top to bottom, the six-dimensional force sensor is connected to the bottom of the lower platform, and rubber columns for damping are uniformly distributed between the sensor base and the sole.
The transmission mechanism is a gear transmission mechanism, the gear transmission mechanism comprises a driving gear, two transmission gears and two driven gears, the electromagnetic clutch comprises an armature and a movable disc fixed on a transmission shaft, the driven gears are fixedly connected with the armature in a one-to-one mode and are coaxially arranged with the corresponding transmission shaft, the driving gear is installed on an output shaft of the waist driving motor, the transmission gears and the driven gears are rotatably connected onto a waist platform, and the driven gears are meshed with the driving gear through the transmission gears.
Three universal joints are uniformly distributed at the bottom of each upper platform around the center of the upper platform in an annular mode, three universal joints are uniformly distributed at the top of each lower platform around the center of the lower platform in an annular mode, the universal joint connected with the upper platform rotates around the axis perpendicular to the upper platform, and the universal joint connected with the lower platform rotates around the axis perpendicular to the lower platform.
The fixed end of the telescopic cylinder is connected with the upper platform through a universal joint, and the telescopic end of the telescopic cylinder is connected with the lower platform through a universal joint.
The rotation axes of the two universal joints connected with the same telescopic cylinder are parallel in pairs.
And a rubber pad for shock absorption and buffering is arranged at the bottom of the sole.
The utility model utilizes a single-degree-of-freedom waist driving motor to drive two three-degree-of-freedom leg mechanisms based on a parallel structure, and under the condition that two legs are only configured with 4 degrees of freedom in total, the whole leg mechanism can move up and down to lift legs by synchronously extending or shortening three electric cylinders in the leg mechanism; the electric cylinders in the leg mechanisms are sequentially extended or shortened, so that the two leg mechanisms move up and down in turn to lift feet, and the alternate leg-stepping action is realized; under the constraint action of the sliding rod, the two leg mechanisms are enabled to do steering action around the normal line of the waist platform in the walking process through the sequential attraction of the two electromagnetic clutches; the tyre type coupler between the sole and the lower platform is utilized, and the sole is adapted to the uneven road surface through the passive degree of freedom of the tyre type coupler, so that the stable straight running, turning, obstacle crossing and stair climbing functions of the robot are realized, and compared with the existing 6-degree-of-freedom robot, the tyre type coupler is simple in design structure, large in working space and high in effective load and dead weight ratio.
Drawings
Fig. 1 shows the kinematic scheme of the present invention.
Fig. 2 is a schematic structural diagram of the present invention.
Fig. 3 is an enlarged schematic structural view of a lumbar steering mechanism in fig. 2.
Fig. 4 is a partial sectional view of the structure from B-B in fig. 3.
Fig. 5 is a schematic structural view of the middle leg mechanism of the present invention.
Fig. 6 is a schematic structural view of the middle sole mechanism of the present invention.
The labels shown in the figures and the corresponding component names are:
1. a lumbar platform;
2. a steering mechanism; 21. a waist driving motor; 22. a drive gear; 23. a transmission gear; 24. a driven gear; 25. an electromagnetic clutch; 26. a drive shaft; 27. a flange plate;
3. a leg mechanism; 31. an upper platform; 32. a lower platform; 33. a universal joint; 34. a telescopic cylinder; 35. a slide bar; 36. a universal joint;
4. a sole mechanism; 41. a six-dimensional force sensor; 42. a sensor base; 43. a tire type coupling; 44. a sole of a foot; 45. a rubber column; 46. and (7) a rubber pad.
Detailed Description
As can be seen from fig. 1 and fig. 2, the utility model discloses this kind of biped walking robot based on parallel mechanism, including waist platform 1, steering mechanism 2, the shank mechanism 3 and two sole mechanisms 4 of two three degrees of freedom, steering mechanism 2 installs on waist platform 1, and two shank mechanisms 3 symmetry sets up and connects in waist platform 1 downside, and two sole mechanisms 4 are connected to two shank mechanisms 3 bottoms one to one.
As can be seen from fig. 2 to 4, the steering mechanism 2 of the present invention includes a waist driving motor 21, a transmission mechanism, two electromagnetic clutches 25 and two transmission shafts 26, the transmission mechanism is a gear transmission mechanism, the gear transmission mechanism includes a driving gear 22, two transmission gears 23 and two driven gears 24, the electromagnetic clutches 25 include an armature and a moving disk,
the waist driving motor 21 is fixed above the center of the waist platform 1 through a flange 27; the movable disks of the electromagnetic clutches 25 are fixed on the transmission shaft 26 one by one; the two transmission shafts 26 are rotatably and symmetrically arranged on the waist platform 1 through two rolling bearings, and the upper ends of the transmission shafts 26 are connected with check rings for axial positioning through screws; the driving gear 22, the transmission gear 23 and the driven gear 24 are all straight cylindrical gears, the driving gear 22 is mounted on an output shaft of the waist driving motor 21 through a coupler and is driven to rotate by the waist driving motor 21, the driven gears 24 are fixed on armatures of electromagnetic clutches 25 one by one through screws, the driven gears 24 are mounted on the waist platform 1 through two cylindrical roller bearings, the driven gears 24 are coaxially arranged with corresponding transmission shafts 26, the transmission gears 23 are symmetrically mounted on shaft seats on the waist platform 1 between the driving gear 22 and the driven gears 24, the transmission gears 23 can freely rotate around the centers of the shaft seats, the driving gear 22 is meshed with the transmission gears 23, the transmission gears 23 are meshed with the driven gears 24 in pairs, the driven gears 24 are meshed with the driving gear 21 through the transmission gears 23, the waist driving motor 21 is connected with the electromagnetic clutches 25 mounted on the two transmission shafts, the waist driving motor 21 drives the transmission shaft 26 to rotate through the transmission mechanism and the electromagnetic clutch 25 which is engaged.
When the waist driving motor 21 rotates, the two transmission gears 23 receive the torque from the driving gear 22 and transmit the torque to the driven gear 24, and drive the armatures of the left electromagnetic clutch 25 and the right electromagnetic clutch 25 to rotate together, and the two driven gears 24 rotate at the same speed and in the same rotation direction. The electromagnetic clutch 25 is electrified to attract the armature iron of the electromagnetic clutch 25 and the movable disc, the transmission shaft 26 connected with the movable disc of the electromagnetic clutch 25 rotates along with the driven gear 23 and transmits torque to the upper platform 31 of the leg mechanism 3 to actually rotate the leg mechanism, and the turning action of the two leg mechanisms 3 in the walking process can be realized by controlling the on-off sequence of the two electromagnetic clutches 25.
As can be seen from fig. 2 and 5, the leg mechanism 3 of the present invention comprises an upper platform 31, a lower platform 32, six universal joints 33, three telescopic cylinders 34, a sliding rod 35 and two universal joints 36,
the upper platform 31 is mounted at the bottom of the transmission shaft 26 by screws and is driven by the transmission shaft 26 to rotate,
three universal joints 33 are uniformly distributed at the bottom of the upper platform 31 around the center of the upper platform in an annular mode, the rotating axes of upper joints of the three universal joints 33 are perpendicular to the upper platform 31, and the rotating axes of lower joints of the three universal joints 33 are perpendicular to the rotating axes of the upper joints;
three universal joints 33 are uniformly distributed on the top of the lower platform 32 in a ring shape around the center of the lower platform, the rotating axes of the lower joints of the three universal joints 33 are vertical to the lower platform 32, and the rotating axes of the upper joints of the three universal joints 33 are vertical to the rotating axis of the lower joint;
the fixed end of the telescopic cylinder 34 is hinged with the upper platform 31 through a universal joint 33, the telescopic end of the telescopic cylinder 34 is hinged with the lower platform 32 through the universal joint 33, and the rotating axes of the two universal joints 33 connected with the same telescopic cylinder 34 are arranged in parallel;
both ends of the sliding rod 35 are connected with the center of the upper platform 31 and the center of the lower platform 32 through universal joints 36, and the sliding rod 35 restricts the leg mechanism 3 to rotate around the normal of the waist platform 1;
the hinge axis at the connection of gimbal 36 to upper platform 31 is directed to one gimbal 33 on upper platform 31 and the hinge axis at the connection of gimbal 36 to lower platform 32 is directed to the corresponding gimbal 33 on lower platform 32.
As can be seen from fig. 2 and 6, the utility model discloses a sole mechanism 4 includes six-dimensional force transducer 41, sensor base 42, tire formula shaft coupling 43, sole 44, a plurality of rubber column 45 and rubber pad 46, six-dimensional force transducer 41 is one to one is connected in platform 32 bottom down, sensor base 42 passes through the mounting screw in six-dimensional force transducer 41 bottom, tire formula shaft coupling 43 passes through the mounting screw in sensor base 42 bottom, sole 44 passes through the mounting screw in tire formula shaft coupling 43 bottom, rubber column 45 evenly installs between sensor base 42 and sole 44, rubber pad 46 installs and is used for shock attenuation and buffering in sole 44 bottom.
The utility model discloses in, the telescoping cylinder adopts servo electronic jar.
Claims (6)
1. The utility model provides a biped walking robot based on parallel mechanism, includes waist platform (1) and two symmetrical settings and connects in shank mechanism (3) of waist platform downside, shank mechanism includes platform (31), lower platform (32), three articulates telescopic cylinder (34) between last platform and lower platform through universal joint (33), its characterized in that: also comprises a steering mechanism (2) arranged on the waist platform and a sole mechanism (4) arranged at the bottom of each leg mechanism,
the steering mechanism comprises a waist driving motor (21) and two transmission shafts (26), the waist driving motor is arranged on the waist platform, the two transmission shafts are rotatably and symmetrically connected on the waist platform, the waist driving motor is connected with electromagnetic clutches (25) arranged on the two transmission shafts through the transmission mechanism, and the waist driving motor drives the transmission shafts to rotate through the transmission mechanism and the electromagnetic clutches which are closed;
the leg mechanism further comprises a sliding rod (35), the upper platform is connected with the bottom of the transmission shaft and is driven by the transmission shaft to rotate, two ends of the sliding rod are connected with the center of the upper platform and the center of the lower platform through universal joints (36), the hinge axis of the universal joint and the connecting section of the upper platform points to one universal joint on the upper platform, and the hinge axis of the universal joint and the connecting section of the lower platform points to the corresponding universal joint on the lower platform;
the sole mechanism comprises a six-dimensional force sensor (41), a sensor base (42), a tire type coupler (43) and a sole (44) which are sequentially connected from top to bottom, the six-dimensional force sensor is connected to the bottom of the lower platform, and rubber columns (45) used for shock absorption are uniformly distributed between the sensor base and the sole.
2. The biped walking robot based on parallel mechanism according to claim 1, characterized in that: the transmission mechanism is a gear transmission mechanism, the gear transmission mechanism comprises a driving gear (22), two transmission gears (23) and two driven gears (24), the electromagnetic clutch comprises an armature and a movable disc fixed on a transmission shaft, the driven gears are fixedly connected with the armature in a one-to-one mode and are coaxially arranged with the corresponding transmission shaft, the driving gear is installed on an output shaft of the waist driving motor, the transmission gears and the driven gears are connected on a waist platform in a rotatable mode, and the driven gears are connected with the driving gear in a meshed mode through the transmission gears.
3. The biped walking robot based on parallel mechanism according to claim 1, characterized in that: three universal joints are uniformly distributed at the bottom of each upper platform around the center of the upper platform in an annular mode, three universal joints are uniformly distributed at the top of each lower platform around the center of the lower platform in an annular mode, the universal joint connected with the upper platform rotates around the axis perpendicular to the upper platform, and the universal joint connected with the lower platform rotates around the axis perpendicular to the lower platform.
4. The biped walking robot based on parallel mechanism according to claim 3, characterized in that: the fixed end of the telescopic cylinder is connected with the upper platform through a universal joint, and the telescopic end of the telescopic cylinder is connected with the lower platform through a universal joint.
5. The biped walking robot based on parallel mechanism according to claim 3, characterized in that: the rotation axes of the two universal joints connected with the same telescopic cylinder are parallel in pairs.
6. The biped walking robot based on parallel mechanism according to claim 1, characterized in that: and a rubber pad (46) for shock absorption and buffering is arranged at the bottom of the sole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920741842.0U CN210027663U (en) | 2019-05-22 | 2019-05-22 | Biped walking robot based on parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920741842.0U CN210027663U (en) | 2019-05-22 | 2019-05-22 | Biped walking robot based on parallel mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN210027663U true CN210027663U (en) | 2020-02-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920741842.0U Expired - Fee Related CN210027663U (en) | 2019-05-22 | 2019-05-22 | Biped walking robot based on parallel mechanism |
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| Country | Link |
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| CN (1) | CN210027663U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110104091A (en) * | 2019-05-22 | 2019-08-09 | 中南大学 | Two leg walking robot based on parallel institution |
| CN113635291A (en) * | 2020-11-11 | 2021-11-12 | 中南大学 | Three-degree-of-freedom hybrid anthropomorphic wrist device |
-
2019
- 2019-05-22 CN CN201920741842.0U patent/CN210027663U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110104091A (en) * | 2019-05-22 | 2019-08-09 | 中南大学 | Two leg walking robot based on parallel institution |
| CN113635291A (en) * | 2020-11-11 | 2021-11-12 | 中南大学 | Three-degree-of-freedom hybrid anthropomorphic wrist device |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200207 Termination date: 20200522 |