CN210653415U - Agile quadruped robot based on coaxial parallel mechanism - Google Patents
Agile quadruped robot based on coaxial parallel mechanism Download PDFInfo
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- CN210653415U CN210653415U CN201920797559.XU CN201920797559U CN210653415U CN 210653415 U CN210653415 U CN 210653415U CN 201920797559 U CN201920797559 U CN 201920797559U CN 210653415 U CN210653415 U CN 210653415U
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Abstract
The utility model discloses an agile four-footed robot based on coaxial parallel mechanism, including the truck, four parallelly connected legs, the setting is used for the coaxial asynchronous transmission module of bi-motor of the activity of the parallelly connected leg of drive in the truck, control and communication module and power module, parallelly connected leg is installed in the both sides of truck, parallelly connected leg includes thigh and shank, the thigh includes two thigh poles that the structure is the same, the shank includes two shank poles that the structure is the same, thigh pole and shank pole articulate in proper order and form four-bar parallel linkage mechanism, two thigh poles are controlled by two motors on the coaxial asynchronous transmission module of bi-motor respectively. The utility model adopts a novel parallel leg structure, which can effectively reduce the cost of the foot type robot, reduce the whole weight of the foot type robot and has better motion performance; and each parallel leg adopts a coaxial asynchronous torque transmission mode of two motors, so that the leg transmission principle of the four-legged robot is innovated, the whole leg transmission mechanism is more compact, and the motion is quicker.
Description
Technical Field
The utility model relates to a four-footed robot technique, concretely relates to agile four-footed robot based on coaxial parallel mechanism.
Background
The quadruped robot is a hotspot of research in the field of robots at present, and compared with a traditional wheeled robot, the quadruped robot can more quickly and rapidly cross an unstructured environment. Through the transmission system of the innovative quadruped robot, the weight of the quadruped robot is reduced, the control performance of the quadruped robot is improved, and the quadruped robot can have better flexibility, stability and environmental adaptability.
It adopts four landing legs, the three motor of every landing leg, three degree of freedom, and the knee joint passes through the transmission mode of conveyer belt and alleviates shank inertia for utility model patent with application number CN 201711260907.1. The main defects of the quadruped robot are that the number of motors is large, the cost is high, the rotation angle of each joint of the leg is limited, and the quadruped robot is not flexible and portable.
SUMMERY OF THE UTILITY MODEL
To the not enough of prior art, the utility model provides an agile quadruped robot based on coaxial parallel mechanism.
In order to achieve the above purpose, the technical scheme of the utility model is that:
an agile quadruped robot based on a coaxial parallel mechanism comprises a trunk, four parallel legs, a double-motor coaxial asynchronous transmission module, a control and communication module and a power module, wherein the double-motor coaxial asynchronous transmission module, the control and communication module and the power module are arranged in the trunk and are used for driving the parallel legs to move, the parallel legs are arranged on two sides of the trunk and comprise thighs and shanks, the thighs comprise a first thigh rod and a second thigh rod which are equal in structure and length, each shank comprises a first shank rod and a second shank rod which are equal in structure and length, a driven end of the first thigh rod is hinged with a driving end of the first shank rod, a driven end of the second thigh rod is hinged with a driving end of the second shank rod, a driving end of the first thigh rod is hinged with a driving end of the second thigh rod, the driving ends of the first thigh rod and the second thigh rod are connected to the double-motor coaxial asynchronous transmission module, so as to respectively control the movement of the first thigh rod and the second thigh rod.
Further, the coaxial asynchronous transmission module of bi-motor includes coaxial transmission, first driving motor and the second driving motor who is connected with first thigh pole and second thigh pole, coaxial transmission includes and is connected and drives first thigh pole pivoted first transmission shaft and is connected and drives second thigh pole pivoted second transmission shaft with the initiative end of second thigh pole, first transmission shaft and the coaxial setting of second transmission shaft do not disturb each other and rotate, first driving motor is used for driving first transmission shaft and rotates, second driving motor is used for driving the second transmission shaft and rotates.
Furthermore, the first driving motor drives the first transmission shaft to rotate through a first driving gear, a first synchronous belt and a first synchronous gear, wherein the first driving gear, the first synchronous belt and the first synchronous gear are arranged on a main shaft of the first driving motor, the first synchronous gear is arranged on a main shaft of the first driving motor in a coaxial rotating mode, the second driving motor drives the second transmission shaft to rotate through a second driving gear, a second synchronous belt and a second synchronous gear, the second synchronous gear is arranged on the main shaft of the second driving motor in a coaxial rotating mode, the diameter of the disc face of the first driving gear is smaller than that of the disc face of the first synchronous gear, the diameter of the disc face of the second driving gear is smaller than that of the disc face of the second synchronous gear, and the connecting lines of the rotating shaft of the first driving motor.
Further, coaxial transmission still establishes the outside fixed frame at first transmission shaft and secondary drive axle including the cover, the secondary drive axle sleeve establishes at first transmission shaft outsidely, be provided with the bearing between first transmission shaft and the secondary drive axle so that its mutual independence rotates, be provided with the bearing so that its mutual independence rotates between secondary drive axle and the fixed frame.
Further, a rubber foot pad is arranged at the end part of the driven end of the first shank or the end part of the driven end of the second shank.
Furthermore, the control and communication module comprises an encoder circuit board and a central controller, wherein the encoder circuit board is used for controlling the operation of the double-motor coaxial asynchronous transmission module, the central controller is arranged at the bottom of the trunk, and the double-motor coaxial asynchronous transmission module is arranged on the side surface of the trunk, which is provided with the parallel legs.
Further, the truck is including setting up at the truck curb plate of truck both sides, setting up at the fixed bent plate of truck front and back direction both ends and setting up the truck PMKD in the truck bottom, truck curb plate, the fixed bent plate of truck and the fixed combination of truck PMKD interconnect form holistic truck.
Compared with the prior art, the utility model, have following advantage:
the utility model adopts a novel parallel leg structure, compared with the leg structure of the existing common foot type robot, the utility model can effectively reduce the cost of the foot type robot and the whole weight of the foot type robot, so that the foot type robot has better motion performance; each parallel leg adopts a coaxial asynchronous torque transmission mode of two motors, so that the leg transmission principle of the quadruped robot is innovated, and the whole leg transmission mechanism is more compact; and leg structure adopts symmetrical parallel link mechanism, and two motors drive the thigh pole of bilateral symmetry simultaneously, make the shank torque bigger, the power performance is more outstanding, jump and walking ability have great improvement, and this kind of symmetrical parallel link mechanism simultaneously, stability is better, and the reliability is higher, and a motor goes wrong, and another motor motion still can realize normal walking function.
Drawings
FIG. 1 is a schematic overall structure diagram of an agile quadruped robot based on a coaxial parallel mechanism;
FIG. 2 is a schematic structural diagram of a parallel leg part of an agile quadruped robot based on a coaxial parallel mechanism;
FIG. 3 is a schematic structural diagram of a dual-motor coaxial asynchronous transmission module part of an agile quadruped robot based on a coaxial parallel mechanism;
FIG. 4 is a schematic diagram of the internal structure of the connecting rod part of the agile quadruped robot based on the coaxial parallel mechanism;
description of reference numerals: 1. a torso; 11. a torso side panel; 12. a trunk fixing bent plate; 2. parallel legs; 21. a thigh; 211. a first thigh bar; 212. a second thigh bar; 22. a lower leg; 221. a first shank rod; 222. a second shank rod; 23. a rubber foot pad; 3. the double-motor coaxial asynchronous transmission module; 311. a first drive motor; 312. a first synchronization belt; 313. a first synchronizing gear; 314. a first drive gear; 321. a second drive motor; 322. a second synchronous belt; 323. a second synchronizing gear; 324. a second driving gear; 33. a coaxial transmission; 331. a first drive shaft; 332. a second drive shaft; 333. a bearing; 34. fixing the base; 41. encoder circuit board.
Detailed Description
In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description.
Examples
As shown in figure 1, the agile quadruped robot based on the coaxial parallel mechanism comprises a body 1, four parallel legs 2, a double-motor coaxial asynchronous transmission module 3, a control and communication module and a power module, wherein the double-motor coaxial asynchronous transmission module 3 is arranged in the body 1 and is used for driving the parallel legs 2 to move. The control and communication module is mainly used for controlling the operation of the double-motor coaxial asynchronous transmission module 3 and the gait control of the whole legged robot, and the power supply module is used for supplying power to the whole robot.
Truck 1 is including setting up truck curb plate 11 in truck 1 both sides, setting up truck fixed bent plate 12 and the truck PMKD of setting in truck 1 bottom at truck 1 front and back direction both ends, truck curb plate 11, truck fixed bent plate 12 and truck PMKD's the fixed combination of edge interconnect form holistic truck 1, and the power module installation sets up the lower terminal surface front side both sides at truck 1 bottom plate.
As shown in fig. 1 and 2, the parallel legs 2 are installed at two sides of the trunk 1, specifically, on the trunk side plate 11, the parallel legs 2 include thighs 21 and calves 22, each thigh 21 includes a first thigh rod 211 and a second thigh rod 212 which are equal in structure and length, each calve 22 includes a first calf rod 221 and a second calf rod 222 which are equal in structure and length, a driven end of the first thigh rod 211 is hinged to a driving end of the first calf rod 221, a driven end of the second thigh rod 212 is hinged to a driving end of the second calf rod 222, a driving end of the first thigh rod 211 is hinged to a driving end of the second thigh rod 212, and a driven end of the first calf rod 221 is hinged to a driven end of the second calf rod 222, so as to form a parallel link mechanism composed of four links, and make the overall leg structure more stable. The driving ends of the first thigh rod 211 and the second thigh rod 212 are connected to the dual-motor coaxial asynchronous transmission module 3 to respectively control the first thigh rod 211 and the second thigh rod 212 to move, and the driven end of the first shank rod 221 is provided with a rubber foot pad 23, so that the effects of buffering and increasing friction can be achieved when the parallel leg 2 walks.
As shown in fig. 1, fig. 3 and fig. 4, the dual-motor coaxial asynchronous transmission module 3 is mainly composed of two motor modules and a coaxial transmission device 33. The outermost layer of the coaxial transmission device 33 is a fixed base 34 of the transmission device, the fixed base 34 is fixedly assembled with the side plate of the trunk 1 through screws, the inner wall of the fixed base 34 is connected with a second transmission shaft 332 through a bearing 333 in an assembling manner, the first transmission shaft 331 and the second transmission shaft 332 are both hollow cylindrical structures, the first transmission shaft 331 is nested in the second transmission shaft 332 to keep coaxial, and both ends of the first transmission shaft 331 are connected with the second transmission shaft 332 through the bearing 333 in an assembling manner. The first synchronizing gear 313 is arranged outside the coaxial transmission device 33 and is fixedly assembled with the first transmission shaft 331 through a pin; the second synchronizing gear 323 is inside the coaxial transmission 33 and is fixed to the second transmission shaft 332 by a pin.
The axes of the first driving motor 311, the second driving motor 321 and the transmission device are respectively at an angle of 60 degrees and have equal distances to form an equilateral triangle, and the two motors and the coaxial transmission device 33 are respectively assembled and connected by two conveyor belts. The bottom surface of the first driving motor 311 is assembled and connected with the side plate of the trunk 1 through screws. The stator of the first driving motor 311 is fixedly assembled with the motor housing, the rotor of the first driving motor 311 is fixedly assembled with one end of the main shaft of the first driving motor 311, the other end of the main shaft of the first driving motor 311 is fixedly assembled with the first driving gear 314 through a screw, and the first driving gear 314 is fixedly assembled with the first synchronous gear 313 of the coaxial transmission device 33 through the first synchronous belt 312; the bottom surface of the second driving motor 321 is directly assembled and connected with the side plate of the trunk 1 through screws. The stator of the second driving motor 321 is fixedly assembled with the motor housing, the rotor of the second driving motor 321 is fixedly assembled with one end of the main shaft of the second driving motor 321, the other end of the main shaft of the second driving motor 321 is fixedly assembled with the second driving gear 324 through a screw, and the second driving gear 324 is fixedly assembled with the second synchronizing gear 323 of the coaxial transmission device 33 through a second synchronizing belt 322.
Since the first driving gear 314 and the second driving gear 324 rotate independently, the first synchronizing gear 313 and the second synchronizing gear 323 rotate independently, and finally the first transmission shaft 331 and the second transmission shaft 332 rotate independently. The diameter of the disc surface of the synchronous gear is larger than that of the disc surface of the driving gear, and a reduction ratio is arranged in the belt transmission, so that the rotating speed of a transmission main shaft can be reduced and the torque of the transmission main shaft can be increased. The first driving motor 311, the second driving motor 321 and the coaxial transmission device 33 are respectively assembled and connected through a triangle fixing plate and three bearings 333, and are used for controlling the relative position accuracy among the three modules. Because the error of the relative position precision of the three is too big, the assembly of the conveyor belt is too tight or too loose, the too tight assembly can greatly reduce the output torque of the motor, the too loose conveyor belt can slip, and the control precision of the parallel mechanism legs is influenced.
The control and communication module includes an encoder circuit board 41 for controlling the operation of the first driving motor 311 and the second driving motor 321, and a central controller, wherein the number of the driving motors in the embodiment is 8, so that the number of the encoder circuit boards 41 is 8, each encoder circuit board 41 controls a common driving motor, and is installed and fixed on the position of the body side plate 11 where the first driving motor 311 and the second driving motor 321 are installed, and the central controller is arranged at the bottom of the body 1. The encoder circuit board 41 mainly receives a rotation angle signal of the driving motor, then the driving circuit board controls the driving motor to rotate in a moment mode or a position mode, and the central controller circuit board forms an instantaneous gait control instruction and synchronously sends the instantaneous gait control instruction to the encoder circuit board 41 on the foot type robot to control the maneuvering actions of walking or jumping and the like of the four-foot robot.
Specifically, when the robot walks and walks, the symmetric center line of the parallel connection link mechanism of the left front leg is perpendicular to the ground plane at a certain moment, the encoder circuit board 41 sends an instruction to control the left front leg to step forwards, at the moment, the first driving motor 311 controls the first thigh rod 211 to rotate forwards by an angle a, the second driving motor 321 controls the second thigh rod 212 to rotate forwards by an angle b, wherein the forward direction of the robot is positive, the backward direction of the robot is negative, and the angle b is controlled by the second driving motor 321
Namely, the angle of the left front leg stepping forward, the leg stepping angle can be controlled by controlling the rotation angles of the first driving motor 311 and the second driving motor 321, and the walking motion of the quadruped robot can be realized by alternately controlling the gait motion of four legs.
The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and to implement the present invention, which cannot limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered by the protection scope of the present invention.
Claims (7)
1. The utility model provides an agile quadruped robot based on coaxial parallel mechanism which characterized in that: the multifunctional electric bicycle comprises a trunk (1), four parallel legs (2), a double-motor coaxial asynchronous transmission module (3) arranged in the trunk (1) and used for driving the parallel legs (2) to move, a control and communication module and a power module, wherein the parallel legs (2) are arranged on two sides of the trunk (1), the parallel legs (2) comprise thighs (21) and shanks (22), each thigh (21) comprises a first thigh rod (211) and a second thigh rod (212) which are equal in structure and length, each shank (22) comprises a first shank rod (221) and a second shank rod (222) which are equal in structure and length, the driven end of the first thigh rod (211) is hinged with the driving end of the first shank rod (221), the driven end of the second thigh rod (212) is hinged with the driving end of the second shank rod (222), and the driving end of the first thigh rod (211) is hinged with the driving end of the second thigh rod (212), the driven end of the first thigh rod (221) is hinged to the driven end of the second thigh rod (222), and the driving ends of the first thigh rod (211) and the second thigh rod (212) are connected to the double-motor coaxial asynchronous transmission module (3) so as to control the first thigh rod (211) and the second thigh rod (212) to move respectively.
2. The agile quadruped robot based on coaxial parallel mechanism according to claim 1, characterized in that: the double-motor coaxial asynchronous transmission module (3) comprises a coaxial transmission device (33), a first driving motor (311) and a second driving motor (321), wherein the coaxial transmission device (33) is connected with a first thigh rod (211) and a second thigh rod (212), the coaxial transmission device (33) comprises a first transmission shaft (331) which is connected with the driving end of the first thigh rod (211) and drives the first thigh rod (211) to rotate and a second transmission shaft (332) which is connected with the driving end of the second thigh rod (212) and drives the second thigh rod (212) to rotate, the first transmission shaft (331) and the second transmission shaft (332) are coaxially arranged and do not interfere with each other to rotate, the first driving motor (311) is used for driving the first transmission shaft (331) to rotate, and the second driving motor (321) is used for driving the second transmission shaft (332) to rotate.
3. The agile quadruped robot based on coaxial parallel mechanism according to claim 2, characterized in that: the first driving motor (311) drives the first transmission shaft (331) to rotate through a first driving gear (314) arranged on a main shaft of the first driving motor, a first synchronous belt (312) and a first synchronous gear (313) which is coaxially and rotatably arranged with the first transmission shaft (331), the second driving motor (321) drives the second transmission shaft (332) to rotate through a second driving gear (324) arranged on a main shaft of the second driving motor, a second synchronous belt (322) and a second synchronous gear (323) which is coaxially and rotatably arranged with the second transmission shaft (332), the diameter of the disc surface of the first driving gear (314) is smaller than that of the disc surface of the first synchronous gear (313), the diameter of the disk surface of the second driving gear (324) is smaller than that of the disk surface of the second synchronous gear (323), the connecting line of the positions of the rotating shaft of the first driving motor (311), the rotating shaft of the second driving motor (321) and the coaxial transmission device (33) forms an equilateral triangle.
4. The agile quadruped robot based on coaxial parallel mechanism according to claim 2, characterized in that: coaxial transmission (33) still establish at first transmission shaft (331) and the outside fixed frame (34) of second transmission shaft (332) including the cover, first transmission shaft (331) outside is established in second transmission shaft (332), be provided with bearing (333) between first transmission shaft (331) and second transmission shaft (332) so that it independently rotates each other, be provided with bearing (333) between second transmission shaft (332) and fixed frame (34) so that it independently rotates each other.
5. The agile quadruped robot based on coaxial parallel mechanism according to claim 1, characterized in that: the driven end of the first shank rod (221) or the driven end of the second shank rod (222) is provided with a rubber foot pad (23).
6. The agile quadruped robot based on the coaxial parallel mechanism according to any one of claims 1-5, characterized in that: the control and communication module comprises an encoder circuit board (41) and a central controller, wherein the encoder circuit board is used for controlling the operation of the double-motor coaxial asynchronous transmission module (3), the central controller is arranged at the bottom of the trunk (1), and the double-motor coaxial asynchronous transmission module (3) is arranged on the side surface of the trunk (1) on which the parallel legs (2) are arranged.
7. The agile quadruped robot based on coaxial parallel mechanism according to claim 1, characterized in that: truck (1) is including setting up truck curb plate (11), the truck fixed bent plate (12) of setting at truck (1) fore-and-aft direction both ends and setting up the truck PMKD in truck (1) bottom at truck (1) both sides, truck curb plate (11), truck fixed bent plate (12) and truck PMKD interconnect fixed combination form holistic truck (1).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920797559.XU CN210653415U (en) | 2019-05-28 | 2019-05-28 | Agile quadruped robot based on coaxial parallel mechanism |
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| CN201920797559.XU CN210653415U (en) | 2019-05-28 | 2019-05-28 | Agile quadruped robot based on coaxial parallel mechanism |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217311A (en) * | 2019-05-28 | 2019-09-10 | 广东省智能制造研究所 | A kind of quick quadruped robot based on coaxial parallel-connection mechanism |
| CN112092941A (en) * | 2020-07-30 | 2020-12-18 | 北京理工大学 | Parallel leg structure for bionic robot and bionic robot |
| CN114524058A (en) * | 2022-02-21 | 2022-05-24 | 南通大学 | Bionic water strider scientific research ship |
-
2019
- 2019-05-28 CN CN201920797559.XU patent/CN210653415U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217311A (en) * | 2019-05-28 | 2019-09-10 | 广东省智能制造研究所 | A kind of quick quadruped robot based on coaxial parallel-connection mechanism |
| CN110217311B (en) * | 2019-05-28 | 2024-01-26 | 广东省智能制造研究所 | Agile four-foot robot based on coaxial parallel mechanism |
| CN112092941A (en) * | 2020-07-30 | 2020-12-18 | 北京理工大学 | Parallel leg structure for bionic robot and bionic robot |
| CN114524058A (en) * | 2022-02-21 | 2022-05-24 | 南通大学 | Bionic water strider scientific research ship |
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Address after: 510070 13 building, 100 martyrs Road, Yuexiu District, Guangzhou, Guangdong. Patentee after: Institute of intelligent manufacturing, Guangdong Academy of Sciences Address before: 510070 13 building, 100 martyrs Road, Yuexiu District, Guangzhou, Guangdong. Patentee before: GUANGDONG INSTITUTE OF INTELLIGENT MANUFACTURING |
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