CN217805012U - Wheeled biped robot - Google Patents
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- CN217805012U CN217805012U CN202220718293.7U CN202220718293U CN217805012U CN 217805012 U CN217805012 U CN 217805012U CN 202220718293 U CN202220718293 U CN 202220718293U CN 217805012 U CN217805012 U CN 217805012U
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Abstract
The utility model provides a wheeled biped robot, including the main part, the left and right sides symmetry swing joint of main part has leg mechanism, leg mechanism's bottom is rotated and is connected with the truckle module, leg mechanism is five-bar linkage, five-bar linkage includes connecting rod A, and connecting rod A's one end is rotated with the truckle module and is connected, and connecting rod A's the other end articulates there is connecting rod B, and connecting rod B's the other end rotates to be connected in the main part, connecting rod A's pole body articulates there is connecting rod C, and connecting rod C's the other end articulates there is connecting rod D, and connecting rod D's the other end rotates to be connected in the main part. The utility model relates to a rationally, adopt asymmetric five-bar linkage, compare and can reduce joint output torque in current series connection leg driven mode, compare and can reduce shank occupation space under various gestures in current symmetry five-bar linkage.
Description
Technical Field
The utility model relates to a wheeled biped robot.
Background
Mobile robots are one of the most widely used robot types at present. Mobile robots can be roughly classified into three types: wheeled robots, tracked robots, and legged robots. The wheeled robot is widely applied to scenes such as military investigation, logistics transportation, industrial inspection and the like due to the characteristics of simple structure, high energy utilization rate and the like. However, with the development of the driving technology of the robot, the application scene of the robot is further expanded, and when the robot faces some unstructured environments such as stairs and ruins, the wheel type robot cannot well meet the actual application requirements. It has therefore been motivated to mimic humans and legged animals to develop legged robots capable of adapting to more complex, non-structural environments. Compared with a wheeled robot, the legged robot has relatively isolated points during support, so that the legged robot can pass through discontinuous working scenes. However, the foot type robot has lower energy utilization efficiency than the wheel type robot, and the moving speed on a flat road is weaker than that of the wheel type robot, so that the foot type robot cannot well meet the corresponding task requirements. Therefore, the wheel-foot type robot can be produced at the same time, the moving speed and the moving efficiency of the wheel type robot under a flat road surface are kept, the wheel-foot type robot can well adapt to some relatively complex and discontinuous environments, and the working range and the environmental adaptability of the robot are greatly increased.
In wheel foot formula robot, it has four-foot formula wheel leg robot and biped wheel leg robot again to be common, wherein four-foot formula wheel leg robot structure is comparatively complicated, but its support stability is better relatively, when going on obstacle crossing, can carry out the tripodia support, the stability of the holding system that can be fine, nevertheless because most actual operating environment still designs according to the people, for example mill and house are used the construction to form for the human, there are many narrow and small passageways in the actual environment in addition, stairs, steps, this makes the application of multi-foot robot in many scenes receive the restriction. Therefore, the research of the biped humanoid robot has special significance.
The prior art patent is: the multi-pose biped robot disclosed in chinese patent document CN 112776915A has three degrees of freedom for each leg, and the legs adopt a tandem structure. The leg structure is relatively simple, but the requirement on the output torque of the joint motor is high. In the prior art, the wheel type double-foot hopping robot also adopts a symmetrical five-link mechanism, and the output of joint torque can be effectively reduced through a relative series mechanism, but when the robot is in a hopping force-storing posture, leg joints protrude outwards towards the front side and the rear side, and the robot cannot well adapt to the motion environment of continuous steps.
Disclosure of Invention
In view of this, the present invention provides a wheeled biped robot to solve the problems of the above technical solutions.
The invention is realized by adopting the following scheme: the utility model provides a wheeled biped robot, includes the main part, and the left and right sides symmetry swing joint of main part has leg mechanism, leg mechanism's bottom is rotated and is connected with the truckle module, leg mechanism is five-bar linkage, five-bar linkage include connecting rod A, and connecting rod A's one end rotates with the truckle module to be connected, and connecting rod A's the other end articulates there is connecting rod B, and connecting rod B's the other end rotates to be connected in the main part, connecting rod A's pole body is articulated to have connecting rod C, and connecting rod C's the other end articulates there is connecting rod D, and connecting rod D's the other end rotates to be connected in the main part.
Furthermore, the left and right symmetry is provided with actuating mechanism in the main part, actuating mechanism includes two drive modules, and the drive ends of two drive modules are connected with connecting rod D, connecting rod B respectively.
Furthermore, the driving module comprises a driving motor, a rotating shaft of the driving motor penetrates through the main body to form an extending end, and the extending end is fixedly connected with the connecting rod D and the connecting rod B correspondingly through a coupler.
Further, the main part includes the bottom plate, correspond each driving motor and install the support frame on the bottom plate, the assembly upper shield of bottom plate and support frame is equipped with the casing, transversely put the through hole in the support frame, correspond the motor shaft in the through hole and install the bearing.
Furthermore, a battery bin is arranged below the bottom plate, and universal wheels are symmetrically arranged at the front and the back of the bottom of the battery bin.
Further, the truckle module includes the runner motor, and the stiff end of runner motor is fixed in connecting rod A's lower extreme, installs the tire on the rotatory end of runner motor.
Further, the connecting rod B is hinged to the inner side of the connecting rod A, the connecting rod C is hinged to the outer side of the connecting rod A, and the connecting rod D is hinged to the inner side of the connecting rod C.
Compared with the prior art, the utility model discloses there is following beneficial effect: reasonable in design adopts asymmetric five-bar linkage, compares in current series connection leg driven mode can reduce joint output moment, compares in current symmetry five-bar linkage and can reduce shank occupation space under various gestures.
Drawings
Fig. 1 is a schematic structural diagram (standing posture) of an embodiment of the present invention;
fig. 2 is a schematic structural diagram (four-wheel posture) of the embodiment of the present invention;
fig. 3 is a schematic side view of an embodiment of the present invention;
fig. 4 is a schematic structural view of the driving module relative to the main body bottom plate according to the embodiment of the present invention;
fig. 5 is a schematic structural diagram of a driving module according to an embodiment of the present invention;
fig. 6 is an exploded schematic view of a driving module according to an embodiment of the present invention;
fig. 7 is a schematic diagram 1 of the kinematic analysis theory of the five-bar linkage mechanism of the wheel type biped robot leg of the present invention;
fig. 8 is a schematic diagram 2 of the kinematic analysis theory of the five-bar linkage mechanism of the wheel type biped robot leg of the present invention;
fig. 9 is a schematic diagram of the kinematic theory analysis structure of the leg mechanism according to the embodiment of the present invention 1;
fig. 10 is a schematic diagram of a kinematic theory analysis of the leg mechanism according to the embodiment of the present invention, fig. 2;
FIG. 11 is a graph comparing the torque output required by the joint when the leg of the embodiment of the present invention is only supported by the supporting force;
fig. 12 is a graph showing the comparison of the torque output required by the joint when the leg receives both the supporting force and the lateral force according to the embodiment of the present invention.
In the figure: 1-a main body; 2-a leg mechanism; 3-a caster module; 4-connecting rod A; 5-connecting rod B; 6-connecting rod C; 7-connecting rod D; 8-a drive module; 9-driving a motor; 10-a base plate; 11-a support frame; 12-a housing; 14-a battery compartment; 15-universal wheels; 16-a wheel motor; 17-a tire; 18-a coupling; 19-bearing.
Detailed Description
The invention is further explained below with reference to the drawings and the embodiments.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As shown in fig. 1-6, the present embodiment provides a wheeled biped robot, which includes a main body 1, leg mechanisms 2 are symmetrically and movably connected to left and right sides of the main body, a caster module 3 is rotatably connected to a bottom end of each leg mechanism, each leg mechanism is a five-bar linkage, the five-bar linkage includes a connecting rod A4, one end of the connecting rod a is rotatably connected to the caster module, the other end of the connecting rod a is hinged to a connecting rod B5, the other end of the connecting rod B is rotatably connected to the main body, a connecting rod C6 is hinged to a rod body of the connecting rod a, the other end of the connecting rod C is hinged to a connecting rod D7, and the other end of the connecting rod D is rotatably connected to the main body, i.e., the main body connects the connecting rod B and the connecting rod D, which are fifth connecting rods, a, B, C, and D on both sides form a five-bar linkage with the main body, the two five-bar linkages provide two-bar linkages for the main body of the robot to support, so that the robot can keep walking stability, the robot, the whole five-bar linkage has two degrees of freedom, one degree of freedom is used for adjusting a height of the robot, and the other degree of freedom is parallel to the main body for adjusting a position of mass center of the body.
In this embodiment, for reasonable design, driving mechanisms are symmetrically arranged in the body in the left-right direction, each driving mechanism corresponds to the five-link mechanism on one side, each driving mechanism comprises two driving modules 8, and the driving ends of the two driving modules are respectively connected with the connecting rod D and the connecting rod B.
In this embodiment, the driving module includes a driving motor 9, a rotating shaft of the driving motor penetrates through the main body to form an extending end, and the extending ends of the two driving motors of the same driving mechanism are fixedly connected with a connecting rod D and a connecting rod B on the five-bar mechanism on the same side through a coupler 18 respectively, and are used for driving the connecting rod D and the connecting rod B.
In this embodiment, the main part includes bottom plate 10, correspond each driving motor and install support frame 11 on the both sides edge of bottom plate, the assembly upper shield of bottom plate and support frame is equipped with casing 12, transversely there is the through hole in the support frame, and the bearing is installed to the corresponding motor shaft in the through hole, and motor shaft stretches out bearing 19 from inside to outside, stretches out, then links firmly with corresponding connecting rod D, connecting rod B.
In this embodiment, install battery compartment 14 under the bottom plate, the bottom front and back symmetry in battery compartment installs universal wheel 15, for the robot provides to empty to support and prevents falling the function, acts as two from the driving wheel simultaneously under four-wheel walking mode, and the battery compartment provides the battery and accomodates the function.
In this embodiment, the caster module includes an existing rotating wheel motor 16, a fixed end of the rotating wheel motor is screwed to the lower end of the connecting rod a, a tire 17 is installed on an outer rotor of the rotating wheel motor, and the caster module may also be an existing electric rotating wheel.
In this embodiment, for reasonable in design, connecting rod B articulates in connecting rod A's inboard, connecting rod C articulates in connecting rod A's the outside, connecting rod D articulates in connecting rod C's inboard, connecting rod B is located the most inboard promptly, connecting rod A and connecting rod D are located same vertical face and are located the connecting rod B outside, the vertical face that connecting rod C located is located the outside of linkage, simultaneously for reasonable in design, correspond connecting rod B on the bottom plate and be provided with and abdicate, the bottom plate is type of calligraphy promptly, in two drive module of same actuating mechanism, the drive module that corresponds connecting rod B is located type of calligraphy minor face both sides, the drive module that corresponds connecting rod D is located type of calligraphy long limit both sides.
In this embodiment, fig. 1 is a schematic diagram of a standing position of a robot, in which two tires provide support for the robot, and a rotating wheel serves as a driving wheel of a machine body to drive the robot to move, so as to realize forward movement, backward turning and the like of the standing position of the robot. In addition, when the robot is in a standing posture, the connecting rods A and B can be driven by the driver module to rotate relative to the corresponding shafts, and the positions of the two driving tires relative to the main body are adjusted, so that the purpose of adjusting the height of the robot is achieved, the robot can adapt to different working environments, for example, the height is reduced, and the robot passes through a short space. The robot posture can be adjusted by adjusting the different lengths of the two legs, for example, the center of mass of the robot can be adjusted by adjusting the lengths of the two legs of the robot when the robot turns, so that the centripetal force of the turning can be offset, and the over-bending speed and the over-bending stability of the robot can be improved. And for example, when the robot passes through a non-flat road surface, the posture of the robot can be adjusted in an active and flexible mode, so that the main body part of the robot is kept in a relatively stable state, and the stability of the robot is improved.
In this embodiment, as shown in fig. 2, the wheeled bipedal machine of the present invention can also be switched to a four-wheel mode for movement, where the four-wheel mode is to provide support for the robot body by adjusting the length of the leg of the robot, i.e. the position of the driving tire relative to the body, so that the two driving tires and the two universal wheels land simultaneously. In the mode, the two universal wheels are used as driven wheels to move along with the two driving tires. In the mode, the supporting capacity of the robot is greatly enhanced, and the moving speed can be higher than that in a standing posture.
In the embodiment, the wheel type biped robot can realize continuous jumping movement, and can be used for continuously crossing obstacles or jumping up steps. Specifically, the jumping process of the wheel type biped robot is divided into four stages of power accumulation, takeoff, flying and falling buffering, in the power accumulation process, the height of a robot body needs to be reduced to increase the acceleration distance in the takeoff process, and in the process, a connecting rod A and a connecting rod B of a five-connecting-rod mechanism on a leg part rotate counterclockwise by a certain angle relative to a driving shaft to accumulate power for takeoff; in the jumping process, a connecting rod A and a connecting rod B of the leg five-bar mechanism rotate clockwise for a certain angle relative to the driving shaft, so that the main body has a certain upward speed to drive the leg five-bar mechanism and the driving wheel module to leave a supporting surface; in the falling buffering stage, the connecting rod A and the connecting rod B of the leg five-bar mechanism rotate clockwise for a certain angle relative to the driving shaft, so that the driving wheel module can be quickly contacted with the ground.
It is worth noting that in the whole jumping process, the rotation of the connecting rod A and the connecting rod B of the leg five-bar mechanism relative to the driving shaft is within a certain range, and in the range, the connecting rod C and the connecting rod D of the leg five-bar mechanism are in a concave state relative to the front plane of the main body and cannot exceed the front plane of the main body, so that the force can be accumulated on a narrow step without interference between the connecting rod A and the connecting rod B and the next jumping step, and the device can realize continuous jumping on the step.
In this embodiment, the device is an asymmetric five-bar linkage structure, a kinematic model is established, a statics analysis method is used for verifying and analyzing the joint output torque, and the superiority of the asymmetric five-bar linkage mechanism in the application of the two-wheel foot is verified. For the convenience of verifying the theoretical model, a leg theoretical derivation structure coordinate system is established by taking the midpoint of the fifth link of the asymmetric five-link mechanism as an origin, the horizontal rightward direction as the positive direction of the x axis, and the vertical downward direction as the positive direction of the y axis, as shown in fig. 7, 8, 9 and 10, wherein symbols in the figures are defined as follows:
| (symbol) | means of |
| l 1 | Length of connecting rod B |
| l 2 | Length of connecting rod A |
| l 2L | Connecting rod ALong part is longDegree of rotation |
| l 2S | Connecting rod AShort part long partDegree of rotation |
| l 3 | Length of connecting rod C |
| l 4 | Length of connecting rod D |
| l 5 | Fifth connecting rod length (i.e. main body side length) |
| θ | The angle between the connecting rod A and the horizontal ground |
| θ 1 | Driving switchAngle adjustment (corresponding connecting rod A) |
| θ 2 | Driving joint angle (corresponding connecting rod D) |
| θ 3 | The included angle between the connecting rod A and the connecting rod B |
| θ 4 | The angle between the connecting rod A and the connecting rod C |
| θ 5 | The angle between the connecting rod C and the connecting rod D |
| α 1 ，α 2 ，β 1 ，β 2 ，γ 1 ，γ 2 | Auxiliary corner |
| L P1 ，L P2 ，L P3 | Auxiliary line |
| τ 1 | Driver torque (corresponding connecting rod A) |
| τ 2 | Driver torque (corresponding connecting rod D) |
| F x | External forces parallel to the X coordinate axis |
| F v | External forces parallel to the Y coordinate axis |
And (3) establishing a robot leg kinematic inverse solution according to the model built in the figure 7 to obtain a position mapping relation from a machine working space to a joint space:
θ 1 ＝π-α 1 -β 1 θ 2 ＝β 2 -α 2
θ＝θ 3 -θ 1
θ 4 ＝θ 1 -θ 2 +θ 5 -θ 3
according to the model established in the figure 8, the conversion relation between the leg space moment and the joint space moment is deduced by a statics analysis method by neglecting the mass of the leg connecting rod and the friction at the joint hinge:
F nx ＝F y *cosθ+F x *sinθ
F ny ＝F y *sinθ-F x *cosθ
and (3) carrying out stress analysis on the connecting rod III:
F 23x *l 3 *cosβ-F 23y *l 3 *sinβ＝0
and (3) carrying out stress analysis on the second connecting rod:
F 32x *l 2L +F nx *l 2 ＝0
F 12y +F 32y +F ny ＝0
F 12x *l 2 +F 32x *l 2S ＝0
and (3) carrying out stress analysis on the first connecting rod and the fourth connecting rod to obtain joint torque:
F 21y *l 1 *sin(π-θ 3 )-F 21x *l 1 *cos(π-θ 3 )-τ 1 ＝0
F 34y *l 4 *sin(π-θ-θ 2 )-F 34x *l 4 *cos(π-θ-θ 2 )-τ 2 ＝0
and joint stress conditions corresponding to different stresses of the working space under different heights of the robot can be obtained according to formula derivation. For intuitive comparison, the tandem leg mechanism was modeled using the same method. Comparing and analyzing the output torque of the joint by comprehensively drawing, setting the leg length of the first connecting rod and the leg length of the second connecting rod to be the same in order to ensure the reference of comparison as much as possible, and simultaneously modeling according to the limiting conditions as follows according to the length of the first connecting rod and the second connecting rod of the series leg and the length of the first connecting rod and the length of the second connecting rod of the parallel leg as well as the length of the first connecting rod and the length of the second connecting rod of the parallel leg:
for comparison, the most common working states of the biped robot are selected for comparison, namely, the foot-falling point of the robot leg is located in the middle position of the robot main body (x = 0), the height variation range of the robot is 0.5 times to 1.8 times of the length of the serial leg, and meanwhile, for comparison of the maximum output torque, the torque calculation results are compared by adopting absolute values.
For the wheel type biped robot, the legs of the robot are mainly subjected to upward force vertical to the main body, and then the force is used for balancing the generated lateral force, based on the description, the parallel five-rod leg mechanism and the serial leg mechanism are temporarily determined to be subjected to 100N upward force only and 100N upward force while being subjected to 100N force parallel to the main body, and the change situation of the output moment of the joint in the working range is observed through drawing, so that the requirements of the parallel legs and the serial legs on the output moment of the joint under the same working condition are compared. Specific results are shown in fig. 11 and 12.
By comparing the graphs, the maximum output value of the joint required by the parallel leg is smaller than the maximum output torque value of the joint required by the series leg under two working states, namely the parallel leg can reduce the output torque required by the joint.
Any technical solution disclosed in the present invention is, unless otherwise stated, disclosed a numerical range if it is disclosed, and the disclosed numerical range is a preferred numerical range, and any person skilled in the art should understand that: the preferred ranges are merely those values which are obvious or representative of the technical effect which can be achieved. Because numerical value is more, can't be exhaustive, so the utility model discloses just disclose some numerical values with the illustration the technical scheme of the utility model to, the numerical value that the aforesaid was enumerated should not constitute right the utility model discloses create the restriction of protection scope.
If the terms "first," "second," etc. are used herein to define parts, those skilled in the art will recognize that: the use of "first" and "second" is merely for convenience of description to distinguish between elements and components, and the terms do not have a special meaning unless otherwise stated.
The utility model discloses if disclose or related to mutual fixed connection's spare part or structure, then, except that other the note, fixed connection can understand: a detachable fixed connection (for example using bolts or screws) is also understood as: non-detachable fixed connections (e.g. riveting, welding) can, of course, also be replaced by one-piece structures (e.g. manufactured in one piece using a casting process) (unless it is obvious that one-piece processes cannot be used).
In addition, the orientation or positional relationship indicated in any of the above-mentioned technical solutions of the present disclosure for indicating positional relationship, such as "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of describing the present disclosure, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation of the present disclosure, and the term used for indicating shape applied in any of the above-mentioned technical solutions of the present disclosure includes a shape similar, analogous or approximate thereto unless otherwise stated.
The utility model provides an arbitrary part both can be formed by a plurality of solitary component parts equipment, also can be for the solitary part that the integrated into one piece technology made out.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, it should be understood by those skilled in the art that: the invention can be modified or equivalent substituted for some technical features; without departing from the spirit of the present invention, it should be understood that the scope of the claims is intended to cover all such modifications and variations.
Claims (7)
1. The utility model provides a wheeled biped robot, includes the main part, the left and right sides symmetry swing joint of main part has leg mechanism, leg mechanism's bottom is rotated and is connected with the truckle module, a serial communication port, leg mechanism is five-bar mechanism, five-bar structure includes connecting rod A, and connecting rod A's one end rotates with the truckle module to be connected, and connecting rod A's the other end articulates there is connecting rod B, and connecting rod B's the other end rotates to be connected in the main part, connecting rod A's pole body is articulated to have connecting rod C, and connecting rod C's the other end articulates there is connecting rod D, and connecting rod D's the other end rotates to be connected in the main part.
2. The wheeled biped robot according to claim 1, wherein the driving mechanisms are symmetrically arranged in the body from left to right, the driving mechanisms comprise two driving modules, and the driving ends of the two driving modules are respectively connected with the connecting rod D and the connecting rod B.
3. The wheeled biped robot of claim 2, wherein the driving module comprises a driving motor, and a rotating shaft of the driving motor penetrates through the main body to form an extending end, and the extending end is fixedly connected with the corresponding connecting rod D and the corresponding connecting rod B through a coupling.
4. The wheeled biped robot of claim 2, wherein the main body comprises a bottom plate, a support frame is mounted on the bottom plate corresponding to each driving motor, a housing is covered on a combination of the bottom plate and the support frame, a through hole is transversely arranged in the support frame, and a bearing is mounted in the through hole corresponding to a motor rotating shaft.
5. The wheeled biped robot of claim 4, wherein a battery compartment is mounted under the bottom plate, and universal wheels are symmetrically mounted in front and back of the bottom of the battery compartment.
6. The wheeled biped robot according to claim 1, wherein the caster module comprises a wheel motor, a fixed end of the wheel motor is fixed to a lower end of the connecting rod a, and a tire is mounted on a rotating end of the wheel motor.
7. The wheeled biped robot according to claim 1, wherein the link B is hinged to the inner side of the link A, the link C is hinged to the outer side of the link A, and the link D is hinged to the inner side of the link C.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115848527A (en) * | 2022-11-23 | 2023-03-28 | 哈尔滨工程大学 | Wheel leg balance robot with double-shaft holder and working method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115848527A (en) * | 2022-11-23 | 2023-03-28 | 哈尔滨工程大学 | Wheel leg balance robot with double-shaft holder and working method |
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