WO2018188362A1 - 一种具有双足步行与轮式移动转换功能的机器人运动机构 - Google Patents

一种具有双足步行与轮式移动转换功能的机器人运动机构 Download PDF

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Publication number
WO2018188362A1
WO2018188362A1 PCT/CN2017/115161 CN2017115161W WO2018188362A1 WO 2018188362 A1 WO2018188362 A1 WO 2018188362A1 CN 2017115161 W CN2017115161 W CN 2017115161W WO 2018188362 A1 WO2018188362 A1 WO 2018188362A1
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Prior art keywords
assembly
motion mechanism
motor
robot
walking
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PCT/CN2017/115161
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English (en)
French (fr)
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曹俊亮
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上海岭先机器人科技股份有限公司
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Publication of WO2018188362A1 publication Critical patent/WO2018188362A1/zh

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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

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  • the invention relates to a robot movement mechanism, in particular to a robot movement mechanism with a bipedal walking and a wheeled movement conversion function, and belongs to the technical field of robots.
  • crawler robot In recent years, mobile robot technology has developed rapidly in both industrial and civilian applications. Whether it is crawler robot, biped robot or wheeled robot, it has been widely used. Among them, the crawler robot is suitable for soft terrain; the wheeled mobile robot can move at high speed, but it is vulnerable to the environment; the biped robot can adapt to various complicated terrains, but the moving speed is slow.
  • the technical objectives to be achieved by the present invention are: (1) achieving bipedal walking of the robot; (2) implementing wheeled movement of the robot; (3) switching between the two motion modes; (4) no additional actuator is required for the switching process.
  • the present invention provides a robot motion mechanism including a connection assembly, a rolling assembly connected to the connection assembly, and a walking assembly connected to the connection assembly; the motion mechanism can be in the first working state and the second Switching between working states; when the moving mechanism is in the first working state, the bottom of the rolling component contacts the ground, and the bottom of the walking component leaves the ground; when the moving mechanism is in the second working state, the bottom of the walking component contacts the ground, and the rolling component The bottom is off the ground.
  • the rolling component and the walking component are respectively connected to both sides of the connecting component, and both the rolling component and the walking component are rotatable.
  • the connecting component comprises a connecting component body and a geared motor, wherein the connecting component body has a geared motor mounting hole, and the geared motor is installed in the geared motor mounting hole and fixed.
  • the rolling component comprises a DC motor and a tire.
  • the DC motor is composed of an inner rotor, an outer rotor, a stator, a stator chassis and a support rod.
  • the stator is mounted on the stator chassis, and the inner rotor and the outer rotor are connected by a support rod to form a rotor of the DC motor.
  • the tire is mounted on the outer surface of the outer rotor.
  • the stator uses a coil, the inner rotor is the rotating shaft of the DC motor, and the inner rotor is located inside the coil.
  • the walking assembly includes a foot support and an ankle connection, the ankle connection being coupled to the foot support and the rotor of the reduction motor, respectively.
  • the bottom surface of the foot support is kept with the output shaft of the geared motor parallel.
  • the foot support has an arcuate recess having a radius greater than the outer diameter of the tire.
  • the heel of the foot support is arranged in a circular arc shape.
  • the motion mechanism further includes a connecting rod, one end of the connecting rod is fixed to the connecting component, and the other end of the connecting rod is connected to the main body of the robot.
  • the invention has the beneficial effects of: (1) realizing the bipedal walking of the robot; (2) realizing the wheeled movement of the robot; (3) freely switching between the bipedal walking and the wheeled movement; (4) the movement mode switching does not require an additional actuator.
  • FIG. 1 is a schematic view of a wheeled mechanism in accordance with a preferred embodiment of the present invention:
  • Figure 2 is a schematic view showing the structure of a leg in a preferred embodiment of the present invention.
  • Figure 3 is a schematic view showing the assembly of the leg structure in a preferred embodiment of the present invention.
  • Figure 4 is a schematic overall view of a motion mechanism in a preferred embodiment of the present invention.
  • FIG. 5 is a flow chart showing an implementation of switching a walking mode of a moving mechanism to a wheeled moving mode in a preferred embodiment of the present invention, the flow sequentially including (a) an initial state; (b) a forward connection of the leg connecting rod; (c) The leg connecting rod is upright; (d) the foot support is folded up;
  • Figure 6 is a flow chart showing the implementation of the shifting mode of the moving mechanism wheeled movement mode to the walking mode in a preferred embodiment of the present invention, the flow sequentially including (a) the initial state; (b) the sole support member is lowered to the ground; (c) the body Forward tilting, while the sole support is further lowered; (d) the sole of the foot contacts the ground, and the switching ends;
  • the content includes: the invention needs to drive the walking geared motor in the axial direction of the wheel mechanism, and the switching of the motion mode is completed by the gear motor, and the structure of the single leg of the robot is as follows.
  • the wheel mechanism is composed of a DC motor and a tire 1.
  • the coil 3 of the DC motor is fixed as a stator, and the outer rotor 2 of the DC motor is rotated when energized, and the outer rotor 2 is fixed by the support rod 5.
  • the inner rotor 4 of the direct current motor is connected as a rotating shaft to the outer rotor 2 via a support rod 5 to ensure the coaxiality of the stator and the rotor during the rotation.
  • the tire 1 is directly wrapped around the outer rotor 2, When the coil 3 is energized, the outer rotor 2 is rotated to drive the tire 1 to rotate.
  • the rotary bearing 6 is fixedly coupled to the outer rotor 2 of the direct current motor
  • the stator chassis 7 is fixedly coupled to the stator of the direct current motor (coil 3)
  • the rotary bearing 6 is rotated synchronously with the tire 1.
  • the stator chassis 7 has a boss, and the connecting member 8 is connected to the leg connecting rod 13 and the reduction motor 9.
  • the outer stator of the reduction motor 9 is provided with an output shaft thread 11 and a reduction motor positioning hole 12. The screw passes through the reduction motor mounting hole 10 and is fixed to the reduction motor mounting thread 18, thereby fixing the reduction motor 9 and the connecting member 8, and the stator 16 of the reduction motor is naturally fixed to the connecting member 8.
  • the upper part of the connecting member 8 has a platform 20, and the platform 20 has mounting threads 19, and the screws fix the leg connecting rods 13 and the connecting members 8 through the leg connecting mounting holes 15 on the leg connecting flanges 14. .
  • the side of the connecting member 8 has a through hole 21 through which the reduction motor rotor 17 is connected to the outside.
  • the geared motor 9 should be coaxial with the wheeled mechanism.
  • the screw connects the ankle link 22 to the reduction motor rotor 17 through the ankle connector mounting hole 24, and the ankle link 22 and the foot support 23 are fixedly connected in an arbitrary manner.
  • the sole plane should be parallel to the output shaft of the geared motor 9.
  • the heel 26 is rounded to ensure the stability of the motion mode switching process.
  • the foot support member 23 has a groove 25 on the side close to the tire 1, which is slightly larger than the outer diameter of the tire 1, and has a certain protective effect on the wheel mechanism in the wheeled movement mode.
  • the distance between the sole plane and the output shaft of the geared motor should be greater than the outer diameter of the tire 1 to ensure that the tire does not touch the ground in the walking mode.
  • the pedal gear motor rotates and the foot support is closed.
  • the pedal deceleration motor drives the foot support to rotate until the heel contacts the ground;
  • the pedal motor is further rotated, and the center of gravity of the robot is slightly tilted forward;
  • the ankle deceleration motor keeps rotating, and the center of gravity keeps leaning forward until the sole plane touches the ground.

Abstract

一种具有双足步行与轮式移动转换功能的机器人运动机构，运动机构包括连接组件、连接在连接组件上的滚动组件及连接在连接组件上的步行组件；运动机构能够在第一工作状态和第二工作状态之间切换；当运动机构处于第一工作状态时，滚动组件的底部接触地面，步行组件的底部离开地面；当运动机构处于第二工作状态时，步行组件的底部接触地面，滚动组件的底部离开地面。通过这些设置可以实现机器人双足步行和轮式移动这两种模式的自由切换，且运动模式切换无需额外的执行机构。

Description

一种具有双足步行与轮式移动转换功能的机器人运动机构 技术领域
本发明涉及一种机器人运动机构，特别涉及一种具有双足步行与轮式移动转换功能的机器人运动机构，属于机器人技术领域。
背景技术
近年来，移动式机器人技术不论在工业还是在民用领域的应用都有飞速的发展，不论是履带式机器人，双足机器人，还是轮式机器人都有着越来越广泛的应用。其中，履带式机器人适用于松软的地形；轮式移动机器人能够高速运动，但易受环境限制；双足机器人可以适应各种复杂的地形，但是移动速度较慢。
现有的移动式机器人通常具有单一的运动模式，常常无法满足工作需求。少数具有模式切换功能的移动式机器人，则需要额外的执行机构来实现(如升降式机构)，增加了机器人系统的复杂性。
发明内容
本发明要实现的技术目的为：(1)实现机器人双足步行；(2)实现机器人轮式移动；(3)两种运动模式可以相互切换；(4)切换过程不需要额外的执行机构。
为了实现上述目的，本发明提供了一种机器人运动机构，运动机构包括连接组件、连接在连接组件上的滚动组件及连接在连接组件上的步行组件；运动机构能够在第一工作状态和第二工作状态之间切换；当运动机构处于第一工作状态时，滚动组件的底部接触地面，步行组件的底部离开地面；当运动机构处于第二工作状态时，步行组件的底部接触地面，滚动组件的底部离开地面。
进一步地，滚动组件和步行组件分别连接在连接组件的两侧，滚动组件和步行组件均能够转动。
更进一步地，连接组件包括连接组件本体和减速电机，连接组件本体内具有减速电机安装孔，减速电机安装在减速电机安装孔内并固定。
更进一步地，滚动组件包括直流电机和轮胎，直流电机由内转子、外转子、定子、定子底盘、支撑杆组成，定子安装在定子底盘，内转子和外转子通过支撑杆连接形成直流电机的转子，轮胎安装在外转子的外表面。定子采用线圈，内转子是直流电机的旋转轴，内转子位于线圈内。
更进一步地，步行组件包括脚部支撑件和脚踝连接件，脚踝连接件分别连接在脚部支撑件和减速电机的转子。脚部支撑件的底面与减速电机输出轴保持 平行。脚部支撑件具有一个弧形凹槽，弧形凹槽的半径大于轮胎外径。脚部支撑件的后跟设置成圆弧形。
进一步地，运动机构还包括一连接杆，连接杆的一端固定于连接组件，连接杆的另一端与机器人的主体连接。
本发明的有益效果：(1)实现机器人双足步行；(2)实现机器人轮式移动；(3)双足步行与轮式移动可自由切换；(4)运动模式切换无需额外的执行机构。
附图说明
图1是本发明一个较佳实施例中的轮式机构示意图：
图2是本发明一个较佳实施例中的腿部结构示意图；
图3是本发明一个较佳实施例中的腿部结构装配示意图；
图4是本发明一个较佳实施例中的运动机构整体示意图；
图5是本发明一个较佳实施例中的运动机构步行模式切换到轮式移动模式的实施流程图，此流程依次包括(a)初始状态；(b)腿部连接杆前倾；(c)腿部连接杆直立；(d)脚部支撑件收起；
图6是本发明一个较佳实施例中的运动机构轮式移动模式切换到步行模式实施流程图，此流程依次包括(a)初始状态；(b)脚底支撑件下放至地面；(c)身体前倾，同时脚底支撑件进一步下放；(d)脚底接触地面，切换结束；
其中：1-轮胎，2-外转子，3-线圈(定子)，4-内转子；5-支撑杆；6-转动轴承；7-定子底盘；8-连接件；9-减速电机；10-减速电机安装孔；11-减速电机输出轴螺纹；12-减速电机定位孔；13-腿部连接杆；14-腿部连接法兰；15-腿部连接安装孔；16-减速电机定子；17-减速电机转子；18-减速电机安装螺纹；19-连接件安装螺纹；20-连接件平台；21-连接件通孔；22-脚踝连接件；23-脚部支撑件；24-脚踝连接件安装孔；25-凹槽；26-脚后跟。
具体实施方式
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图对本发明的具体实施方式做详细的说明。需说明的是，本发明附图均采用简化的形式且均使用非精准的比例，仅用以方便、明晰地辅助说明本发明实施例的目的。
内容包括：本发明需在轮式机构的轴向布置驱动步行的减速电机，运动模式的切换由该减速电机完成，机器人单腿结构具体如下。
如图1所示，轮式机构由一个直流电机和轮胎1组成。直流电机的线圈3作为定子固定不动，通电时带动直流电机的外转子2进行转动，外转子2由支撑杆5加以固定。直流电机的内转子4作为旋转轴通过支撑杆5与外转子2相连，保证在转动过程中定子与转子的同轴度。轮胎1直接包裹在外转子2上， 当线圈3通电时带动外转子2旋转进而带动轮胎1转动。
如图2所示，在轮式机构的另一侧，转动轴承6与直流电机外转子2固定连接，定子底盘7与直流电机定子(线圈3)固定连接，转动轴承6与轮胎1为同步转动。定子底盘7上有凸台，连接件8与腿部连接杆13和减速电机9相连。减速电机9外部定子上有安装输出轴螺纹11，还带有减速电机定位孔12。螺丝通过减速电机安装孔10并固定在减速电机安装螺纹18，进而将减速电机9与连接件8固定，减速电机定子16自然就与连接件8保持固定了。
如图3所示，连接件8上侧有平台20，平台20上有安装螺纹19，螺丝通过腿部连接法兰14上的腿部连接安装孔15将腿部连接杆13与连接件8固定。连接件8侧部有通孔21，减速电机转子17通过该通孔21与外部连接。减速电机9应与轮式机构保持同轴。
如图4所示，螺丝通过脚踝连接件安装孔24将脚踝连接件22与减速电机转子17固定，脚踝连接件22与脚部支撑件23以任意方式固定连接。脚底平面应与减速电机9输出轴保持平行。脚后跟26为圆弧形，保证运动模式切换过程的稳定性。脚部支撑件23靠近轮胎1的一侧有凹槽25，略大于轮胎1外径，在轮式移动模式下对轮式机构起一定的保护作用。脚底平面与减速电机输出轴的距离应大于轮胎1外径，保证在步行模式下轮胎与地面不接触。
从步行模式切换到轮式移动实施过程如下：
1、脚部支撑件保持固定，减速电机转动带动腿部连接杆前倾；
2、脚踝减速电机锁死，由机器人腿部以上电机带动腿部连接杆直立；
3、脚踝减速电机转动，收起脚部支撑件。
从轮式移动切换到步行模式实施过程如下：
1、脚踝减速电机带动脚部支撑件转动，直至脚后跟接触地面；
2、脚踝减速电机进一步转动，同时机器人上身调整重心略微前倾；
3、脚踝减速电机保持转动，重心保持前倾直至脚底平面接触地面。
以上详细描述了本发明的较佳具体实施例。应当理解，本领域的普通技术人员无需创造性劳动就可以根据本发明的构思作出诸多修改和变化。因此，凡本技术领域中技术人员依本发明的构思在现有技术的基础上通过逻辑分析、推理或者有限的实验可以得到的技术方案，皆应在由权利要求书所确定的保护范围内。

Claims (10)

  1. 一种机器人运动机构，其特征在于，所述运动机构包括连接组件、连接在所述连接组件上的滚动组件及连接在所述连接组件上的步行组件；所述运动机构能够在第一工作状态和第二工作状态之间切换；当所述运动机构处于第一工作状态时，所述滚动组件的底部接触地面，所述步行组件的底部离开地面；当所述运动机构处于第二工作状态时，所述步行组件的底部接触地面，所述滚动组件的底部离开地面。
  2. 根据权利要求1所述的一种机器人运动机构，其特征在于，所述滚动组件和所述步行组件分别连接在所述连接组件的两侧，所述滚动组件和所述步行组件均能够转动。
  3. 根据权利要求2所述的一种机器人运动机构，其特征在于，所述连接组件包括连接组件本体和减速电机，所述连接组件本体内具有减速电机安装孔，所述减速电机安装在所述减速电机安装孔内并固定。
  4. 根据权利要求3所述的一种机器人运动机构，其特征在于，所述滚动组件包括直流电机和轮胎，所述直流电机由内转子、外转子、定子、定子底盘、支撑杆组成，所述定子安装在所述定子底盘，所述内转子和所述外转子通过所述支撑杆连接形成所述直流电机的转子，所述轮胎安装在所述外转子的外表面。
  5. 根据权利要求4所述的一种机器人运动机构，其特征在于，所述定子采用线圈，所述内转子是所述直流电机的旋转轴，所述内转子位于所述线圈内。
  6. 根据权利要求3所述的一种机器人运动机构，其特征在于，所述步行组件包括脚部支撑件和脚踝连接件，所述脚踝连接件分别连接所述脚部支撑件和所述减速电机的转子。
  7. 根据权利要求6所述的一种机器人运动机构，其特征在于，所述脚部支撑件的底面与所述减速电机的输出轴保持平行。
  8. 根据权利要求6所述的一种机器人运动机构，其特征在于，所述脚部支撑件具有一个弧形凹槽，所述弧形凹槽的半径大于所述轮胎外径。
  9. 根据权利要求6所述的一种机器人运动机构，其特征在于，所述脚部支撑件的后跟设置成圆弧形。
  10. 根据权利要求2所述的一种机器人运动机构，其特征在于，所述运动机构还包括一连接杆，所述连接杆的一端固定于所述连接组件，所述连接杆的另一端与所述机器人的主体连接。
PCT/CN2017/115161 2017-04-11 2017-12-08 一种具有双足步行与轮式移动转换功能的机器人运动机构 WO2018188362A1 (zh)

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