CN105109572A - Single-leg structure for wheel-legged type robot in leg-arm mixing operation - Google Patents
Single-leg structure for wheel-legged type robot in leg-arm mixing operation Download PDFInfo
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- CN105109572A CN105109572A CN201510531882.9A CN201510531882A CN105109572A CN 105109572 A CN105109572 A CN 105109572A CN 201510531882 A CN201510531882 A CN 201510531882A CN 105109572 A CN105109572 A CN 105109572A
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Abstract
The invention discloses a single-leg structure for a wheel-leg type robot in leg-arm mixing operation. A cockroach is simulated by applying bionic mechanism principles, and front three joints, namely a buttock joint, a hip joint and a knee joint, are arranged; rear three operating joints are respectively a first ankle joint, a second ankle joint and a third ankle joint; steering engines of the three front joints are directly connected with femur parts and drive the femur parts to rotate; a driving motor of the first ankle joint also adopts a direct-driving manner; for the rear two joints, because of the limit to the total length of a single leg and a demand for preventing motion interference, the second ankle joint is driven by adopting worm wheels and a worm; the third ankle joint uses gears to transmit power; a rolling wheel is arranged between the knee joint and the first ankle joint, and the switchover between a wheel rolling mode and a walking mode can be realized. The single-leg structure disclosed by the invention has the advantages that a tail end can form various postures, and many postures can be adopted when the robot stands or walks; whether the robot performs single-leg-arm mixing operation or double-leg-arm coordination, many route planning methods can be selected, and the flexibility is high.
Description
Technical field
The present invention relates to theory of mechanisms and bionics, can be used for multi-foot robot field, specifically, be a kind of realize exporting degree of freedom greatly and can carry out taking turns leg switch and the bio-mechanism of arm-type grasping manipulation.
Background technology
Along with the development of science and technology, mobile robot plays increasing role in human being's production work.Relative to the mobile robot of single movement structure, such as legged type robot, wheeled robot etc., the mobile robot of mixed wheel leg form has the preceence on function and structure.The mobile robot of this mixed form can better adapt to complex-terrain, can use wheel row mode on comparatively smooth ground, and have higher moving velocity, efficiency is high; Under more rugged landform, switchable form carries out legged walking again, and can realize obstacle detouring, the functions such as overturning self-recoverage.Except travelling performance, the demand that mobile robot solves practical application also by study, the operating characteristic of robot and travelling performance no less important, the manipulator design exporting degree of freedom and end for the height of single leg so also becomes the difficult point of research at present.
More and more abundanter for the design study achievement meeting leg arm mixing operation robot list leg structure in recent years, the ATHLETE Series machine people of U.S. JPL laboratory development wherein typically represents, but these robots have output, and degree of freedom is low, wheel leg switches difficult, that operating characteristic is poor various problems.
Summary of the invention
In order to solve the series of problems that the design of multi-foot robot leg faces, invent one based on theory of mechanisms and bionics principle
Single leg structure that single leg height exports degree of freedom, the smooth-going switching of wheel leg, leg-wheel robot simple to operate can be realized.
The present invention is used for single leg structure of the leg-wheel robot of leg arm mixing operation, be followed successively by stern joint, hip joint, knee joint, the first ankle-joint, the second ankle-joint, the 3rd ankle-joint by leg root to leg front portion, driven by the first ~ six driver train successively and rotate.
Wherein, stern joint is vertical with the pivot center of hip joint; The pivot center of hip joint, knee joint, the first ankle-joint is parallel; The pivot center of the second ankle-joint is perpendicular to the pivot center of hip joint; The pivot center of the 3rd ankle-joint is vertical with the second ankle-joint pivot center, and the 3rd ankle-joint is provided with paw, by the folding of paw driving mechanisms control paw;
Above-mentioned stern joint is connected by stern joint connector with between hip joint; Be connected by thigh bar between hip joint with knee joint; Be connected by shank bar between knee joint with the first ankle-joint, shank bar is provided with roller, the pivot center of roller is parallel with hip joint; Be connected by ankle leg bar between the first ankle-joint with the second ankle-joint.
The robot applying list leg structure of the present invention can carry out taking turns the switching between row and Walking Mode:
When robot carries out walking movement, single leg structure, as the supporting leg of robot, now regulates stern joint, hip joint, knee joint, the first ankle-joint can adaptation stations attitude immediately; Rotate by controlling stern joint, hip joint and knee joint, realize single leg and swing or take a step, the first ankle-joint, the second ankle-joint and the 3rd ankle-joint generally lock motionless when robot ambulation, and the bearing surface of paw lands.
When robot needs change structure state to carry out taking turns row motion, adjustment stern joint, makes the quantity two such as single leg structure of robot both sides is divided into centered by sagittal plane right, and all symmetrical in sagittal plane and coronal-plane; Adjust each bar list leg structure hip joint and knee joint that roller is landed again, continue fine setting first ankle-joint and make not interfere between every bar list leg structure, under general wheel row mode, the second ankle-joint and the 3rd ankle-joint also lock motionless.
The invention has the advantages that:
1, list leg structure output degree of freedom of the present invention is high, end-effector (paw) pose enrich, stand or walking time adoptable attitude numerous, no matter robot carries out single leg arm mixing operation or both legs arm universal time coordinated, optional paths planning method is many, and flexibility ratio is high.
2, list leg structure of the present invention, the arrangement of roller is easy to realize; Switching when wheel row, walking is smooth-going; And wheel arrangement in vola, is decreased the wearing and tearing of wheel when walking by seemingly not general leg-wheel robot; It is even that wheel is positioned at mass distribution split making leg, also less on impact when walking, operation.
3, list leg structure of the present invention, the design synthesis of end-effector (paw) demand of walking and operation, and be convenient to realize, simple to operate.
Accompanying drawing explanation
Fig. 1 is the midstance integral structure schematic diagram of list leg structure of the present invention;
Fig. 2 is the wheel shape attitude integral structure schematic diagram of list leg structure of the present invention;
Fig. 3 is the driving steering wheel connection mode schematic diagram of the first ~ three driver train in list leg structure of the present invention;
Fig. 4 is the type of drive schematic diagram of roller in list leg structure of the present invention;
Fig. 5 is four-wheel drive mechanism structure schematic diagram in list leg structure of the present invention;
Fig. 6 is the 5th driving mechanism structure schematic diagram in list leg structure of the present invention;
Fig. 7 is the 6th driving mechanism structure schematic diagram in list leg structure of the present invention;
Fig. 8 is integral structure transmission shaft and gear box structure schematic diagram in list leg structure of the present invention;
Fig. 9 is paw driving mechanism structure schematic diagram in list leg structure of the present invention;
Figure 10 is paw driving mechanism structure cutaway view in list leg structure of the present invention;
Figure 11 is structure and the mounting means schematic diagram of paw in list leg structure of the present invention.
In figure:
1-stern joint connector 2-thigh bar 3-shank bar
4-roller 5-ankle leg bar 6-paw driver train
7-paw 8-roller motor sleeve 9-roller drive motor
10-joint drive motor 11-joint motor sleeve 12-gear box A
13-the 5th joint worm screw 14-the 5th joint worm gear 15-transmission shaft A
16-gear box B 17-finishing bevel gear cuter 18-rotating shaft
19-transmission shaft B20-backing plate 601-paw drive motor
602-paw drives worm screw 603-paw passive worm gear 604-gripper motor sleeve
605-paw pipe link 606-connector 701-bearing surface
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further details.
List leg structure of the present invention has 6 joints, stern joint, hip joint, knee joint, the first ankle-joint, the second ankle-joint, the 3rd ankle-joint is followed successively by by leg root to leg front portion, driven by the first ~ six driver train successively and rotate, as shown in Figure 1 and Figure 2, also comprise stern joint connector 1, thigh bar 2, shank bar 3, roller 4, ankle leg bar 5, paw driver train 6 and paw 7 simultaneously.
Described first driver train adopts steering wheel, and the output shaft of steering wheel is directly directly connected with the two ends, stern joint connector 1 rear end be made up of two blocks of side plates, forms stern joint; The rotation in stern joint is driven by the first driver train.
Second driver train adopts steering wheel, and be fixedly installed in stern joint connector 1 front end, the output shaft axes normal of output shaft axis and the first driver train is arranged, and output shaft two ends directly and the rear end of thigh bar 2 that forms of two side plates be connected, formation hip joint; Servo driving hip joint is driven to rotate by second.
3rd driver train adopts steering wheel equally, and output shaft axis and the second driver train output shaft axis being parallel are arranged, and front end that is direct and thigh bar 2 two side plates, the output shaft two ends of the 3rd driver train is connected, and forms knee joint; Knee joint is driven to rotate by the 3rd driver train.
Located by inside and outside spline fitted between the driving steering wheel output shaft of above-mentioned first ~ three driver train and link, fixed by screw; Simultaneously on steering wheel output shaft, be socketed backing plate 20, as shown in Figure 3, backing plate 20 be connected by bearing with between institute link, the interstitial vibration that when preventing servo driving link from rotating, generation is larger.
Described shank bar 3 is made up of, as the installation frame of roller 4 two blocks of side plates; The rear end of two blocks of side plates is fixed on the front end face of the 3rd driver train.As shown in Figure 4, roller 4 is arranged at two pieces of side sheet rooms, is enclosed within roller motor sleeve 8, and there is gap between roller motor sleeve 8 circumference; Roller motor sleeve two ends are fixed on two blocks of side plates.The driving of roller 4 is realized by roller drive motor 9 with support; Roller drive motor 9 is fixedly installed in roller motor sleeve 8, output shaft be fixed on roller 4.
Described ankle leg bar 6 is all two blocks of side plates and forms, and is connected, forms the first ankle-joint by four-wheel drive mechanism with the front end of shank bar 3; The first ankle-joint is driven to rotate by four-wheel drive mechanism.Concrete connection mode between ankle leg bar 6 and shank bar 3 as shown in Figure 5, for: both sides, the front end outer wall of shank bar 3 is designed with projection; The left side plate front inner wall of ankle leg bar 6 is designed with groove, makes projection and groove fit, and is connected by bearing.Four-wheel drive mechanism adopts joint drive motor 10 to drive, and output shaft axis and the 3rd driver train output shaft axis being parallel are arranged.Joint drive motor 10 is coaxially fixedly installed in joint motor sleeve 11; Joint motor sleeve 11 two ends are fixed with two pieces of side plate front ends of shank bar 3 respectively.The output shaft of joint drive motor 10 stretches out a side plate that is rear and shank bar 3 by joint motor sleeve 11 end and is connected.
Described 5th joint driving mechanism adopts worm and gear drive configuration, and as shown in Figure 6, be installed in gear box A 12, gear box A 12 is fixed on two pieces of side plate front ends of ankle leg bar 6.Axis and the four-wheel drive mechanism shaft line parallel of the 5th joint worm screw 13 are arranged, and be connected by antifriction-bearing box between one end with gear box A 12 two side, the other end is connected with drive motor by coupler, drive the 5th joint worm screw to rotate.5th joint worm gear 14 engages with the 5th joint worm screw 13, is fixed on transmission shaft A15; Transmission shaft A15 carries out axial restraint by bearing and gear box A 12.
Described 6th joint driving mechanism adopts bipyramid gear drive structure, as shown in Figure 7, is installed in gear box B 16, and gear box B 16 to be fixed in the 5th joint driving mechanism on transmission shaft A15 mouth.In 6th joint driving mechanism, two finishing bevel gear cuters 17 are respectively finishing bevel gear cuter A and finishing bevel gear cuter B; Finishing bevel gear cuter A is fixed in rotating shaft 18, is connected between rotating shaft 18 with gear box B 16 sidewall by antifriction-bearing box, and the other end is connected with the drive motor output shaft in gear box B 16 with fixing, is driven rotate by drive motor.Finishing bevel gear cuter B engages with finishing bevel gear cuter A, is fixedly mounted on transmission shaft B19, is connected between transmission shaft B19 with gear box B 16 by antifriction-bearing box.
Transmission shaft A15 and four-wheel drive mechanism output shaft axes normal in said structure the 5th joint driving mechanism, the gear box B 16 of end and the 6th joint driving mechanism is fixed, and forms the second ankle-joint, closes driver train drive the second ankle-joint to rotate by the 5th.In the present invention, transmission shaft A15 and gear box B 16 are designed to integrative-structure, as shown in Figure 8, and the error that diametral load when avoiding single leg to land causes, and be convenient to the axial restraint of transmission shaft A15, simplify the complexity of assembling.
Transmission shaft B19 end in said structure the 6th joint driving mechanism is provided with paw driver train 6, forms the 3rd ankle-joint, drives the 3rd ankle-joint to rotate by the 6th joint driving mechanism.Described paw driver train 6 moves for driving paw, as shown in Fig. 9,10, comprises paw drive motor 601, paw drives worm screw 602 and the passive worm gear 603 of paw.Wherein, paw drive motor 601 is arranged in gripper motor sleeve 604, and transmission shaft B19 end is fixed in gripper motor sleeve 604 rear end.Paw drive motor 601 output shaft drives worm screw 602 one end to fix by coupler and paw; Paw drives worm screw 602 to be connected with gripper motor sleeve 604 front end by antifriction-bearing box.The passive worm gear 603 of paw is two, all drives worm screw 602 to engage with paw.As shown in figure 11, two passive worm gears 603 of paw are fastened on two paw pipe links 605 respectively by key; Two paw pipe links 605 are each passed through the connector 606 of motor sleeve 604 Front-end Design.
Described paw 7 is made up of two and half pawls, and end is connected and fixed by key with two paw pipe links 605 respectively.Drive paw to drive worm screw 602 to rotate by paw drive motor 601 thus, drive two passive worm gears 603 of paw to rotate, and then drive two paw pipe links 605 to rotate, final two and half pawls that drive rotate, and realize the opening and closing campaign between two and half pawls.In above-mentioned two and half pawls, the Front-end Design of one and half pawls is plane, as bearing surface 701, for the support in the plane of single leg structure.Under the Walking Mode of robot, two and half pawls close and mutually agree with locking, now by the support of bearing surface 701, make paw can be used as foot and walk; When drive motor drives two and half pawls to open, clipping operation can be carried out as actr again.
Size in the present invention between each leg section (comprising thigh bar 2, shank bar 3, ankle leg bar 5 and the vertical distance between the second ankle-joint from the 3rd ankle-joint) is different, and the ratio of each leg section is all optimized according to bionics.According to Degree of Freedom Analysis principle, for joint of the present invention arrangement mode, the degree of freedom of the output of paw can be analyzed to rotational freedom λ
rwith one-movement-freedom-degree λ
t, and have: λ=λ
r+ λ
t=λ
r+ λ
tt+ λ
tr, wherein, λ
ttfor the original one-movement-freedom-degree of paw, λ
trfor rotating derivative one-movement-freedom-degree by paw; Again by the calculation criterion of λ, under the deployment scenarios of joint of the present invention, λ
r=3, λ
tt=3, and the maximum degree of freedom exported in space is 6, it is 6 that this configuration end exports degree of freedom, is full output degree of freedom.
In list leg structure of the present invention, the riding position of roller 4 is extremely important, directly has influence on feasibility and the efficiency of switching; Therefore roller 4 is placed between knee joint and the first ankle-joint, and roller 4 be centrally located in single leg structure in point plane, i.e. the middle separated time place plane of the biside plate vertical join line of shank bar 3.
When list leg structure of the present invention operates, first paw is moved to target proximity by stern joint, hip joint, knee joint and first ~ the 3rd ankle-joint, then is finely tuned by the first ~ three ankle-joint, what make paw target approach object can in opereating specification.
The robot applying list leg structure of the present invention can carry out taking turns the switching between row and Walking Mode:
When robot carries out walking movement, single leg structure is as the supporting leg of robot, and stance as shown in Figure 1, now regulates stern joint, hip joint, knee joint, the first ankle-joint can adaptation stations attitude immediately; Rotate by controlling stern joint, hip joint and knee joint, realize single leg swing or take a step (depending on different gait), first ankle-joint, the second ankle-joint and the 3rd ankle-joint generally lock motionless when robot ambulation, and two and half pawls of paw 7 must be closed locked, bearing surface 701 lands, if walking surface is more smooth, rubber pad etc. can be increased on bearing surface 701 and increase walking friction force.
When robot need to change structure state carry out taking turns row motion time, for six biped robots, adjustment stern joint, it is two right six single leg structures to be divided into centered by sagittal plane, three often pair, and all symmetrical in sagittal plane and coronal-plane; Adjust each bar list leg structure hip joint and knee joint that roller 4 is landed again, as shown in Figure 2, continue fine setting first ankle-joint and make not interfere between every bar list leg structure, under general wheel row mode, the second ankle-joint and the 3rd ankle-joint also lock motionless.
Claims (7)
1. single leg structure of the leg-wheel robot for leg arm mixing operation, it is characterized in that: be followed successively by stern joint, hip joint, knee joint, the first ankle-joint, the second ankle-joint, the 3rd ankle-joint by leg root to leg front portion, driven by the first ~ six driver train successively and rotate;
Wherein, stern joint is vertical with the pivot center of hip joint; The pivot center of hip joint, knee joint, the first ankle-joint is parallel; The pivot center of the second ankle-joint is perpendicular to the pivot center of hip joint; The pivot center of the 3rd ankle-joint is vertical with the second ankle-joint pivot center, and the 3rd ankle-joint is provided with paw, by the folding of paw driving mechanisms control paw;
Above-mentioned stern joint is connected by stern joint connector with between hip joint; Be connected by thigh bar between hip joint with knee joint; Be connected by shank bar between knee joint with the first ankle-joint, shank bar is provided with roller, the pivot center of roller is parallel with hip joint; Be connected by ankle leg bar between the first ankle-joint with the second ankle-joint.
2. single leg structure of a kind of leg-wheel robot for leg arm mixing operation as claimed in claim 1, is characterized in that: described first ~ three driver train all adopts servo driving mode; Four-wheel drive mechanism adopts motor drive mode; 5th driver train adopts turbine and worm type of drive; 6th driver train adopts gear transmission mode.
3. single leg structure of a kind of leg-wheel robot for leg arm mixing operation as claimed in claim 1, is characterized in that: described roller to be centrally located in single leg structure in point plane.
4. single leg structure of a kind of leg-wheel robot for leg arm mixing operation as claimed in claim 1, it is characterized in that: described 5th joint driving mechanism is installed in gear box A, gear box A is fixed on ankle leg bar, and the 5th worm screw two ends, joint are connected by bearing respectively with between gear box A sidewall; 5th joint worm screw input end installs drive motor; 5th joint worm gear and the 5th joint worm mesh, the 5th joint worm gear is fixed on transmission shaft A; Transmission shaft A is by bearing and gear box A axial restraint; 6th joint driving mechanism is installed in gear box B, and gear box B to be fixed in the 5th joint driving mechanism on transmission shaft A mouth; 6th joint driving mechanism adopts two bevel drives, and two finishing bevel gear cuter engagements, be individually fixed on rotating shaft and transmission shaft B, be connected between rotating shaft with gear box B sidewall by bearing, input end installs drive motor.Transmission shaft B is connected by bearing with between gear box B.
5. single leg structure of a kind of leg-wheel robot for leg arm mixing operation as claimed in claim 4, is characterized in that: described transmission shaft A and gear box B are designed to integrative-structure.
6. single leg structure of a kind of leg-wheel robot for leg arm mixing operation as claimed in claim 1, is characterized in that: described paw driver train comprises paw drive motor, paw drives worm screw and the passive worm gear of paw; Wherein, paw drive motor is arranged in gripper motor sleeve; Paw drive motor output shaft and paw drive worm screw one end to fix; Paw drives worm screw to be connected with gripper motor barrel forward end by bearing; The passive worm gear of paw is two, all drives worm mesh with paw; Two passive worm gears of paw are fastened on two paw pipe links respectively by key; Two paw pipe links are each passed through the connector of motor sleeve Front-end Design, and two paw connecting rods are used for connecting paw.
7. single leg structure of a kind of leg-wheel robot for leg arm mixing operation as claimed in claim 1, it is characterized in that: described paw is made up of two and half pawls, and the Front-end Design of one and half pawls is plane.
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