CN107284548B - Waist structure of parallel hexapod robot - Google Patents
Waist structure of parallel hexapod robot Download PDFInfo
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- CN107284548B CN107284548B CN201710376411.4A CN201710376411A CN107284548B CN 107284548 B CN107284548 B CN 107284548B CN 201710376411 A CN201710376411 A CN 201710376411A CN 107284548 B CN107284548 B CN 107284548B
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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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The invention provides a waist structure of a parallel hexapod robot, which comprises: anterior segment truck, middle section truck, back end truck, go up connecting rod, lower connecting rod, motor base, slip lead screw and nut. Go up connecting rod, lower connecting rod and pass through hinged joint with anterior segment truck, middle section truck, back end truck respectively, constitute two parallelogram mechanisms, and the motor base passes through hinged joint with the middle section truck, and lower connecting rod passes through hinged joint with the nut, and the axial of hinge all is along the side direction of robot health. The motor and the sliding lead screw are respectively arranged on the motor base, and the motor drives the sliding lead screw to rotate relative to the motor base through synchronous belt transmission. The sliding screw rod and the nut form screw pair transmission. The invention can effectively enlarge the leg working space of the parallel hexapod robot, improve the dexterity and the ground adaptability of the robot, simultaneously keep the parallel hexapod robot with good rigidity and bearing capacity, and has the advantages of simple structure and few driving elements.
Description
Technical Field
The invention relates to the field of robots, in particular to a waist structure of a parallel hexapod robot.
Background
About 70% of the earth's surface is inaccessible to wheeled transport, particularly in disaster areas, such as: general instruments can not effectively and quickly transport detection and rescue equipment to a destination in the case of earthquake, collapse, toxic gas leakage in a factory building area and the like. The leg walker has great flexibility and ground adaptability, and can adapt to transportation work under complex terrains. Therefore, the method has important practical significance for the research of military and civil legged robots.
Leg type walkers developed by various academic institutions in the world at present mostly adopt a configuration of serially connected leg mechanisms, and although the serially connected mechanisms have the advantage of large working space, the serially connected mechanisms also have the defects of poor rigidity and low bearing capacity, so that the walking robot with high bearing capacity in the world is quite rare at present. Some students try to adopt a parallel mechanism as the leg configuration of the robot, and develop a hexapod walking robot with high bearing capacity (a panyang, P-P structure hexapod robot performance design and control experimental study [ D ]. shanghai transportation university, 2014.), which can simultaneously meet the dual requirements of disaster relief work on the flexibility and the bearing capacity of the robot. However, due to the inherent small working space of the parallel mechanism, the parallel legged robot, although superior to the wheeled robot in dexterity and ground adaptability, is difficult to climb steep slopes and stairs, unlike the tandem legged robot. In order to fully utilize the high bearing capacity of the parallel legged robot and simultaneously improve the flexibility and the ground adaptability, waist joints are required to be introduced into the parallel legged robot.
At present, the research and design on the waist joints of the multi-legged robots in the world are less, most of the existing multi-legged robots with the waist adopt the configuration design of the serial hinges on the waist joints, although the structure is simple, the rigidity is poor, and the front trunk and the rear trunk can relatively rotate to a large extent. For the parallel hexapod robot, because the bearing capacity of the legs of the robot has large anisotropy, the bearing capacity in the vertical direction is far larger than that in the horizontal direction, and in order to fully utilize the high bearing capacity of the parallel hexapod robot, the relative rotation of the front trunk and the rear trunk (namely the leg bases) caused by the movement of the waist joints is not expected.
In conclusion, the existing robot waist structure design cannot meet the design requirements of the parallel hexapod robot on improving the flexibility and the ground adaptability and keeping high rigidity and high bearing capacity.
Disclosure of Invention
The invention aims to provide a waist structure of a parallel hexapod robot, which aims to solve the problem of narrow working space of a parallel legged robot, improve the dexterity and ground adaptability of the parallel legged robot and ensure that the trunk of the robot still has good rigidity and bearing capacity.
In order to achieve the above object, the present invention provides a waist structure of a parallel hexapod robot, comprising: anterior segment truck, middle section truck, back end truck, go up connecting rod, lower connecting rod, motor base, slip lead screw and nut.
Wherein:
the front section trunk, the middle section trunk and the rear section trunk are respectively connected with the upper connecting rod through a hinge A, a hinge B and a hinge C, the front section trunk, the middle section trunk and the rear section trunk are respectively connected with the lower connecting rod through a hinge D, a hinge E and a hinge F, the motor base is connected with the middle section trunk through a hinge G, the lower connecting rod is connected with the nut through a hinge H, and the hinges A, B, C, D, E, F, G and H are axially arranged along the lateral direction of the robot body; the motor and the sliding lead screw are respectively arranged on the motor base, and the motor drives the sliding lead screw to rotate relative to the motor base through the transmission of the synchronous belt; the sliding screw rod and the nut form screw pair transmission.
According to the waist structure of the parallel hexapod robot, the front section trunk, the middle section trunk and the rear section trunk are respectively provided with two symmetrical triangular substrates for mounting legs of the parallel hexapod robot, and each section trunk is provided with two legs.
According to the waist structure of the parallel hexapod robot in the preferred embodiment of the invention, the joints between the front-section trunk, the middle-section trunk and the rear-section trunk and the upper connecting rod form upper hinge points respectively, the joints between the front-section trunk, the middle-section trunk and the rear-section trunk and the lower connecting rod form lower hinge points respectively, and the upper hinge points and the lower hinge points are equal in distance and same in relative position.
According to the waist structure of the parallel hexapod robot in the preferred embodiment of the invention, the upper connecting rod and the front section body, the middle section body and the rear section body are respectively provided with three hinge points, the lower connecting rod and the front section body, the middle section body and the rear section body are respectively provided with three hinge points, and the three hinge points on the same connecting rod are collinear and have the same relative distance, so that two sets of parallelogram mechanisms are formed between the upper connecting rod and the lower connecting rod and the front section body, the middle section body and the rear section body.
According to the waist structure of the parallel hexapod robot, the upper connecting rod and the lower connecting rod fully consider the possibility of space interference in structural design, and the rotating angle ranges of the upper connecting rod and the lower connecting rod relative to the front section trunk, the middle section trunk and the rear section trunk are all +/-45 degrees.
The waist structure of the parallel hexapod robot according to the preferred embodiment of the invention further comprises leg members, which are mounted on the triangular base plates on the front section trunk, the middle section trunk and the rear section trunk.
The working principle of the invention is as follows: the motor drives the sliding lead screw to rotate relative to the motor base through the synchronous belt, and the nut moves along the axial direction of the sliding lead screw, so that the lower connecting rod is driven to rotate relative to the middle trunk. The front section trunk, the middle section trunk, the rear section trunk, the upper connecting rod and the lower connecting rod form two groups of parallelogram mechanisms, so that the rotation of the lower connecting rod drives the front section trunk and the rear section trunk to do translational motion relative to the middle section trunk, the translational track is a circular arc, the postures of the front section trunk and the rear section trunk are not changed, and the working spaces of the front leg and the rear leg which are arranged on the front trunk and the rear trunk are enlarged accordingly.
The waist structure of the parallel hexapod robot provided by the invention has the advantages that the upper connecting rod and the lower connecting rod are respectively connected with the front section trunk, the middle section trunk and the rear section trunk through hinges to form a double-parallelogram mechanism, the motor base is connected with the middle section trunk through the hinges, the lower connecting rod is connected with the nut through the hinges, and the axial directions of the hinges are along the side direction of the robot body. The motor and the sliding lead screw are respectively arranged on the motor base, and the motor drives the sliding lead screw to rotate relative to the motor base through synchronous belt transmission. The sliding screw rod and the nut form screw pair transmission. The invention can effectively enlarge the leg working space of the parallel hexapod robot, improve the dexterity and the ground adaptability of the robot, simultaneously keep the parallel hexapod robot with good rigidity and bearing capacity, and has the advantages of simple structure and few driving elements.
In summary, compared with the prior art, the invention has the following beneficial effects:
the invention adopts a double-parallelogram mechanism to realize the linkage of the front and rear section trunks, can realize the translation of the front and rear section trunks relative to the middle section trunk by only one driving element, can effectively enlarge the leg working space of the parallel hexapod robot, improves the flexibility and the ground adaptability of the robot, and simultaneously leads the six legs of the robot to still work under the posture with better bearing capacity, thus leading the robot to have no excessive rigidity and bearing capacity loss compared with a machine type without waist joints.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural diagram of a waist structure of a parallel hexapod robot of the present invention;
fig. 2 is a side view of the waist structure of the parallel hexapod robot of the present invention.
Fig. 3 is a rear view of the waist structure of the parallel hexapod robot of the present invention.
Fig. 4 is a schematic diagram of the mechanism of the waist structure of the parallel hexapod robot.
Fig. 5 is an example of the waist structure of the parallel hexapod robot of the invention mounted on the whole robot.
Detailed Description
The following examples illustrate the invention in detail: the embodiment is implemented on the premise of the technical scheme of the invention, and a detailed implementation mode and a specific operation process are given. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Examples
The technical solution of the present embodiment is specifically described below with reference to the accompanying drawings.
Referring to fig. 1 to 5, a waist structure of a parallel hexapod robot includes: anterior segment truck 1, middle section truck 2, back end truck 3, upper connecting rod 4, lower connecting rod 5, motor 6, motor base 7, slip lead screw 8 and nut 9. The front section trunk 1, the middle section trunk 2 and the rear section trunk 3 are respectively provided with two symmetrical triangular substrates for mounting legs of the parallel hexapod robot, and each section of trunk is provided with two legs. Go up connecting rod 4, lower connecting rod 5 and anterior segment truck 1, middle section truck 2, back end truck 3 respectively through hinged joint, motor base 7 passes through hinged joint with middle section truck 2, and lower connecting rod 5 passes through hinged joint with nut 9, and whole waist is total 8 hinges in the mechanism, and the axial of hinge all is along the normal direction of figure 2 (the side direction of robot health promptly). The motor 6 and the sliding lead screw 8 are respectively arranged on the motor base 7, and the motor 6 drives the sliding lead screw 8 to rotate relative to the motor base 7 through synchronous belt transmission. The sliding screw 8 and the nut 9 form a screw pair transmission.
The core of this embodiment lies in adopting two parallelogram mechanisms to realize the linkage of front and back section truck, wherein:
The middle body 2, the lower connecting rod 5, the motor base 7, the sliding lead screw 8 and the nut 9 actually form a swing guide rod mechanism, only an active component is not a crank but a sliding block, and the relative motion of the sliding lead screw 8 and the nut 9 causes the rotation of the waist of the robot.
Further, this embodiment also includes leg members mounted on the triangular base plates on the front, middle and rear torso sections.
The working principle of the embodiment is as follows: when the parallel hexapod robot climbs a slope or stairs, the working space of the legs of the robot is insufficient, and the robot needs to be matched with the rotation of the waist to enlarge the working space of the legs. The motor 6 drives the sliding lead screw 8 to rotate relative to the motor base 7 through the synchronous belt, and the nuts 9 do not rotate along the axial direction of the sliding lead screw 8 due to the fact that the hinge joints at all positions guarantee that the nuts 9 do not rotate along the axial direction of the sliding lead screw 8, so that the lower connecting rod 5 is driven to rotate relative to the middle trunk 2. The front section trunk 1, the middle section trunk 2, the rear section trunk 3, the upper connecting rod 4 and the lower connecting rod 5 form two groups of parallelogram mechanisms, so that the rotation of the lower connecting rod 5 drives the front section trunk 1 and the rear section trunk 3 to do translational motion relative to the middle section trunk 2, and the translational track is a circular arc. The robot body coordinate system is established on the middle trunk 2, and the working space of the front leg and the rear leg which are arranged on the substrate is enlarged along with the translation of the front trunk 1 and the rear trunk 3 relative to the robot body coordinate system.
This embodiment adopts two parallelogram mechanisms to realize the motion of waist, compares with the hexapod robot that does not take the waist joint, has increased the actual working space of shank, has promoted hexapod robot's obstacle crossing ability and topography adaptability. The front and rear section trunks are linked rather than driven respectively through two parallel connecting rods, so that on one hand, the number of motors, drivers and speed reducing mechanisms is saved, the structure is simplified, and the cost is saved; on the other hand, the moment applied to the waist by the front and rear legs can be partially offset by the two connecting rods penetrating through the body without causing excessive load on the driving motor of the waist, so that the linked waist configuration design is more rigid than the scheme of independently driving the front and rear trunks. Therefore, the embodiment has the effect of improving the working space of the walking robot, and has the advantages of simple structure and good rigidity compared with the prior art.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (6)
1. A waist structure of a parallel hexapod robot, comprising: the electric walking machine comprises a front section trunk, a middle section trunk, a rear section trunk, an upper connecting rod, a lower connecting rod, a motor base, a sliding lead screw and a nut; wherein:
the front section trunk, the middle section trunk and the rear section trunk are respectively connected with an upper connecting rod through a hinge A, a hinge B and a hinge C, the front section trunk, the middle section trunk and the rear section trunk are respectively connected with a lower connecting rod through a hinge D, a hinge E and a hinge F, the motor base is connected with the middle section trunk through a hinge G, the lower connecting rod is connected with the nut through a hinge H, and the axial directions of the hinge A, the hinge B, the hinge C, the hinge D, the hinge E, the hinge F, the hinge G and the hinge H are all along the lateral direction of the robot body; the motor and the sliding lead screw are respectively arranged on the motor base, and the motor drives the sliding lead screw to rotate relative to the motor base through synchronous belt transmission; the sliding lead screw and the nut form thread pair transmission.
2. The waist structure of the parallel hexapod robot as claimed in claim 1, wherein the front, middle and rear trunks are respectively provided with two symmetrical triangular base plates.
3. The lumbar structure of a parallel hexapod robot as claimed in claim 1 or 2, wherein the front, middle and rear torso parts are connected to the upper link to form upper hinge points, respectively, and the front, middle and rear torso parts are connected to the lower link to form lower hinge points, respectively, and the upper and lower hinge points are at equal distances and at the same relative positions.
4. The waist structure of the parallel hexapod robot as claimed in claim 1, wherein the upper link forms three hinge points with the front torso, the middle torso and the rear torso, the lower link forms three hinge points with the front torso, the middle torso and the rear torso, and the three hinge points on the same link are collinear and have the same relative distance, so that two sets of parallelogram mechanisms are formed between the upper link and the lower link and the front torso, the middle torso and the rear torso.
5. The lumbar structure of a parallel hexapod robot as set forth in claim 1, wherein the upper and lower links are rotated within a range of ± 45 degrees with respect to the front, middle and rear trunks.
6. The lumbar structure of a parallel hexapod robot as set forth in claim 2, further comprising leg members mounted on the triangular base plate on the front, mid and rear torso sections.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710376411.4A CN107284548B (en) | 2017-05-24 | 2017-05-24 | Waist structure of parallel hexapod robot |
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| CN201710376411.4A CN107284548B (en) | 2017-05-24 | 2017-05-24 | Waist structure of parallel hexapod robot |
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| CN107284548A CN107284548A (en) | 2017-10-24 |
| CN107284548B true CN107284548B (en) | 2020-05-22 |
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| CN108127640B (en) * | 2018-02-06 | 2023-12-12 | 东北大学 | Wheel type humanoid robot with large-angle bending function |
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| US6047610A (en) * | 1997-04-18 | 2000-04-11 | Stocco; Leo J | Hybrid serial/parallel manipulator |
| JP2001260056A (en) * | 2000-03-17 | 2001-09-25 | Mitsui Eng & Shipbuild Co Ltd | Human type robot |
| CN102381380B (en) * | 2011-10-17 | 2013-05-22 | 上海交通大学 | Novel four-footed walker having parallel leg structure |
| CN104924294B (en) * | 2015-06-15 | 2017-03-08 | 上海交通大学 | There is the quadruped robot of waist structure in parallel |
| CN106184458B (en) * | 2016-07-08 | 2018-04-06 | 上海大学 | A kind of Hexapod Robot driven by parallel connecting rod |
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