CN112026951B - Multi-legged robot with modular tensioning overall structure - Google Patents
Multi-legged robot with modular tensioning overall structure Download PDFInfo
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- CN112026951B CN112026951B CN202010744474.2A CN202010744474A CN112026951B CN 112026951 B CN112026951 B CN 112026951B CN 202010744474 A CN202010744474 A CN 202010744474A CN 112026951 B CN112026951 B CN 112026951B
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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 discloses a modularized stretching integral structure multi-legged robot which comprises a plurality of modularized stretching integral structure legged legs which are rigidly or flexibly and fixedly connected with a moving platform, wherein the modularized stretching integral structure legged legs comprise a rack, a follow-up steering module, a legged module and three groups of driving winding modules with the same structure; the driving winding module comprises a winding wheel and three rotating shafts which are rotatably connected with the rack; the servo steering module comprises three universal joints with changeable included angles, the stretching structure in the foot leg module comprises connected ropes and springs, and the three driving motors drive the reels to change the lengths of the ropes on two sides of the rack, so that the foot end upper platform and the foot end lower platform are driven to realize three-degree-of-freedom spatial motion. Greatly simplifying the structure of the traditional foot leg, improving the flexibility, the adaptability and the dynamic performance of the foot leg, reducing the manufacturing cost and simultaneously having the advantages of flexible movement, simple and convenient operation and convenient maintenance.
Description
Technical Field
The invention relates to a multi-legged robot, in particular to a multi-legged robot for tensioning an integral structure.
Background
The traditional multi-legged robot usually adopts rigid mechanisms such as multi-joint deceleration driving or hydraulic driving and the like as the leg structure of the multi-legged robot. The foot leg has complex structure, high dead weight and weak bearing capacity. The tension integral structure mainly comprises a rope and a rod, has simple structure, high rigidity/dead weight ratio and strong adaptability, and is more suitable for the robot foot-leg structure with high requirements on dynamic performance.
Disclosure of Invention
Aiming at the prior art, the invention provides a multi-legged robot adopting a modularized tensioning integral structure, which has the advantages of simple structure, light dead weight, high bearing capacity, good dynamic performance, strong environment adaptability, low manufacturing cost and the like compared with the traditional legged robot.
In order to solve the technical problems, the invention provides a multi-legged robot with a modular tensioning overall structure, which comprises a mobile platform and at least two modular tensioning overall structure leggings, wherein all the modular tensioning overall structure leggings have the same structure, and the mobile platform is fixedly connected with all the modular tensioning overall structure leggings in a rigid or flexible way;
the modular tensioning integral structure foot leg comprises a rack, three groups of driving winding modules with the same structure, a follow-up steering module and a foot leg module; the frame is fixedly connected with the mobile platform in a rigid or flexible way;
the driving winding module comprises a motor support, a driving motor, reels and rotating shafts, wherein the driving motor and the reels are mounted on the motor support, the reels are rotatably connected with the motor support, the driving motor drives the reels to rotate through a transmission mechanism, the rotating shafts in each group are rotatably mounted on the rack through bearings, and the axes of the rotating shafts in the three groups intersect at one point;
the servo steering module comprises a shaft sleeve, a main universal joint and two auxiliary universal joints, wherein the main universal joint and the two auxiliary universal joints are respectively and rotatably connected with the shaft sleeve through a pair of cylindrical pins or a pair of rotating shafts, and the connecting part of the two auxiliary universal joints and the shaft sleeve is provided with a transverse groove; the main universal joint is fixedly connected with one rotating shaft in the driving winding module, and the two auxiliary universal joints are respectively and fixedly connected with the other two rotating shafts in the driving winding module;
the foot leg module comprises a spline shaft sleeve, a spline shaft, a foot end upper platform, a foot end lower platform and three groups of stretching structures; the spline shaft sleeve is fixedly installed with the shaft sleeve in the follow-up steering module, the spline shaft is installed with the spline shaft sleeve in a sliding mode, and the foot end lower platform and the foot end upper platform are fixedly connected to two ends of the spline shaft respectively; each group of stretching structures comprises a rope, one end of the rope is connected with a spring, each rope in the three groups of stretching structures is wound on a reel in the three groups of driving winding modules, and two ends of each stretching structure are respectively connected with the foot end upper platform and the foot end lower platform;
in the modular stretch-draw overall structure foot leg, three driving motor drives the reel changes the length of frame both sides rope, under three group's tensile structure's drive, the platform realizes the motion of three degrees of freedom in space under foot end upper mounting plate and the foot end.
Further, in the modular tensioning overall structure multi-legged robot, six cylindrical pins or rotating shafts penetrating through the cylinder wall of the shaft sleeve are uniformly arranged in the circumferential direction of the shaft sleeve in the follow-up steering module, two opposite cylindrical pins or rotating shafts form a pair, one pair of the cylindrical pins or rotating shafts is rotatably connected with the main universal joint, the other two pairs of the cylindrical pins or rotating shafts are respectively connected with two auxiliary universal joints, and the cylindrical pins or rotating shafts connected with the auxiliary universal joints rotate and slide in the transverse grooves, so that the change of the included angle between the three universal joints comprising one main universal joint and the two auxiliary universal joints is realized.
In each group of stretching structures of the foot-leg module, the other end of the rope is fixedly connected with the foot-end upper platform, and the other end of the spring is connected with the foot-end lower platform. Or the other end of the rope is fixedly connected with the foot end lower platform, and the other end of the spring is connected with the foot end upper platform.
In the invention, the number of the modularized tensioning integral structure foot legs is 4, the 4 modularized tensioning integral structure foot legs are fixedly connected with the mobile platform, and the four-foot robot motion is realized through cooperative control.
Compared with the prior art, the invention has the beneficial effects that:
the invention has the advantages and positive effects that: the invention applies the integral tensioning structure as the driving module of the multi-legged robot, greatly simplifies the traditional legged structure, improves the flexibility, adaptability and dynamic performance of the legs, reduces the manufacturing cost and has the advantages of flexible movement, simple and convenient operation and convenient maintenance.
Drawings
FIG. 1 is a schematic structural view of a quadruped robot with a modular tensegrity structure in example 1;
FIG. 2 is a schematic structural view of a modular tensegrity foot leg according to the present invention;
FIG. 3 is a schematic structural diagram of a follow-up steering module according to the present invention;
FIG. 4 is a schematic view of the positions of the axle sleeve and three pairs of cylindrical pins in the servo steering module shown in FIG. 3;
in the figure:
100-mobile platform 200-modularized stretching integral structure foot leg 1-frame
2-motor support 3-reel 4-driving motor
5-foot end lower platform 6-spring 7-auxiliary universal joint
8-main universal joint 9-rotating shaft 10-shaft sleeve
11-spline shaft sleeve 12-rope 13-foot end upper platform
14-spline shaft 15-transverse groove
Detailed Description
The invention will be further described with reference to the following figures and specific examples, which are not intended to limit the invention in any way.
As shown in fig. 1, the multi-legged robot with the modular tensegrity structure provided by the invention comprises a mobile platform 100 and at least two modular tensegrity structure legs 200, all the modular tensegrity structure legs 200 have the same structure, and the mobile platform 100 is fixedly connected with all the modular tensegrity structure legs 200 in a rigid or flexible manner.
The modular tensioning integral structure foot leg 200 comprises a frame 1, three groups of driving winding modules with the same structure, a follow-up steering module and a foot leg module; the frame 1 is fixedly connected to the mobile platform 100, either rigidly or flexibly, as shown in fig. 1 and 2.
As shown in fig. 2, the driving winding module includes a motor bracket 2, a driving motor 4, a reel 3 and a rotating shaft 9, the driving motor 4 and the reel 3 are installed on the motor bracket 2, the reel 3 is rotatably connected with the motor bracket 2, the driving motor 4 drives the reel 3 through a transmission mechanism (for example, directly or indirectly connected through a coupling, a synchronous belt, a gear and other devices), the rotating shaft 9 in each group is installed on the frame 1 through a bearing in a rotating manner, one end of the rotating shaft 9 is fixedly connected with the motor bracket 2, the other end of the rotating shaft 9 is connected with three universal joints in the follow-up steering module, and the rotating shaft 9 in three groups intersects at one point.
As shown in fig. 2 and 3, the servo steering module comprises a shaft sleeve 10 and three universal joints, the three universal joints comprise a main universal joint 8 and two auxiliary universal joints 7, the main universal joint 8 and the two auxiliary universal joints 7 are respectively rotatably connected with the shaft sleeve 10 through a pair of cylindrical pins or a pair of rotating shafts, and the connecting part of the two auxiliary universal joints 7 and the shaft sleeve 10 is provided with a transverse groove 15; the main universal joint 8 is fixedly connected with one rotating shaft 9 in the driving winding module, and the two auxiliary universal joints 7 are respectively fixedly connected with the other two rotating shafts 9 in the driving winding module.
As shown in fig. 4, in the follow-up steering module, six cylindrical pins or rotating shafts penetrating through the cylinder wall of the shaft sleeve 10 are uniformly arranged in the circumferential direction of the shaft sleeve 10, as shown in a, b, c, d, e, f in the figure; two opposite cylindrical pins or rotating shafts form a pair and are divided into three pairs, wherein a and d are a pair, B and e are a pair, c and f are a pair, one pair of a and d is rotationally connected with the main universal joint 8, and the other two pairs of B, e, c and f are respectively connected with two secondary universal joints 7, and because a transverse groove 15 (shown in fig. 3) is formed in the side surface of each secondary universal joint 7, the cylindrical pins or rotating shafts connected with the secondary universal joints 7 can rotate and slide in the transverse grooves 15, so that the change of the included angle between the three universal joints (comprising one main universal joint 8 and two secondary universal joints 7) is realized, as shown in a and B in fig. 3. As shown in fig. 2, the main universal joint 8 is fixedly connected to one rotating shaft 9 of the driving winding module, and the two auxiliary universal joints 7 are respectively fixedly connected to the other two rotating shafts 9 of the driving winding module.
As shown in fig. 2, the foot-leg module comprises a spline shaft sleeve 11, a spline shaft 14, a foot-end upper platform 14, a foot-end lower platform 5 and three sets of stretching structures; the spline shaft sleeve 11 is fixedly installed with the shaft sleeve 10 in the follow-up steering module, the spline shaft 14 is slidably installed with the spline shaft sleeve 11, and the foot end lower platform 5 and the foot end upper platform 13 are respectively and fixedly connected to two ends of the spline shaft 14; each group of stretching structures comprises a rope 12, one end of the rope 12 is connected with a spring 6, each rope in the three groups of stretching structures is wound on a reel 3 in the three groups of driving winding modules, two ends of each stretching structure are respectively connected to the foot end upper platform 13 and the foot end lower platform 5, namely, the other end of the rope 12 in each group of stretching structures is fixedly connected with the foot end upper platform 13 (or the foot end lower platform 5), and the other end of the spring 6 is connected with the foot end lower platform 5 (or the foot end upper platform 13). In the embodiment shown in fig. 2, one end of the rope 12 in each group is fixedly connected with the foot end upper platform 13, the other end of the rope 12 bypasses the corresponding reel 3 in the driving winding module and is connected with one end of the spring 6, and the other end of the spring 6 is connected with the foot end lower platform 5.
Three driving motors 4 in each modularized tensioning integral structure foot leg 200 drive the reels 3, so that the lengths of ropes 12 on two sides of the rack 1 are changed, the foot end upper platform 13 and the foot end lower platform 5 are driven to realize three-degree-of-freedom spatial motion, and after two or more modules are connected with the mobile platform, the motion of biped, tripodia, quadruped and multi-legged robots can be realized through cooperative control. Fig. 1 shows an example of 4 modular tensegrity foot legs 200, wherein the 4 modular tensegrity foot legs 200 are fixedly connected with the mobile platform 100, and the quadruped robot motion can be realized through cooperative control.
The invention applies the integral tensioning structure as the leg driving module of the multi-legged robot, greatly simplifies the complexity of the traditional leg structure, improves the flexibility adaptability and the dynamic performance of the legs, reduces the manufacturing cost and has the advantages of flexible movement, simple and convenient control and convenient maintenance.
Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and those skilled in the art can make many modifications without departing from the spirit and scope of the present invention as defined in the appended claims.
Claims (5)
1. The multi-legged robot with the modular tensioning overall structure is characterized by comprising a moving platform (100) and at least two modular tensioning overall structure leggings (200), wherein the structures of all the modular tensioning overall structure leggings (200) are the same, and the moving platform (100) is fixedly connected with all the modular tensioning overall structure leggings (200) in a rigid or flexible mode;
the modular tensioning integral structure foot leg (200) comprises a rack (1), three groups of driving winding modules with the same structure, a follow-up steering module and a foot leg module; the frame (1) is fixedly connected with the mobile platform (100) in a rigid or flexible way;
the driving winding module comprises a motor support (2), a driving motor (4), reels (3) and rotating shafts (9), wherein the driving motor (4) and the reels (3) are installed on the motor support (2), the reels (3) are rotationally connected with the motor support (2), the driving motor (4) drives the reels (3) to rotate through a transmission mechanism, the rotating shafts (9) in each group are rotationally installed on the rack (1) through bearings, and the axes of the rotating shafts (9) in the three groups intersect at one point;
the follow-up steering module comprises a shaft sleeve (10), a main universal joint (8) and two auxiliary universal joints (7), wherein the main universal joint (8) and the two auxiliary universal joints (7) are respectively in rotating connection with the shaft sleeve (10) through a pair of cylindrical pins or a pair of rotating shafts, and transverse grooves (15) are formed in the connection positions of the two auxiliary universal joints (7) and the shaft sleeve (10); the main universal joint (8) is fixedly connected with one rotating shaft (9) in the driving winding module, and the two auxiliary universal joints (7) are respectively fixedly connected with the other two rotating shafts (9) in the driving winding module;
the foot leg module comprises a spline shaft sleeve (11), a spline shaft (14), a foot end upper platform (13), a foot end lower platform (5) and three groups of stretching structures; the spline shaft sleeve (11) is fixedly installed with the shaft sleeve (10) in the follow-up steering module, the spline shaft (14) is slidably installed with the spline shaft sleeve (11), and the foot end lower platform (5) and the foot end upper platform (13) are fixedly connected to two ends of the spline shaft (14) respectively; each group of stretching structures comprises a rope (12), one end of the rope (12) is connected with a spring (6), each rope in the three groups of stretching structures is wound on a reel (3) in the three groups of driving winding modules, and two ends of each stretching structure are respectively connected with the foot end upper platform (13) and the foot end lower platform (5);
in modularization stretch-draw overall structure sufficient leg (200), three driving motor (4) drive reel (3) change the length of frame (1) both sides rope (12), under three tensile structure's of group drive, platform (5) realize the three degree of freedom motions in space under foot end upper platform (13) and the foot end.
2. The modular tensegrity-structure multi-legged robot according to claim 1, characterized in that six cylindrical pins or rotating shafts penetrating through the cylinder wall of the shaft sleeve (10) are uniformly arranged in the circumferential direction of the shaft sleeve (10) in the follow-up steering module, and two opposite cylindrical pins or rotating shafts form one pair, one pair is rotatably connected with the main universal joint (8), the other two pairs are respectively connected with two secondary universal joints (7), and the cylindrical pins or rotating shafts connected with the secondary universal joints (7) rotate and slide in the transverse groove (15), so as to realize the change of the included angles between three universal joints including one main universal joint (8) and two secondary universal joints (7).
3. A modular tensegrity robot according to claim 1, characterized in that the other end of said rope (12) in each set of tensile structures is fixedly connected to said foot end upper platform (13) and the other end of said spring (6) is connected to foot end lower platform (5).
4. A modular tensegrity robot according to claim 1, characterized in that the other end of said rope (12) in each group of tensile structures is fixedly connected to said foot end lower platform (5) and the other end of said spring (6) is connected to foot end upper platform (13).
5. The modular tensegrity structure multi-legged robot according to claim 1, characterized in that the number of the modular tensegrity structure legs (200) is 4, and 4 modular tensegrity structure legs (200) are fixedly connected with the moving platform (100), and the quadruped robot motion is realized through cooperative control.
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| CN202010744474.2A CN112026951B (en) | 2020-07-29 | 2020-07-29 | Multi-legged robot with modular tensioning overall structure |
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| CN202010744474.2A CN112026951B (en) | 2020-07-29 | 2020-07-29 | Multi-legged robot with modular tensioning overall structure |
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