CN113371094A - Wheel-foot type robot leg mechanism and wheel-foot type robot - Google Patents
Wheel-foot type robot leg mechanism and wheel-foot type robot Download PDFInfo
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- CN113371094A CN113371094A CN202110881138.7A CN202110881138A CN113371094A CN 113371094 A CN113371094 A CN 113371094A CN 202110881138 A CN202110881138 A CN 202110881138A CN 113371094 A CN113371094 A CN 113371094A
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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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Abstract
The invention discloses a leg mechanism of a wheel-foot type robot and the wheel-foot type robot, comprising: at least three thigh rods, all of which are arranged in parallel and non-coplanar; the two ends of each thigh rod are respectively connected with the hip joint and the knee joint in a rotating way, so that the thigh rods can rotate in any direction; any two thigh rods, the connecting line of the connecting positions of the two thigh rods and the hip joint and the connecting line of the connecting positions of the two thigh rods and the knee joint form a parallelogram; two thigh driving mechanisms for driving two thigh rods correspondingly connected with the thigh driving mechanisms to rotate towards mutually vertical directions; a lower leg connected to the knee joint; the driving wheel is arranged at one end of the shank far away from the knee joint. The leg mechanism of the wheel-foot type robot can ensure that the hip joint and the knee joint can keep parallel in all directions no matter how the thigh rod rotates, and has good maneuvering performance and small control difficulty.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a leg mechanism of a wheel-foot type robot. In addition, the invention also relates to a wheel-foot type robot comprising the wheel-foot type robot leg mechanism.
Background
With the development of robot technology, mobile robots have wide application in military and civilian fields. The existing mobile robots comprise a wheeled robot, a legged robot and a tracked robot, which have advantages and disadvantages respectively, for example, the wheeled robot and the tracked robot have high moving speed but poor terrain adaptability; the foot type robot has strong terrain adaptability, but has large energy consumption and low moving speed. For the mobile robot, because the application scene is mostly a non-structural environment, and the overall environment is complex, the robot is required to have better terrain adaptability and better maneuvering performance, in order to meet the requirement, the combined type mobile robot becomes an object for research and development in the scientific and engineering fields, wherein the wheel-foot type robot gradually becomes an important direction for the development of the mobile robot with strong terrain adaptability, high throughput capability, high maneuverability and the like.
However, when the leg mechanism of the wheel-foot robot in the prior art moves, the rotating shaft of the wheel is not parallel to the ground, so that the bearing capacity and the maneuvering performance of the wheel are poor; in addition, in the wheel-foot type compound motion state, the number of joints needing to be controlled for changing the wheel track and the height is large, and the control difficulty is large.
In summary, those skilled in the art need to solve the above-mentioned problems, how to provide a leg mechanism of a wheel-foot robot to solve the technical problems of poor maneuvering performance in a wheel-foot motion state and great control difficulty in a wheel-foot composite motion state.
Disclosure of Invention
In view of the above, the present invention provides a leg mechanism of a wheel-foot robot, which has good maneuvering characteristics and small control difficulty.
Another object of the present invention is to provide a wheel-foot robot including the above-mentioned leg mechanism, which has good maneuvering characteristics in a wheel-foot movement state and is less difficult to control in a wheel-foot composite movement state.
In order to achieve the above purpose, the invention provides the following technical scheme:
a wheeled legged robot leg mechanism comprising:
at least three thigh bars, all of which are arranged in parallel and non-coplanar;
the two ends of each thigh rod are respectively connected with the hip joint and the knee joint in a rotating way, so that the thigh rods can rotate towards any direction; any two thigh rods, the connecting line of the connecting positions of the thigh rods and the hip joint and the connecting line of the connecting positions of the thigh rods and the knee joint form a parallelogram;
two thigh driving mechanisms for driving the two thigh rods correspondingly connected with the thigh driving mechanisms to rotate towards mutually vertical directions;
a lower leg connected to the knee joint;
and the driving wheel is arranged at one end of the shank, which is far away from the knee joint.
Preferably, two ends of the thigh rod are correspondingly connected with the hip joint and the knee joint through universal joints respectively.
Preferably, the universal joint is a cross-axle universal joint, the thigh driving mechanism is a rotary driving mechanism capable of outputting rotary motion, and the two thigh driving mechanisms are respectively and correspondingly connected with cross axles of the two universal joints.
Preferably, the two thigh driving mechanisms are both arranged on the hip joint, and the two thigh driving mechanisms are respectively connected with the corresponding cross shafts through connecting rod mechanisms.
Preferably, the link mechanism is a link mechanism with a parallelogram structure, and two parallel links of the link mechanism are respectively hinged with the output shaft of the thigh driving mechanism and the corresponding cross shaft.
Preferably, one of the thigh rods is a first thigh rod, one end of the first thigh rod is connected with the hip joint through a first self-rotatable universal joint, and the other end of the first thigh rod is connected with the knee joint through a second self-rotatable universal joint; the lower leg comprises:
the lower leg driving mechanism is used for outputting rotary motion and arranged on the hip joint, and an output shaft of the lower leg driving mechanism is connected with the first self-rotating universal joint;
with rotatory telescopic machanism that the knee joint links to each other, it includes rotating part, transmission portion and pars contractilis, the rotating part with but the second autogyration universal joint links to each other, transmission portion is used for with the rotary motion of rotating part changes into the concertina movement of pars contractilis, so that the pars contractilis is flexible.
Preferably, all of the thigh bars except the first thigh bar are second thigh bars, the number of the second thigh bars being four; the four universal joints connecting the second thigh rod and the hip joint are symmetrically arranged in pairs relative to the first self-rotatable universal joint, the two symmetrical universal joints face to the axis of the shaft of the first self-rotatable universal joint in a collinear manner, and the two asymmetrical universal joints face to the axis of the shaft of the first self-rotatable universal joint in a perpendicular manner.
Preferably, the drive wheels are Mecanum wheels with a drive mechanism.
A wheel-foot robot comprises a robot body and at least two leg mechanisms arranged on the robot body, wherein the leg mechanisms are any one of the wheel-foot robot leg mechanisms.
Preferably, the robot body is horizontally arranged, the hip joint of the leg mechanism of the wheel-foot robot forms an angle of 45 degrees with the robot body, and the lower leg forms an angle of 45 degrees with the knee joint, so that the lower leg is vertically arranged.
According to the leg mechanism of the wheel-foot type robot, all the thigh rods are arranged in parallel and in a non-coplanar manner, and any two thigh rods, connecting lines of the connecting positions of the thigh rods and the hip joint and connecting lines of the connecting positions of the thigh rods and the knee joint form a parallelogram, so that all the thigh rods, the connecting lines of the connecting positions of the thigh rods and the hip joint and the connecting lines of the connecting positions of the thigh rods and the knee joint form a prism together. When the two thigh driving mechanisms work, the two thigh rods correspondingly connected with the thigh driving mechanisms are driven to rotate, and the two thigh rods form a compound motion due to the fact that the rotation directions of the two thigh rods are mutually vertical, so that a parallelogram formed by the two thigh rods correspondingly connected with the two thigh driving mechanisms, the connecting line of the connecting positions of the two thigh rods and the hip joint and the connecting line of the connecting positions of the two thigh rods and the knee joint swings in a variable angle mode in space, the parallelogram drives other parallelograms formed by the thigh rods to follow up, and the whole prism swings in a variable angle mode in space. That is, according to the present invention, by adopting the above configuration, the hip joint and the knee joint can be kept parallel in each direction regardless of the rotation of the thigh lever in the case of only the driving force of the two thigh driving mechanisms.
When the leg mechanism of the wheel-foot type robot is applied to the wheel-foot type robot, the hip joint is fixedly connected with the body of the wheel-foot type robot, namely, the direction of the hip joint is always kept unchanged; during the swing of the thigh rod, the knee joint is always parallel to the hip joint, so the orientation of the knee joint is always unchanged. And the lower leg is arranged on the knee joint, and the driving wheel is arranged at one end of the lower leg far away from the knee joint, so that the position of the lower leg relative to the knee joint is kept unchanged, and the position of the driving wheel relative to the lower leg is kept unchanged, namely, the movement of the upper leg has no influence on the direction of the driving wheel, thereby ensuring that the rotating shaft of the driving wheel is always parallel to the ground in the movement process of the upper leg, and ensuring the bearing capacity and the maneuvering performance of the driving wheel in a wheel type movement state. In addition, the position of the lower leg relative to the knee joint is always kept unchanged, and the position of the driving wheel relative to the lower leg is always kept unchanged, namely, the motion of the upper leg does not influence the motion of the lower leg and the driving wheel, so that the motion of the lower leg and the driving wheel is conveniently controlled in a wheel-foot type composite motion state, the control complexity and difficulty are reduced, and the practicability and the engineering of the wheel-foot type robot are enhanced.
The wheel-foot type robot provided by the invention comprises the wheel-foot type robot leg mechanism and has the beneficial effects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a leg mechanism of a wheel-foot robot according to an embodiment of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1;
FIG. 3 is a schematic diagram of the arrangement of the hip joint and four universal joints connected thereto;
FIG. 4 is a bottom view of FIG. 3;
fig. 5 is a schematic structural diagram of a wheel-foot robot according to an embodiment of the present invention.
The reference numerals in fig. 1 to 5 are as follows:
the leg joint comprises a thigh rod 1, a first thigh rod 11, a second thigh rod 12, a hip joint 2, a knee joint 3, a thigh driving mechanism 4, a shank driving mechanism 51, a rotary telescoping mechanism 52, a driving wheel 6, a universal joint 71, a first self-rotatable universal joint 72, a second self-rotatable universal joint 73, a connecting rod mechanism 8 and a machine body 9.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide a leg mechanism of a wheel-foot type robot, which has good maneuvering performance and small control difficulty. The other core of the invention is to provide a wheel-foot type robot comprising the wheel-foot type robot leg mechanism, which has good maneuvering performance in a wheel-foot type movement state and small control difficulty in a wheel-foot type composite movement state.
Referring to fig. 1 to 4, fig. 1 is a schematic structural diagram of a leg mechanism of a wheel-foot robot according to an embodiment of the present invention; FIG. 2 is an enlarged view of a portion of FIG. 1; FIG. 3 is a schematic diagram of the arrangement of the hip joint and four universal joints connected thereto; fig. 4 is a bottom view of fig. 3.
The invention provides a leg mechanism of a wheeled and legged robot, which comprises a thigh rod 1, a hip joint 2, a knee joint 3, a thigh driving mechanism 4, a shank and a driving wheel 6. Specifically, the number of the thigh bars 1 is at least three, all the thigh bars 1 are arranged in parallel, and all the thigh bars 1 are arranged non-coplanar. The hip joint 2 and the knee joint 3 are arranged in parallel, and two ends of all the thigh rods 1 are respectively connected with the hip joint 2 and the knee joint 3 in a rotating way, so that the thigh rods 1 can rotate towards any direction; any two thigh rods 1, the connecting line of the connecting positions of the two and the hip joint 2 and the connecting line of the connecting positions of the two and the knee joint 3 form a parallelogram. The number of the thigh driving mechanisms 4 is two, and the two thigh driving mechanisms 4 are used for driving the two thigh rods 1 correspondingly connected with the thigh driving mechanisms to rotate in the mutually perpendicular directions. The lower leg is connected with the knee joint 3, and the driving wheel 6 is arranged at one end of the lower leg far away from the knee joint 3.
It can be seen that, since all the thigh bars 1 are arranged in parallel and non-coplanar, and any two of the thigh bars 1, the connecting lines between the connecting positions of the two thigh bars 1 and the hip joint 2, and the connecting lines between the connecting positions of the two thigh bars 1 and the knee joint 3 form a parallelogram, all the thigh bars 1, the connecting lines between the connecting positions of the all thigh bars 1 and the hip joint 2, and the connecting lines between the connecting positions of the all thigh bars 1 and the knee joint 3 form a prism together. When the two thigh driving mechanisms 4 work, the two thigh rods 1 correspondingly connected with the thigh driving mechanisms are driven to rotate, because the rotation directions of the two thigh rods 1 are mutually vertical, the two thigh rods form a compound motion, so that a parallelogram formed by the two thigh rods 1 correspondingly connected with the two thigh driving mechanisms 4, the connecting line of the connecting positions of the two thigh rods 1 and the hip joint 2 and the connecting line of the connecting positions of the two thigh rods 1 and the knee joint 3 swings in a space with variable angles, the parallelogram drives other parallelograms formed by the thigh rod 1 to follow up, so that the whole prism body swings in space with variable angles, in the process, the plane of the connecting lines of the connecting positions of all the thigh rods 1 and the hip joints 2 and the plane of the connecting lines of the connecting positions of all the thigh rods 1 and the knee joints 3 are always parallel, namely, the hip joints 2 and the knee joints 3 are always parallel. That is, according to the present invention, by adopting the above configuration, the hip joint 2 and the knee joint 3 can be kept parallel in each direction regardless of the rotation of the thigh lever 1 even when only the driving forces of the two thigh driving mechanisms 4 are provided.
It can be understood that when the leg mechanism of the wheel-foot type robot is applied to the wheel-foot type robot, the hip joint 2 is fixedly connected with the body 9 of the wheel-foot type robot, namely, the orientation of the hip joint 2 is always kept unchanged; during the swing of the thigh lever 1, the knee joint 3 is always kept parallel to the hip joint 2, and therefore the orientation of the knee joint 3 is always kept constant. Because the shank is arranged on the knee joint 3 and the driving wheel 6 is arranged on one end of the shank far away from the knee joint 3, the position of the shank relative to the knee joint 3 is kept unchanged, and the position of the driving wheel 6 relative to the shank is kept unchanged, namely, the movement of the shank has no influence on the direction of the driving wheel 6, so that the rotating shaft of the driving wheel 6 is always parallel to the ground in the movement process of the shank, and the bearing capacity and the maneuvering performance of the driving wheel 6 in a wheel type movement state are ensured. In addition, the position of the lower leg relative to the knee joint 3 is always kept unchanged, and the position of the driving wheel 6 relative to the lower leg is always kept unchanged, namely, the movement of the upper leg does not influence the movement of the lower leg and the driving wheel 6, so that the movement of the lower leg and the driving wheel 6 is conveniently controlled in the wheel-foot type compound movement state, the control complexity and difficulty are reduced, and the practicability and the engineering of the wheel-foot type robot are enhanced.
It should be noted that, in the present embodiment, the specific implementation manner of the rotation connection between the thigh rod 1 and the hip joint 2 and the knee joint 3 is not limited, as long as the thigh rod 1 can be rotated in all directions. For example, both ends of the thigh rod 1 may be connected with the hip joint 2 and the knee joint 3, respectively, by means of ball joints. Of course, in view of convenience of power transmission, in order to facilitate the transmission of the power of the two thigh driving mechanisms 4 to the thigh lever 1, as a preferable solution, on the basis of the above-described embodiment, both ends of the thigh lever 1 are respectively connected to the hip joint 2 and the knee joint 3 through universal joints 71. That is, in the present embodiment, the rotation connection relationship between the thigh lever 1 and the hip joint 2 and between the thigh lever 1 and the knee joint 3 is realized by the universal joint 71, and the thigh lever 1 can be rotated in any direction. Secondly, because the universal joint 71 comprises two rotary forks which are rotatably connected with each other, when the two rotary forks are connected, one of the two rotary forks of the universal joint 71 is connected with the hip joint 2 or the knee joint 3, and the other rotary fork is connected with the thigh rod 1, the rotary fork can drive the thigh rod 1 to swing by applying power to the rotary fork connected with the thigh rod 1, that is, the output end of the thigh driving mechanism 4 is not required to be connected with the thigh rod 1, so that the output end of the thigh driving mechanism 4 directly or indirectly moves along with the swing of the thigh rod 1. Preferably, the universal joint 71 is a cross type universal joint, and two rotating forks of the cross type universal joint are connected by a cross shaft, so that the external force of the thigh drive mechanism 4 acts on the cross shaft.
On the basis of the above-described embodiment, in consideration of convenience of power transmission, as a preferable scheme, the universal joint 71 is a cross-type universal joint, the thigh driving mechanism 4 is a rotary driving mechanism capable of outputting rotary motion, and the two thigh driving mechanisms 4 are respectively connected to the cross shafts of the two universal joints 71. That is to say, in the present embodiment, the two thigh driving mechanisms 4 drive the corresponding cross shafts to rotate, so that the cross shafts drive the corresponding thigh rods 1 to swing, thereby realizing the power transmission from the thigh driving mechanisms 4 to the thigh rods 1. In this way, the thigh drive mechanism 4 is prevented from being directly or indirectly connected to the thigh lever 1, so that the thigh drive mechanism 4 or the transmission mechanism is operated along with the movement of the thigh lever 1, and the moment of inertia of the thigh lever 1 can be reduced.
In addition, in view of the specific arrangement position of the thigh drive mechanisms 4, it is preferable that both of the thigh drive mechanisms 4 be provided to the hip joint 2. That is to say, in the embodiment, the thigh driving mechanism 4 is carried by the hip joint 2, so that an additional structure for fixing the thigh driving mechanism 4 is avoided, and meanwhile, the modularization of the leg mechanism of the wheel-foot robot is facilitated, and the assembly of the leg mechanism of the wheel-foot robot and the body 9 of the wheel-foot robot is facilitated.
Further, in view of the convenience of connecting the thigh drive mechanisms 4 to the cross shafts, on the basis of the above-described embodiment, the two thigh drive mechanisms 4 are connected to the corresponding cross shafts through the link mechanisms 8, respectively. That is, in the present embodiment, the link mechanism 8 transmits the rotational power of the thigh driving mechanism 4 to the cross shaft, and the structure is simple, so that the connection between the thigh driving mechanism 4 and the cross shaft is facilitated.
Further, on the basis of the above-described embodiment, the link mechanism 8 is a link mechanism 8 having a parallelogram structure, and two mutually parallel links of the link mechanism 8 are respectively hinged to the output shaft of the thigh drive mechanism 4 and the corresponding cross shaft. Thus, when the output shaft of the thigh driving mechanism 4 rotates, the link mechanism 8 is driven to move, so that the link mechanism 8 drives the cross shaft to rotate, and the connection mode can ensure the consistency of the rotation direction of the output shaft of the thigh driving mechanism 4 and the rotation direction of the corresponding cross shaft.
It is to be understood that, in each of the above-described embodiments, in order to rotate the two thigh levers 1 connected to the two thigh drive mechanisms 4 correspondingly in mutually perpendicular directions, it is preferable that both of the two thigh drive mechanisms 4 be rotary motors, and output shafts of the two rotary motors be arranged vertically.
Of course, under the teaching of the subject matter of the present invention, a person skilled in the art can use other power sources to drive the rotation of the thigh rod 1, such as a hydraulic push rod or a pneumatic push rod, as long as the output power of the power source can be converted into the rotation of the thigh rod 1.
On the basis of the above embodiments, one of the thigh rods 1 is a first thigh rod 11, one end of the first thigh rod 11 is connected to the hip joint 2 through a first self-rotatable universal joint 72, and the other end of the first thigh rod 11 is connected to the knee joint 3 through a second self-rotatable universal joint 73; the lower leg comprises a lower leg driving mechanism 51 and a rotary telescopic mechanism 52, the lower leg driving mechanism 51 is used for outputting rotary motion, the lower leg driving mechanism 51 is arranged on the hip joint 2, and an output shaft of the lower leg driving mechanism 51 is connected with a first self-rotatable universal joint 72; the rotary telescopic mechanism 52 is connected to the knee joint 3, and includes a rotary part, a transmission part and a telescopic part, the rotary part is connected to the second self-rotary universal joint 73, and the transmission part is used to convert the rotary motion of the rotary part into the telescopic motion of the telescopic part, so that the telescopic part is telescopic.
That is, in the present embodiment, the lower leg driving mechanism 51 of the lower leg is provided in the hip joint 2, and the lower leg driving mechanism 51 does not rotate or move regardless of the movement of the upper leg and the lower leg, and remains relatively stationary with respect to the hip joint 2, and when the leg mechanism of the wheel-legged robot is applied to the wheel-legged robot, the hip joint 2 is fixedly connected to the body 9 of the wheel-legged robot, and the orientation of the hip joint 2 is always maintained, so that the rotational inertia of the upper leg bar 1 and/or the lower leg is effectively reduced, and the control difficulty is further reduced.
When shank actuating mechanism 51 exports rotary motion, but its output shaft drives first autogyration universal joint 72 and rotates, and then can transmit rotary motion to the rotating part of rotatory telescopic machanism 52 through first thigh pole 11 and second autogyration universal joint 73 to through the transmission of transmission portion, change the rotary motion of rotating part into the concertina movement of telescopic part, realize the flexible of telescopic part. That is, in this embodiment, the lower leg can perform a telescopic motion, and the leg mechanism of the wheel-foot robot provided in this embodiment has three degrees of freedom, namely, the rotation of the upper leg bar 1 in the mutually perpendicular direction and the telescopic motion of the lower leg, and the motion of the driving wheel 6.
It can be understood that when the leg mechanism of the wheel-foot type robot is applied to the wheel-foot type robot, the lower leg is always perpendicular to the ground, and the height-up movement of the wheel-foot type robot, that is, the height-up or height-down movement of the wheel-foot type robot can be realized by starting the lower leg driving mechanism 51. In addition, by controlling the lower leg driving mechanism 51, the wheel-foot type robot can be maintained at the same height position from the ground when being positioned at different supporting surfaces, and the purpose of active shock absorption is realized in the moving process of the wheel-foot type robot.
It should be noted that, in the present embodiment, the specific structure of the rotation/telescoping mechanism 52 is not limited, for example, the rotation/telescoping mechanism 52 is preferably a linear electric cylinder without power, that is, in the present embodiment, a power mechanism (e.g., a servo motor) of the linear electric cylinder is disposed on the hip joint 2, and the rotation power is transmitted to a lead screw of the linear electric cylinder through the first thigh rod 11, the first self-rotatable universal joint 72, and the second self-rotatable universal joint 73. The structure is simple, the shank structure is convenient to obtain, and the assembly of the leg mechanism of the wheel-foot type robot is also convenient.
It will be appreciated that the above embodiment uses the first thigh bar 11 to transmit the output power of the calf drive mechanism 51, and therefore, it is necessary to use the first and second self- rotatable joints 72 and 73 to connect with the hip joint 2 and the knee joint 3, respectively. For the remaining thigh levers 1 other than the first thigh lever 11, only the swing needs to be satisfied, and the rotation is not necessary, and therefore, the connection with the non-self-rotating universal joint 71 can be adopted. It should be noted that the self-rotatable universal joint 71 in the present invention refers to a universal joint 71 that is rotatable by itself; non-self rotating gimbal 71 refers to a gimbal 71 that is not itself rotatable.
In view of the convenience of the arrangement of the thigh levers 1, in the above-described embodiment, all the thigh levers 1 except the first thigh lever 11 are the second thigh levers 12, and the number of the second thigh levers 12 is four; the four universal joints 71 connecting the second thigh rod 12 and the hip joint 2 are arranged symmetrically with respect to the first self-rotatable universal joint 72 in pairs, and the two symmetrical universal joints 71 are collinear toward the axis of the shaft of the first self-rotatable universal joint 72, and the two asymmetrical universal joints 71 are perpendicular toward the axis of the shaft of the first self-rotatable universal joint 72. That is, the second thigh lever 12, the hip joint 2, and the knee joint 3 in the present embodiment form a quadrangular prism structure, so that the entire structure is stable. The four universal joints 71 connecting the second thigh rod 12 and the hip joint 2 are arranged two by two symmetrically with respect to the first self-rotatable universal joint 72, which facilitates the structural layout. In addition, the axes of the two symmetrical universal joints 71 facing the shaft of the first self-rotatable universal joint 72 are collinear, and the axes of the two asymmetrical universal joints 71 facing the shaft of the first self-rotatable universal joint 72 are perpendicular, that is, the motions of the two second thigh bars 12 corresponding to the two symmetrical universal joints 71 are completely the same; the two second thigh bars 12 corresponding to the two asymmetric universal joints 71 have perpendicular rotation directions, so that the thigh drive mechanism 4 is arranged and the connection between the thigh drive mechanism 4 and the second thigh bars 12 is facilitated. In the connection, the two thigh drive mechanisms 4 may be connected to the cross shafts of the two asymmetric universal joints 71.
It will be appreciated that the arrangement of the four universal joints 71 associated with the knee joint 3 is the same as the arrangement of the four universal joints 71 associated with the hip joint 2 to ensure that any two thigh bars 1, the line connecting them to the hip joint 2 and the line connecting them to the knee joint 3 form a parallelogram.
In the above embodiments, the specific structure of the driving wheel 6 is not limited, for example, the driving wheel 6 may be a conventional driving wheel in the prior art, and the movement of the leg mechanism of the wheel-foot robot can be realized by the rolling of the driving wheel 6, and on the basis of this, the steering of the robot can be realized by performing differential control on the driving wheel 6 of a robot using a plurality of leg mechanisms of the wheel-foot robot. In view of simplicity of construction, the drive wheels 6 are preferably mecanum wheels with a drive mechanism, i.e. mecanum wheels are used as driving wheels to achieve wheeled movement. It can be understood that, because the leg mechanism of the wheel-foot robot can ensure that the hip joint 2 and the knee joint 3 are always parallel, the rotation axis of the mecanum wheel can be always parallel to the ground and the direction orientation is always constant, so that the driving wheel 6 can realize the principle movement of the mecanum wheel when being positioned on different supporting surfaces.
It should be noted that the leg mechanism of the wheel-foot robot provided in each of the above embodiments is mainly used to protect the specific structure thereof, but the specific application of the leg mechanism of the wheel-foot robot is not limited, and for example, the leg mechanism of the wheel-foot robot may be used as a robot arm.
Fig. 5 is a schematic structural diagram of a wheel-foot robot according to an embodiment of the present invention. In addition to the leg mechanism of the wheel-foot robot, the present invention further provides a wheel-foot robot, the wheel-foot robot includes a body 9 and at least two leg mechanisms disposed on the body 9, and the structure of each part of the body 9 refers to the prior art and is not described herein again. The present embodiment is focused on that the leg mechanism of the wheel-foot robot is the leg mechanism of the wheel-foot robot disclosed in any one of the embodiments. The leg mechanism of the wheel-foot type robot can ensure that the hip joint 2 and the knee joint 3 can keep parallel in all directions no matter how the thigh rod 1 rotates, so that the rotating shaft of the driving wheel 6 can be always parallel to the ground in the thigh movement process, and the bearing capacity and the maneuvering performance of the driving wheel 6 in a wheel type movement state are ensured. In addition, the motion of the thigh does not influence the motion of the shank and the driving wheel 6, so that the motion of the shank and the driving wheel 6 can be conveniently controlled in a wheel-foot type compound motion state, the complexity and the difficulty of control are reduced, and the practicability and the engineering of the wheel-foot type robot are enhanced.
It can be seen that the wheel-foot type robot has strong terrain adaptability and good maneuverability. Therefore, the wheel-foot type robot can be applied to the fields of military affairs, space exploration, special environment disaster relief (nuclear power station), entertainment and living, resource exploration, routing inspection, material transportation, agricultural planting and the like.
It is understood that the wheel-foot robot can implement wheel-type motions (such as mecanum wheel motions), foot-type motions, and wheel-foot composite motions. In the wheel type motion state, the driving mechanism through the mecanum wheels is preferably a motor, so that the mecanum wheels are driven by the motor to rotate, for example, the wheel-foot type robot obtains the motions of advancing, retreating or steering. In the foot type motion state, the driving wheel 6 is locked, and the foot type motion of the wheel foot type robot is realized through the rotation of the thigh rod 1 and/or the telescopic movement of the shank. Under the wheel-foot combined type motion state, the thigh rod 1 rotates, and the transverse and longitudinal wheel tracks of the wheel-foot type robot can be reduced or enlarged; the height of the wheel-foot type robot is increased or reduced through the rotation of the thigh rod 1, the stretching movement of the lower leg or the compound movement of the two.
Further, for the convenience of control, the lower leg is preferably perpendicular to the ground, therefore, on the basis of the above embodiment, the body 9 is horizontally arranged, the angle between the hip joint 2 and the body 9 of the leg mechanism of the wheel-foot robot is 45 degrees, and the angle between the lower leg and the knee joint 3 is 45 degrees, so that the lower leg is vertically arranged. That is, the thigh rod 1 in this embodiment forms an included angle of 45 ° with the vertical direction, and the included angle between the thigh rod 1 and the lower leg is 135 °, so that the lower leg is vertically arranged. Because the knee joint 3 is always parallel to the hip joint 2 in the motion process of the thigh rod 1, the hip joint 2 is arranged on the machine body 9, and the position of the hip joint is kept unchanged relative to the machine body 9, the knee joint 3 always keeps an included angle of 45 degrees with the vertical direction, so that the shank is always perpendicular to the ground. That is, the leg mechanisms of the wheel-foot type robot are arranged in a reptile type.
In addition, preferably, the leg mechanism of the wheel-foot type robot is detachably connected with the machine body 9, that is, the leg mechanism of the wheel-foot type robot and the machine body 9 are mutually independent modules, and the modular reconfiguration of the leg mechanism of the wheel-foot type robot can be realized in a detachable or added mode, so that the robot with two feet, four feet, six feet or other feet on the basis of the leg mechanism of the wheel-foot type robot can be conveniently realized.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The leg mechanism of the wheel-foot type robot and the wheel-foot type robot provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A wheeled legged robot leg mechanism, comprising:
at least three thigh bars (1), all the thigh bars (1) being arranged in parallel and non-coplanar;
the hip joint (2) and the knee joint (3) are arranged in parallel, and two ends of each thigh rod (1) are respectively connected with the hip joint (2) and the knee joint (3) in a rotating manner, so that the thigh rods (1) can rotate towards any direction; any two thigh rods (1), the connecting line of the connecting positions of the two thigh rods and the hip joint (2) and the connecting line of the connecting positions of the two thigh rods and the knee joint (3) form a parallelogram;
two thigh driving mechanisms (4) for driving the two thigh rods (1) correspondingly connected with the thigh driving mechanisms to rotate in the directions vertical to each other;
a lower leg connected to the knee joint (3);
and the driving wheel (6) is arranged at one end of the lower leg far away from the knee joint (3).
2. The leg mechanism of the wheel-foot robot according to claim 1, characterized in that the two ends of the thigh bar (1) are correspondingly connected with the hip joint (2) and the knee joint (3) through universal joints (71), respectively.
3. The leg mechanism of a wheel-foot robot according to claim 2, characterized in that the universal joint (71) is a cross-axle type universal joint, the thigh driving mechanism (4) is a rotary driving mechanism capable of outputting rotary motion, and the two thigh driving mechanisms (4) are respectively correspondingly connected with the cross-axles of the two universal joints (71).
4. The leg mechanism of the wheel-foot robot according to claim 3, characterized in that both thigh drive mechanisms (4) are arranged at the hip joint (2), and both thigh drive mechanisms (4) are connected with the corresponding cross shafts through link mechanisms (8).
5. The leg mechanism of a wheel-foot robot according to claim 4, characterized in that the linkage mechanism (8) is a parallelogram-structured linkage mechanism (8), two mutually parallel links of the linkage mechanism (8) being articulated with the output shaft of the thigh drive mechanism (4) and the corresponding cross shaft, respectively.
6. The wheel-legged robot leg mechanism according to any one of claims 2-5, characterized in that one of the thigh bars (1) is a first thigh bar (11), one end of the first thigh bar (11) is connected to the hip joint (2) by a first self-rotatable joint (72), and the other end of the first thigh bar (11) is connected to the knee joint (3) by a second self-rotatable joint (73); the lower leg comprises:
the lower leg driving mechanism (51) is used for outputting rotary motion, the lower leg driving mechanism (51) is arranged on the hip joint (2), and an output shaft of the lower leg driving mechanism (51) is connected with the first self-rotating universal joint (72);
and the rotary telescopic mechanism (52) is connected with the knee joint (3) and comprises a rotating part, a transmission part and a telescopic part, wherein the rotating part is connected with the second self-rotary universal joint (73), and the transmission part is used for converting the rotary motion of the rotating part into the telescopic motion of the telescopic part so as to enable the telescopic part to stretch and retract.
7. The wheel-foot robot leg mechanism according to claim 6, characterized in that all the thigh bars (1) except the first thigh bar (11) are second thigh bars (12), the number of the second thigh bars (12) being four; the four universal joints (71) connecting the second thigh rod (12) and the hip joint (2) are arranged symmetrically in pairs relative to the first self-rotatable universal joint (72), two symmetrical universal joints (71) are collinear towards the axis of the shaft of the first self-rotatable universal joint (72), and two asymmetrical universal joints (71) are vertical towards the axis of the shaft of the first self-rotatable universal joint (72).
8. Wheel-foot robot leg mechanism according to any of claims 1-5, characterized in that the driving wheels (6) are Mecanum wheels with driving mechanism.
9. A wheeled legged robot comprising a body (9) and at least two leg mechanisms provided to the body (9), characterized in that the leg mechanisms are the wheeled legged robot leg mechanisms according to any one of claims 1-8.
10. The wheel-foot robot according to claim 9, characterized in that the body (9) is horizontally arranged, the hip joint (2) of the leg mechanism of the wheel-foot robot is at an angle of 45 ° to the body (9), and the lower leg is at an angle of 45 ° to the knee joint (3) so that the lower leg is vertically arranged.
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| CN113371094B (en) | 2022-08-23 |
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