WO2021088104A1

WO2021088104A1 - Parallel leg structure of wheel-foot-type robot, and mobile robot

Info

Publication number: WO2021088104A1
Application number: PCT/CN2019/118064
Authority: WO
Inventors: 杨东超; 陶铂; 吴庆园; 陈恳; 朱衡; 孙可平
Original assignee: 清华大学
Priority date: 2019-11-07
Filing date: 2019-11-13
Publication date: 2021-05-14
Also published as: CN111003074B; CN111003074A

Abstract

Provided is a parallel leg structure of a wheel-foot-type robot, the leg structure comprising a driving module (1) composed of three driving electric motors (101, 102, 103), a side swing shaft module (2), a front swing shaft module (5), a thigh module (4), a shank module (3) and a rolling wheel (6). The leg structure is a parallel mechanism, a rack (104) is a static platform, and the shank module (3) is a movable platform at a tail end. The three driving electric motors (101, 102, 103) are always fixedly connected to the rack (104), and accordingly, the leg structure is lightweight and has the features of having a good rigidity, low energy consumption, large bearing capacity and traction capacity of the robot, etc. A pair of parallel shaft gears with relatively large outer diameters is arranged in the front swing shaft module (5), and a driving parallel shaft gear (301) is fixedly connected to the rolling wheel (6), such that in addition to a foot-type moving mode when shanks are in contact with the ground, the rolling wheel (6) can be in contact with the ground when thighs and the shanks swing upwards to leave the ground, and the mobile robot can realize a wheel-type moving mode by using the rolling wheel (6), which has stronger environment adaptability and can achieve a faster moving speed.

Description

一种并联轮足式机器人腿结构及移动机器人Parallel wheel-footed robot leg structure and mobile robot

技术领域Technical field

本发明涉及机器人领域，具体涉及一种并联轮足式机器人腿结构。The invention relates to the field of robots, in particular to a parallel wheel-footed robot leg structure.

背景技术Background technique

目前，现有的移动机器人多采用轮足式或腿足式移动方式。轮足式移动方式具有能耗比较低、移动速度快等优点，而腿足式移动方式由于采用了大、小腿结构，具有越障能力强等优势，因此有不少样机将二者结合在一起，希望能兼顾二者的优点。At present, the existing mobile robots mostly adopt wheel-footed or leg-footed movement. The wheel-foot movement method has the advantages of relatively low energy consumption and fast movement speed, while the leg-foot movement method adopts the large and lower leg structure and has the advantages of strong obstacle crossing ability. Therefore, many prototypes combine the two. , I hope to take into account the advantages of both.

如图1所示，中国发明专利CN109018058A公开了一种轮足一体式机器人腿结构，这种腿结构包括大腿、小腿和足端；整条腿有三组使用伺服阀控制的结构相同的液压缸，可以实现腿部的侧摆、大腿和小腿的前摆，机器人足端为轮式结构，轮子的方向可以任意调整，足端有单独的动力源，采用步进驱动一体机，把驱动与控制集成在一起；当在平坦的路段行进时，可以单独使用足端电机驱动轮转动，使运动更加快速，节省能源；当在坎坷不平的路段运动时，可以使用液压装置来驱动大小腿的运动，帮助机器人实现越障。As shown in Figure 1, Chinese invention patent CN109018058A discloses a wheel-foot integrated robot leg structure. This leg structure includes thigh, calf and foot end; the whole leg has three groups of hydraulic cylinders with the same structure controlled by servo valves. The side swing of the legs, the front swing of the thigh and the calf can be realized. The robot foot end is a wheel structure, the direction of the wheel can be adjusted arbitrarily, the foot end has a separate power source, and the stepper drive integrated machine is adopted to integrate the drive and control. Together; when traveling on a flat section, the foot-end motor can be used alone to drive the wheel to rotate, making the movement faster and saving energy; when traveling on a bumpy section, hydraulic devices can be used to drive the movement of the upper and lower legs to help The robot achieves obstacle surmounting.

如图2所示，韩国现代汽车公司的极限机动车Elevate的测试版样机，同样把轮子布置在小腿的末端，该方式是目前绝大多数轮足式机器人所采用的方案。As shown in Figure 2, the test version of Hyundai Motor’s extreme motor vehicle Elevate also has wheels on the ends of the lower legs. This method is currently adopted by most wheel-footed robots.

如图3所示，中国实用新型专利CN208007139U公开了一种多适应性轮足切换移动平台，车轮布置在膝关节处，当小腿与竖直轴夹角较小时，机器人采用足式行走方式，当小腿与竖直轴夹角较大时，小腿抬起，车轮与地面接触，机器人采用轮足式移动方式，此时小腿需保持不与地面接触，需有姿态保持装置或驱动装置。As shown in Figure 3, Chinese utility model patent CN208007139U discloses a multi-adaptive wheel-foot-switching mobile platform. The wheels are arranged at the knee joint. When the angle between the calf and the vertical axis is small, the robot adopts a foot-style walking mode. When the angle between the calf and the vertical axis is large, the calf is lifted and the wheels are in contact with the ground. The robot adopts wheel-footed movement. At this time, the calf must be kept out of contact with the ground, and a posture maintaining device or driving device is required.

如图4所示，瑞士苏黎世理工学院研制的ANYmal，该样机在上一代腿足式样机的足端安装了滚轮。髋关节的侧摆、前摆以及膝关节的前摆仍保留了典型的串联关节式结构，即每个电机的输出轴与相应的关节转轴同轴。相比腿足式结构，轮足式结构往往需要增加一个驱动器用于对滚轮的驱动，所以轮足式结构会更加复杂，所以也有很多相似发明专利仅采用了腿足式结构。As shown in Figure 4, ANYmal developed by the Zurich Institute of Technology in Switzerland, this prototype is equipped with rollers on the foot end of the previous generation of leg and foot prototype. The lateral swing, forward swing of the hip joint and the forward swing of the knee joint still retain the typical tandem articulated structure, that is, the output shaft of each motor is coaxial with the corresponding joint shaft. Compared with the leg-foot structure, the wheel-foot structure often needs to add a driver to drive the rollers, so the wheel-foot structure will be more complicated, so there are many similar invention patents that only use the leg-foot structure.

如图5所示，图5(a)是浙江大学研制的机器狗“绝影”，由图5(b)可知其髋关节的前摆和侧摆利用了差速机构，控制电机13和22的转速，即可同时实现大腿的侧摆和前摆；从图5(c)可看出其膝关节的前摆驱动电机布置在大腿内部，并利用啮合的锥齿轮实现膝关节的前摆。As shown in Figure 5, Figure 5(a) is the robot dog "Juying" developed by Zhejiang University. It can be seen from Figure 5(b) that the forward and side swing of the hip joint uses a differential mechanism to control

motors

13 and 22. It can be seen from Figure 5(c) that the front swing drive motor of the knee joint is arranged inside the thigh, and the front swing of the knee joint is realized by the meshing bevel gear.

如图6所示，图6(a)是宇树科技公司研制的机器狗“莱卡”，由图6(b)可看出其也采用了串联关节式结构，侧摆电机带动大、小腿一同侧摆，由图6(c)可知电机4驱动髋关节前摆，电机3驱动膝关节前摆，具体方式为：电机3减速器的法兰带动长杆6摆动，进而实现铰接在膝关节上的短杆旋转，即利用四连杆机构实现了运动的传递。As shown in Figure 6, Figure 6(a) is the robot dog "Lycra" developed by Yushu Technology Co., Ltd. It can be seen from Figure 6(b) that it also uses a series joint structure, and the side swing motor drives the large and lower legs together. Side swing, it can be seen from Figure 6(c) that the motor 4 drives the hip joint forward swing, and the motor 3 drives the knee joint forward swing. The specific method is: the flange of the motor 3 reducer drives the long rod 6 to swing, and then realizes the articulation on the knee joint. The short rod rotation, that is, the use of four-bar linkage mechanism to achieve the transmission of motion.

如图7所示，美国波士顿动力公司研制的机器狗SpotMini，由图7(a)可看出其也采用了串联关节式结构，侧摆电机带动大小腿一同侧摆，与莱卡不同的是，由图7(b)可见Spot采用丝杠螺母机构来驱动膝关节的摆动。As shown in Figure 7, the robot dog SpotMini developed by Boston Dynamics in the United States, as shown in Figure 7(a), also adopts a series articulated structure. The side swing motor drives the upper and lower legs to swing side by side. The difference is that it is different from the Lycra. It can be seen from Figure 7(b) that Spot uses a screw-nut mechanism to drive the knee joint to swing.

如图8所示，图8(a)是日本索尼公司研制的深受用户喜爱的机器狗Aibo，由图8(b)和图8(c)可看出其主要特点在于大小腿采用了欠驱动式机构，即前摆法兰转动时带动与两连杆铰接的膝关节平动，以改变足端的位置。弹簧则用以防止膝关节“反向打弯”。As shown in Figure 8, Figure 8(a) is a robot dog Aibo developed by Sony, which is well-loved by users. From Figure 8(b) and Figure 8(c), it can be seen that its main feature is that the upper and lower legs adopt the The driving mechanism, that is, when the front swing flange rotates, it drives the knee joint hinged with the two connecting rods to move in translation to change the position of the foot end. The spring is used to prevent "reverse bending" of the knee joint.

毫无疑问，轮足式结构功能更全，具有更好的应用前景，但往往轮足式结构更加复杂，设计难度大。把车轮布置在足端是最常见也是最简单的轮足式腿结构的设计方案，但缺点是车轮需要独立的驱动器，会导致控制更加复杂，也会导致腿结构质量增大，即电机的负载增大，能耗加大，且机器人整体的驱动器数量有所增加，导致控制也会更加复杂，且当车轮抱闸异常时，会导致行走中的机器人打滑或者摔倒。Undoubtedly, the wheel-foot structure has more complete functions and better application prospects, but the wheel-foot structure is often more complicated and difficult to design. Arranging the wheel on the end of the foot is the most common and simplest design scheme for the wheel-footed leg structure, but the disadvantage is that the wheel requires an independent driver, which will lead to more complicated control and increase the weight of the leg structure, that is, the load of the motor. Increased energy consumption will increase, and the overall number of drivers of the robot will increase, resulting in more complicated control, and when the wheel brake is abnormal, it will cause the walking robot to slip or fall.

把车轮布置在膝关节也存在一些不足：首先会导致腿结构质量增大，机器人移动时会加大能耗；其次在机器人采用轮式移动方式时，小腿需保持一定的位姿，需要额外的位姿保持机构或驱动机构，导致腿结构更加复杂，降低可靠性。There are also some shortcomings in arranging the wheels on the knee joints: firstly, it will increase the weight of the leg structure and increase the energy consumption when the robot moves; secondly, when the robot adopts wheeled movement, the calf needs to maintain a certain posture, which requires additional The posture maintaining mechanism or the driving mechanism causes the leg structure to be more complicated and reduce the reliability.

串联关节式的腿足式结构是最常见也是最简单的移动机器人腿结构，具有便于设计、关节转角大等优点，但缺点是相比并联式结构，串联式结构刚度较差；其次串联式结构的电机需布置在腿上，会加大相应驱动模块的负载，增大能耗，还会导致腿结构较复杂，可靠性也会降低。The series articulated leg-foot structure is the most common and simplest mobile robot leg structure. It has the advantages of easy design and large joint rotation angle, but the disadvantage is that compared with the parallel structure, the series structure has poor rigidity; secondly, the series structure The motor needs to be arranged on the leg, which will increase the load of the corresponding drive module, increase the energy consumption, and cause the leg structure to be more complicated and the reliability will also be reduced.

发明内容Summary of the invention

本发明的目的在于克服现有技术的缺陷，提供一种并联轮足式机器人腿结构，3个驱动模块均固连在机架上，实现了负载的最小化；滚轮固连在前摆轴模块上，既不增加结构的复杂程度(不需要额外的滚轮和驱动器)，同时所增加的重量也很小；最后，本发明中的关节摆角均比较大，不仅能够满足行走的需求，机器狗的前爪还可以竖直翻转，完成类似于ANYmal按下电梯按钮等动作。The purpose of the present invention is to overcome the defects of the prior art and provide a parallel wheel-footed robot leg structure. Three driving modules are fixedly connected to the frame to minimize the load; the roller is fixedly connected to the front swing axis module It does not increase the complexity of the structure (no need for additional rollers and drivers), and the added weight is also very small; finally, the joint swing angles in the present invention are relatively large, which can not only meet the needs of walking, but also the robot dog The front paws can also be flipped vertically to complete actions similar to ANYmal pressing the elevator button.

本发明提供一种并联轮足式机器人腿结构，包括驱动模块、侧摆轴模块、前摆轴模块、大腿模块、小腿模块和滚轮，驱动模块包括机架以及固连在所述机架上的3个驱动电机，侧摆轴模块包括设置于所述机架上的侧摆轴；连接块固定于所述侧摆轴上，其可带动所述小腿模块、所述大腿模块、所述前摆轴模块和滚轮侧摆；所述侧摆轴、所述小腿模块和所述大腿模块分别与所述3个驱动电机传动连接；滚轮与所述前摆轴模块固连；当所述小腿模块触地而所述滚轮悬空时，实现足式移动；当所述大腿模块和所述小腿模块不与地面接触时，所述滚轮触地，实现轮式行走。The present invention provides a parallel wheel-footed robot leg structure, which includes a drive module, a side swing axis module, a front swing axis module, a thigh module, a calf module, and rollers. The drive module includes a frame and a frame fixedly connected to the frame. 3 drive motors, the side swing shaft module includes a side swing shaft arranged on the frame; a connecting block is fixed on the side swing shaft, which can drive the calf module, the thigh module, and the front swing The shaft module and the roller side swing; the side swing shaft, the lower leg module, and the thigh module are respectively connected in transmission with the three driving motors; the roller is fixedly connected to the front swing shaft module; when the lower leg module touches On the ground, when the roller is suspended in the air, foot-like movement is realized; when the thigh module and the calf module are not in contact with the ground, the roller touches the ground to realize wheeled walking.

进一步地，所述机架包括一个立板和至少2个位于立板同一侧且垂直于立板设置的耳座，所述3个驱动电机分别为侧摆电机、小腿前摆电机和大腿前摆电机，设置于所述立板另一侧，侧摆减速器法兰、小腿前摆减速器法兰和大腿前摆减速器法兰分别穿过所述立板上的3个电机输出轴孔，位于立板上耳座的一侧，所述至少2个耳座上分别设有同轴线的侧摆轴孔，供所述侧摆轴穿过。Further, the frame includes a vertical plate and at least two ear seats located on the same side of the vertical plate and arranged perpendicular to the vertical plate, and the three driving motors are a side swing motor, a calf forward swing motor, and a thigh forward swing The motor is arranged on the other side of the vertical plate, and the side swing reducer flange, the lower leg front swing reducer flange and the thigh front swing reducer flange respectively pass through the three motor output shaft holes on the vertical plate, Located on one side of the ear seat on the vertical plate, the at least two ear seats are respectively provided with coaxial side swing shaft holes for the side swing shaft to pass through.

进一步地，所述侧摆减速器法兰、小腿前摆减速器法兰和大腿前摆减速器法兰上并排固定连接有侧摆主动齿轮、小腿前摆主动齿轮和大腿前摆主动齿轮，所述侧摆轴位于所述3个驱动电机的输出轴下方，所述侧摆轴上沿轴线方向依次套设有与所述侧摆主动齿轮啮合的侧摆被动齿轮、与所述小腿前摆主动齿轮啮合的小腿前摆过渡齿轮，以及与所述大腿前摆主动齿轮啮合的大腿前摆过渡齿轮，其中所述侧摆被动齿轮与所述侧摆轴固连。Further, the side swing reducer flange, the lower leg front swing reducer flange and the thigh front swing reducer flange are fixedly connected side by side with a side swing drive gear, a lower leg front swing drive gear and a thigh front swing drive gear, so The side swing shaft is located below the output shafts of the three drive motors. A side swing driven gear meshing with the side swing driving gear is sequentially sleeved on the side swing shaft along the axial direction. The lower leg front swing transition gear meshed with gears, and the thigh front swing transition gear meshed with the thigh front swing drive gear, wherein the side swing driven gear is fixedly connected to the side swing shaft.

进一步地，所述连接块的上部为圆筒形套管结构，所述连接块通过所述圆筒形套管结构固定于所述侧摆轴上位于所述小腿前摆过渡齿轮和所述大腿前摆过渡齿轮之间的部分；所述连接块的下部为两块并排设置的延长孔形板状结构，所述两块并排设置的延长孔形板状结构与侧摆轴平行。Further, the upper part of the connecting block is a cylindrical sleeve structure, and the connecting block is fixed on the side swing shaft by the cylindrical sleeve structure and is located on the lower leg forward swing transition gear and the thigh The part between the transition gears of the front swing; the lower part of the connecting block is two elongated hole-shaped plate-shaped structures arranged side by side, and the two elongated hole-shaped plate-shaped structures arranged side by side are parallel to the side swing axis.

进一步地，所述延长孔形板状结构的两端分别设有供小腿前摆轴和大腿前摆轴穿过的前摆轴孔，所述小腿前摆轴与小腿前摆被动齿轮固连，所述大腿前摆轴与大腿前摆被动齿轮固连，所述两块延长孔形板状结构之间设有用于容纳所述小腿前摆被动齿轮和所述大腿前摆被动齿轮的间隙，所述小腿前摆轴外侧端固连所述滚轮，所述大腿前摆轴外侧端与所述大腿模块固连。Further, the two ends of the elongated hole-shaped plate-like structure are respectively provided with front swing shaft holes for passing through the front swing shaft of the lower leg and the front swing shaft of the thigh, and the front swing shaft of the lower leg is fixedly connected with the driven gear of the front swing of the lower leg. The front thigh swing shaft is fixedly connected to the front thigh swing passive gear, and a gap is provided between the two elongated hole-shaped plate-like structures for accommodating the front thigh swing passive gear and the thigh front swing passive gear, so The outer end of the front swing shaft of the lower leg is fixedly connected with the roller, and the outer end of the front swing shaft of the thigh is fixedly connected with the thigh module.

进一步地，所述大腿模块包括大腿外侧夹板和大腿内侧夹板，所述大腿外侧夹板和所述大腿内侧夹板上端与所述大腿前摆轴固连；所述大腿外侧夹板和所述大腿内侧夹板下端与所述小腿模块转动连接。Further, the thigh module includes an outer thigh splint and an inner thigh splint, and the upper ends of the outer thigh splint and the inner thigh splint are fixedly connected to the thigh forward swing shaft; the outer thigh splint and the lower end of the inner thigh splint It is rotatably connected with the calf module.

进一步地，所述前摆轴模块包括大腿前摆轴、小腿前摆轴、主动平行轴齿轮、被动平行轴齿轮、主动带轮、被动带轮、传动带和膝关节转轴；所述滚轮外侧与所述主动平行轴齿轮固连；所述被动平行轴齿轮套设于所述大腿前摆轴上，且位于所述大腿外侧夹板和所述大腿内侧夹板之间；所述被动平行轴齿轮与所述主动平行轴齿轮啮合，所述被动平行轴齿轮内侧与所述主动带轮固连，所述主动带轮通过所述传动带与所述被动带轮连接，所述被动带轮带动所述膝关节转轴转动，所述小腿模块包括小腿板，所述小腿板固连在所述膝关节转轴上。Further, the front swing axis module includes a thigh front swing axis, a calf front swing axis, an active parallel axis gear, a passive parallel axis gear, an active pulley, a passive pulley, a transmission belt, and a knee joint rotation axis; The active parallel shaft gear is fixedly connected; the passive parallel shaft gear is sleeved on the front thigh swing shaft and is located between the outer thigh splint and the inner thigh splint; the passive parallel shaft gear and the The active parallel shaft gear meshes, the inner side of the passive parallel shaft gear is fixedly connected with the active pulley, the active pulley is connected to the passive pulley through the transmission belt, and the passive pulley drives the knee joint shaft Rotating, the calf module includes a calf board, and the calf board is fixedly connected to the knee joint rotating shaft.

进一步地，采用平面四连杆机构或链轮传动机构替换带传动实现小腿摆动的驱动。Further, a flat four-bar linkage mechanism or a sprocket transmission mechanism is used to replace the belt transmission to realize the driving of the swing of the lower leg.

进一步地，采用麦克纳姆轮或全向轮替换滚轮实现轮式移动。Further, a mecanum wheel or an omnidirectional wheel is used to replace the rollers to realize wheeled movement.

进一步地，所述侧摆主动齿轮、所述小腿前摆主动齿轮、所述大腿前摆主动齿轮、所述大腿前摆被动齿、所述小腿前摆被动齿轮、所述大腿前摆过渡齿轮、所述小腿前摆过渡齿轮和所述侧摆被动齿轮均为正交斜齿轮。Further, the side swing driving gear, the lower leg front swing driving gear, the thigh front swing driving gear, the thigh front swing passive teeth, the lower leg front swing passive gear, the thigh front swing transition gear, The front swing transition gear of the lower leg and the side swing driven gear are both orthogonal helical gears.

进一步地，大腿前摆减速器法兰外侧还固定有扇形齿轮，小腿前摆被动齿轮为非完整齿轮。Further, a sector gear is also fixed on the outer side of the flange of the front swing reducer of the thigh, and the driven gear of the front swing of the lower leg is an incomplete gear.

本发明另外提出一种移动机器人，所述移动机器人包括上述一种并联轮足式机器人腿结构，所述移动机器人包括躯干框架，所述并联轮足式机器人腿结构均布在所述躯干框架的四个角部。The present invention also provides a mobile robot, the mobile robot includes the above-mentioned parallel wheel-footed robot leg structure, the mobile robot includes a torso frame, and the parallel wheel-footed robot leg structure is evenly distributed on the torso frame Four corners.

本发明具有以下有益效果：移动机器人可实现腿足式和轮足式两种移动方式，具有结构简单、转动角度大、刚度好、能耗低、维护简单等特点，这一特点可使本发明用于四足或六足机器人。本发明中的腿结构属于并联机构，3个驱动电机均固连于机架，既增大了机构的刚度，又减小了负载和运动部件的转动惯量，可降低能耗。本发明采用3个正交斜齿轮作为相交轴的扭矩传递单元，实现了驱动模块输出轴与髋关节和膝关节两个前摆转轴之间的扭矩传递，侧摆和前摆实现并联。又因为被动正交斜齿轮在前摆过程中可绕过渡正交斜齿轮的轴线旋转，故正交斜齿轮可时刻保持啮合，进而实现前摆的连续摆动。本发明的滚轮固连在小腿前摆轴上，无需额外的驱动器。进一步地，本发明利用非完整齿轮和扇形齿轮实现在轮式移动时小腿的停转和精确定位。The invention has the following beneficial effects: the mobile robot can realize two movement modes of leg-foot type and wheel-foot type, and has the characteristics of simple structure, large rotation angle, good rigidity, low energy consumption and simple maintenance. This feature enables the invention For four-legged or six-legged robots. The leg structure in the present invention belongs to a parallel mechanism, and the three driving motors are all fixedly connected to the frame, which not only increases the rigidity of the mechanism, but also reduces the load and the moment of inertia of the moving parts, thereby reducing energy consumption. The invention adopts three orthogonal helical gears as the torque transmission unit of the intersecting shafts, and realizes the torque transmission between the output shaft of the drive module and the two front swing shafts of the hip joint and the knee joint, and the side swing and the front swing are connected in parallel. In addition, because the passive orthogonal helical gear can rotate around the axis of the transition orthogonal helical gear during the forward swing, the orthogonal helical gear can keep meshing at all times, thereby realizing the continuous swing of the forward swing. The roller of the present invention is fixedly connected to the front swing shaft of the calf, and no additional driver is required. Further, the present invention utilizes non-integral gears and sector gears to realize the stopping and precise positioning of the calf during wheel-type movement.

附图说明Description of the drawings

图1是现有技术的轮足式机器人腿结构示意图一；Fig. 1 is a schematic diagram 1 of the leg structure of a wheel-footed robot in the prior art;

图2是现有技术的轮足式机器人腿结构示意图二；Figure 2 is a second schematic diagram of the leg structure of a wheel-footed robot in the prior art;

图3是现有技术的轮足式机器人腿结构示意图三；Fig. 3 is a third schematic diagram of the leg structure of a wheel-footed robot in the prior art;

图4是现有技术的轮足式机器人腿结构示意图四；Figure 4 is a fourth schematic diagram of the leg structure of a wheel-footed robot in the prior art;

图5是现有技术的腿足式机器人腿结构示意图一；Fig. 5 is a schematic diagram of a leg structure of a leg-footed robot in the prior art;

图6是现有技术的腿足式机器人腿结构示意图二；Fig. 6 is a second schematic diagram of the leg structure of a leg-footed robot in the prior art;

图7是现有技术的腿足式机器人腿结构示意图三；Fig. 7 is a third schematic diagram of the leg structure of a leg-footed robot in the prior art;

图8是现有技术的腿足式机器人腿结构示意图四；Fig. 8 is a fourth schematic diagram of the leg structure of a leg-footed robot in the prior art;

图9a,9b是本发明实施例1的并联轮足式腿结构示意图；Figures 9a and 9b are schematic diagrams of the parallel wheel-footed leg structure of Embodiment 1 of the present invention;

图10是本发明实施例1的驱动模块结构示意图；10 is a schematic diagram of the structure of the driving module of the first embodiment of the present invention;

图11是本发明实施例1的侧摆轴模块结构示意图；11 is a schematic diagram of the structure of the side swing shaft module of the first embodiment of the present invention;

图12是本发明实施例1的腿结构传动******示意图；Figure 12 is an exploded schematic view of the leg structure transmission system of the first embodiment of the present invention;

图13是本发明实施例1的连接块另一侧结构示意图；13 is a schematic diagram of the other side of the connecting block of the embodiment 1 of the present invention;

图14是本发明实施例1的足式移动方式示意图；14 is a schematic diagram of the foot-type movement mode of Embodiment 1 of the present invention;

图15是本发明实施例1的轮式移动方式示意图；15 is a schematic diagram of a wheeled movement mode of Embodiment 1 of the present invention;

图16是将本发明实施例1中的腿结构应用于六足机器人的结构示意图；16 is a schematic structural diagram of applying the leg structure in Embodiment 1 of the present invention to a hexapod robot;

图17是本发明实施例2的并联轮足式腿结构示意图；17 is a schematic diagram of the parallel wheel-footed leg structure of Embodiment 2 of the present invention;

图18是本发明实施例2的腿结构传动******示意图；18 is an exploded schematic diagram of the leg structure transmission system of the second embodiment of the present invention;

图19是本发明实施例2的轮式移动时一条腿的姿态示意图；19 is a schematic diagram of the posture of one leg during wheeled movement according to Embodiment 2 of the present invention;

图20是本发明实施例2的足式移动方式示意图；FIG. 20 is a schematic diagram of a foot movement mode of Embodiment 2 of the present invention;

图21是本发明实施例2的轮式移动方式示意图；FIG. 21 is a schematic diagram of a wheeled movement mode of Embodiment 2 of the present invention;

其中，1-驱动模块，2-侧摆轴模块，3-小腿模块，4-大腿模块，5-前摆轴模块，101-侧摆电机，102-小腿前摆电机，103-大腿前摆电机，104-机架，105-大腿前摆减速器法兰，106-小腿前摆减速器法兰，107-侧摆减速器法兰，201-侧摆主动齿轮，202-小腿前摆主动齿轮， 203-大腿前摆主动齿轮，204-大腿前摆被动齿轮，205-大腿前摆轴，206-大腿前摆过渡齿轮，207-小腿前摆被动齿轮，208-小腿前摆轴，209-小腿前摆过渡齿轮，210-侧摆被动齿轮，211-侧摆轴，301-主动平行轴齿轮301，302-被动平行轴齿轮302，303-主动带轮，304-被动带轮，305-传动带，306-膝关节转轴，307-小腿板，401-大腿外侧夹板，402-大腿内侧夹板，501-连接块，502-圆筒形套管结构，503-延长孔形板状结构，504-前摆轴孔，6-滚轮，308-扇形齿轮。Among them, 1-drive module, 2-side swing axis module, 3-calf module, 4 thigh module, 5-front swing axis module, 101-side swing motor, 102-calf forward swing motor, 103-thigh forward swing motor , 104-frame, 105-thigh front swing reducer flange, 106-calf front swing reducer flange, 107-side swing reducer flange, 201-side swing driving gear, 202-shank front swing driving gear, 203-Thigh front swing driving gear, 204-Thigh front swing passive gear, 205-Thigh front swing shaft, 206-Thigh front swing transition gear, 207-Calf front swing passive gear, 208-Calf front swing shaft, 209-Calf front Pendulum transition gear, 210-side swing driven gear, 211-side swing shaft, 301-active parallel shaft gear 301, 302-passive parallel shaft gear 302, 303-active pulley, 304-passive pulley, 305-transmission belt, 306 -Knee joint shaft, 307-calf plate, 401-outer thigh splint, 402-inner thigh splint, 501-connecting block, 502-cylindrical sleeve structure, 503-extended hole plate structure, 504-front swing shaft Hole, 6-roller, 308-sector gear.

具体实施方式Detailed ways

下面将结合附图对本发明的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

在本发明的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the pointed device or element must have a specific orientation or a specific orientation. The structure and operation cannot therefore be understood as a limitation of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance.

在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。In the description of the present invention, it should be noted that the terms "installed", "connected", and "connected" should be understood in a broad sense unless otherwise clearly specified and limited. For example, they can be fixed or detachable. Connected or integrally connected; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in the present invention can be understood in specific situations.

实施例1：参见附图9-15所示，本发明的并联轮足式机器人腿结构，包括机架、侧摆轴模块、前摆轴模块、大腿模块、小腿模块和滚轮。腿结构为并联机构，其中机架为静平台，小腿为末端的动平台。侧摆可为翻滚运动(Roll)，前摆可为俯仰运动(Pitch)。Embodiment 1: Referring to Figures 9-15, the parallel wheel-footed robot leg structure of the present invention includes a frame, a side swing axis module, a front swing axis module, a thigh module, a lower leg module, and a roller. The leg structure is a parallel mechanism, in which the frame is a static platform and the lower leg is a movable platform at the end. The side swing can be a roll motion (Roll), and the front swing can be a pitch motion (Pitch).

更具体地，驱动模块1包括机架104以及固连在机架104上的3个驱动电机101、102、103，3个驱动电机101、102、103的输出轴线平行；侧摆轴模块2包括沿垂直于驱动电机输出轴的轴线方向设置于机架104上的侧摆轴211；连接块501固定于侧摆轴211上，其可通过连接块501带动小腿模块3、大腿模块4、前摆轴模块5和滚轮6侧摆；侧摆轴211、小腿模块3和大腿模块4分别与3个驱动电机101、102、103传动连接；滚轮6与前摆轴模块5固连，小腿模块3和大腿模块4转动连接，当小腿模块3触地而滚轮6悬空时，实现足式移动；当大腿模块4和小腿模块3不与地面接触时，滚轮6触地，实现轮式行走。More specifically, the drive module 1 includes a frame 104 and three drive

motors

101, 102, 103 fixedly connected to the frame 104, the output axes of the three

drive motors

101, 102, 103 are parallel; the side swing axis module 2 includes The side swing shaft 211 arranged on the frame 104 along the axis direction perpendicular to the output shaft of the drive motor; the connecting block 501 is fixed on the side swing shaft 211, which can drive the calf module 3, the thigh module 4, and the front swing through the connecting block 501 The shaft module 5 and the roller 6 swing sideways; the side swing shaft 211, the calf module 3, and the thigh module 4 are respectively connected to three driving

motors

101, 102, 103; the roller 6 is fixedly connected to the front swing axis module 5, and the calf module 3 and The thigh module 4 is rotatably connected. When the lower leg module 3 touches the ground and the roller 6 is suspended, foot movement is realized; when the upper leg module 4 and the lower leg module 3 are not in contact with the ground, the roller 6 touches the ground to realize wheeled walking.

机架104包括一个立板和3个位于立板同一侧且垂直于立板设置的耳座，3个驱动电机分别为侧摆电机101、小腿前摆电机102和大腿前摆电机103，其固定安装在立板的另一侧，侧摆减速器法兰107、小腿前摆减速器法兰106和大腿前摆减速器法兰105穿过立板上的3个电机输出轴孔，位于立板上耳座的一侧，3个耳座上分别设有同轴线的、供侧摆轴211穿过的侧摆轴孔，侧摆轴211通过轴承支撑，安装在耳座内。该立板优选为矩形板。The frame 104 includes a vertical plate and three ear seats on the same side of the vertical plate and arranged perpendicular to the vertical plate. The three driving motors are the side swing motor 101, the calf forward swing motor 102 and the thigh forward swing motor 103, which are fixed Installed on the other side of the vertical plate, the side swing reducer flange 107, the lower leg front swing reducer flange 106 and the thigh front swing reducer flange 105 pass through the three motor output shaft holes on the vertical plate and are located on the vertical plate On one side of the upper ear seat, each of the three ear seats is provided with a coaxial side swing shaft hole through which the side swing shaft 211 passes. The side swing shaft 211 is supported by a bearing and installed in the ear seat. The vertical plate is preferably a rectangular plate.

侧摆减速器法兰107、小腿前摆减速器法兰106和大腿前摆减速器法兰105上并排固定连接有侧摆主动齿轮201、小腿前摆主动齿轮202和大腿前摆主动齿轮203，侧摆轴211位于3个驱动电机的输出轴下方，侧摆轴211上沿轴线方向依次设有与侧摆主动齿轮201啮合的侧摆被动齿轮210、与小腿前摆主动齿轮202啮合的小腿前摆过渡齿轮209，以及与大腿前摆主动齿轮203啮合的大腿前摆过渡齿轮206，其中侧摆被动齿轮210与侧摆轴211固连，同时小腿前摆过渡齿轮209和大腿前摆过渡齿轮206可相对侧摆轴211自由转动，优选通过轴承相对转动。Side swing reducer flange 107, calf front swing reducer flange 106 and thigh front swing reducer flange 105 are fixedly connected side by side with side swing driving gear 201, calf front swing driving gear 202 and thigh front swing driving gear 203, The side swing shaft 211 is located below the output shafts of the three drive motors. The side swing shaft 211 is provided with a side swing driven gear 210 meshing with the side swing driving gear 201 and a front lower leg meshing with the front swing driving gear 202 along the axial direction. Pendulum transition gear 209, and thigh forward swing transition gear 206 meshed with thigh forward swing drive gear 203, in which the side swing driven gear 210 is fixedly connected to the side swing shaft 211, while the calf forward swing transition gear 209 and the thigh forward swing transition gear 206 It can freely rotate relative to the side swing shaft 211, preferably relative rotation via a bearing.

电机减速器为谐波减速器，当然也可以用普通的减速器，如果用普通减速器，减速器输出部分可为输出轴，各输出轴连接主动齿轮。The motor reducer is a harmonic reducer. Of course, an ordinary reducer can also be used. If an ordinary reducer is used, the output part of the reducer can be an output shaft, and each output shaft is connected to a driving gear.

连接块501的上部为圆筒形套管结构502，连接块501通过该圆筒形套管结构502固定套设于侧摆轴211上位于小腿前摆过渡齿轮209和大腿前摆过渡齿轮206之间的部分；连接块501的下部为两块并排设置的延长孔形板状结构503，该两块并排设置的延长孔形板状结构503与侧摆轴211平行。The upper part of the connecting block 501 is a cylindrical sleeve structure 502, and the connecting block 501 is fixedly sleeved on the side swing shaft 211 through the cylindrical sleeve structure 502 and is located between the calf forward swing transition gear 209 and the thigh forward swing transition gear 206 The lower part of the connecting block 501 is two elongated hole-shaped plate-like structures 503 arranged side by side, and the two elongated hole-shaped plate-like structures 503 arranged side by side are parallel to the side swing shaft 211.

优选地，连接块501为一体化结构，也可以是组装结构。Preferably, the connecting block 501 is an integrated structure, or may be an assembled structure.

延长孔形板状结构503的左右两端分别设有前摆轴孔504，内有轴承，供小腿前摆轴208和大腿前摆轴205穿过，并支撑小腿前摆轴208和大腿前摆轴205，小腿前摆轴208固连有小腿前摆被动齿轮207，大腿前摆轴205固连有大腿前摆被动齿轮204，两块延长孔形板状结构503之间设有用于容纳小腿前摆被动齿轮207和大腿前摆被动齿轮204的间隙，小腿前摆轴208外侧端固连有滚轮6，大腿前摆轴205外侧端与大腿模块4固连。The left and right ends of the elongated hole-shaped plate-like structure 503 are respectively provided with front swing shaft holes 504, which have bearings for passing through the lower leg front swing shaft 208 and the thigh front swing shaft 205, and support the lower leg front swing shaft 208 and the thigh front swing Shaft 205, calf front swing shaft 208 is fixedly connected with calf front swing passive gear 207, thigh front swing shaft 205 is fixedly connected with thigh front swing passive gear 204, and two elongated hole-shaped plate-shaped structures 503 are provided for accommodating the calf front There is a gap between the pendulum driven gear 207 and the thigh front swing driven gear 204, the outer end of the lower leg front swing shaft 208 is fixedly connected with a roller 6, and the outer end of the front thigh pendulum shaft 205 is fixedly connected with the thigh module 4.

优选前摆轴孔504与侧摆轴211正交。Preferably, the front swing shaft hole 504 is orthogonal to the side swing shaft 211.

优选小腿前摆轴208的轴线和大腿前摆轴205的轴线平行，且处于同一高度位置。Preferably, the axis of the calf front swing shaft 208 and the axis of the thigh front swing shaft 205 are parallel and are at the same height position.

侧摆电机101通过侧摆减速器法兰107带动侧摆主动齿轮201转动，与之啮合的侧摆被动齿轮210带动侧摆轴211和连接块501转动，进而带动被连接块501支撑的大腿前摆轴205、小腿前摆轴208进行侧摆；由于小腿前摆过渡齿轮209和大腿前摆过渡齿轮206可绕侧摆轴211转动，所以可保证时刻与小腿前摆被动齿轮207和大腿前摆被动齿轮204啮合，所以可实现小腿前摆减速器法兰106和大腿前摆减速器法兰105与摆动的小腿前摆轴208和大腿前摆轴205这两对平行轴之间连续的扭矩传递，驱动大腿和小腿前摆，实现前摆与侧摆的并联驱动。The side swing motor 101 drives the side swing drive gear 201 to rotate through the side swing reducer flange 107, and the side swing driven gear 210 engaged with it drives the side swing shaft 211 and the connecting block 501 to rotate, thereby driving the front thigh supported by the connecting block 501 The swing shaft 205 and the calf front swing shaft 208 perform side swing; since the calf front swing transition gear 209 and the thigh front swing transition gear 206 can rotate around the side swing shaft 211, it can be ensured that they are always in line with the calf front swing passive gear 207 and the thigh front swing. The passive gear 204 meshes, so it can realize the continuous torque transmission between the two parallel shafts of the lower leg front swing reducer flange 106 and the thigh front swing reducer flange 105 and the swinging lower leg front swing shaft 208 and the thigh front swing shaft 205 , To drive the thigh and calf forward swing, realize the parallel drive of the front swing and the side swing.

大腿模块4包括大腿外侧夹板401和大腿内侧夹板402，大腿外侧夹板401和大腿内侧夹板402上端与大腿前摆轴205固连；大腿外侧夹板401和大腿内侧夹板402下端与小腿模块3转动连接。The thigh module 4 includes an outer thigh splint 401 and an inner thigh splint 402. The upper ends of the outer thigh splint 401 and the inner thigh splint 402 are fixedly connected to the front thigh swing shaft 205; the lower ends of the outer thigh splint 401 and the inner thigh splint 402 are rotatably connected with the calf module 3.

前摆轴模块5包括大腿前摆轴205、小腿前摆轴208、主动平行轴齿轮301、被动平行轴齿轮302、主动带轮303、被动带轮304、传动带305和膝关节转轴306；滚轮6外侧与主动平行轴齿轮301固连；被动平行轴齿轮302套设于大腿前摆轴205上，且位于大腿外侧夹板 401和大腿内侧夹板402之间；被动平行轴齿轮302与主动平行轴齿轮301啮合，被动平行轴齿轮302内侧与主动带轮303固连，主动带轮303通过传动带305与被动带轮304连接，被动带轮304带动膝关节转轴306转动，小腿模块3包括小腿板307，小腿板307固连在膝关节转轴306上。。The front swing axis module 5 includes the thigh front swing axis 205, the calf front swing axis 208, the active parallel axis gear 301, the passive parallel axis gear 302, the active pulley 303, the passive pulley 304, the transmission belt 305 and the knee joint shaft 306; roller 6 The outer side is fixedly connected with the driving parallel shaft gear 301; the passive parallel shaft gear 302 is sleeved on the thigh front swing shaft 205 and is located between the outer thigh splint 401 and the inner thigh splint 402; the passive parallel shaft gear 302 and the active parallel shaft gear 301 The inner side of the passive parallel shaft gear 302 is fixedly connected to the driving pulley 303. The driving pulley 303 is connected to the passive pulley 304 through the transmission belt 305. The passive pulley 304 drives the knee joint shaft 306 to rotate. The calf module 3 includes a calf plate 307 and a calf. The plate 307 is fixedly connected to the knee joint shaft 306. .

滚轮6为圆盘构型，滚轮6的外径大于与之同轴线固连的主动平行轴齿轮301的外径，也大于被动平行轴齿轮302的外径，使得在滚轮6触地的轮式移动时，主动平行轴齿轮301和被动平行轴齿轮302不接触地面，避免摩擦。The roller 6 has a disc configuration. The outer diameter of the roller 6 is larger than the outer diameter of the active parallel shaft gear 301 fixed coaxially with it, and also larger than the outer diameter of the passive parallel shaft gear 302, so that the roller 6 touches the ground. When moving in a forward manner, the active parallel shaft gear 301 and the passive parallel shaft gear 302 do not touch the ground to avoid friction.

侧摆主动齿轮201、小腿前摆主动齿轮202、大腿前摆主动齿轮203、大腿前摆被动齿204、小腿前摆被动齿轮207、大腿前摆过渡齿轮206、小腿前摆过渡齿轮209和侧摆被动齿轮210均为正交斜齿轮。Side swing driving gear 201, calf front swing driving gear 202, thigh front swing driving gear 203, thigh front swing passive gear 204, calf front swing passive gear 207, thigh front swing transition gear 206, calf front swing transition gear 209, and side swing The driven gears 210 are all orthogonal helical gears.

当小腿模块3触地而滚轮6悬空时，机器人可实现腿足式移动方式；当大腿模块4、小腿模块3不与地面接触时，滚轮6触地时，其旋转可实现轮式移动。When the calf module 3 touches the ground and the roller 6 is suspended, the robot can realize a leg-foot movement; when the thigh module 4 and the calf module 3 are not in contact with the ground and the roller 6 touches the ground, its rotation can realize wheel-like movement.

本发明所称套设，除写明是固定连接的外，均为可相对转动的连接，转动方式可以是设置轴承等。The sleeves mentioned in the present invention are all relatively rotatable connections except for fixed connections, and the rotation mode can be to provide bearings or the like.

如图14，一种移动机器人，包括4个并联轮足式机器人腿结构，且对称、均匀分布，腿结构中的机架均固连在躯干上面，移动机器人包括躯干框架，4个并联轮足式机器人腿结构均布在躯干框架的四个角部。，As shown in Figure 14, a mobile robot includes 4 parallel wheel-footed robot leg structures, which are symmetrical and evenly distributed. The frames in the leg structure are all fixedly connected to the torso. The mobile robot includes a torso frame and 4 parallel wheel-footed robots. The leg structure of the robot is evenly distributed on the four corners of the torso frame. ,

如图16所示，本机构除了可用于四足机器人，还可用于六足机器人。As shown in Figure 16, this mechanism can be used for hexapod robots in addition to quadruped robots.

实施例2：如图17-21，本实施例与实施例1的区别在于：大腿前摆减速器法兰105外侧还固定有扇形齿轮308，被动平行轴齿轮302为非完整被动平行轴齿轮302，该非完整是指部分外圆周面上没有齿形设置。当从足式移动变换为轮式移动时，首先使侧摆角度为零，大、小腿由直立姿态开始向上翻转，大腿前摆转速与小腿前摆转速相等，扇形齿轮308与被动平行轴齿轮302逐渐啮合，由于被动平行轴齿轮302为非完整齿轮，同时主动平行轴齿轮301与被动平行轴齿轮302逐渐脱离，此时小腿逐渐离地，大腿停止前摆，小腿也不再转动，滚轮6触地继续随主动平行轴齿轮301转动，机器人进入轮式移动方式，由轮式移动方式再次转换为足式移动方式时，前述过程相反。设置扇形齿轮308和非完整被动平行轴齿轮302，可使得轮式移动时，被动平行轴齿轮302因不再与主动平行轴齿轮301啮合，所以小腿模块3停止转动。Embodiment 2: As shown in Figures 17-21, the difference between this embodiment and Embodiment 1 is: a sector gear 308 is also fixed outside the flange 105 of the thigh forward swing reducer, and the passive parallel shaft gear 302 is an incomplete passive parallel shaft gear 302 , The incomplete means that there is no tooth-shaped arrangement on part of the outer circumferential surface. When changing from foot-type movement to wheel-type movement, first make the side swing angle zero, and the upper and lower legs start to turn upwards from the upright posture. The rotation speed of the front swing of the thigh is equal to the rotation speed of the front swing of the lower leg. Gradually meshing, because the passive parallel shaft gear 302 is an incomplete gear, and the active parallel shaft gear 301 is gradually separated from the passive parallel shaft gear 302. At this time, the lower leg gradually lifts off the ground, the thigh stops swinging forward, and the lower leg no longer rotates. The ground continues to rotate with the active parallel axis gear 301, and the robot enters the wheeled movement mode, and when the wheeled movement mode is converted to the footed movement mode again, the foregoing process is reversed. The sector gear 308 and the incomplete passive parallel shaft gear 302 are provided so that when the wheel moves, the passive parallel shaft gear 302 no longer meshes with the active parallel shaft gear 301, so the calf module 3 stops rotating.

实施例3：本实施例与实施例1的区别在于：侧摆主动齿轮201、小腿前摆主动齿轮202、大腿前摆主动齿轮203、大腿前摆被动齿204、小腿前摆被动齿轮207、大腿前摆过渡齿轮206、小腿前摆过渡齿轮209和侧摆被动齿轮210均为锥齿轮。Embodiment 3: The difference between this embodiment and Embodiment 1 lies in: side swing driving gear 201, calf front swing driving gear 202, thigh front swing driving gear 203, thigh front swing passive gear 204, calf front swing passive gear 207, and thigh The front swing transition gear 206, the lower leg front swing transition gear 209, and the side swing driven gear 210 are all bevel gears.

实施例4：本实施例与前面两个实施例的区别在于：侧摆主动齿轮201、小腿前摆主动齿轮202、大腿前摆主动齿轮203、大腿前摆被动齿轮204、小腿前摆被动齿轮207均为蜗杆结构，大腿前摆过渡齿轮206、小腿前摆过渡齿轮209和侧摆被动齿轮210均为蜗轮结构。Embodiment 4: The difference between this embodiment and the previous two embodiments is: side swing driving gear 201, calf front swing driving gear 202, thigh front swing driving gear 203, thigh front swing driven gear 204, and calf front swing driven gear 207 All are worm structures, and the thigh forward swing transition gear 206, the calf forward swing transition gear 209, and the side swing passive gear 210 are all worm gear structures.

实施例5：本实施例与前面两个实施例的区别在于：将滚轮6替换为麦克纳姆轮或全向轮，此时在轮式移动时可实现全向移动。Embodiment 5: The difference between this embodiment and the previous two embodiments is that the roller 6 is replaced with a mecanum wheel or an omnidirectional wheel, and the omnidirectional movement can be realized when the wheel is moved.

实施例6：本实施例与前面两个实施例的区别在于：用平面四连杆机构或链轮传动机构替换通过带传动的传动方式实现小腿前摆的驱动。Embodiment 6: The difference between this embodiment and the previous two embodiments is that a flat four-bar linkage mechanism or a sprocket transmission mechanism is used instead of a belt drive to drive the front swing of the calf.

上述实施例为本发明较佳的实施方式，但本发明的实施方式并不受上述实施例的限制，其他的任何未背离本发明的精神实质与原理下所作的改变、修饰、替代、组合、简化，均应为等效的置换方式，都包含在本发明的保护范围之内。The above-mentioned embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited by the above-mentioned embodiments, and any other changes, modifications, substitutions, combinations, etc. made without departing from the spirit and principle of the present invention Simplified, all should be equivalent replacement methods, and they are all included in the protection scope of the present invention.

Claims

一种并联轮足式机器人腿结构，包括驱动模块(1)、侧摆轴模块(2)、前摆轴模块(5)、大腿模块(4)、小腿模块(3)和滚轮(6)，其特征在于：驱动模块(1)包括机架(104)以及固连在所述机架(104)上的3个驱动电机(101、102、103)，侧摆轴模块(2)包括设置于所述机架(104)上的侧摆轴(211)；连接块(501)固定于所述侧摆轴(211)上，其可带动所述前摆轴模块(5)、所述小腿模块(3)、所述大腿模块(4)侧摆和所述滚轮侧摆；所述侧摆轴(211)、所述小腿模块(3)和所述大腿模块(4)分别与所述3个驱动电机(101、102、103)传动连接；滚轮(6)与所述前摆轴模块(5)连接；当所述小腿模块(3)触地而所述滚轮(6)悬空时，实现足式移动；当所述大腿模块(4)和所述小腿模块(3)不与地面接触时，所述滚轮(6)触地，实现轮式行走。A parallel wheel-footed robot leg structure includes a drive module (1), a side swing axis module (2), a front swing axis module (5), a thigh module (4), a calf module (3) and a roller (6), It is characterized in that: the drive module (1) includes a frame (104) and three drive motors (101, 102, 103) fixedly connected to the frame (104), and the side swing axis module (2) includes The side swing shaft (211) on the frame (104); the connecting block (501) is fixed on the side swing shaft (211), which can drive the front swing shaft module (5) and the calf module (3) The side swing of the thigh module (4) and the side swing of the roller; the side swing shaft (211), the calf module (3) and the thigh module (4) are connected to the three The drive motor (101, 102, 103) is connected in transmission; the roller (6) is connected with the front swing shaft module (5); when the calf module (3) touches the ground and the roller (6) is suspended, the full When the thigh module (4) and the calf module (3) are not in contact with the ground, the roller (6) touches the ground to realize wheeled walking.
根据权利要求1所述的一种并联轮足式机器人腿结构，其特征在于：所述机架(104)包括一个立板和至少2个位于立板同一侧且垂直于立板设置的耳座，所述3个驱动电机分别为侧摆电机(101)、小腿前摆电机(102)和大腿前摆电机(103)，设置于所述立板另一侧，侧摆减速器法兰(107)、小腿前摆减速器法兰(106)和大腿前摆减速器法兰(105)分别穿过所述立板上的3个电机输出轴孔，位于立板上耳座的一侧，所述至少2个耳座上分别设有同轴线的侧摆轴孔，供所述侧摆轴(211)穿过。The parallel wheel-footed robot leg structure according to claim 1, characterized in that: the frame (104) comprises a vertical plate and at least two ear seats located on the same side of the vertical plate and arranged perpendicular to the vertical plate , The three drive motors are respectively a side swing motor (101), a calf forward swing motor (102) and a thigh forward swing motor (103), which are arranged on the other side of the vertical plate, and the side swing reducer flange (107) ), the lower leg front swing reducer flange (106) and the thigh front swing reducer flange (105) respectively pass through the three motor output shaft holes on the vertical plate, and are located on the side of the ear seat on the vertical plate. The at least two ear seats are respectively provided with coaxial side swing shaft holes for the side swing shafts (211) to pass through.
根据权利要求2所述的一种并联轮足式机器人腿结构，其特征在于：所述侧摆减速器法兰(107)、小腿前摆减速器法兰(106)和大腿前摆减速器法兰(105)上并排固定连接有侧摆主动齿轮(201)、小腿前摆主动齿轮(202)和大腿前摆主动齿轮(203)，所述侧摆轴(211)位于所述3个驱动电机的输出轴下方，所述侧摆轴(211)上沿轴线方向依次套设有与所述侧摆主动齿轮(201)啮合的侧摆被动齿轮(210)、与所述小腿前摆主动齿轮(202)啮合的小腿前摆过渡齿轮(209)，以及与所述大腿前摆主动齿轮(203)啮合的大腿前摆过渡齿轮(206)，其中所述侧摆被动齿轮(210)与所述侧摆轴(211)固连。A parallel wheel-footed robot leg structure according to claim 2, characterized in that: the side swing reducer flange (107), the lower leg front swing reducer flange (106) and the thigh front swing reducer method The side swing drive gear (201), the lower leg front swing drive gear (202), and the thigh front swing drive gear (203) are fixed side by side on the flange (105), and the side swing shaft (211) is located in the three drive motors. Below the output shaft of the lower leg, the side swing shaft (211) is sequentially sleeved along the axis direction with a side swing driven gear (210) meshing with the side swing driving gear (201), and a front swing driving gear ( 202) the lower leg front swing transition gear (209) meshed, and the thigh front swing transition gear (206) meshed with the thigh front swing drive gear (203), wherein the side swing driven gear (210) is in contact with the side swing drive gear (203). The pendulum shaft (211) is fixedly connected.
根据权利要求3所述的一种并联轮足式机器人腿结构，其特征在于：所述连接块(501)的上部为圆筒形套管结构(502)，所述连接块(501)通过所述圆筒形套管结构(502)固定于所述侧摆轴(211)上位于所述小腿前摆过渡齿轮(209)和所述大腿前摆过渡齿轮(206)之间的部分；所述连接块(501)的下部为两块并排设置的延长孔形板状结构(503)，所述两块并排设置的延长孔形板状结构(503)与侧摆轴(211)平行。A parallel wheel-footed robot leg structure according to claim 3, wherein the upper part of the connecting block (501) is a cylindrical sleeve structure (502), and the connecting block (501) passes through the The cylindrical sleeve structure (502) is fixed on the side swing shaft (211) between the lower leg front swing transition gear (209) and the thigh front swing transition gear (206); The lower part of the connecting block (501) is two elongated hole-shaped plate-like structures (503) arranged side by side, and the two elongated hole-shaped plate-like structures (503) arranged side by side are parallel to the side swing shaft (211).
根据权利要求4所述的一种并联轮足式机器人腿结构，其特征在于：所述延长孔形板状结构(503)的两端分别设有供小腿前摆轴(208)和大腿前摆轴(205)穿过的前摆轴孔(504)，所述小腿前摆轴(208)与小腿前摆被动齿轮(207)固连，所述大腿前摆轴(205)与大腿前摆被动齿轮(204)固连，所述两块延长孔形板状结构之间设有用于容纳所述小腿前摆被动齿轮(207)和所述大腿前摆被动齿轮(204)的间隙，所述小腿前摆轴(208)外侧端与所述滚轮(6)固连，所述大腿前摆轴(205)外侧端与所述大腿模块(4)固连。A parallel wheel-footed robot leg structure according to claim 4, characterized in that: both ends of the elongated hole-shaped plate structure (503) are respectively provided with a front swing axis (208) for the lower leg and the front swing of the thigh. The front swing shaft hole (504) through which the shaft (205) passes, the lower leg front swing shaft (208) is fixedly connected to the lower leg front swing passive gear (207), and the thigh front swing shaft (205) is passively connected to the thigh front swing The gear (204) is fixedly connected, and a gap is provided between the two elongated hole-shaped plate-like structures for accommodating the lower leg forward swing passive gear (207) and the thigh forward swing passive gear (204), and the lower leg The outer end of the front swing shaft (208) is fixedly connected with the roller (6), and the outer end of the front thigh swing shaft (205) is fixedly connected with the thigh module (4).
根据权利要求5所述的一种并联轮足式机器人腿结构，其特征在于：所述大腿模块(4)包括大腿外侧夹板(401)和大腿内侧夹板(402)，所述大腿外侧夹板(401)和所述大腿内侧夹板(402)上端与所述大腿前摆轴(205)固连；所述大腿外侧夹板(401)和所述大腿内侧夹板(402)下端与所述小腿模块(3)转动连接。The parallel wheel-footed robot leg structure according to claim 5, wherein the thigh module (4) comprises an outer thigh splint (401) and an inner thigh splint (402), and the outer thigh splint (401) ) And the upper end of the inner thigh splint (402) are fixedly connected to the front thigh swing shaft (205); the lower end of the outer thigh splint (401) and the lower end of the inner thigh splint (402) are connected to the lower leg module (3) Rotate the connection.
根据权利要求6所述的一种并联轮足式机器人腿结构，其特征在于：所述前摆轴模块(5)包括大腿前摆轴(205)、小腿前摆轴(208)、主动平行轴齿轮(301)、被动平行轴齿轮(302)、主动带轮(303)、被动带轮(304)、传动带(305)和膝关节转轴(306)；所述滚轮(6)外侧与所述主动平行轴齿轮(301)固连；所述被动平行轴齿轮(302)套设于所述大腿前摆轴(205)上，且位于所述大腿外侧夹板(401)和所述大腿内侧夹板(402)之间；所述被动平行轴齿轮(302)与所述主动平行轴齿轮(301)啮合，所述被动平行轴齿轮(302)内侧与所述主动带轮(303)固连，所述主动带轮(303)通过所述传动带(305)与所述被动带轮(304)连接，所述被动带轮(304)带动所述膝关节转轴(306)转动，所述小腿模块(3)包括小腿板(307)，小腿板(307)固连在所述膝关节转轴(306)上。The parallel wheel-footed robot leg structure according to claim 6, characterized in that: the front swing axis module (5) includes a thigh front swing axis (205), a calf front swing axis (208), and an active parallel axis Gear (301), passive parallel shaft gear (302), driving pulley (303), passive pulley (304), transmission belt (305) and knee joint shaft (306); the outer side of the roller (6) and the driving The parallel shaft gear (301) is fixedly connected; the passive parallel shaft gear (302) is sleeved on the front thigh swing shaft (205), and is located on the outer thigh splint (401) and the inner thigh splint (402) ) Between; the passive parallel shaft gear (302) meshes with the active parallel shaft gear (301), the inner side of the passive parallel shaft gear (302) is fixedly connected with the driving pulley (303), and the driving The pulley (303) is connected to the passive pulley (304) through the transmission belt (305), the passive pulley (304) drives the knee joint shaft (306) to rotate, and the calf module (3) includes The calf board (307) is fixedly connected to the knee joint rotating shaft (306).
根据权利要求3所述的一种并联轮足式机器人腿结构，其特征在于：所述侧摆主动齿轮(201)、所述小腿前摆主动齿轮(202)、所述大腿前摆主动齿轮(203)、所述大腿前摆被动齿(204)、所述小腿前摆被动齿轮(207)、所述大腿前摆过渡齿轮(206)、所述小腿前摆过渡齿轮(209)和所述侧摆被动齿轮(210)均为正交斜齿轮；A parallel wheel-footed robot leg structure according to claim 3, characterized in that: the side swing driving gear (201), the lower leg front swing driving gear (202), the thigh front swing driving gear ( 203), the front thigh swing passive gear (204), the lower leg front swing passive gear (207), the thigh front swing transition gear (206), the lower leg front swing transition gear (209) and the side The pendulum driven gears (210) are all orthogonal helical gears;

和/或采用平面四连杆机构或链轮传动机构替换带传动实现小腿前摆的驱动；And/or adopt flat four-bar linkage or sprocket drive mechanism instead of belt drive to drive the lower leg forward swing;

和/或采用麦克纳姆轮或全向轮替换滚轮(6)进行轮式移动。And/or use mecanum wheels or omnidirectional wheels to replace the rollers (6) for wheeled movement.
根据权利要求1-8之一所述的一种并联轮足式机器人腿结构，其特征在于：大腿前摆减速器法兰(105)外侧还固定有扇形齿轮(308)，小腿前摆被动齿轮(302)为非完整齿轮。The parallel wheel-footed robot leg structure according to any one of claims 1-8, characterized in that: a sector gear (308) is fixed on the outer side of the front swing reducer flange (105) of the thigh, and a passive gear for the front swing of the lower leg is also fixed. (302) is an incomplete gear.
一种移动机器人，其特征在于：所述移动机器人包括如权利要求1-9中任一项所述的一种并联轮足式机器人腿结构，所述移动机器人包括躯干框架，所述并联轮足式机器人腿结构均布在所述框架的四个角部。A mobile robot, characterized in that: the mobile robot comprises a parallel wheel-footed robot leg structure according to any one of claims 1-9, the mobile robot comprises a torso frame, and the parallel wheel-foot The leg structure of the robot is evenly distributed on the four corners of the frame.