CN104444418B - Eighteen-degree-of-freedom robot with bucket - Google Patents

Abstract

The invention provides a novel 18-degree-of-freedom robot with a bucket. Each mechanical leg is individually controlled through a drive system; each drive system adopts a three-branch parallel mechanism, and the first branch chain structure includes a push rod a and the second rod a, the push rod a is connected to the main body of the body through a nut and a lead screw, the second rod a is connected to the push rod a through a Hooke hinge, and connected to the corresponding mechanical leg through a spherical hinge; the second rod a A triangular platform is fixedly connected to the top; the second branch chain structure and the third branch chain structure both include a push rod b and a second rod b, wherein the push rod b is connected to the main body of the body through a nut and a lead screw; the second rod b b is connected with the push rod b through the Hooke hinge, and connected with the triangular platform through the spherical hinge. The invention is a six-degree-of-freedom redundant drive mobile platform, which has strong bearing capacity, stable walking, low energy consumption, simple control system and easy operation.

Description

Eighteen degrees of freedom robot with bucket

technical field

The invention relates to the technical field of walking robots, in particular to a novel 18-degree-of-freedom robot with a bucket.

Background technique

Legged robots are widely used in complex and rugged terrain environments. For example, rescue work after earthquakes often requires legged robots to complete. Unlike wheeled/tracked robots, legged robots only need several independent footholds during motion. When performing rescue tasks, the robot needs to install perception sensors (such as cameras, lasers, and sonar) to monitor the surrounding environment, and also needs to install operating tools to complete tasks such as clearing obstacles, opening doors, and finding and repairing leaking pipes. In these cases, weight-bearing capacity is an important performance indicator. Different types of legged robots have differences in the number of legs, mechanism design, degrees of freedom, weight, size, load, speed, stability, control algorithm and application. Legged robots often appear in complex rescue environments, and generally use a static gait to obtain greater stability. The more the robot has, the better the stability will be, but the structure and control will be more complicated. Therefore, providing a multi-legged, stable robot with simple control and easy operation has become an urgent problem to be solved in the industry.

Contents of the invention

Aiming at the above-mentioned deficiencies in the prior art, the present invention provides a novel 18-degree-of-freedom robot with a bucket. The robot has a large number of feet, good stability, and has the characteristics of simple control and easy operation.

The present invention is achieved through the following technical solutions.

A new 18-degree-of-freedom robot with a bucket, including a main body and a plurality of mechanical legs installed on both sides of the main body in two groups; wherein, each mechanical leg is independently controlled by a drive system; each drive The system all adopts a three-branch parallel mechanism, which is fixedly connected to the main body of the body and connected to the corresponding mechanical leg through a ball joint; the three-branch parallel mechanism includes the first branch chain structure, the second The branched chain structure and the third branched chain structure, wherein the first branched chain structure is located outside the parallel mechanism of the three branched chains, including a push rod a and a second rod a, and the push rod a is connected to the main body of the body through a nut and a lead screw connected, one end of the second rod a is connected to the push rod a through a Hooke hinge, and the other end of the second rod a is connected to the corresponding mechanical leg through a ball hinge; the second rod a is fixedly connected with A triangular platform; the second branch chain structure and the third branch chain structure both include a push rod b and a second rod b, wherein the push rod b is connected to the main body of the body through a nut and a lead screw; the second rod b One end of b is connected to the push rod b through a Hooke hinge, and the other end of the second rod b is connected to the triangular platform through a spherical hinge.

Preferably, the three lead screws of the first branch structure, the second branch structure and the third branch structure are parallel to each other and placed vertically, and the projections of the center points of the three lead screws on the horizontal plane are connected to form an isosceles triangle; At the same time, the first rotation axes of the three Hooke hinges on the first branch structure, the second branch structure and the third branch structure are all parallel to the base of the isosceles triangle, and the second rotation axes of the three Hooke hinges The axis perpendicularly intersects the first axis of rotation.

Preferably, the lengths of the three push rods and the three second rods are not exactly the same.

Preferably, the main body of the body includes a frame and a bucket, the frame and the bucket are fixed together; the frame is an irregular rectangular structure, the mechanical body is six, and the six mechanical legs are divided into two groups and installed equally On the rack; Among the three mechanical legs on the same side, the installation position of the middle mechanical leg is offset by a certain distance from the installation position of the front and rear two mechanical legs; with the cooperation of the six mechanical legs, The main body has six degrees of freedom in three-dimensional translation and three-dimensional rotation.

Preferably, each mechanical leg comprises: a motor bracket, a sleeve, a motor, a belt, a pulley, a leg connector, a leg lever, a first leg member, a second leg member and a third leg member Rod, wherein the motor is fixed on the motor bracket, the motor drives the pulley through the belt, the pulley drives the screw of the drive system to rotate, and the screw drives the nut of the drive system to perform linear motion; the triangular platform and legs of the drive system The control rod is connected through a ball hinge; the leg connecting piece is connected to the motor bracket through a first rotating pair, and the first leg member and the leg connecting member are connected through a second rotating pair; the first leg connecting member is connected to the The leg control lever is connected through the third rotation pair; the first leg member is connected with the second leg member through the fourth rotation pair; the leg control rod and the third leg member are connected through the fifth rotation pair Connection; the second rod member of the leg is connected with the third rod member of the leg through the sixth rotation pair.

Preferably, the direction of the first rotation pair is perpendicular to the horizontal plane, the axis directions of the second rotation pair to the sixth rotation pair are parallel to each other, and are respectively perpendicular to the direction of the first rotation pair and the sagittal plane of the mechanical leg, and the three branches are connected in parallel The mechanism is a two-degree-of-freedom planar parallel mechanism, wherein the two-degree-of-freedom planar parallel structure provides the sagittal plane plane motion for the mechanical leg; the first rotation pair provides the lateral swing motion for the mechanical leg.

Preferably, the main body further includes a protective cover, and the protective cover is installed on the outside of the drive system and fixedly connected to the main body.

Compared with the prior art, the present invention has the following beneficial effects:

1. The three-dimensional movement of the leg space is driven by a three-branch parallel mechanism. The drive system is fixed in the body, which is not only convenient for protection, but also can minimize the moment of inertia of the legs. The drive system uses a moving pair as the drive input. The advantage of this structure is that the reducer can be replaced by the nut screw, which effectively reduces the driving cost without affecting the driving performance. For the drive system, since the end of the leg is far away from the body, the motion should be transferred to a place close to the body first. In this way, the movement of the lower leg relative to the fuselage is equivalent to the movement of the rod controlled by the drive system relative to the body. The kinematic properties of the legs are not reduced at this time. Just add a spherical joint to a certain point (control point) on the rod and perform precise position control to make the mechanism fully constrained.

2. The legs are transmitted by the parallelogram mechanism, which can meet the requirements of both speed and load.

3. The main body is a bucket, which can load heavy objects. With the cooperation of six legs, the body has six degrees of freedom in three-dimensional translation and three-dimensional rotation, and can complete the action of scooping up objects. It can load, carry and unload heavy objects in an unmanned environment.

4. The main body of the body can also be changed from a bucket to a different component, such as a welding torch and a clamping mechanism. Because the body already has 6 degrees of freedom in space, the welding path planning can be well completed under the coordinated movement of the six legs. And after replacing the bucket, the body of the robot has a large space to assemble a clamping mechanism with one degree of freedom or two degrees of freedom.

5. The six legs of the robot are evenly distributed on both sides of the body. The robot is slender as a whole and can pass through relatively narrow passages. The robot can walk in any direction and adapt to various environments.

6. The present invention is a mobile platform with six-degree-of-freedom redundant drive integrating walking and operation, which has strong bearing capacity, stable walking, low energy consumption, simple control system and easy operation.

Description of drawings

Other characteristics, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

Fig. 1 is the overall structure schematic diagram of the present invention, and wherein, (a) has protective cover structure, (b) does not have protective cover structure;

Fig. 2 is the structural representation of any one group of driving system and leg in the present invention, and wherein, (a) is detail drawing (b) is overall structural representation;

In the figure: 1 is the protective cover, 2 is the frame, 3 is the bucket, 4 is the first leg, 5 is the second leg, 6 is the third leg, 7 is the fourth leg, 8 is the fifth leg, 9 is the sixth leg, 10 is the motor bracket, 11 is the sleeve, 12 is the servo motor, 13 is the nut, 14 is the lead screw, 15 is the pulley, 16 is the push rod, 17 is the second rod of the driving system 18 is the triangular platform, 19 is the leg control rod, 20 is the first leg member, 21 is the second leg member (foot), 22 is the third leg member, 23 is the leg connector , 24 are belts.

detailed description

The following is a detailed description of the embodiments of the present invention: this embodiment is implemented on the premise of the technical solution of the present invention, and provides detailed implementation methods and specific operation processes. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.

This embodiment provides a new type of 18-degree-of-freedom robot with a bucket, which includes a main body and a plurality of mechanical legs that are evenly installed on both sides of the main body in two groups; wherein, each mechanical leg is individually controlled by a drive system Movement; each drive system adopts a three-branch parallel mechanism, which is fixedly connected to the main body of the body and connected to the corresponding mechanical leg through a ball joint; the three-branch parallel mechanism includes the first The chain structure, the second branch chain structure and the third branch chain structure, wherein the first branch chain structure is located outside the three branch chain parallel mechanisms, including a push rod a and a second rod member a, and the push rod a passes through a nut and The screw is connected to the main body of the body, one end of the second rod a is connected to the push rod a through a Hooke hinge, and the other end of the second rod a is connected to the corresponding mechanical leg through a ball hinge; the second rod a A triangular platform is fixedly attached to a; the second branch chain structure and the third branch chain structure both include a push rod b and a second rod member b, wherein the push rod b is connected to the main body of the body through a nut and a lead screw; One end of the second rod b is connected to the push rod b through a Hooke hinge, and the other end of the second rod b is connected to the triangular platform through a spherical hinge.

Further, the three lead screws of the first branch structure, the second branch structure and the third branch structure are parallel to each other and placed vertically, and the projections of the center points of the three lead screws on the horizontal plane are connected to form an isosceles triangle; At the same time, the first rotation axes of the three Hooke hinges on the first branch structure, the second branch structure and the third branch structure are all parallel to the base of the isosceles triangle, and the second rotation axes of the three Hooke hinges The axis perpendicularly intersects the first axis of rotation.

Further, the lengths of the three push rods and the three second rods are not exactly the same.

Further, the main body of the body includes a frame and a bucket, the frame and the bucket are fixed together; the frame is an irregular rectangular structure, the mechanical body is six, and the six mechanical legs are divided into two groups and installed equally On the rack; Among the three mechanical legs on the same side, the installation position of the middle mechanical leg is offset by a certain distance from the installation position of the front and rear two mechanical legs; with the cooperation of the six mechanical legs, The main body has six degrees of freedom in three-dimensional translation and three-dimensional rotation.

Further, each mechanical leg includes: a motor bracket, a sleeve, a motor, a belt, a pulley, a leg connector, a leg control rod, a first leg member, a second leg member and a third leg member. Rod, wherein the motor is fixed on the motor bracket, the motor drives the pulley through the belt, the pulley drives the screw of the drive system to rotate, and the screw drives the nut of the drive system to perform linear motion; the triangular platform and legs of the drive system The control rod is connected through a ball hinge; the leg connecting piece is connected to the motor bracket through a first rotating pair, and the first leg member and the leg connecting member are connected through a second rotating pair; the first leg connecting member is connected to the The leg control lever is connected through the third rotation pair; the first leg member is connected with the second leg member through the fourth rotation pair; the leg control rod and the third leg member are connected through the fifth rotation pair Connection; the second rod member of the leg is connected with the third rod member of the leg through the sixth rotation pair.

Further, the direction of the first rotation pair is perpendicular to the horizontal plane, the axis directions of the second rotation pair to the sixth rotation pair are parallel to each other, and are respectively perpendicular to the direction of the first rotation pair and the sagittal plane of the mechanical leg, and the three branch chains are connected in parallel The mechanism is a two-degree-of-freedom planar parallel mechanism, wherein the two-degree-of-freedom planar parallel structure provides the sagittal plane plane motion for the mechanical leg; the first rotation pair provides the lateral swing motion for the mechanical leg.

Further, a protective cover is also included, and the protective cover is installed on the outside of the drive system and fixedly connected to the main body of the body.

The present embodiment will be further described below in conjunction with the accompanying drawings.

Please refer to Figure 1(a), (b) and Figure 2(a), (b) at the same time.

As shown in Figure 1(a) and (b), this embodiment includes: a protective cover 1, a frame 2, a bucket 3, and the first to sixth legs 4-9. Among them, the two protective covers 1, the frame 2, the bucket 3 and the motor brackets 10 (six in total) in Fig. 2(a) are fixedly connected together, and the protective cover 1 simultaneously protects three sets of drive systems. The first leg 4, the second leg 5, and the third leg 6 are installed on the left side of the body; the fourth leg 7, the fifth leg 8, and the sixth leg 9 are installed on the right side of the body; the first leg 4 and the third leg 6 are installed at the same distance from the center of the body, and the second leg 5 is farther away from the center of the body than the first leg 4 and the third leg 6 are installed at.

The mechanisms of the six legs are the same, and the respective drive systems are also the same.

As shown in Figure 2 (a) and (b), the first leg 4 includes: motor bracket 10, sleeve 11, motor 12, pulley 15, leg control lever 19, leg first bar 20, leg The second rod 21 and the third rod 22 of the legs. Wherein three motors 12 are fixed on the motor support 10, and motor 12 drives pulley 15 through belt 24, and pulley 15 drives lead screw 14 to rotate, and the rotation of lead screw 14 drives nut 13 to do linear motion, and nut 13 drives push rod 16 to do linear motion . The directions of the three leading screws 14 are vertical and parallel to each other, and the projection of the central points of the leading screws 14 on the horizontal plane can be connected into an isosceles triangle. The push rods 16 and the second rods 17 of the drive system are connected by a Hooke hinge. Note that the lengths of the three push rods 16 and the three second rods 17 of the drive system are not exactly the same. The triangular platform 18 is fixedly connected with the second rod member 17 of the drive system installed on the outside push rod, and the other two second rod members 17 of the drive system are connected with the triangular platform 18 by a ball joint. The triangular platform 18 and the leg control rod 19 are also connected by a ball joint. The leg connector 23 is connected to the motor support 10 through a first rotating pair, and the axis direction of the first rotating pair is vertical. The first link 20 of the leg and the connecting member 23 of the leg are passed through the second rotating pair at A; and the leg control lever 19 is connected through the third rotating pair at B; and the second link 21 of the leg is passed through at The fourth rotating pair connection at D. The leg control link 19 and the third leg link 22 are connected by a fifth rotary joint at C. The second leg member 21 and the third leg member 22 are connected by the sixth rotation joint at E. A, B, C, D, and E mentioned above are all parallel to each other and perpendicular to the sagittal plane of the leg.

In this example:

The main body (including the frame, bucket and protective cover), six sets of drive systems and six mechanical legs. Among them, the main part of the body is a large bucket, which can load heavy objects. With the cooperation of six mechanical legs, the body has six degrees of freedom in three-dimensional translation and three-dimensional rotation, and can complete the action of scooping up objects. The six legs are mounted on either side of the body in two groups. Each leg controls movement through a drive system. The drive system includes a three-branch parallel mechanism, which is fixedly connected to the body and connected to the legs through ball joints. Among the three branch chain parallel mechanisms of the drive system, one branch chain structure is different from the other two branch chains. It consists of two parts. The first part is connected to the body through a nut screw, and the second part is connected to the first part through a Hooke hinge. A triangular platform is attached to the second part through ball joints and legs. Two branch chains with the same structure are also composed of two parts, the first part is connected to the body through a nut screw; the second part is connected to the first part through a Hooke hinge, through a spherical hinge and the triangular platform of the branch chain mentioned above connected.

The three lead screws of the three branch chain parallel mechanism of the drive system are parallel and placed vertically, and the projections of the center points of the three tracks on the horizontal plane can be connected to form an isosceles triangle. Moreover, the first rotation axes of the Hooke hinges on the three branch chains are all parallel to the base of the above-mentioned isosceles triangle, and the second rotation axes are perpendicular to the first axis.

Described robot body is made up of two parts of frame and bucket, and these two parts are fixed together. The six legs of the robot are installed on the frame in two groups, and the installation position of the middle leg on the same side is offset by a certain distance from the heel of the front and rear legs. Therefore, the rack is an irregular rectangular structure.

The mechanical legs and the main body are connected by a first rotation pair and a second rotation pair, the direction of the first rotation pair is perpendicular to the horizontal plane, and the axis directions of the second to sixth rotation pairs are parallel to each other and perpendicular to the direction of the first rotation pair , perpendicular to the sagittal plane of the mechanical leg, the three-branched parallel mechanism is a two-degree-of-freedom planar parallel mechanism, wherein the two-degree-of-freedom planar parallel structure provides the mechanical leg with a sagittal plane motion; the first rotation The vice provides the side-to-side motion for the mechanical leg. The rotary joint generates lateral swing motion for the robot leg, which decouples the rotation of the robot hip from the motion of the sagittal plane parallel mechanism of the leg, reducing the difficulty of control.

Said robot adopts the moving pair as the driving input. The advantage of this structure is that the reducer can be replaced by the nut screw, which effectively reduces the driving cost without affecting the driving performance. Therefore, the drive system adopts the structure of the screw nut. In this way, the driving part of the mechanism has transformed the series mechanism of three linkages that is difficult to realize protection into a single-point motion control that is easy to protect.

There are six groups of the drive system, which are also divided into two groups and installed on both sides of the body respectively. A protective cover is installed outside each group of three drive systems. Components have better protection.

The novel integrated robot with 18 degrees of freedom for operation and walking provided in this embodiment includes a body (frame, bucket and protective cover), a drive system and legs. The frame is composed of an irregular rectangular part and a bucket, and these two parts are connected together by bolts as a fixed part, that is, the main body of the robot. The six legs are divided into two groups evenly distributed on both sides of the body. The drive system is a three-branch parallel mechanism, which is fixedly connected to the body and connected to the legs through ball joints. Among the three branch chain parallel mechanisms of the drive system, one branch chain structure is different from the other two branch chains. It consists of two parts. The first part is connected to the body through a nut screw, and the second part is connected to the first part through a Hooke hinge. A triangular platform is attached to the second part through ball joints and legs. Two branch chains with the same structure are also composed of two parts, the first part is connected to the body through a nut screw; the second part is connected to the first part through a Hooke hinge, through a spherical hinge and the triangular platform of the branch chain mentioned above connected. A protective cover is installed outside the driving system to protect it, and it is fixed in the body, which is not only convenient for protection, but also can minimize the moment of inertia of the legs. The mechanism of the robot's six legs is the same, which is a parallelogram four-bar mechanism connected with the body through a rotating joint. The three-dimensional motion of each leg of the robot is achieved by simultaneously controlling the three motors of the drive system. The walking and operation of the whole robot are realized by controlling eighteen motors at the same time. This embodiment has the characteristics of high mechanism performance, strong bearing capacity, low energy consumption, good road adaptability, simple control system and easy operation.

Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention.

Claims (6)

1. a kind of ten eight degrees of freedom band scraper bowl robot, it is characterised in that including body main body and be divided to two groups to be averagely arranged on The a plurality of pedipulator of body main body both sides；Wherein, each pedipulator individually controls motion by a drive system respectively；Often One drive system adopts three side chain parallel institutions, the three side chains parallel institution to be connected in body main body, and passes through ball Hinge and corresponding pedipulator connect；The three side chains parallel institution includes the first branched structure, the second branched structure and the 3rd Chain structure, wherein, the first branched structure is located at the outside of three side chain parallel institutions, including push rod a and the second rod member a, described Push rod a passes through nut and leading screw is connected with body main body, and one end of the second rod member a is connected with push rod a by Hooke's hinge, the The other end of two rod member a passes through ball pivot and corresponding pedipulator connects；The triangle that is connected on the second rod member a is put down Platform；Second branched structure and the 3rd branched structure include push rod b and the second rod member b, wherein, push rod b by nut and Leading screw is connected with body main body；One end of the second rod member b is connected with push rod b by Hooke's hinge, the other end of the second rod member b It is connected with triangle platform by ball pivot；

Each pedipulator includes：Electric machine support, sleeve, motor, belt, belt pulley, leg connector, leg control-rod, The first rod member of leg, the 3rd rod member of the second rod member of leg and leg, wherein, the motor is fixed on electric machine support, and motor leads to Belt drive belt pulley is crossed, belt pulley drives the leading screw of drive system to rotate, and leading screw drives the nut of drive system to do straight line fortune It is dynamic；The triangle platform and leg control-rod of the drive system is connected by ball pivot；The leg connector and electric machine support Secondary connection is rotated by first, the first rod member of the leg rotates pair by second with leg connector and is connected；The first bar of leg Part rotates pair by the 3rd with leg control-rod and is connected；The first rod member of leg rotates secondary connect by the 4th with the second rod member of leg Connect；The leg control rod member rotates pair by the 5th with the 3rd rod member of leg and is connected；The second rod member of the leg and leg the Three rod members rotate secondary connection by the 6th.

2. ten eight degrees of freedom according to claim 1 is with scraper bowl robot, it is characterised in that first branched structure, Three articles of leading screws of the second branched structure and the 3rd branched structure are parallel to each other, and vertically place, and three leading screw central points are in level Projection on face is linked to be isosceles triangle；Meanwhile, three on the first branched structure, the second branched structure and the 3rd branched structure The first rotation axis of Hooke's hinge are parallel to the base of isosceles triangle, the second rotation axis of three Hooke's hinges with first turn Shaft line intersects vertically.

3. ten eight degrees of freedom according to claim 1 is with scraper bowl robot, it is characterised in that three push rods and three second The length of rod member is incomplete same.

4. ten eight degrees of freedom according to claim 1 band scraper bowl robot, it is characterised in that body main body include frame and Scraper bowl, the frame and scraper bowl are fixed together；The frame be irregular rectangular configuration, the pedipulator be six, six Bar pedipulator is divided to two groups to be averagely arranged in frame；Wherein, in three pedipulators of the same side, positioned at the peace of middle pedipulator Holding position outwards offsets a segment distance compared to the installation site of two pedipulators before and after which；Under the cooperation of six pedipulators, Body main body has D translation and Three dimensional rotation six-freedom degree.

5. ten eight degrees of freedom according to claim 1 is with scraper bowl robot, it is characterised in that first rotates auxiliary direction and water Plane is vertical, and second rotates the secondary axis direction secondary to the 6th rotation is parallel to each other, and rotates auxiliary direction and machine with first respectively The sagittal plane of tool lower limb is vertical, and the three side chains parallel institution is a two-freedom plane parallel mechanism, wherein, two-freedom Plane-parallel type structure provides sagittal plane motion for pedipulator；First rotates pair provides side-sway motion for pedipulator.

6. ten eight degrees of freedom according to claim 4 is with scraper bowl robot, it is characterised in that the body main body also includes Protective cover, the protective cover are installed on the outside of drive system, and are connected in frame.