CN107554640A - A kind of six sufficient walkers based on four-degree-of-freedom mechanism leg - Google Patents

Abstract

A hexapod walker based on a four-degree-of-freedom mechanism leg, which includes a frame, an electrical unit, and six four-degree-of-freedom mechanical legs connected to both ends of the frame, the electrical unit is arranged on the frame, and the triangular machine The connecting plate is fixedly connected with the frame; the mechanical leg mainly includes a triangular connecting plate, four linear drive branches with the same structure, connecting pieces, V-shaped pieces, first and second cylindrical ear pieces, hemispherical feet and a four-bar mechanism, All axes of rotation in the mechanical legs are parallel to each other. Under the coordination of the first linear drive branch and the second linear drive branch, each leg realizes forward and backward swing and leg extension through the synchronous movement of the third linear drive branch and the fourth linear drive branch. The asynchronous movement of the fourth linear drive branch realizes side swing; the drive of the second linear drive branch realizes the swing of the third connecting rod. The invention has a large working space for the legs, strong obstacle-surmounting ability, large bearing capacity and good assembly process.

Description

A Hexapod Walker Based on Four Degrees of Freedom Mechanism Leg

technical field

The invention belongs to the technical field of robots, in particular to a walker

Background technique

With the continuous development of robot technology, mobile robots have gradually participated in industrial and agricultural production and service industries. As a kind of mobile robot, multi-legged robot has the characteristics of discrete foothold, flexible movement and strong adaptability to the ground compared with wheeled and tracked mobile robots. Ideal mobile delivery platform. According to the number of feet, multi-legged robots are divided into two-legged, four-legged, six-legged and so on. Since the hexapod robot adopts a triangular gait during walking, its stability and carrying capacity are good, so that its execution ability in practical engineering applications is strong. Therefore, the research on the hexapod walking robot has important practical significance.

Mechanical legs, as the key components of the hexapod robot's movement and load bearing, have an important impact on the performance of the hexapod robot. The mechanical legs of the existing hexapod walking robots mainly have two forms: series and parallel. Among them, the main characteristics of the series mechanical legs are large working space, flexible movement, simple control, large swing inertial force of the legs, low stiffness, and low self-weight. /Load ratio is large; the main characteristics of parallel mechanical legs are compact structure, high rigidity, small self-weight/load ratio, small working space, and complicated control. However, in some engineering applications that require both the load-carrying capacity of the mechanical legs and the large working space, it is difficult for the hexapod robot with the above-mentioned leg mechanism to exert its own characteristics. In addition, there are few hexapod robots with good carrying capacity and large working space for legs. Therefore, designing a hexapod robot with larger leg workspace and better carrying capacity is of great value in broadening the application range of mobile robots.

Contents of the invention

The object of the present invention is to provide a hexapod walker based on four-degree-of-freedom mechanism legs with large working space for the legs and strong bearing capacity. Each leg of the hexapod walker of the present invention adopts a four-degree-of-freedom mechanism, which can realize two rotations and two movements, and these two movements can simultaneously move in the same direction to increase the working space of the leg mechanism.

The invention includes a frame, an electrical unit and six four-degree-of-freedom mechanical legs with the same structure respectively connected to two ends of the frame. There are bolt holes, weight-reducing holes and positioning holes on the top, so as to connect with mechanical legs and electrical units and reduce self-weight;

The mechanical leg includes a triangular connecting plate, four linear drive branches with the same structure, a connecting piece, a first cylindrical ear piece, a V-shaped piece, a first connecting rod, a second cylindrical ear piece, a second connecting rod, a hemispherical foot, the third link and the fourth link, wherein one end of the first linear drive branch is connected to a corner of the triangular connecting plate through the first Hooke hinge, and the other end of the first linear drive branch is connected to the middle of the V-shaped piece Fixed connection, the two ends of the V-shaped piece are respectively connected to one end of the third linear drive branch and the fourth linear drive branch through the first ball pair and the second ball pair, and the other ends of the third linear drive branch and the fourth linear drive branch They are respectively connected to the other two corners of the above-mentioned triangular connecting plate through the second Hooke hinge and the third Hooke hinge, wherein the third linear drive branch and the fourth linear drive branch are located on one side of the first linear drive branch, and the second The linear drive branch is located on the other side of the first linear drive branch, and one end of the second linear drive branch is fixedly connected to the first cylindrical ear piece, and the ear of the first cylindrical ear piece is connected to the connecting piece through the first rotating shaft. One end is rotationally connected, the other end of the connector is fixedly connected to one side of the motor end cover in the first linear drive branch, the other end of the second linear drive branch is fixedly connected to the second cylinder with ears, and the second cylinder with ears The ear part of the piece is rotationally connected with one end of the second connecting rod through the second rotating shaft, and the middle part and the other end of the second connecting rod are respectively connected with one end of the first connecting rod and the third connecting rod through the third rotating shaft and the fourth rotating shaft. The middle and upper part of the rod is rotatably connected, one end of the third connecting rod is rotatably connected with one end of the fourth connecting rod through the fifth rotating shaft, and the other end of the fourth connecting rod is rotatably connected with the middle and upper part of the first connecting rod through the sixth rotating shaft , the other end of the first connecting rod is fixedly connected to the bottom of the V-shaped piece, the other end of the third connecting rod is fixedly connected to the hemispherical foot, and the first, second, third, fourth, fifth and sixth rotation axes are arranged parallel to each other ; The first ball pair and the second ball pair can be respectively replaced by three sequentially connected rotating hinges whose centers of rotation intersect at one point;

The linear drive branch includes a motor end cover, a belt transmission assembly, a motor connecting plate, a motor, a guide rod group, a transmission rod, a lower support seat, a sleeve, a slider assembly, a lead screw and an upper bearing seat, wherein the motor end cover It is fixedly connected with the motor connecting plate, the body of the motor is fixedly connected with one end of the motor connecting plate, the motor shaft of the motor is connected with the input shaft of the lead screw through the belt transmission assembly, and the other end of the motor connecting plate is firmly connected with the upper bearing seat, and the upper The bearing seat is rotationally connected with the lead screw through bearings. There are guide rod sets on both sides of the lead screw. The slider assembly is screw connected with the lead screw and connected with the guide rod set through a moving pair. The slider assembly can move along the guide rod set. , one side of the slider assembly is fixedly connected with the transmission part, the transmission part is connected with the lower support base through sliding bearings, the lower support base is fixedly connected with one end of the guide rod set and the sleeve, and the other end of the guide rod set and the sleeve is connected with the The upper bearing seat is fixed. Under the coordination of the first linear drive branch and the second linear drive branch, each mechanical leg realizes forward and backward swing and leg stretching through the synchronous movement of the third linear drive branch and the fourth linear drive branch. and the asynchronous movement of the fourth linear drive branch to realize side swing; the drive of the second linear drive branch realizes the swing of the third link. In addition, through the coordinated movement of six legs, the hexapod walker can move forward and backward, move sideways and squat down.

Compared with the prior art, the present invention has the following advantages: large working space for the legs, strong obstacle-surmounting ability, large bearing capacity and good assembly manufacturability.

Description of drawings

Fig. 1 is a three-dimensional schematic diagram of the present invention;

Fig. 2 is a side view of the present invention;

Fig. 3 is a schematic diagram of the mechanical leg of the present invention;

Fig. 4 is a schematic diagram of the first linear drive branch of the present invention.

In the figure: 1. Rack, 2. Electrical unit, 3, 4, 5, 6, 7, 8. Mechanical legs, 9. Triangular connecting plate, 10. The first Hooke hinge, 11. The first linear drive branch , 12. Connector, 13. The first rotating shaft, 14. The first cylinder with ears, 15. The second linear drive branch, 16. V-shaped piece, 17. The first connecting rod, 18. The second cylinder with ears Parts, 19. second rotating shaft, 20. third rotating shaft, 21. second connecting rod, 22. hemispherical foot, 23. third connecting rod, 24. fourth rotating shaft, 25. fifth rotating shaft, 26. The fourth connecting rod, 27. The sixth rotating shaft, 28. The first ball pair, 29. The second ball pair, 30. The third linear drive branch, 31. The fourth linear drive branch, 32. The second Hooke Hinge, 33. Third Hooke hinge, 34. Motor end cover, 35. Belt transmission assembly, 36. Motor connection plate, 37. Motor, 38, 38'. Guide rod group, 39. Transmission rod, 40. Lower support Seat, 41. sleeve, 42. slider assembly, 43. leading screw, 44. upper bearing block.

detailed description

In the schematic diagram of the hexapod walker based on the four-degree-of-freedom mechanism legs shown in Figure 1 and Figure 2, the electrical unit 2 is arranged on the top of the frame 1, and six four-degree-of-freedom mechanical legs 3, 4, 5, 6 with the same structure , 7, 8 are fixedly connected to the frame through the triangular connecting plate; the frame is provided with bolt holes, weight-reducing holes and positioning holes, so as to connect with the mechanical legs and electrical units and reduce the weight;

As shown in Figure 3, one end of the first linear drive branch 11 in each mechanical leg is connected with a corner of the triangular connecting plate 9 through the first Hooke hinge 10, and the other end of the first linear drive branch is connected with the V-shaped piece The middle part of 16 is fixedly connected, and the two ends of the V-shaped piece are respectively connected to one end of the third linear drive branch 30 and the fourth linear drive branch 31 through the first ball pair 28 and the second ball pair 29, and the third linear drive branch and the first linear drive branch The other ends of the four linear drive branches are respectively connected to the other two corners of the above-mentioned triangular connecting plate through the second Hooke hinge 32 and the third Hooke hinge 33, wherein the third linear drive branch and the fourth linear drive branch are located at the first straight One side of the line drive branch, the second linear drive branch 15 is located on the other side of the first linear drive branch, one end of the second linear drive branch is fixedly connected with the first cylindrical ear piece 14, the first cylindrical ear piece The ear is rotationally connected to one end of the connector 12 through the first rotating shaft 13, the other end of the connector is fixedly connected to one side of the motor end cover 34 in the first linear drive branch, and the other end of the second linear drive branch is connected to The second cylindrical ear piece 18 is fixedly connected, and the ear portion of the second cylindrical ear piece is rotationally connected with one end of the second connecting rod 21 through the second rotating shaft 19, and the middle part and the other end of the second connecting rod are respectively rotated through the third rotation The shaft 20 and the fourth rotating shaft 24 are rotationally connected with one end of the first connecting rod 17 and the middle and upper part of the third connecting rod 23, and one end of the third connecting rod is rotationally connected with one end of the fourth connecting rod 26 through the fifth rotating shaft 25 , the other end of the fourth connecting rod is rotationally connected with the middle and upper part of the first connecting rod through the sixth rotating shaft 27, the other end of the first connecting rod is fixedly connected with the bottom of the V-shaped piece, and the other end of the third connecting rod is connected with the hemisphere The shaped feet 22 are fixedly connected, and the first, second, third, fourth, fifth, and sixth rotation axes are arranged parallel to each other;

As shown in Figure 4, the motor end cover 34 in the linear drive branch is fixedly connected with the motor connecting plate 36, the fuselage of the motor 37 is fixedly connected with one end of the motor connecting plate, and the motor shaft of the motor is connected with the lead screw 43 through the belt transmission assembly 35 The other end of the motor connection plate is firmly connected with the upper bearing seat 44, and the upper bearing seat is connected with the screw through the bearing. The two sides of the screw are provided with guide rod groups 38, 38', and the slider assembly 42 is connected with the screw. The lead screw is screw connected and connected with the guide rod group through a moving pair, the slider assembly can move along the guide rod group, one side of the slider assembly is fixedly connected with the transmission part 39, and the transmission part moves with the lower support seat 40 through the sliding bearing Connect, the lower support seat is fixedly connected with the guide rod group and one end of the sleeve 41, and the other end of the guide rod group and the sleeve is connected with the upper bearing seat. Under the coordination of the first linear drive branch and the second linear drive branch, each mechanical leg realizes forward and backward swing and leg stretching through the synchronous movement of the third linear drive branch and the fourth linear drive branch. and the asynchronous movement of the fourth linear drive branch to realize side swing; the drive of the second linear drive branch realizes the swing of the third link. In addition, through the coordinated movement of six legs, the hexapod walker can move forward and backward, move sideways and squat down.

Claims (3)

1. A hexapod walker based on a four-degree-of-freedom mechanism leg, which comprises a frame, an electrical unit and six structurally identical four-degree-of-freedom mechanical legs that are respectively connected to the two ends of the frame, and the electrical unit is located on the frame, The mechanical leg is fixedly connected to the frame through a triangular connecting plate, and the mechanical leg includes a triangular connecting plate, four linear drive branches with the same structure, a connecting piece, a first cylindrical ear piece, a V-shaped piece, a first connecting rod, a second Cylindrical belt ear piece, second connecting rod, hemispherical foot, third connecting rod and fourth connecting rod, the linear drive branch includes motor end cover, belt transmission assembly, motor connecting plate, motor, guide rod group, transmission rod , the lower support seat, the sleeve, the slider assembly, the lead screw and the upper bearing seat, wherein the motor end cover is fixedly connected with the motor connecting plate, the motor body is fixedly connected with one end of the motor connecting plate, and the motor shaft of the motor passes through the belt The transmission assembly is connected with the input shaft of the lead screw, the other end of the motor connection plate is firmly connected with the upper bearing seat, and the upper bearing seat is connected with the lead screw through bearings in rotation, and guide rod groups are arranged on both sides of the lead screw, and the slider assembly is connected with the lead screw. The lever is screw connected and connected with the guide rod group through a moving pair. The slider assembly can move along the guide rod group. One side of the slider assembly is fixedly connected with the transmission part. The transmission part is connected to the lower support seat through a sliding bearing. The support seat is fixedly connected with one end of the guide rod set and the sleeve, and the other end of the guide rod set and the sleeve is fixedly connected with the upper bearing seat, and the feature is that: one end of the first linear drive branch is connected to the triangle through the first Hooke hinge. One corner of the connection plate is connected, the other end of the first linear drive branch is fixedly connected with the middle part of the V-shaped piece, and the two ends of the V-shaped piece are respectively connected to the third linear drive branch and the fourth linear drive branch through the first ball pair and the second ball pair. One end of the linear drive branch is connected, and the other ends of the third linear drive branch and the fourth linear drive branch are respectively connected to the other two corners of the above-mentioned triangular connecting plate through the second Hooke hinge and the third Hooke hinge, wherein the third straight line The drive branch and the fourth linear drive branch are located on one side of the first linear drive branch, the second linear drive branch is located on the other side of the first linear drive branch, and one end of the second linear drive branch is connected to the first cylindrical ear piece Fixed connection, the ear of the first cylindrical ear piece is rotationally connected to one end of the connecting piece through the first rotating shaft, the other end of the connecting piece is fixedly connected to one side of the motor end cover in the first linear drive branch, and the second The other end of the linear drive branch is fixedly connected with the second cylindrical ear piece, the ear of the second cylindrical ear piece is rotationally connected with one end of the second connecting rod through the second rotating shaft, and the middle part and the other end of the second connecting rod are respectively One end of the first connecting rod and the middle and upper part of the third connecting rod are rotationally connected through the third rotating shaft and the fourth rotating shaft, and one end of the third connecting rod is rotationally connected with one end of the fourth connecting rod through the fifth rotating shaft. The other end of the four connecting rods is rotationally connected with the middle and upper part of the first connecting rod through the sixth rotating shaft, the other end of the first connecting rod is fixedly connected with the bottom of the V-shaped piece, and the other end of the third connecting rod is fixed with the hemispherical foot. even. 2. The hexapod walker based on a four-degree-of-freedom mechanism leg according to claim 1, wherein the first, second, third, fourth, fifth, and sixth rotation axes are arranged parallel to each other. 3. The hexapod walker based on four-degree-of-freedom mechanism legs according to claim 1, characterized in that: the first ball pair and the second ball pair can be replaced by three parallel balls whose centers of rotation intersect at one point. Swivel hinge for secondary connection.