CN110355735A - A kind of two-degree-of-freedorobot robot - Google Patents

Abstract

The invention discloses a two-degree-of-freedom robot, which includes a frame, on which at least three motion units are fixed; The first motor is fixed on the board, the rotor of the first motor is connected to the first reducer through the first connection plate, the output shaft of the first reducer is connected to the rotating disc, and the rotating disc is keyed to the drive shaft. A hollow second motor is fixed, the rotor of the second motor is connected to the second reducer through the second connection plate, the output part of the second reducer is fixedly connected to the hub of the driving wheel, and the driving wheel is connected to the outer frame plate in rotation, The drive shaft passes through the second motor and the hub, and there is a gap between the drive shaft and the second motor, the drive shaft is fixedly connected to the eccentric mechanism, the outer side of the drive wheel is fixed with a protective tube, and the paddle shaft is connected to the eccentric mechanism through the paddle shaft. The paddle shaft passes through the protective tube. The two-degree-of-freedom robot of the present invention can adapt to various terrains and has strong environmental adaptability.

Description

A two-degree-of-freedom robot

technical field

The invention relates to the technical field of robots, in particular to a two-degree-of-freedom robot.

Background technique

At present, engineering research and development, exploration, emergency rescue and disaster relief work in many complex and harsh environments are not suitable for humans to work in person, and robots can replace humans to complete expected tasks safely and efficiently.

Most of the current robots are wheeled, legged, and tracked, but these three types of robots have exposed many problems to varying degrees in complex and harsh amphibious environments: wheeled robots have poor environmental adaptability, very low fault tolerance, and can only Adapt to smooth roads; legged robots have complex structures, slow speeds, high power consumption, and poor stability; crawler robots have poor mobility, heavy weight, and slow speeds.

Contents of the invention

The purpose of the present invention is to provide a two-degree-of-freedom robot to solve the above-mentioned problems in the prior art, improve the environmental adaptability of the robot, and make it adaptable to various terrains.

In order to achieve the above object, the present invention provides the following solution: the present invention provides a two-degree-of-freedom robot, including a frame, and at least three motion units are fixed on the frame; The inner motor board, the outer motor board and the outer frame board fixedly connected with the frame, the outer motor board is located between the inner motor board and the outer frame board, and the inner motor board is fixed with a second A motor, the rotor of the first motor is connected to the first speed reducer through the first connection plate, the output shaft of the first speed reducer is connected to a rotating disk, the rotating disk is keyed to the drive shaft, and the outer electrode A hollow second motor is fixed on the board, the rotor of the second motor is connected to the second speed reducer through the second connection plate, the output part of the second speed reducer is fixedly connected with the hub of the driving wheel, and the drive The wheel is rotatably connected to the outer frame plate, the drive shaft passes through the second motor and the wheel hub, and there is a gap between the drive shaft and the second motor, and the drive shaft is far away from the first One end of a motor is fixedly connected with the eccentric mechanism, the side of the drive wheel away from the first motor is fixed with a protective tube perpendicular to the side of the first motor, and one end of the paddle rod is connected to the eccentric shaft through the paddle shaft. The mechanism is rotationally connected, the other end of the paddle rod passes through the protective tube, and a linear bearing is sleeved on the paddle rod, and the linear bearing is connected with the protective tube through a hinge block.

Preferably, the first motor is provided with a first encoder, and the second motor is provided with a second encoder.

Preferably, the drive shaft is rotatably connected to the hub through two first bearings, and a third connection plate is further arranged on the drive shaft between the two first bearings.

Preferably, the protective cylinder is coaxial with the driving wheel.

Preferably, the eccentric mechanism includes an eccentric turntable base fixedly connected to the drive shaft, an eccentric turntable is fixed on the eccentric turntable base, a turntable is fixed on the eccentric turntable, and a paddle shaft is arranged on the turntable , one end of the paddle shaft is rotationally connected to the paddle shaft through a paddle fixing member; a second bearing is arranged between the two paddle fixing members, and the paddle shaft is rotationally connected to the second bearing; the base of the eccentric turntable A washer is arranged between the hub and the hub.

Preferably, the hinge block is rotatably connected to the protective tube through two third bearings, and the two third bearings are distributed along the axial direction of the protective tube.

Preferably, there are four motion units, and the four motion units are symmetrical in pairs, and every two symmetrical motion units constitute a group of motion parts.

Preferably, one group of the moving parts is located at the front end of the frame, and the other group of the moving parts is located at the rear end of the frame.

Compared with the prior art, the two-degree-of-freedom robot of the present invention has achieved the following technical effects:

The two-degree-of-freedom robot of the invention can adapt to various terrains and has strong environmental adaptability. The motion unit in the two-degree-of-freedom robot of the present invention can realize two-degree-of-freedom movements, and the two-degree-of-freedom movements are powered by two sets of different drive systems, and the two sets of drive mechanisms are coaxially installed and connected to the hub One group drives the rotation of the drive wheel, and the other group connected to the shaft provides power for the eccentric mechanism, which greatly saves the space occupancy rate of the robot, eliminates the need for gear or pulley transmission, and improves the stability and speed of the robot movement. transfer performance.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required in the embodiments. Obviously, the accompanying drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without paying creative labor.

Fig. 1 is the structural representation of robot with two degrees of freedom of the present invention;

Fig. 2 is a structural schematic diagram 1 of a motion unit in a two-degree-of-freedom robot of the present invention;

Fig. 3 is the structural schematic diagram II of the motion unit in the two-degree-of-freedom robot of the present invention;

Fig. 4 is a schematic structural view of an eccentric mechanism in a two-degree-of-freedom robot of the present invention;

5 is a structural schematic diagram of the connection structure between the paddle and the eccentric turntable in the two-degree-of-freedom robot of the present invention;

Fig. 6 is a schematic structural view of the paddle in the two-degree-of-freedom robot of the present invention;

Fig. 7 is a structural schematic diagram of the connection structure between the paddle and the protective plate in the two-degree-of-freedom robot of the present invention;

Among them, 1-frame, 2-motion unit, 3-the first motor, 4-the first connection plate, 5-the first encoder, 6-the first reducer, 7-rotating plate, 8-the second motor, 9-Second connection plate, 10-Second encoder, 11-Second reducer, 12-Wheel hub, 13-Drive wheel, 14-Inner motor plate, 15-Outer motor plate, 16-Drive shaft, 17-The first Three connecting discs, 18-eccentric turntable base, 19-eccentric turntable, 20-connecting rod, 21-paddle shaft, 22-paddle rod, 23-linear bearing, 24-hinge block, 25-paddle fixing piece, 26-protective cylinder , 27-turntable, 28-first bearing, 29-washer, 30-second bearing, 31-ball end, 32-third bearing.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

The purpose of the present invention is to provide a two-degree-of-freedom robot to solve the problems existing in the prior art, improve the environmental adaptability of the robot, and enable it to adapt to various terrains.

In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figure 1, the two-degree-of-freedom robot of this embodiment includes a frame 1, and four motion units 2 are fixed on the frame 1; two pairs of the four motion units 2 are symmetrical, and every two symmetrical motion units 2 A group of moving parts is formed, one group of moving parts is located at the front end of the frame 1, and the other group of moving parts is located at the rear end of the frame 1.

With reference to Fig. 1-7, motion unit 2 comprises all vertical and all is connected with frame 1 inner motor board 14, outer motor board 15 and outer frame board, and outer motor board 15 is positioned at interior motor board 14 and outer frame board Between, in this embodiment, the frame 1 is composed of some vertical pipes and horizontal pipes overlapping, and the vertical pipes and horizontal pipes are connected with the inner motor board 14, the outer motor board 15 and the outer frame board through clampers.

The first motor 3 is fixed on the inner motor plate 14, the rotor of the first motor 3 is connected with the first speed reducer 6 through the first connection plate 4, and the output shaft of the first speed reducer 6 is connected with a rotating disk 7, and the rotating disk 7 Connected with the drive shaft 16 keys, the first motor 3 is also provided with a first encoder 5, the first motor 3, the first connection plate 4, the first reducer 6, the rotating disc 7, etc. constitute the first drive system; the outer electrode A hollow second motor 8 is fixed on the plate, the rotor of the second motor 8 is connected to the second speed reducer 11 through the second connection plate 9, and the output part of the second speed reducer 11 is fixedly connected to the hub 12 of the driving wheel 13, The driving wheel 13 is rotatably connected with the outer frame plate, the second encoder 10 is arranged on the second motor 8, and the second motor 8, the second connection plate 9, the second reducer 11 and the like constitute the second drive system.

It should be noted that the first motor 3 and the second motor 8 in this embodiment are both DC brushless motors, and the second motor 8 is hollow and a through hole is arranged in the middle of the second motor 8, and the drive shaft 16 Through the through hole and the hub 12, and there is a gap between the drive shaft 16 and the second motor 8, the end of the drive shaft 16 away from the first motor 3 is fixedly connected with the eccentric mechanism, and the drive shaft 16 is connected to the eccentric mechanism through two first bearings 28. The hub 12 is rotatably connected, and the drive shaft 16 between the two first bearings 28 is further provided with a third connection disc 17 .

The eccentric mechanism specifically includes an eccentric turntable base 18 that is fixedly connected with the drive shaft 16. The eccentric turntable base 18 is fixedly provided with an eccentric turntable 19. The eccentric turntable base 18 is connected with the eccentric turntable 19 through a connecting rod 20. 27. The turntable 27 is provided with a paddle shaft 21, and one end of the paddle shaft 22 is rotationally connected with the paddle shaft 21 through the paddle fixing part 25; a second bearing 30 is arranged between the two paddle fixing parts 25, and the paddle shaft 21 and the second bearing 30 is rotationally connected; a washer 29 is arranged between the eccentric turntable base 18 and the hub 12 . The outer side of the drive wheel 13 is fixedly provided with a protective tube 26 perpendicular to the side of the first motor 3 and coaxial with the drive wheel 13, one end of the paddle bar 22 is rotationally connected with the eccentric mechanism through the paddle shaft 21, and the other end of the paddle bar 22 is Through the protective tube 26, the paddle rod 22 is covered with a linear bearing 23, the linear bearing 23 is connected with the protective tube 26 through the hinge block 24, the hinge block 24 is connected with the protective tube 26 through two third bearings 32, and the two second The three bearings 32 are distributed along the axial direction of the protective cylinder 26 . As shown in FIG. 6 , the end of the paddle shaft 22 away from the paddle shaft 21 is provided with a ball end 31 .

In this embodiment, the two-degree-of-freedom robot also includes a controller and a driver arranged on the frame, the controller is electrically connected to the driver, the driver is electrically connected to the first motor 3 and the second motor 8, and the model of the controller is STM32F103. The model of the drive is elmoG-WH.

The two-degree-of-freedom robot of this embodiment has the following three working states when working:

(1) Wheeled working form: first adjust the position of the eccentric turntable 19 so that the paddle shaft 21 is located directly above the drive shaft 16, and the paddle shaft 22 is vertically upward at this time, then the second drive system is turned on, and the first drive system is turned off ; The drive wheel 13 is constantly rotating under the drive of the second drive system. Driven by the drive wheel 13, the paddle bar 22 moves in a circle with the paddle shaft 21 as the center of circle. Because it is an eccentric mechanism, the paddle bar 22 is in the drive wheel 13. Continuously stretch out and shrink, and because the paddle shaft 21 is located directly above the drive shaft 16, the position of the paddle shaft 21 is fixed, and the extension and contraction of the paddle shaft 22 will not affect the contact between the drive wheel and the ground, that is, the paddle shaft 22 will not interfere with the ground;

(2) Legged working form: When the ground environment is complex and the driving wheel 13 loses its effect, the two-degree-of-freedom robot in this embodiment can realize a gait leap. First, ensure that the ball end 31 extends out of the driving wheel 13 so that the paddle 22 can act as The legs of the robot, then open the first drive system and the second drive system at the same time, control the eccentric mechanism and the drive wheel 13 to rotate synchronously, so that the rotation of the entire wheel is matched, and the leg movement is completed on the rugged and complex ground; the leg work form The distance between the "paddle leg", that is, the ball end 31 of the paddle rod 22, relative to the protective cylinder can be adjusted according to the position of the eccentric wheel in the wheel train, so as to realize the gait movement under different "leg lengths" of the robot.

(3) Obstacle surmounting working form: When the two-degree-of-freedom robot faces higher obstacles, the legged working form may not be able to complete the obstacle surmounting due to insufficient gait range, and may even cause damage to the robot mechanism. In the obstacle-crossing working mode, firstly, by adjusting the position of the paddle shaft 21 and the hinge block 24, the ball end 31 extends out of the drive wheel 13, even if the paddle bar 22 acts as the obstacle-crossing outrigger of the robot, the first group of drive systems is turned on at this time. And closing the second group of driving systems can drive the robot to complete the obstacle surmounting, because the driving wheel shell is in contact with the ground to ensure a sufficient contact area, and the natural rubber head ball end 31 at the front end of the paddle bar 22 can "clamp" the obstacle surface to Provides additional power to overcome obstacles, thereby improving the robot's movement and adaptability in harsh environments.

In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "vertical", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention. The invention and the simplified description do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and thus should not be construed as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

In the present invention, specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only used to help understand the method and core idea of the present invention; meanwhile, for those of ordinary skill in the art, according to the present invention The idea of the invention will have changes in the specific implementation and scope of application. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims (8)

1. a kind of two-degree-of-freedorobot robot, it is characterised in that: including rack, at least three movement lists are installed in the rack Member；The moving cell includes interior motor plate, outer motor plate and outer frame plate that be vertical and being connected with the rack, described outer Motor plate is installed with first motor between the interior motor plate and the outer frame plate on the interior motor plate, and described first The rotor of motor is connect by the first terminal pad with the first retarder, and the output shaft of first retarder is connected with rotating disc, The rotating disc and drive shaft are keyed, and the second hollow motor is installed on the dispatch from foreign news agency pole plate, and second motor turns Son is connect by the second terminal pad with the second retarder, and the output section of second retarder and the wheel hub of driving wheel are connected, institute It states driving wheel and the outer frame plate is rotatablely connected, the drive shaft passes through second motor and the wheel hub, and the driving There is gap between axis and second motor, the one end of the drive shaft far from the first motor and eccentric stiffener are connected, institute It states driving wheel and is installed with the protection cylinder vertical with the side of the first motor far from the side of the first motor, the one of loom End is rotatablely connected by paddle shaft and the eccentric stiffener, and the other end of the loom passes through the protection cylinder, is covered on the loom Equipped with linear bearing, the linear bearing is connect by articulation block with the protection cylinder.

2. two-degree-of-freedorobot robot according to claim 1, it is characterised in that: be provided with the first volume in the first motor Code device, is provided with second encoder on second motor.

3. two-degree-of-freedorobot robot according to claim 1, it is characterised in that: the drive shaft passes through two first bearings It is connect with the hub rotation, is additionally provided with third terminal pad in the drive shaft between two first bearings.

4. two-degree-of-freedorobot robot according to claim 1, it is characterised in that: the protection cylinder and the driving wheel are same Axis.

5. two-degree-of-freedorobot robot according to claim 1, it is characterised in that: the eccentric stiffener includes and the driving Axis connected eccentric rotary base is installed with eccentric turntable on the bias rotary base, is installed with and turns on the bias turntable Disk, paddle shaft is provided on the turntable, and one end of loom is rotatablely connected by paddle fixing piece and the paddle shaft；Two paddles are solid Determine to be provided with second bearing between part, the paddle shaft and the second bearing are rotatablely connected；It is described bias rotary base with it is described Washer is provided between wheel hub.

6. two-degree-of-freedorobot robot according to claim 5, it is characterised in that: the articulation block by two 3rd bearings with The protection cylinder rotation connection, axial direction distribution of two 3rd bearings along the protection cylinder.

7. two-degree-of-freedorobot robot according to claim 1, it is characterised in that: the moving cell is four, four institutes It is symmetrical two-by-two to state moving cell, symmetrically the moving cell constitutes one group of movement portion to every two.

8. two-degree-of-freedorobot robot according to claim 7, it is characterised in that: motive position described in one group is in the rack Front end, motive position described in another group is in the rear end of the rack.