CN111301548A - A reconfigurable footed robot with biped/quad/quad locomotion modes - Google Patents

Abstract

The invention discloses a reconfigurable foot type robot with biped/four-wheel/four-foot motion modes, which comprises a trunk part, a hip deflection direction component, a hip transverse rolling direction component, a hip leg connecting component, a thigh component, a shank component, a driving wheel connecting component, a driving wheel, a sole component, a sole adjusting component and a driven wheel. The invention gives full play to the advantages of the reconfigurable characteristic of the foot type robot, improves the environmental adaptability of the robot, enriches the motion characteristic of the robot and expands the application scene of the robot.

Description

A reconfigurable footed robot with biped/quad/quad locomotion modes

technical field

The present invention relates to the field of footed robots, in particular to a reconfigurable footed robot with bipedal/four-wheeled/quadruped motion modes.

Background technique

Bipedal, quadrupedal, and wheeled robots each have distinct advantages and disadvantages. For example, bipedal robots have significant advantages in terrain adaptability, and have the ability to walk on complex ground and avoid obstacles, but they are at a disadvantage in terms of movement speed and energy efficiency. Quadruped robots have higher motion stability than biped robots, but they are also disadvantaged in terms of motion capabilities. Wheeled robots have the highest movement speed, but cannot adapt to complex terrain environments.

SUMMARY OF THE INVENTION

In view of the deficiencies of the prior art, the present invention combines the advantages of the existing legged and wheeled robots, and proposes a reconfigurable footed robot with biped/quadruped/four-wheeled motion modes, which can be dynamically switched. Bipedal, four-wheeled and quadrupedal modes, strong adaptability.

The object of the present invention is achieved through the following technical solutions:

A reconfigurable footed robot with biped/four-wheeled/quadruped motion mode, the footed robot is a left-right symmetrical structure, which includes a torso part, a left hip, a right hip, a left leg and a right leg , the trunk part is rotatably connected with the left hip part and the right hip part symmetrically arranged on both sides of the trunk part, and the left leg and the right leg are respectively rotatably connected with the left hip part and the right hip part;

The left hip includes a rigidly connected hip rotating part and a hip leg connecting part, and the hip rotating part is used to drive the left leg to rotate relative to the trunk part in space;

The left leg includes a thigh part, a calf part, a driving wheel connecting piece, a moving rotating part, a driving wheel, a sole part and a driven wheel;

The two ends of the hip leg connecting part are respectively connected with one end of the thigh part and one end of the driving wheel connecting piece through the rotating joint, the other end of the thigh part is connected with one end of the calf part through the rotating joint, and the driving wheel connecting piece is connected with one end of the calf part through the rotating joint. The moving rotating part is connected with the calf part, the driving wheel is installed on the other end of the driving wheel connecting part through the rotating joint; the other end of the calf part is connected with the middle part of the sole part through the rotating joint, and the driven wheel is connected with one end of the sole part through the rotating joint; Hip leg connecting parts, thigh parts, calf parts, driving wheel connecting parts, and moving rotating parts form a plane five-bar mechanism;

The left hip and right hip have the same structure, and the left leg and right leg have the same structure;

When the sole part and the plane five-bar mechanism are adjusted, when only the sole part contacts the ground, it is a bipedal movement mode; when the driving wheel and the passive wheel contact the ground at the same time, it is a four-wheel movement mode; when the driving wheel and the sole part contact the ground, it is a four-wheel movement mode; When touching the ground at the same time, and the driving wheel is in the locked state, it is in quadruped motion mode.

Further, the hip rotation component includes a hip deflection direction component and a hip roll direction component, and the trunk component is connected to the hip deflection direction component through a rotating pair; the hip deflection direction component is connected to the hip through a rotating pair. The hip roll direction member is connected with the hip roll direction member rigidly with the hip leg connection member.

Further, the described foot-type robot also includes a sole adjustment link 1 and a sole adjustment link 2, one end of the sole adjustment link is connected to the other end of the sole component through a rotating joint, and the other end of the sole adjustment link is connected to the sole of the foot. One end of the second foot adjustment link is connected by a rotating joint, and the other end of the second foot adjustment link is connected with the calf part through a rotating joint. , to realize the adjustment of the position of the sole part and the driven wheel.

Further, the moving and rotating component includes a moving joint and a rotating joint that are connected to each other, and the driving wheel connecting component can move and rotate relative to the calf component through the moving joint and the rotating joint.

The beneficial effects of the present invention are as follows:

According to different task requirements and application environments, the reconfigurable footed robot of the present invention can dynamically switch between bipedal, four-wheeled and quadrupedal modes, and select the optimal mode to complete the specified task. On complex and rough roads, the robot switches to the bipedal motion mode, and adjusts the position of the parts by adjusting the soles of the feet, so that only the soles of the feet touch the ground; through the drives installed on the thigh and calf parts, the bipedal walking mode is realized. When the ground environment is relatively rough and the robot needs to have a certain load capacity, the robot switches to the quadruped mode; the driving wheel and the soles of the feet alternately contact the ground, and the drive motor on the driving wheel is in a locked state, forming an arc-shaped foot mode. When the ground environment is ideal, the robot switches to the four-wheel mode, the driving wheel and the passive wheel touch the ground at the same time, and the driving wheel is driven by the driving motor. The reconfigurable foot robot of the invention has strong environmental adaptability and high work efficiency.

Description of drawings

Fig. 1 is the bipedal motion pattern schematic diagram of the reconfigurable foot robot of the present invention;

Fig. 2 is the schematic diagram of the four-wheel motion mode of the reconfigurable foot robot of the present invention;

FIG. 3 is a schematic diagram of the quadruped motion mode of the reconfigurable foot robot of the present invention.

In the figure, trunk part 1, hip yaw direction part 2, hip roll direction part 3, hip leg connecting part 4, thigh part 5, calf part 6, driving wheel connecting part 7, moving joint 8, rotating joint 9. The driving wheel 10 , the sole part 11 , the second sole adjustment part 12 , the first sole adjustment part 13 , and the driven wheel part 14 .

Detailed ways

The present invention will be described in detail below according to the accompanying drawings and preferred embodiments, and the purpose and effects of the present invention will become clearer. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

As shown in FIG. 1 , the reconfigurable footed robot with biped/four-wheel/quadruped motion mode of the present invention has a left-right symmetrical structure, which includes three parts: a torso part 1, a hip part and a leg part, and a left and right two-part structure. The same, the two legs have the same structural form and therefore the same form of movement. The structure is described below by taking some of them as an example.

The left hip includes a hip yaw direction part 2, a hip roll direction part 3, and a hip leg connecting part 4. The trunk part 1 is connected with the hip yaw direction part 2 through a rotating pair; the hip yaw direction part 2 is connected by rotating The pair is connected with the hip roll direction member 3; the hip roll direction member 3 is rigidly connected with the hip leg joint member 4. The hip leg connecting member 4 therefore has two degrees of freedom in the yaw and roll directions relative to the torso member 1 . Among them, the hip deflection direction member 2 and the hip roll direction member 3 are used to realize the spatial rotation of the hip leg connecting member 4 relative to the trunk member 1. The design method and connection sequence are not limited to this embodiment, and spherical shape can be used. Joints, universal joints, etc. to achieve its ability to rotate.

The left leg includes a thigh part 5, a calf part 6, a driving wheel connecting piece 7, a moving joint 8, a rotating joint 9, a driving wheel 10, a sole part 11, a sole adjustment part 2 12, a sole adjustment part 13 and a driven wheel 14. The two ends of the leg connecting part 4 are respectively connected with one end of the thigh part 5 and one end of the driving wheel connecting part 7 through the rotating joint, and the other end of the thigh part 5 is connected with one end of the calf part 6 through the rotating joint. 7 is connected with the calf part 6 through the moving joint 8 and the rotating joint 9, the driving wheel 10 is installed on the other end of the driving wheel connecting piece 7 through the rotating joint; the other end of the calf part 6 is connected with the middle part of the sole part 11 through the rotating joint, from The moving wheel 14 and one end of the sole adjustment link 13 are respectively connected to the two ends of the sole part 11 through the rotating joint, and the other end of the sole adjustment link 13 is connected with one end of the sole adjustment link 2 12 through the rotating joint, and the sole adjustment link is connected. The other end of the second rod 12 is connected with the calf part 6 through a rotating joint. The calf part 6, the sole adjustment link 2 12, the sole adjustment link 1 13 and the sole part 11 form a plane four-bar mechanism, which realizes the adjustment of the sole part 11 and the driven wheel. 14 position adjustment. The hip leg connecting part 4 , the thigh part 5 , the lower leg part 6 , the driving wheel connecting part 7 , the moving joint 8 , and the rotating joint 9 form a plane five-bar mechanism.

In particular, in this embodiment, the distance between the moving joint 8 and the rotating joint 9 is zero, and the length of the link between the two can be regarded as zero, so it can be regarded as a special plane five-bar mechanism. Not limited to this embodiment, the moving joint 8 and the rotating joint 9 can also be connected by a rod with a certain length, forming a conventional five-bar mechanism. The five-bar mechanism has two degrees of freedom of movement in the plane, and the two-degree-of-freedom movement in the plane can be realized by driving any two of the five joints. The five-bar mechanism in this embodiment can also be replaced by other connection forms, as long as two degrees of freedom in the plane of the lower leg part 6 relative to the hip leg connection part 4 can be achieved. The parallelogram mechanism in this embodiment enables the sole of the foot to have one degree of freedom in the plane. Therefore, the movement of the sole component 11 can be realized by driving any one of the sole adjustment link 12 and the sole adjustment link 13 . Among them, the sole adjustment parts 12 and 13 are used to realize the positional relationship between the sole part 11 and the driven wheel part 14 relative to the ground, and their design methods are not limited to this embodiment a. The specific design method is as long as the adjustment of the sole part 11 and the driven wheel part can be satisfied. The positional relationship of the component 14 with respect to the ground may be sufficient.

In this embodiment, each leg has at least five degrees of freedom in space, and movement in three-dimensional space can be realized by alternating motion.

The motion mode of the biped robot of the present invention is described below.

As shown in FIG. 1, the plane five-bar mechanism retracts the driving wheel 10 to a position away from the ground, and locks the driving wheel 10 through the motor connected to it; by driving the plane four-bar mechanism, the sole part 11 is adjusted to A position close to the ground, and ensure that the driven wheel 14 cannot touch the ground during walking. By driving the two motors installed on the five-bar mechanism and the driving motor of the sole part, each leg is controlled to alternately move back and forth in the plane where it is located, so as to realize the bipedal walking function of this embodiment.

As shown in FIG. 2 , by driving the plane five-bar mechanism, the driving wheel 10 is extended to the position where it contacts the ground; by driving the plane four-bar mechanism, the driven wheel 14 is adjusted to the position where it contacts the ground, and the sole part 11 cannot contact the ground. On this basis, lock all the drive motors installed on each leg, and realize the plane motion of the four-wheel motion mode of the present invention by driving the driving wheel motor; steering operation.

As shown in FIG. 3 , by driving the plane five-bar mechanism, the driving wheel 10 is extended to the position where it contacts the ground, and the driving wheel 10 is locked by the motor connected to it to form an arc-shaped foot; by driving the flat four-bar mechanism The mechanism adjusts the sole part 11 to a position close to the ground, and ensures that the driven wheel 14 cannot contact the ground during walking; drives the motor except the driving wheel to form a gait in which the dual driving wheels 10 and the soles of the feet 11 alternately walk, Realize the quadruped motion mode of the robot in three-dimensional space.

Those of ordinary skill in the art can understand that the above are only preferred examples of the invention and are not intended to limit the invention. Although the invention has been described in detail with reference to the foregoing examples, those skilled in the art can still understand the Modifications are made to the technical solutions described in the foregoing examples, or equivalent replacements are made to some of the technical features. All modifications and equivalent replacements made within the spirit and principle of the invention shall be included within the protection scope of the invention.

Claims (4)

1. A reconfigurable foot robot with biped/four-wheel/four-foot movement modes is characterized in that the foot robot is of a bilateral symmetry structure and comprises a trunk part (1), a left hip, a right hip, a left leg and a right leg, wherein the trunk part (1) is rotatably connected with the left hip and the right hip which are symmetrically arranged at two sides of the trunk part, and the left leg and the right leg are respectively rotatably connected with the left hip and the right hip;

the left hip comprises a hip rotating part and a hip leg connecting part (4) which are rigidly connected, and the hip rotating part is used for driving the left leg to rotate relative to the space of the trunk part (1);

the left leg comprises a thigh part (5), a shank part (6), a driving wheel connecting piece (7), moving rotating parts (8, 9), a driving wheel (10), a sole part (11) and a driven wheel (14);

two ends of the hip leg connecting part (4) are respectively connected with one end of the thigh part (5) and one end of the driving wheel connecting part (7) through a rotary joint, the other end of the thigh part (5) is connected with one end of the shank part (6) through a rotary joint, the driving wheel connecting part (7) is connected with the shank part (6) through moving rotary parts (8 and 9), and the driving wheel (10) is arranged at the other end of the driving wheel connecting part (7) through a rotary joint; the other end of the shank component (6) is connected with the middle part of the sole component (11) through a rotary joint, and the driven wheel (14) is connected with one end of the sole component (11) through the rotary joint; the hip and leg connecting part (4), the thigh part (5), the shank part (6), the driving wheel connecting part (7) and the moving and rotating parts (8 and 9) form a plane five-rod mechanism;

the left hip and the right hip are identical in structure, and the left leg and the right leg are identical in structure.

The sole component (11) and the plane five-bar mechanism are adjusted, and when only the sole component (11) contacts the ground, the motion mode is a double-foot motion mode; when the driving wheel (10) and the driven wheel (14) are simultaneously contacted with the ground, the four-wheel motion mode is adopted; when the driving wheel (10) and the sole part (11) are simultaneously contacted with the ground and the driving wheel (10) is in a locking state, the four-foot motion mode is adopted.

2. The reconfigurable legged robot with bipedal/quadric/quadruped motion modes according to claim 1, characterized in that the hip rotation components comprise a hip yaw direction component (2) and a hip roll direction component (3), and the torso component (1) is connected with the hip yaw direction component (2) through a revolute pair; the hip deflection direction component (2) is connected with the hip rolling direction component (3) through a revolute pair; the hip roll direction component (3) is rigidly connected with the hip leg connecting component (4).

3. The reconfigurable foot robot with biped/four-wheel/quadruped motion modes according to claim 1, characterized in that the reconfigurable foot robot further comprises a first sole adjusting connecting rod (13) and a second sole adjusting connecting rod (12), wherein one end of the first sole adjusting connecting rod (13) is connected to the other end of the sole component (11) through a rotary joint, the other end of the first sole adjusting connecting rod (13) is connected to one end of the second sole adjusting connecting rod (12) through a rotary joint, the other end of the second sole adjusting connecting rod (12) is connected to the lower leg component (6) through a rotary joint, and the lower leg component (6), the second sole adjusting connecting rod (12), the first sole adjusting connecting rod (13) and the sole component (11) form a planar four-bar mechanism, so that the positions of the sole component (11) and the driven wheel (14) can be adjusted.

4. The reconfigurable legged robot having bipedal/quadripod/quadruped motion modes according to claim 1, wherein said mobile rotation members (8, 9) comprise a mobile joint (8) and a rotary joint (9) connected to each other, and said driving wheel connection member (7) is moved and rotated relative to said lower leg member (6) by said mobile joint (8) and rotary joint (9).

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