阅读说明：本技术 四自由度轮足一体化机器人腿及机器人 (Four-degree-of-freedom wheel-foot integrated robot leg and robot ) 是由 何俊 李�杰 高峰 于 2020-05-22 设计创作，主要内容包括：本发明提供了一种四自由度轮足一体化机器人腿,包括上平台、驱动支链、转向驱动机构、移动下平台和轮驱动机构；所述驱动支链有多个,均匀布置在所述上平台和所述移动下平台之间；所述转向驱动机构的上端穿过所述上平台并与其固定,所述转向驱动机构的下端穿过所述移动下平台并通过弯曲轴与所述轮驱动机构连接,多个所述驱动支链以及所述转向驱动机构之间为并联关系。本发明机器人腿,结构简单、控制容易,运动精度高,具有高速响应能力以及优秀的承载能力,可以同时实现步行行进和轮式行进,兼有二者的优秀越障能力和快速的行进速度,适用于星球探测中各种复杂非结构地形以及松软地面条件下的高速,高负载运输作业。(The invention provides a four-degree-of-freedom wheel-foot integrated robot leg which comprises an upper platform, a driving branched chain, a steering driving mechanism, a movable lower platform and a wheel driving mechanism, wherein the upper platform is connected with the driving branched chain; the plurality of driving branched chains are uniformly arranged between the upper platform and the movable lower platform; the upper end of the steering driving mechanism penetrates through the upper platform and is fixed with the upper platform, the lower end of the steering driving mechanism penetrates through the movable lower platform and is connected with the wheel driving mechanism through a bending shaft, and the driving branched chains and the steering driving mechanism are connected in parallel. The robot leg has the advantages of simple structure, easy control, high motion precision, high speed response capability and excellent bearing capacity, can simultaneously realize walking travel and wheel travel, has excellent obstacle crossing capability and high travel speed of the walking travel and the wheel travel, and is suitable for high-speed and high-load transportation operation under various complex non-structural terrains and soft ground conditions in planet detection.)

1. A four-degree-of-freedom wheel-foot integrated robot leg is characterized by comprising an upper platform (3), a driving branched chain, a steering driving mechanism, a movable lower platform (10) and a wheel driving mechanism;

the plurality of driving branched chains are uniformly arranged between the upper platform (3) and the moving lower platform (10); the upper end of the steering driving mechanism penetrates through the upper platform (3) and is fixed with the upper platform, the lower end of the steering driving mechanism penetrates through the movable lower platform (10) and is connected with the wheel driving mechanism through a bent shaft (14), and the driving branched chains and the steering driving mechanism are in parallel connection.

2. The four-degree-of-freedom wheel-foot integrated robot leg according to claim 1, characterized in that the steering driving mechanism comprises a steering driving motor (1), a first rotating joint (2), a first upper hooke joint (5), a first moving joint (6), a first lower hooke joint (8) and a second rotating joint (11) which are connected in sequence, the steering driving motor (1) is connected with the first rotating joint (2), the first rotating joint (2) is fixed with the upper platform (3), the first upper hooke joint (5) is connected in series behind the first rotating joint (2), the first moving joint (6) is connected with the first lower hooke joint (8), and the second rotating joint (11) is connected in series behind the first lower hooke joint (8) and is fixed with the moving lower platform (10).

3. The four-degree-of-freedom wheel-foot integrated robot leg according to claim 1, wherein the number of the driving branched chains is three, the axes of the driving branched chains are 120 degrees from each other, and the steering driving mechanism is located in the middle of the three driving branched chains.

4. The four-degree-of-freedom wheel-foot integrated robot leg according to claim 3, characterized in that the upper platform (3) is triangular, and three driving branched chains are fixed on three corners of the upper platform (3).

5. The four-degree-of-freedom wheel-foot integrated robot leg according to claim 3, characterized in that the driving branched chain comprises a second upper hook joint (4), a second moving joint (7) and a second lower hook joint (9) which are connected in sequence; the second upper hook joint (4) is fixed with the upper platform (3), and the second lower hook joint (9) is fixed with the movable lower platform (10).

6. The four-degree-of-freedom wheel-foot integrated robot leg according to claim 5, characterized in that a linear drive is arranged in the second mobile joint (7).

7. The four-degree-of-freedom wheel-foot integrated robot leg according to claim 1, characterized in that the wheel drive mechanism comprises a wheel drive motor (12) and a wheel (13), the wheel drive motor (12) being located inside the wheel (13) and connected to the wheel drive mechanism by a bent shaft (14).

8. A robot, characterized by comprising a frame (15) and a plurality of four-degree-of-freedom wheel-foot integrated robot legs according to any one of claims 1 to 7, the plurality of four-degree-of-freedom wheel-foot integrated robot legs being symmetrically arranged on the frame (15).

9. The robot of claim 8, wherein the number of four-degree-of-freedom wheel-foot integrated robot legs is four.

10. The robot according to claim 8, wherein the number of the four-degree-of-freedom wheel-foot integrated robot legs is six, the frame (15) is a regular hexagon, and the six four-degree-of-freedom wheel-foot integrated robot legs are respectively fixed on six corners of the frame (15).

Technical Field

The invention relates to the technical field of robots, in particular to a four-degree-of-freedom wheel-foot integrated robot leg and a robot.

Background

The wheel-foot integrated robot is a robot which uses wheels to replace the feet of the robot, has the advantages of a walking robot and a wheel type mobile platform, can stably walk in complex terrains or rapidly move on a flat road surface, and can replace human beings to work in dangerous environments, such as: surveying complex terrain, post-disaster transport of wounded, transport of equipment and cargo on the battlefield, etc. Compared with a legged robot, the wheel-foot integrated robot can realize wheel type traveling on a flat road surface through the driving wheels, so that the traveling speed of the robot is greatly increased, and the control difficulty of the robot is reduced; meanwhile, the wheel-foot integrated robot keeps the excellent obstacle crossing capability of the walking robot and can better adapt to the working environments of non-structural ground and soft ground. Therefore, the application of the wheel-foot integrated robot leg has important significance for improving the motion efficiency of the walking robot and the adaptability to the ground, and becomes a new hotspot in the robot research field. In addition, the application of the parallel legs can improve the structural strength and the bearing capacity of the robot, meanwhile, the linear driver is simple in structure and easy to arrange, the structure of the robot legs can be more compact by using the linear driver, and the quality of the robot legs is effectively reduced.

Through the search of the prior art, the invention patent with the application number of CN200810057401.5 discloses a dual-purpose robot leg with foot wheels. A first clutch in the robot leg is connected with a first shaft and a second shaft, an inner ring of a first bearing is connected with the first shaft, an outer ring of the first bearing is connected with a first big wheel hub, an inner ring of a second bearing and a third bearing are connected with the second shaft, the outer ring of the second bearing and a third bearing is connected with a long connecting rod, meanwhile, a first driven plate of the clutch is connected with the wheel hub, and a second driven plate of the clutch is connected with the long connecting rod. The second clutch is connected with the third shaft and the fourth shaft, the sixth bearing inner ring is connected with the third shaft, the outer ring is connected with the second large hub, the seventh bearing inner ring is connected with the fourth shaft, the outer ring is connected with the short connecting rod, and meanwhile, the first driven plate of the clutch is connected with the hub, and the second driven plate of the clutch is connected with the short connecting rod. However, the robot described in this patent has too few degrees of freedom, so that only a very simple gait can be achieved during walking, and only a relatively simple trajectory can be achieved for planning the trajectory of the distal end, and stability and flexibility during walking are difficult to guarantee. At the same time, since the robot leg described in this patent is too compact and is essentially a tandem mechanism, there is room for improvement in obstacle crossing capability, and the carrying capacity is also prone to bottlenecks.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a four-degree-of-freedom wheel-foot integrated robot leg and a robot.

The purpose of the invention is realized by the following scheme:

the invention provides a four-degree-of-freedom wheel-foot integrated robot leg, which comprises an upper platform, a driving branched chain, a steering driving mechanism, a movable lower platform and a wheel driving mechanism, wherein the upper platform is connected with the driving branched chain;

the plurality of driving branched chains are uniformly arranged between the upper platform and the movable lower platform; the upper end of the steering driving mechanism penetrates through the upper platform and is fixed with the upper platform, the lower end of the steering driving mechanism penetrates through the movable lower platform and is connected with the wheel driving mechanism through a bending shaft, and the driving branched chains and the steering driving mechanism are connected in parallel.

Furthermore, the steering driving mechanism comprises a steering driving motor and a transmission branched chain, the transmission branched chain is of an R-UPU-R structure, a driving joint is not arranged in the branched chain, and three-degree-of-freedom movement of the movable lower platform is not influenced. The steering drive motor is arranged on the upper platform to reduce the mass of the tail end and reduce the inertia of the robot leg required to be driven.

Furthermore, the number of the driving branched chains is three, the axes of the driving branched chains form an angle of 120 degrees with each other, and the steering driving mechanism is positioned in the middle of the three driving branched chains.

Furthermore, the upper platform is triangular, and the three driving branched chains are fixed on three corners of the upper platform.

Furthermore, the driving branched chain comprises a second upper hook joint, a second movable joint and a second lower hook joint which are sequentially connected; the second upper hook joint is fixed with the upper platform, and the second lower hook joint is fixed with the movable lower platform. The three driving branched chains are all UPU type branched chains, and the second movable joint is a P joint in three UPU joints.

Further, a linear driver is arranged in the second movable joint.

Further, the wheel drive mechanism includes a wheel drive motor and a wheel, the wheel drive motor being located within the wheel and connected to the wheel drive mechanism by a bent shaft. A wheel drive motor is disposed at the distal end of the robot leg to drive wheels at the distal end to effect wheeled forward.

The invention provides a robot, which comprises a frame and a plurality of four-degree-of-freedom wheel-foot integrated robot legs, wherein the four-degree-of-freedom wheel-foot integrated robot legs are symmetrically arranged on the frame.

Further, the number of the four-degree-of-freedom wheel-foot integrated robot legs is four.

Furthermore, the number of the four-degree-of-freedom wheel-foot integrated robot legs is six, the rack is in a regular hexagon shape, and the six four-degree-of-freedom wheel-foot integrated robot legs are respectively fixed on six corners of the rack.

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

1. in the robot leg, the wheel-foot integrated structure simultaneously realizes wheel type traveling and walking traveling, takes the advantages of the walking robot and the traditional wheel type moving platform into account, can stably walk in complex terrains or quickly move on a flat road surface, and has important significance for improving the motion efficiency of the walking robot and the adaptability to the ground.

2. The robot leg provided by the invention adopts the four-degree-of-freedom parallel mechanism, has stronger structural rigidity and bearing capacity compared with a simple serial mechanism, and simultaneously has isotropy due to the symmetry of the branched chain configuration.

3. In the robot leg, the linear driver serving as the driving tail end to realize three-degree-of-freedom translation is easy to arrange, so that the structure of the robot leg is simpler and more compact, and the driving force and the movement speed of the robot are also improved.

4. The robot leg has the advantages of simple structure, easy control, high motion precision, high speed response capability and excellent bearing capacity, can simultaneously realize walking travel and wheel travel, has excellent obstacle crossing capability and high travel speed of the walking travel and the wheel travel, and is suitable for high-speed and high-load transportation operation under various complex non-structural terrains and soft ground conditions.

Drawings

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

FIG. 1 is a schematic structural diagram of a four-DOF wheel-foot integrated robot leg of the present invention;

FIG. 2 is a schematic diagram of the driving chain of the present invention;

FIG. 3 is a schematic structural view of the steering driving mechanism of the present invention;

FIG. 4 is a schematic structural view of example 2 of the present invention;

FIG. 5 is an enlarged view of a portion of FIG. 4;

FIG. 6 is a top view of embodiment 2;

FIG. 7 is a schematic structural view of example 3 of the present invention;

FIG. 8 is a plan view of example 3.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.

The invention discloses a four-degree-of-freedom wheel-foot integrated robot leg which is a parallel mechanism and comprises a steering driving motor, an upper platform, three groups of symmetrically arranged driving branched chains, a transmission branched chain, a movable lower platform, a wheel driving motor and wheels. Three groups of symmetrically arranged driving branched chains and transmission branched chains are connected in parallel, and under the cooperative operation of linear drivers in the three driving branched chains, the lower moving platform can realize three-degree-of-freedom translation, so that the robot leg has the function of walking. The transmission branch chain transmits the motion of the steering driving motor to the tail end, and the tail end realizes the steering of the wheel under the transmission of the transmission branch chain. Finally, the robot leg can achieve wheeled travel by means of a wheel drive motor driving wheels at the end of the mechanism. The invention has simple structure, easy control, high motion precision, high speed response capability and excellent bearing capacity, can simultaneously realize walking travel and wheel travel, has excellent obstacle crossing capability and high travel speed of the walking travel and the wheel travel, and is suitable for high-speed and high-load transportation operation under various complex non-structural terrains and soft ground conditions in planet detection.

As shown in fig. 1 to 8, the present invention will be described in further detail with reference to specific embodiments.