阅读说明：本技术 基于钩爪连续旋转抓附的机械脚掌及腿及机器人与方法 (Mechanical sole and leg based on continuous rotating grabbing of claw, robot and method ) 是由 关琳 刘琦 杨先一 于 2020-05-06 设计创作，主要内容包括：本发明涉及一种基于钩爪连续旋转抓附的机械脚掌及腿及机器人与方法,属于机器人结构设计领域。该机械脚掌包括外侧旋转钩爪掌(15)、内侧旋转钩爪掌(18)和旋转舵机(13)。倒置的旋转舵机(13)旋转输出轴平行于Z轴,穿过外侧旋转钩爪掌(15),并与内侧旋转钩爪掌(18)固连。外侧旋转钩爪掌(15)和内侧旋转钩爪掌(18)边缘均匀设置钩爪,且旋向相反。本发明可以实现连续旋转抓附和主动脱附功能,方便足式钩爪机器人在粗糙表面的抓/脱附行走运动。(The invention relates to a mechanical sole and leg based on continuous rotary grabbing of a claw, a robot and a method, and belongs to the field of robot structure design. The mechanical sole comprises an outer side rotary claw palm (15), an inner side rotary claw palm (18) and a rotary steering engine (13). And a rotary output shaft of the inverted rotary steering engine (13) is parallel to the Z shaft, penetrates through the outer rotary claw palm (15) and is fixedly connected with the inner rotary claw palm (18). The edges of the outer side rotary claw palm (15) and the inner side rotary claw palm (18) are uniformly provided with claws, and the rotating directions are opposite. The invention can realize the continuous rotary grabbing and active desorption functions and is convenient for the grabbing/desorption walking motion of the foot type claw robot on the rough surface.)

1. The utility model provides a mechanical sole based on claw continuous rotation is grabbed and is attached which characterized in that:

from top to bottom include in proper order: the device comprises a ball joint upper cover (12), a rotary steering engine fixing piece (14), an outer side rotary hook claw palm (15) and an inner side rotary hook claw palm (18);

the device also comprises a rotary steering engine (13) and a fixed part connecting plate; the rotary steering engine (13) is arranged in the rotary steering engine fixing piece (14) and the outer rotary hook claw palm (15) in an inverted mode, the rotary steering engine fixing piece (14) is fixedly connected with the outer rotary hook claw palm (15) through the fixing piece connecting plate, the rotary steering engine (13) is wrapped in the fixing piece connecting plate, a rotary output shaft of the rotary steering engine (13) is parallel to a Z shaft, penetrates through the outer rotary hook claw palm (15) and is fixedly connected with the inner rotary hook claw palm (18);

the lower end of the inner side rotary claw palm (18) is circular, inner side claws are uniformly arranged on the edge, and included angles of all the inner side claws and corresponding tangent lines are kept consistent; the lower end of the outer rotary claw palm (15) is circular, and the edge is uniformly provided with outer claws which are the same as the inner claws in number and opposite to the inner claws in direction; the rotation direction of all the inner side claws is in a counterclockwise direction or a clockwise direction, and the rotation direction of all the outer side claws is opposite to that of the inner side claws.

2. The mechanical leg of mechanical sole based on continuous rotary claw grabbing of claim 1, characterized in that:

further comprising: the device comprises a Z-axis first steering engine (1), a Z-axis first steering engine double-U-shaped connecting piece (2), an X-axis first steering engine (3), an X-axis second steering engine (4), an X-axis steering engine connecting plate, an X-axis second steering engine U-shaped connecting piece (7), a fixing cap (8), a leg supporting rod (9), a ball head (10) and a reset spring;

the rotary output end of the Z-axis first steering engine (1) is fixedly connected with the center of the first end of the Z-axis first steering engine double-U-shaped connecting piece (2), the rotary output end of the X-axis first steering engine (3) is fixedly connected with the center of the second end of the Z-axis first steering engine double-U-shaped connecting piece (2), the X-axis second steering engine (4) is aligned with the second end of the X-axis first steering engine (3) along the X-axis, the X-axis first steering engine (3) and the X-axis second steering engine (4) are fixedly connected together by an X-axis steering engine connecting plate, the center of the first end of the X-axis second steering engine U-shaped connecting piece (7) is fixedly connected with the rotary output end of the X-axis second steering engine (4), a fixing cap (8) is fixedly connected with the second end of the X-axis second steering engine U-shaped connecting piece (7;

the rod end of the ball head (10) is fixedly connected with the lower end of the leg support rod (9), the ball end of the ball head (10) is wrapped in the ball joint upper cover (12) and the rotary steering engine fixing piece (14), and the ball joint upper cover (12) is fixedly connected with the rotary steering engine fixing piece (14) through bolts, so that the leg support rod (9) is connected with the mechanical sole;

one end of the return spring is fixed on the leg support rod (9), and the other end is fixed on the ball joint upper cover (12).

3. A hexapod robot including the mechanical leg based on mechanical sole of continuous rotary gripper grasping according to claim 2, characterized in that:

comprises six groups of mechanical legs;

comprises a connecting plate;

the six groups of mechanical legs are symmetrically arranged on the connecting plate in a left-three and right-three mode.

4. The method for moving the mechanical sole based on the continuous rotary claw grabbing according to the claim 1 is characterized by comprising the following processes:

when the rotary steering engine (13) rotates the output shaft to rotate in the positive direction, the inner side claw rotates along with the positive direction of the output shaft, and the claw is attached to a contact surface after a certain angle; when the rotary steering engine (13) continues to rotate, the rotary output shaft of the rotary steering engine is fixed on the contact surface due to the inner-side claw catches, the body of the rotary steering engine rotates reversely to drive the outer-side claws to rotate reversely, and after the rotary steering engine rotates for a certain angle, the outer-side claws catch the contact surface, so that each inner-side claw is locked with the corresponding outer-side claw, and the claw is further caught actively; when the inner side claw or the outer side claw cannot grab the contact surface and fall off, the rotary steering engine (13) continues to rotate to enable the inner side claw and the outer side claw to grab the contact surface continuously until the locking condition is met;

when the rotary steering engine (13) rotates the output shaft to rotate reversely, the inner side claw rotates reversely along with the output shaft, and the contact surface is detached after a certain angle; the rotary steering engine (13) continues to rotate, the locking relation between the inner side claw and the outer side claw is destroyed, and active desorption of the claw is further achieved.

Technical Field

The invention belongs to the technical field of robot application, and particularly relates to a mechanical sole and leg based on continuous rotating grabbing of a claw, a robot and a method.

Technical Field

The robot suitable for various natural complex environments is one of the leading subjects in the current robot research field, integrates multiple subjects such as machinery, electronics, computers, materials, sensors, control technologies, artificial intelligence and the like, reflects the intelligent and automatic research level of a country, and is also used as an important mark of high-tech strength of the country, and developed countries successively invest huge investments in the field to develop research.

The claw robot is used as an important branch of the robot, has the excellent characteristics of low power consumption, small noise, stable attachment, simple desorption and the like, and has strong adaptability to rough, irregular and dusty surfaces which are common in nature. Research on gripper robots has therefore been carried out by many scientific institutions both at home and abroad, where The boston-powered RISE robot, driven by gripper-leg coupling, is a vertically crawling robot with small claws at its feet to facilitate its firm grip on rough ground (Saunders a, Goldman D I, Full R J, et al. The riseclibiting robot: body and leg design [ C ]. Georgia Institute of Technology, 2006); a wheel-type claw wall-climbing robot Mini-wheels of Daltonio team of Kaiser-Sichuang university, the wheel-type wall-climbing robot has two wheel-type claws, each wheel-type claw is provided with three claw feet, and the robot is driven to climb upwards by the gripping and releasing through the change of the claw feet during the rotation of the wheel-type claw (Daltonio K, Horhler A, south L, et al, Mini-Whegs TM Climbs step surface Using the gripping-embedding and embedding mechanical Research [ J ]. International Journal of Robotics Research, 2007,28(2): 285-302.); different from distributed inward facing grabbing mechanism of the Kaiser university at rough surface grabbing, a two-foot claw type wall Climbing Robot Dynoclimmber is developed by Jonathan E.Clark team of the Binshenia university based on an FG model, the design of a claw foot of the Robot adopts the design of a spring to increase the flexibility of the contact between the claw and the wall surface, meanwhile, the design of the spring is also adopted for energy storage of a leg part, and finally, the two-foot claw wall Climbing Robot can realize the fast Climbing of 66cm/s on a rough Vertical surface (Lynch G, Clark J, LinP, et al A Bioinspiredpynamic Vertical grasping Robot [ J ]. of the Robotic research, 2012, 31(8): 974 + 996.); an inchworm-imitating two-foot wall-Climbing Robot is developed in 2015 by the institute of fertilizer-combining intelligent materials of Chinese academy of sciences, wherein a single foot end structure of the Robot adopts a Design of two claw soles for opposite grabbing, 20 claws are placed on each claw sole, a cam is driven by a steering engine to drive the two claw soles to rotate reversely, energy is stored by a spring connecting the two claw soles, and the two claw-grabbing mechanisms alternately complete grabbing and desorbing actions to realize forward crawling and wall transition of the Robot (Liu G, Liu Y, Wang X, Design and experience of a Bioinpiredwall-grasping Robot mechanism C. IEEE International Conference on mechanics and Automation, IEEE, 2016: 665-.

So far, the claw of the claw type robot mainly adopts a structure of one-way hook and opposite hook attachment, the hook attachment capacity of the claw is limited, and mechanical soles and legs based on the continuous rotation of the claw and the robot and method have not been reported and have not been researched.

Disclosure of Invention

The invention aims to provide a mechanical sole and leg based on continuous rotary grabbing of a claw, a robot and a method.

The utility model provides a mechanical sole based on claw continuous rotation is grabbed and is attached which characterized in that: from top to bottom include in proper order: the ball joint upper cover, the rotary steering engine fixing piece, the outer side rotary hook palm and the inner side rotary hook palm; the device also comprises a rotary steering engine and a fixed part connecting plate; the rotary steering engine is reversely arranged in the rotary steering engine fixing part and the outer rotary hook claw palm, the rotary steering engine fixing part is fixedly connected with the outer rotary hook claw palm through the fixing part connecting plate, the rotary steering engine is wrapped in the rotary steering engine fixing part and the outer rotary hook claw palm, and a rotary output shaft of the rotary steering engine is parallel to a Z shaft, penetrates through the outer rotary hook claw palm and is fixedly connected with the inner rotary hook claw palm; the lower end of the inner side rotary claw palm is circular, inner side claws are uniformly arranged on the edge of the inner side rotary claw palm, and included angles between all the inner side claws and corresponding tangent lines are kept consistent; the lower end of the outer rotary claw palm is circular, and the edge of the outer rotary claw palm is uniformly provided with outer claws which are the same as the inner claws in number and opposite to the inner claws in direction; the rotation direction of all the inner side claws is in a counterclockwise direction or a clockwise direction, and the rotation direction of all the outer side claws is opposite to that of the inner side claws.

The mechanical leg of the mechanical sole based on the continuous rotation grabbing of the claw is characterized in that: further comprising: the device comprises a Z-axis first steering engine, a Z-axis first steering engine double-U-shaped connecting piece, an X-axis first steering engine, an X-axis second steering engine, an X-axis steering engine connecting plate, an X-axis second steering engine U-shaped connecting piece, a fixing cap, leg supporting rods, a ball head and a reset spring; the rotary output end of the Z-axis first steering engine is fixedly connected with the center of a first end of a Z-axis first steering engine double-U-shaped connecting piece, the rotary output end of the X-axis first steering engine is fixedly connected with the center of a second end of the Z-axis first steering engine double-U-shaped connecting piece, the X-axis second steering engine is aligned with a second end of the X-axis first steering engine along the X axis, the X-axis first steering engine and the X-axis second steering engine are fixedly connected by an X-axis steering engine connecting plate, the center of a first end of the X-axis second steering engine U-shaped connecting piece is fixedly connected with the rotary output end of the X-axis second steering engine, a fixing cap is fixedly connected with the second end of the X-axis second; the rod end of the ball head is fixedly connected with the lower end of the leg supporting rod, the ball end of the ball head is wrapped in the ball joint upper cover and the rotary steering engine fixing piece, and the ball joint upper cover is fixedly connected with the rotary steering engine fixing piece through a bolt, so that the leg supporting rod is connected with the mechanical sole; one end of the reset spring is fixed on the leg support rod, and the other end of the reset spring is fixed on the ball joint upper cover.

The hexapod robot based on the mechanical legs of the mechanical sole grabbed by the continuous rotation of the claw is characterized in that: comprises six groups of mechanical legs; comprises a connecting plate; the six groups of mechanical legs are symmetrically arranged on the connecting plate in a left-three and right-three mode.

The movement method of the mechanical sole based on the continuous rotating grabbing of the claw is characterized by comprising the following steps of: when the rotary steering engine rotates the output shaft to rotate in the positive direction, the inner side claw rotates along with the output shaft in the positive direction, and the claw is attached to the contact surface after a certain angle; when the rotary steering engine continues to rotate, the rotary output shaft of the rotary steering engine is fixed on the contact surface due to the grabbing of the inner-side claws, the body of the rotary steering engine rotates reversely to drive the outer-side claws to rotate reversely, and after the rotary steering engine rotates for a certain angle, the outer-side claws grab the contact surface, so that each inner-side claw is locked with the corresponding outer-side claw, and the claws grab and attach actively; when the inner side claw or the outer side claw cannot grab the contact surface and fall off, the rotary steering engine continues to rotate to enable the inner side claw and the outer side claw to grab the contact surface continuously until the locking condition is met; when the rotary steering engine rotates the output shaft to rotate reversely, the inner side claw rotates reversely along with the output shaft, and the contact surface is desorbed after a certain angle; the rotary steering engine continues to rotate, the locking relation between the inner side claw and the outer side claw is destroyed, and active desorption of the claws is further achieved.

Compared with the prior art, the invention has the following advantages:

1. the invention can actively drive a plurality of mechanical soles, realizes the functions of continuous rotary grabbing and active desorption and is convenient for the grabbing/desorption walking motion of the foot type claw robot on the rough surface.

2. The invention adopts the return spring to restrain the self-adaptive ball joint, thereby realizing the rotation of three attitude degrees of freedom and realizing that the sole can be restored to the initial position under the unstressed state.

3. The invention uses two inner and outer rotary claw palms with round lower ends and evenly arranged edges, the quantity of the claws is the same, the directions of the claws are opposite, the claws respectively rotate to grab the contact surface, and a plurality of pairs of claws are mutually locked to increase the grabbing capacity.

4. The rotary steering engine is used for driving the inner side and the outer side hooks to be attached to the contact surface in a grabbing mode, and when the hooks fall off, the rotary steering engine continues to rotate to enable the inner side and the outer side rotary hooks to meet the engagement condition;

5. the invention has the advantages of ingenious structure, small volume, light weight, convenient processing, economy and feasibility.

Drawings

FIG. 1 is a perspective view of a hexapod robot based on continuous rotary grasping and attaching of a claw according to the present invention;

fig. 2 is an exploded view of the hexapod robot based on the continuous rotary grasping and attaching of the hook according to the present invention;

FIG. 3 is a perspective view of a mechanical leg of the present invention based on a continuous rotary grab of a finger;

FIG. 4 is an exploded view of a mechanical leg of the present invention based on a continuous rotary grab of a finger;

FIG. 5 is a perspective view of a mechanical sole of the present invention;

FIG. 6 is a schematic view of a mechanical sole of the present invention;

FIG. 7 is an exploded view of a mechanical sole of the foot according to the present invention;

FIG. 8 is a schematic view of a mechanical sole grip according to the present invention;

FIG. 9 is a schematic illustration of a mechanical sole detachment according to the present invention;

number designation in FIGS. 1-9: A. a left front leg; B. a left middle leg; C. a left rear leg; D. a right front leg; E. f, right rear leg; g, connecting the plate; H. a connecting plate; 1. a first steering engine in the Z-axis direction; 2. a first steering engine double-U-shaped connecting piece in the Z-axis direction; 3. a first steering engine in the X axis direction; 4. a second steering engine in the X axis direction; 5. an X-axis steering engine connecting plate; 6. an X-axis steering engine connecting plate; 7. a second steering engine U-shaped connecting piece in the X axis direction; 8. a fixing cap; 9. a leg support bar; 9a, a hole of a leg support rod a; 9b, a hole b of the leg support rod; 9c, a leg support bar c hole; 9d, a hole d of the leg support rod; 10. a ball head; 11. a mechanical sole; 12. a spherical joint upper cover; 12a, a hole a of the ball joint upper cover; 12b, a hole b of the ball joint upper cover; 12c, a hole c of the upper cover of the ball joint; 12d, covering a hole d on the ball joint; 13. rotating the steering engine; 14. rotating the steering engine fixing part; 15. the outer side is provided with a rotary claw palm; 16. the fixed part connecting plate; 17. the fixed part connecting plate; 18. the inner side is provided with a rotary claw palm; 19. a first return spring; 20. a second return spring; 21. a third return spring; 22. and a fourth return spring.

Detailed Description

The invention is further illustrated with reference to the following figures and specific examples:

with reference to fig. 1-9, this embodiment is a mechanical sole and leg and robot and method based on continuous rotary grasping of a claw, including a left front leg a, a left middle leg B, a left rear leg C, a right front leg D, a right middle leg E, a right rear leg F, a connecting plate G, a connecting plate H, Z axial first steering engine 1, a Z axial first steering engine double U-shaped connecting member 2, an X axial first steering engine 3, an X axial second steering engine 4, an X axial steering engine connecting plate 5, an X axial steering engine connecting plate 6, an X axial second steering engine U-shaped connecting member 7, a fixing cap 8, a leg supporting rod 9, a leg supporting rod a hole 9a, a leg supporting rod B hole 9B, a leg supporting rod C hole 9C, a leg supporting rod D hole 9D, a ball head 10, a mechanical sole 11, a ball joint upper cover 12, a ball joint upper cover a hole 12a, a ball joint upper cover B hole 12B, a ball joint upper cover C hole 12C, The ball joint upper cover comprises a hole d 12d, a rotary steering engine 13, a rotary steering engine fixing piece 14, an outer rotary hook claw palm 15, a fixing piece connecting plate 16, a fixing piece connecting plate 17, an inner rotary hook claw palm 18, a first return spring 19, a second return spring 20, a third return spring 21 and a fourth return spring 22.

With reference to fig. 1-2, the present embodiment is a hexapod robot based on continuous rotation and attachment of a claw, comprising six sets of mechanical legs: left front leg a, left middle leg B, left rear leg C, right front leg D, right middle leg E, right rear leg F, and connecting panel G, H. Six groups of mechanical legs, namely a left front leg A, a left middle leg B, a left rear leg C, a right front leg D, a right middle leg E and a right rear leg F, have the same structure and are symmetrically arranged on the connecting plate G, H in a left three-piece and right three-piece mode.

With reference to fig. 3-4, the present embodiment is a mechanical leg based on continuous rotation of a claw, and defines a three-dimensional coordinate system, where the Z axis is the upward direction of the mechanical leg, the X axis is the leftward direction of the mechanical leg, and the Y axis is the forward direction of the mechanical leg. Wherein the rotary output end of a Z-axial first steering engine 1 is fixedly connected with the center of a first end of a Z-axial first steering engine double-U-shaped connecting piece 2, the rotary output end of an X-axial first steering engine 3 is fixedly connected with the center of a second end of the Z-axial first steering engine double-U-shaped connecting piece 2, an X-axial second steering engine 4 is aligned and fixed with a second end of the X-axial first steering engine 3 along an X-axis, eight screw holes of an X-axial steering engine connecting plate 5 are fixedly connected with blind holes at the upper ends of the X-axial first steering engine 3 and the X-axial second steering engine 4 through screws, eight screw holes of an X-axial steering engine connecting plate 6 are fixedly connected with blind holes at the lower ends of the X-axial first steering engine 3 and the X-axial second steering engine 4 through screws, so as to realize the fixedly connection of the X-axial first steering engine 3 and the X-axial second steering, the fixing cap 8 is fixedly connected with a second end bolt of the X-axis second steering engine U-shaped connecting piece 7 through four through holes at a second end of the X-axis second steering engine U-shaped connecting piece 7, the upper end of the leg supporting rod 9 is installed in the fixing cap 8, the rod end of the ball head 10 is fixedly connected with the lower end of the leg supporting rod 9, the ball joint upper cover 12 and the rotary steering engine fixing piece 14 in the mechanical sole 11 wrap the ball end of the ball head 10, and the ball joint upper cover 12 and the rotary steering engine fixing piece 14 are fixedly connected through bolts, so that the leg supporting rod 9 is connected with the mechanical sole 11.

With reference to fig. 5-7, this embodiment is a mechanical sole based on continuous rotary claw attachment, in which a rotary steering engine 13 is placed upside down in a rotary steering engine fixing part 14 and an outer rotary claw palm 15, four screw holes of a rotary steering engine connecting plate 16 are fixedly connected with the rotary steering engine fixing part 14 and a blind hole at the left end of the outer rotary claw palm 15 through screws, four screw holes of a rotary steering engine connecting plate 17 are fixedly connected with the rotary steering engine fixing part 14 and a blind hole at the right end of the outer rotary claw palm 15 through screws, so as to realize the fixed connection of the rotary steering engine fixing part 14 and the outer rotary claw palm 15, the two are fixedly connected and wrap the rotary steering engine 13 inside, a rotary output shaft of the rotary steering engine 13 is parallel to a Z-axis, passes through the outer rotary claw palm 15, and is fixedly connected with an inner rotary.

This sole is provided with 4 reset spring, is respectively: the first return spring, the second return spring, the third return spring and the fourth return spring. One end of a first return spring is fixed in a hole (12 a) of an upper cover of the ball joint, and the other end of the first return spring is fixed in a hole (9 a) of a leg support rod a; one end of a second reset spring is fixed in a hole 12b of the upper cover b of the ball joint, and the other end of the second reset spring is fixed in a hole 9b of the leg support rod b; one end of a third return spring is fixed in a hole 12c of the upper cover of the ball joint, and the other end of the third return spring is fixed in a hole 9c of the leg support rod; one end of a fourth reset spring is fixed in a hole (12 d) of the upper cover of the ball joint, and the other end of the fourth reset spring is fixed in a hole (9 d) of the leg support rod.

With reference to fig. 8-9, the method for moving the mechanical sole based on the continuous rotation and attachment of the claw is characterized by comprising the following processes: each group of mechanical legs drive joints through three steering gears, three position degrees of freedom are possessed, robot gait is controlled through eighteen steering gears of the hexapod robot, namely the motion sequence and the track of the mechanical legs are controlled, multiple motion modes of the robot can be achieved, and then stable operation of a walking mechanism of the hexapod robot is achieved. The lower end of the inner side rotary claw palm 18 is circular, inner side claws are uniformly arranged on the edge, and included angles between all the inner side claws and corresponding tangent lines are kept consistent; the lower end of the outer rotary claw palm 15 is circular, and the edge is uniformly provided with outer claws which are the same as the inner claws in number and opposite to the inner claws in direction; the rotating directions of all the inner side claws are in the anticlockwise direction or the clockwise direction, and the rotating directions of all the outer side claws are opposite to the rotating directions of the inner side claws; the self-adaptive ball joint is restrained by the reset spring, three-posture freedom degree rotation of the self-adaptive ball joint is realized, and the initial posture of the rotary hook claw can be rapidly recovered under the condition of no stress.

As shown in fig. 7, when the mechanical sole claw is actively grabbed, the rotary output shaft of the rotary steering engine 13 rotates around the Z axis in the forward direction, the inner rotary claw palm 18 rotates with the rotary output shaft of the rotary steering engine 13 in the forward direction, the inner claw grabs and contacts the surface after a certain angle, and when the rotary steering engine 13 continues to rotate, the rotary output shaft of the rotary steering engine 13 is fixed on the contact surface due to the grabbing and contacting of the inner rotary claw palm 18, the body of the rotary steering engine 13 rotates in the reverse direction, the outer rotary claw palm 15 rotates in the reverse direction, and the outer claw grabs and contacts the contact surface after a certain angle is rotated, so that each inner claw is locked with the corresponding outer claw, and the mechanical sole claw is actively grabbed. When the inner side claw or the outer side claw cannot grab the contact surface and fall off, the rotary steering engine 13 continues to rotate to enable the inner side claw and the outer side claw to grab the contact surface continuously until the locking condition is met.

As shown in fig. 8, when the mechanical sole is actively desorbed, the rotary output shaft of the rotary steering engine 13 reversely rotates around the Z axis, the inner rotary claw palm 18 reversely rotates along with the rotary output shaft of the rotary steering engine 13, the inner claw desorbs the contact surface after a certain angle, the rotary steering engine 13 continuously rotates, the locking relationship between the inner claw and the outer claw is destroyed, and the active desorption of the mechanical sole claw is further realized.