阅读说明：本技术 一种可重构空间闭链腿机构六足平台 (Six-foot platform of reconfigurable space closed-chain leg mechanism ) 是由 武建昫 徐成君 姚燕安 姬佳璐 李晔卓 于 2021-07-29 设计创作，主要内容包括：一种可重构空间闭链腿机构六足平台,该装置包括：一种可重构空间闭链腿机构六足平台由完全相同的a、b、c、d、e、f组腿机构(A、B、C、D、E、F)和车架(G)组成。单个腿机构安装两个驱动电机于与机架相连的两个转动关节处,通过单电机驱动行走或滚动,在切换位置处利用控制两电机转向相同或相反的方式实现行走与滚动模式间的切换,可通过调节腿组间的相位差实现滚动与异形轮模式的切换。该平台可实现步行模式、滚动模式与异形轮模式之间的切换,三种模式的丰富运动增强了平台的地形适应性。(A reconfigurable spatial closed-chain leg mechanism hexapod platform, the apparatus comprising: a six-foot platform of a reconfigurable space closed-chain leg mechanism comprises a group of leg mechanisms (A, B, C, D, E, F) and a frame (G), wherein the group of leg mechanisms is a group of leg mechanisms a, b, c, d, e and f which are all identical. The single leg mechanism is provided with two driving motors at two rotating joints connected with the rack, the single motor drives the walking or rolling, the switching between the walking mode and the rolling mode is realized by controlling the two motors to rotate in the same or opposite mode at the switching position, and the switching between the rolling mode and the special-shaped wheel mode can be realized by adjusting the phase difference between the leg groups. The platform can realize the switching among a walking mode, a rolling mode and a special-shaped wheel mode, and the terrain adaptability of the platform is enhanced by the abundant movement of the three modes.)

1. The utility model provides a six sufficient platforms of restructural space closed chain leg mechanism which characterized in that:

a six-foot platform of a reconfigurable space closed-chain leg mechanism comprises a leg mechanism (A, B, C, D, E, F) and a frame (G), wherein the leg mechanism (A, B, C, D, E, F) comprises a group a, a group b, a group c, a group d, a group e and a group f which are all identical; the frame (G) is a stainless steel pipe frame and is fixedly connected with the a-f group leg mechanisms (A, B, C, D, E, F) through mounting holes; each group of leg mechanisms comprises six rod pieces of a frame rod;

the a-f group leg mechanisms (A, B, C, D, E, F) of the six-legged platform of the reconfigurable space closed-chain leg mechanism are respectively provided with two driving motors at two rotary joint parts of the frame; the single leg mechanism can walk or roll by being driven by a single motor, and the walking mode and the rolling mode are switched by utilizing the matching rotation of two motors at the switching position; under the rolling mode, the single motor is used for adjusting the phase difference of the corners between the leg groups to realize the switching between the rolling mode and the special-shaped wheel mode;

the six-foot platform of the reconfigurable space closed-chain leg mechanism is set to be triangular gait in the walking mode; the switching operation between the walking mode and the rolling mode is realized by driving the leg mechanism to a switching position by the motor and controlling the rotation directions of the two motors; the switching operation between the rolling mode and the special-shaped wheel mode is that the driving of a b group leg mechanism (B, D, F), a d group leg mechanism and a f group leg mechanism (3578) is stopped in the rolling mode, and the rotation angle is controlled by a motor of the a group leg mechanism, the c group leg mechanism and the e group leg mechanism (A, C, E) to rotate to a position with zero phase difference with the rotation angle of the b group leg mechanism, the d group leg mechanism and the f group leg mechanism (B, D, F), so that the switching between the rolling mode and the special-shaped wheel mode is completed;

the group a leg mechanism (A) consists of a walking part (A-1), a first driving part (A-2) and a second driving part (A-3); b. the shapes, mechanical structures and assembling modes of the c, d, e and f group leg mechanisms (B, C, D, E, F) and the a group leg mechanism (A) are completely the same; a. the b and c groups of leg mechanisms (A, B, C) and the d, e and f groups of leg mechanisms (D, E, F) are symmetrically arranged on two sides of the platform.

2. The reconfigurable space closed-chain leg mechanism hexapod platform of claim 1, wherein:

the group a leg mechanism (A) is a space closed chain link mechanism driven by two motors independently and comprises a leg link mechanism (A-1), a rack (G), a first driving part (A-2) and a second driving part (A-3);

the a-running part (A-1) comprises: a first to a fifth bars (A-1-1, A-1-2, A-1-3, A-1-4, A-1-5) and a foot end (A-1-6);

the connection mode of the parts in the walking part (A-1) is as follows:

a first rod (A-1-1), a second rod (A-1-2), a third rod (A-1-3), an a fourth rod (A-1-4) and an a fifth rod (A-1-5) are all auxiliary rod pieces, and two end positions of each rod piece are provided with mounting holes and rotary joints; a, a rotary joint (A-1-1-1) at the end part of a first rod (A-1-1) is rotatably connected with a rotary joint (G-1) at the end part of a rack (G) through an assembly shaft; a, the rotary joint (A-1-1-2) at the other end of the first rod (A-1-1) is rotatably connected with the rotary joint (A-1-2-1) at one end of the second rod (A-1-2) through an assembly shaft; a, the rotary joint (A-1-2-2) at the other end of the second rod (A-1-2) is rotatably connected with the rotary joint (A-1-3-1) at the end of the third rod (A-1-3) through an assembly shaft; a rotary joint (A-1-3-2) at the other end of the third rod (A-1-3) and a rotary joint (A-1-4-1) at the end of the fourth rod (A-1-4) are in rotary connection through an assembly shaft; a rotary joint (A-1-4-2) at the other end of the fourth rod (A-1-4) and a rotary joint (A-1-5-1) at the end of the fifth rod (A-1-5) are in rotary connection through an assembly shaft; a, the rotary joint (A-1-5-2) at the other end of the fifth rod (A-1-5) is rotatably connected with the rotary joint (G-2) at the other end of the rack (G) through an assembly shaft; the foot end (A-1-6) is fixedly connected with the front joint (A-1-3-1) and the rear joint (A-1-2-2) at the connecting end part of the third rod (A-1-3) and the second rod (A-1-2) through the assembling shaft by arranging a mounting hole;

the a driving part includes: a first driving part (A-2) and a second driving part (A-3); a the second driving part (A-3) provides power in the walking mode;

the connection mode of the rod pieces in the driving part and the walking part a is as follows:

the output shaft of the motor in the first driving part (A-2) is fixedly connected with a fifth rod piece (A-1-5) in the walking part a through a coupler; a, a motor base in a first driving part (A-2) is fixedly connected with a rack (G) through arranging a mounting hole; the output shaft of the motor in the second driving part (A-3) is fixedly connected with the first rod piece (A-1-1) in the walking part a through a coupler; a, a motor base in a second driving part (A-3) is fixedly connected with a rack (G) through arranging a mounting hole; the first driving part (A-2) and the second driving part (A-3) are connected with a control system.

3. The reconfigurable space closed-chain leg mechanism hexapod platform of claim 1, wherein:

the relationship between the distance and the included angle between the axes of the rotating joints at the two ends of each connecting rod in the group a leg mechanism is as follows:

a the included angle between the axes of the rotary joints at the two ends of the first rod (A-1-1) is alpha₁The value of the vertical distance is h₁(ii) a a the included angle between the axes of the rotary joints at the two ends of the second rod (A-1-2) is alpha₂Perpendicular distance of h₂(ii) a a the axes of the rotary joints at the two ends of the third rod (A-1-3) are mutually parallel and the vertical distance is h₃(ii) a a the included angle between the axes of the rotary joints at the two ends of the fourth rod (A-1-4) is alpha₄The value of the vertical distance is h₄(ii) a a the included angle between the axes of the rotary joints at the two ends of the fifth rod (A-1-5) is alpha₅Perpendicular distance of h₅The axes of the rotary joints at the two ends of the machine frame (G) are parallel to each other, and the vertical distance is h₆；

a included angle alpha between the axes of the rotary joints at the two ends of the first rod (A-1-1)₁And a included angle alpha between the axes of the rotary joints at the two ends of the fourth rod (A-1-4)₄Equal, perpendicular distance h₁At a distance h from the vertical₄Equal; a included angle alpha between the axes of the rotary joints at the two ends of the second rod (A-1-2)₂And a included angle alpha between the axes of the rotary joints at the two ends of the fifth rod (A-1-5)₅Equal, perpendicular distance h₂At a distance h from the vertical₅Equal; a vertical distance h of the axes of the rotary joints at the two ends of the third rod (A-1-3)₃Perpendicular distance h between the two ends of the frame (G) and the axis of the rotary joint₆Are equal.

4. The reconfigurable space closed-chain leg mechanism hexapod platform of claim 2, wherein:

the design of a fifth rod (A-1-5) half wheel in the group a leg mechanism is as follows: the rotation center of a rotating joint (A-1-5-2) at one end of the fifth rod (A-1-5) is used as the center of a circle, and a semi-circular arc made by taking twice of the vertical distance of the rotating joint at two ends of the fifth rod (A-1-5) as the radius is used as the basic size of the half wheel.

5. The reconfigurable space closed-chain leg mechanism hexapod platform of claim 1, wherein:

the switching positions are that when the vertical line between the axes of the first rod (A-1-1) and the second rod (A-1-1) and the vertical line between the axes of the first rod (A-1-1-1) and the second rod (A-1-5) and the vertical line between the axes of the first rod (A-1-5-2) and the vertical line between the axes of the first rod (A-1-5) and the second rod (A-1-5) are parallel to the vertical line between the axes of the first rotating joint (G-1) and the second rotating joint (G-2) of the rack (G), the axis of the rotating joint (A-1-1-2) at one end of the first rod (A-1-1) is connected with the rotating joint (G-2) at one end of the rack (G) and the rotating joint (A-1-5) connected with the fifth rod (A-1-5) The axes are in the same horizontal plane, the axis of the rotary joint (A-1-5-1) at one end of the fifth rod (A-1-5) is in the same horizontal plane with the axis of the rotary joint (G-1) at the other end of the rack (G) and the axis of the rotary joint (A-1-1-2) at the other end connected with the first rod (A-1-1), and the group a leg mechanism is positioned at the switching position of the walking and rolling modes of the spatial link mechanism.

Technical Field

The invention relates to a six-foot platform of a reconfigurable space closed-chain leg mechanism, which is formed by combining six groups of leg mechanisms; each leg mechanism is independently driven by two motors, the single motor drives the platform to walk and roll, the two motors are matched with each other at the switching position to realize the mutual switching of the walking mode and the rolling mode, and the single motor is used for adjusting the phase difference between crank angles of different leg groups to realize the switching of the rolling mode and the special-shaped wheel mode in the rolling mode so as to deal with the complex and changeable mountain road environment.

Background

A spatial closed kinematic chain is applied to the leg mechanisms of a walking carrying platform, each leg mechanism being driven by two independent motors. Compared with the open chain leg mechanism, under the condition of the same material, external load and speed grade, the closed chain link system theoretically only bears tension and compression loads, and is mostly a typical two-force rod member, so that the closed chain leg mechanism has good rigidity and stability.

The prior mountain transport mainly takes crawler type and wheel type, such as Chinese patent CN205087046U 'multifunctional crawler type mountain transport vehicle'. Compared with the crawler and wheel type transportation, the leg type moving mechanism has some unique advantages in the aspects of self structure and moving mode, including: the foot-contact type road surface is in discrete point contact with the ground, so that a proper foot-contact point can be selected to adapt to different road surfaces; the knee joint can be lifted to cross vertical obstacles such as steps, walls and the like; the legs occupy a small volume of space and are therefore less likely to snag or get stuck when passing through a brush or gravel pile. These characteristics make the leg moving mechanism more suitable for work in various abominable ground environment, as the mobile platform of detection, transportation or operation etc..

The leg mechanism self reconfiguration design scheme that this patent adopted has improved walking platform's mobility, and on the structural topography simultaneously, leg mechanism can utilize the reconfiguration ability of self to switch into wheeled roll, has so not only reduced the focus of platform and has improved the stability of platform, has improved its translation rate simultaneously, and the switching of two kinds of modes has improved walking platform's topography adaptability greatly.

Disclosure of Invention

The invention provides a reconfigurable space closed-chain leg mechanism hexapod platform, which has good leg lifting height and can be switched between walking and rolling modes compared with the existing leg type walking platform, and can be switched into a special-shaped wheel mode by adjusting phase differences among different leg groups in the rolling mode, so that good improvement on terrain adaptability, trafficability and obstacle crossing capability is realized.

The technical scheme of the invention is as follows:

a six-foot platform of a reconfigurable space closed-chain leg mechanism comprises six completely identical leg mechanisms of a group a, a group b, a group c, a group d, a group e and a group f and a frame; the a-f group leg mechanism is fixedly connected with the frame.

The a-f group leg mechanisms of the six-legged platform of the reconfigurable space closed-chain leg mechanism are respectively provided with two driving motors at two rotating joints connected with the rack, and are driven to walk or roll by a single motor.

The group a leg mechanism consists of a walking part a, a driving part a and a frame.

b. The c, d, e and f group leg mechanisms are completely the same as the a group leg mechanism in terms of rod shape, mechanical structure and assembly mode.

d. The e group leg mechanism and the f group leg mechanism are respectively arranged at two sides of the platform symmetrically with the a group leg mechanism array, the b group leg mechanism array and the c group leg mechanism array.

The a walking part of the a group leg mechanism comprises: a first rod to a fifth rod and a foot end.

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

the invention utilizes a space closed type kinematic chain to be applied to a walking platform leg mechanism, drives a single motor in first and second drives of a closed chain leg, adjusts the leg mechanism to be at a switching position, simultaneously drives two motors at the moment, and realizes the conversion of the leg mechanism between walking and rolling modes by controlling the opposite or same rotating directions of the two motors; the platform can be locked in a triangular arrangement group of legs in a rolling mode, the switching between the rolling mode and a special-shaped wheel mode can be realized by adjusting the crank angles of the other three groups of legs to be zero and the phase difference between the crank angles and the crank angles is zero, so that diversified motion modes are generated, the platform has better performance in the aspect of terrain adaptability compared with a common single-degree-of-freedom single-motor driven leg mechanism, the platform can easily pass through obstacles such as steps, walls, bushes or rubble piles, can realize high-speed movement on a flat road surface and has certain obstacle crossing capability, and the platform can be used in the fields of detection, carrying and the like.

Drawings

FIG. 1(a) is an overall three-dimensional diagram of a six-legged platform walking mode of a reconfigurable space closed-chain leg mechanism;

FIG. 1(b) is a three-dimensional overall view of a six-legged platform rolling mode of a reconfigurable space closed-chain leg mechanism;

FIG. 2 is a three-dimensional diagram of a six-legged platform profile wheel mode overall of a reconfigurable space closed-chain leg mechanism;

FIG. 3 is a three-dimensional view of a single leg set in a leg mechanism walking mode;

FIG. 4 is a three-dimensional view of a leg unit chassis;

FIG. 5 is a three-dimensional view of a single leg set in a leg mechanism roll mode;

FIG. 6 is a three-dimensional view of the walking part in the leg mechanism rolling mode;

fig. 7 is a three-dimensional view of the leg mechanism switching position.

Detailed Description

The invention will be further explained with reference to the drawings.

A reconfigurable space closed-chain leg mechanism hexapod platform as shown in figure 1 is composed of a group of leg mechanisms (A, B, C, D, E, F) and a frame (G), wherein the group of leg mechanisms is a group of leg mechanisms a, a group of leg mechanisms b, a group of leg mechanisms c, a group of leg mechanisms d, a group of leg mechanisms e and a group of leg mechanisms f are identical. The a-f group leg mechanism (A, B, C, D, E, F) and the frame (G) are fixedly connected through mounting holes.

As shown in fig. 1(b), a reconfigurable space closed-chain leg mechanism hexapod platform can utilize the reconfigurable characteristic of a leg link mechanism to switch into a rolling mode to lower the center of gravity so as to deal with the structured terrain and improve the moving speed of the platform.

As shown in fig. 2, after a reconfigurable space closed-chain leg mechanism hexapod platform can be switched to a rolling mode by using the reconfigurable characteristic of a leg link mechanism, when an obstacle is encountered, the phase difference between crank angles of two leg groups positioned at the same position of a platform body can be zero by adjusting the two leg groups, so that the platform is switched to a special-shaped wheel mode from the rolling mode, and the obstacle crossing capability of the platform is improved.

The a-f group leg mechanisms (A, B, C, D, E, F) of the six-legged platform of the reconfigurable space closed-chain leg mechanism are driven by two motors to walk independently.

The a-group leg mechanism A is composed of a walking part (A-1), a first driving part (A-2) and a second driving part (A-3) as shown in figure 3.

b. The shapes, mechanical structures and assembling modes of the lever pieces of the c, d, e and f group leg mechanisms (B, C, D, E, F) and the a group leg mechanism (A) are completely the same.

d. The e and f groups of leg mechanisms (D, E, F) and the a, b and c groups of leg mechanisms (A, B, C) are symmetrically arranged in an array.

The group a leg mechanism (A) is a space closed chain link mechanism, and two driving motors are respectively arranged at the rotating joints of the two leg links connected with the frame. The single leg mechanism can walk or roll through the single motor drive, and is positioned at a switching position by the single motor adjusting mechanism, and the two motors are controlled to rotate in the same direction or opposite directions simultaneously to realize the switching of walking and rolling modes.

As shown in fig. 4, the a-running part (a-1) includes: a first rod to a fifth rod (A-1-1, A-1-2, A-1-3, A-1-4, A-1-5) and a foot end (A-1-6).

The connection mode of the parts in the walking part A-1 is as follows: a first rod (A-1-1), a second rod (A-1-2), a third rod (A-1-3), an a fourth rod (A-1-4) and an a fifth rod (A-1-5) are all auxiliary rod pieces, and two end positions of each rod piece are provided with mounting holes and rotary joints; a, a rotary joint (A-1-1-1) at the end part of a first rod (A-1-1) is rotatably connected with a rotary joint (G-1) at the end part of a rack (G) through an assembly shaft; a, the rotary joint (A-1-1-2) at the other end of the first rod (A-1-1) is rotatably connected with the rotary joint (A-1-2-1) at one end of the second rod (A-1-2) through an assembly shaft; a, the rotary joint (A-1-2-2) at the other end of the second rod (A-1-2) is rotatably connected with the rotary joint (A-1-3-1) at the end of the third rod (A-1-3) through an assembly shaft; a rotary joint (A-1-3-2) at the other end of the third rod (A-1-3) and a rotary joint (A-1-4-1) at the end of the fourth rod (A-1-4) are in rotary connection through an assembly shaft; a rotary joint (A-1-4-2) at the other end of the fourth rod (A-1-4) and a rotary joint (A-1-5-1) at the end of the fifth rod (A-1-5) are in rotary connection through an assembly shaft; a, the rotary joint (A-1-5-2) at the other end of the fifth rod (A-1-5) is rotatably connected with the rotary joint (G-2) at the other end of the rack (G) through an assembly shaft; the foot end (A-1-6) is fixedly connected with the joint (A-1-3-1) at the end part of the third rod (A-1-3) and the joint (A-1-2-2) at the end part of the second rod (A-1-2) through the assembling shaft by arranging the mounting hole.

As shown in fig. 5, the leg link may be in a switching position using a single motor adjustment mechanism, where both motors are controlled to rotate in the same direction simultaneously to effect switching from the walking mode to the rolling mode.

As shown in fig. 6, when the leg mechanism is switched from the walking mode to the rolling mode, the positions of the links of the leg in the leg group are not changed after the leg mechanism is reconfigured, i.e. in the rolling mode, the connection mode is not changed, and the driving mode of the platform is switched from the a second driving part (a-3) to the a first driving part (a-2).

As shown in FIG. 7, the switching positions are when a is a perpendicular line between the axes of the first rod (A-1-1) and the second rod (A-1-1-2), a perpendicular line between the axes of the first rod (A-1-1) and the second rod (A-1-5) and the first rotating joint (A-1-5-1) and the second rotating joint (A-1-5-2) are parallel to a perpendicular line between the axes of the first rotating joint (G-1) and the second rotating joint (G-2) of the rack (G), and the axis of the rotating joint (A-1-1-2) at one end of the first rod (A-1-1) is connected with the rotating joint (G-2) at one end of the rack (G) and the rotating joint (A-1-5) connected with the fifth rod (A-1-5) -2) axis is in the same horizontal plane, a axis of the revolute joint (A-1-5-1) at one end of the fifth bar (A-1-5) is in the same horizontal plane with the revolute joint (G-1) at the other end of the frame (G) and the revolute joint (A-1-1-2) at the other end connected to the first bar (A-1-1), and a group a leg mechanism is in the switching position of walking and rolling modes of this spatial linkage mechanism.