Pose-compensated reconfigurable link device

Abstract

A pose compensation reconfigurable linkage device is composed of a reconfigurable linkage (A) and a pose compensation assembly (B). When the reconfigurable linkage (A) rolls, the pose compensation assembly (B) compensates the roll angle, so that the connected execution unit remains stationary. The device is applied to a multi-legged bionic robot with a reconfigurable trunk, compensates the roll angle generated by the reconfigurable linkage during the deformation of the robot trunk, and guarantees the stable support of the walking mechanism without increasing the complexity of additional driving and control.

Description

TECHNICAL FIELD

[0001] The present application relates to a pose compensation reconfigurable linkage device, in particular to a bevel gear transmission device connecting a reconfigurable link and a walking mechanism, which can realize compensation for the roll angle of the reconfigurable link, and the walking mechanism does not roll with the reconfigurable link, and can be applied to a multi-legged bionic robot with a reconfigurable trunk. BACKGROUND

[0002] A multi-legged bionic robot with a reconfigurable trunk, when the trunk is deformed, the walking mechanism will roll with the trunk link fixedly connected thereto, when the walking mechanism is an open-chain structure, it is necessary to maintain stability by controlling the driving motor of the walking mechanism, and when the walking mechanism is a closed-chain structure with few degrees of freedom, the robot is prone to instability. Chinese patent CN212738352U discloses a metamorphic hexapod robot, which proposes a metamorphic hexapod robot including a closed-chain structure of a body and multiple groups of walking mechanisms hingedly connected to the body, and the degrees of freedom of the mechanism configuration are changed in the movement process to realize the change of the body of the multi-legged bionic robot. The present application adopts a pose compensation bevel gear transmission design, which improves the walking stability of the multi-legged bionic robot with a reconfigurable trunk during trunk deformation and reduces the control complexity. SUMMARY

[0003] The present application solves the problem of providing a pose compensation reconfigurable linkage device applied to a multi-legged bionic robot with a reconfigurable trunk, which compensates for the roll angle of the reconfigurable link generated during the deformation of the robot trunk, guarantees the stable support of the walking mechanism, and does not increase the additional driving and control complexity.

[0004] The technical solution of the present application is as follows:

[0005] A pose compensation reconfigurable linkage device is composed of a reconfigurable linkage and a pose compensation assembly, the reconfigurable linkage is fixedly connected to the bevel gear set housing in the pose compensation assembly through the cooperation of the part shaft hole, and the reconfigurable linkage can roll.

[0006] The pose compensation assembly is composed of an execution unit connector, a bevel gear set housing, a first gear shaft fixer, a driving bevel gear, a driving gear shaft, a driven bevel gear, a driven gear shaft, and a second gear shaft fixer.

[0007] When the reconfigurable linkage of the pose compensation reconfigurable linkage device rolls, the execution unit connector in the pose compensation assembly remains stationary, thereby realizing compensation for the roll angle of the reconfigurable linkage.

[0008] The bevel gear set housing comprises two structurally symmetrical side shell plates, two structurally identical semicircular hole clamping plates and two structurally identical inner circular hole connecting plates.

[0009] The first gear shaft fixator is composed of two identical sliding bearings, four identical deep groove ball bearings and a stepped cylinder.

[0010] The second gear shaft fixator is composed of two identical shaft end retaining rings, two identical cylindrical roller bearings and a flange.

[0011] The present application has the beneficial effects of:

[0012] The present application utilizes a bevel gear transmission design pose compensation reconfigurable linkage device to compensate for the roll angle of the reconfigurable linkage, and realizes stable support of each walking mechanism of the reconfigurable multi-legged bionic robot when the trunk is deformed, which is conducive to developing more bionic gaits based on the reconfigurable trunk mechanism and improving the complex terrain adaptability of the multi-legged robot. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 A three-dimensional view of the overall pose compensation reconfigurable linkage device;

[0014] Figure 2 A three-dimensional view of the pose compensation assembly;

[0015] Figure 3 A three-dimensional view of the bevel gear set housing;

[0016] Figure 4 A three-dimensional view of the first gear shaft fixator;

[0017] Figure 5 A three-dimensional view of the second gear shaft fixator;

[0018] Figure 6 A three-dimensional view of the overall closed chain connection of eight pose compensation reconfigurable linkage devices. DETAILED DESCRIPTION

[0019] The present application will be further described below with reference to the accompanying drawings.

[0020] As shown in the drawings, a pose compensation reconfigurable linkage device is composed of a reconfigurable linkage A and a pose compensation assembly B. Figure 1 The reconfigurable linkage A is fastened to the bevel gear set housing B-b in the pose compensation assembly B through a part shaft hole fit, and the reconfigurable linkage A can roll.

[0021] As shown in the drawings, a pose compensation reconfigurable linkage device is composed of a reconfigurable linkage A and a pose compensation assembly B. Figure 2As shown, the pose compensation assembly B is composed of an execution unit connecting piece B-a, a bevel gear set housing B-b, a first gear shaft fixer B-c, a driving bevel gear B-d, a driving gear shaft B-e, a driven bevel gear B-f, a driven gear shaft B-g and a second gear shaft fixer B-h.

[0022] The connection mode of the components in the pose compensation assembly B is that the execution unit connecting piece B-a and the driving gear shaft B-e are fixedly connected through shaft hole cooperation; the bevel gear set housing B-b and the first gear shaft fixer B-c are fixedly connected through shaft hole cooperation; the first gear shaft fixer B-c and the driving gear shaft B-e are rotatably connected through shaft hole cooperation; the driving bevel gear B-d and the driving gear shaft B-e are fixedly connected through key connection; the driving bevel gear B-d and the driven bevel gear B-f are meshed with each other; the driven bevel gear B-f is fixedly installed on the driven gear shaft B-g through key connection and shaft end positioning; the second gear shaft fixer B-h and the driven gear shaft B-g are rotatably connected through shaft hole cooperation, and the second gear shaft fixer B-h and the bevel gear set housing B-b are fixedly connected through shaft hole cooperation; the driven gear shaft B-g is axially positioned through shaft shoulder, shaft part and end nut.

[0023] When the reconfigurable linkage A of the pose compensation reconfigurable linkage device rolls laterally, the execution unit connecting piece B-a in the pose compensation assembly B remains stationary, thereby realizing lateral roll angle compensation of the reconfigurable linkage A.

[0024] As shown in Figure 3 The bevel gear set housing B-b includes two symmetrically structured side shell plates, i.e., a first side shell plate B-b-1 and a second side shell plate B-b-4, two identically structured semicircular hole clamping plates, i.e., a first semicircular hole clamping plate B-b-2 and a second semicircular hole clamping plate B-b-3, and two identically structured inner circular hole connecting plates B-b-5 and B-b-6.

[0025] The connection mode of the components in the bevel gear set housing B-b is that the first side shell plate B-b-1 and the first semicircular hole clamping plate B-b-2 are fixedly connected through a threaded hole, the first semicircular hole clamping plate B-b-2 and the second semicircular hole clamping plate B-b-3 are fixedly connected through a threaded hole, and the second side shell plate B-b-4 and the second semicircular hole clamping plate B-b-3 are fixedly connected through a threaded hole; the two inner circular hole connecting plates B-b-5 and B-b-6 and the two side shell plates B-b-1 and B-b-4 are fixedly connected through threaded holes.

[0026] As shown in Figure 4 The first gear shaft fixer B-c is composed of two identical sliding bearings B-c-1, four identical deep groove ball bearings B-c-2 and a stepped cylinder B-c-3.

[0027] The connection mode of the components in the first gear shaft fixator B-c is that two sliding bearings B-c-1 and four same deep groove ball bearings B-c-2 are symmetrically arranged at two ends in the axial direction of the stepped cylinder B-c-3, and the sliding bearing B-c-1 is adjacent to the first deep groove ball bearing B-c-2 from left to right on the outside, the first deep groove ball bearing B-c-2 and the second deep groove ball bearing B-c-2 are arranged in close proximity, and there is a certain gap between the second deep groove ball bearing B-c-2 and the third deep groove ball bearing B-c-2; the rotating connection between the sliding bearing B-c-1 and the deep groove ball bearing B-c-2 and the two adjacent deep groove ball bearings B-c-2 is realized through the assembly shaft; the tight connection between the deep groove ball bearing B-c-2 and the stepped cylinder B-c-3 is realized through the shaft hole cooperation.

[0028] As shown in Figure 5 The second gear shaft fixator B-h is composed of two same shaft end retainer B-h-1, two same cylindrical roller bearing B-h-2 and flange B-h-3;

[0029] The connection mode of the components in the second gear shaft fixator B-h is that two shaft end retainers B-h-1 and two cylindrical roller bearings B-h-2 are symmetrically arranged at two ends in the axial direction of the flange B-h-3; the shaft end retainer B-h-1 and the cylindrical roller bearing B-h-2 are respectively fixedly connected with the flange B-h-3 through the shaft hole cooperation; the axial positioning of the cylindrical roller bearing B-h-2 is realized through the inner wall step surface of the shaft end retainer B-h-1 and the flange B-h-3.

[0030] As shown in Figure 6 Eight pose compensation reconfigurable linkage devices can be combined into a whole closed chain linkage mechanism, and the roll angle generated when the reconfigurable linkage joint rotates can be adaptively compensated through the device to achieve the goal that the walking mechanism does not roll with the reconfigurable linkage.

Claims

1. A pose-compensated reconfigurable linkage device, characterized in that: A pose compensation reconfigurable linkage device consists of a reconfigurable linkage (A) and a pose compensation component (B). The reconfigurable linkage (A) is fastened to the bevel gear housing (Bb) in the pose compensation component (B) through a part shaft hole fit, and the reconfigurable linkage (A) can roll. The posture compensation component (B) consists of an execution unit connector (Ba), a bevel gear set housing (Bb), a first gear shaft retainer (Bc), a driving bevel gear (Bd), a driving gear shaft (Be), a driven bevel gear (Bf), a driven gear shaft (Bg), and a second gear shaft retainer (Bh). The component connection method in the pose compensation assembly (B) is as follows: the actuator connector (Ba) is fixedly connected to the drive gear shaft (Be) through a shaft hole; the bevel gear set housing (Bb) is fixedly connected to the first gear shaft retainer (Bc) through a shaft hole; the first gear shaft retainer (Bc) is rotatably connected to the drive gear shaft (Be) through a shaft hole; the drive bevel gear (Bd) is fixedly connected to the drive gear shaft (Be) through a key; the drive bevel gear (Bd) and the driven bevel gear (Bf) mesh with each other; the driven bevel gear (Bf) is fixedly mounted on the driven gear shaft (Bg) through a key and shaft end positioning; the second gear shaft retainer (Bh) is rotatably connected to the driven gear shaft (Bg) through a shaft hole and is fixedly connected to the bevel gear set housing (Bb) through a shaft hole; the driven gear shaft (Bg) is axially positioned through a shaft shoulder, shaft-mounted parts, and end nuts. When the reconfigurable link (A) of the pose compensation reconfigurable link device rolls, the connection between the pose compensation component (B) and the execution unit (Ba) remains stationary, thereby achieving roll angle compensation for the reconfigurable link (A).

2. The pose compensation reconfigurable linkage device according to claim 1, characterized in that: The bevel gear set housing (Bb) includes: two symmetrical side shell plates, namely the first side shell plate (Bb-1) and the second side shell plate (Bb-4); two identical semi-circular hole clamping plates, namely the first semi-circular hole clamping plate (Bb-2) and the second semi-circular hole clamping plate (Bb-3); and two identical inner circular hole connecting plates (Bb-5 and Bb-6). The components in the bevel gear set housing (Bb) are connected as follows: the first side shell plate (Bb-1) is fixedly connected to the first semi-circular hole clamping plate (Bb-2) by opening threaded holes, the first semi-circular hole clamping plate (Bb-2) is fixedly connected to the second semi-circular hole clamping plate (Bb-3), and the second side shell plate (Bb-4) is fixedly connected to the second semi-circular hole clamping plate (Bb-3); the two inner circular hole connecting plates (Bb-5, Bb-6) are fixedly connected to the two side shell plates (Bb-1, Bb-4) by opening threaded holes.

3. The pose compensation reconfigurable linkage device according to claim 1, characterized in that: The first gear shaft retainer (Bc) consists of two identical sliding bearings (Bc-1), four identical deep groove ball bearings (Bc-2), and a stepped cylinder (Bc-3); The components in the first gear shaft retainer (Bc) are connected as follows: two sliding bearings (Bc-1) and four identical deep groove ball bearings (Bc-2) are symmetrically arranged at both ends of the stepped cylinder (Bc-3) in the axial direction. From left to right, the sliding bearing (Bc-1) is adjacent to the first deep groove ball bearing (Bc-2) on the outer side. The first deep groove ball bearing (Bc-2) and the second deep groove ball bearing (Bc-2) are arranged close together. There is a certain distance between the second deep groove ball bearing (Bc-2) and the third deep groove ball bearing (Bc-2). Rotational connection between the sliding bearing (Bc-1) and the deep groove ball bearing (Bc-2), and between the two adjacent deep groove ball bearings (Bc-2) are achieved by the assembly shaft. The deep groove ball bearing (Bc-2) and the stepped cylinder (Bc-3) are fastened together by the shaft hole fit.

4. The pose compensation reconfigurable linkage device according to claim 1, characterized in that: The second gear shaft retainer (Bh) consists of two identical shaft end retaining rings (Bh-1), two identical cylindrical roller bearings (Bh-2), and a flange (Bh-3); The connection method of the components in the second gear shaft retainer (Bh) is as follows: two shaft end retaining rings (Bh-1) and two cylindrical roller bearings (Bh-2) are symmetrically arranged at both ends of the flange (Bh-3) in the axial direction; the shaft end retaining rings (Bh-1) and the cylindrical roller bearings (Bh-2) are fixedly connected to the flange (Bh-3) through shaft hole fitting; the axial positioning of the cylindrical roller bearings (Bh-2) is achieved by the stepped surfaces of the inner walls of the shaft end retaining rings (Bh-1) and the flange (Bh-3).

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