Robot parallel wheel leg based on support force detection and mounting method thereof

Abstract

The invention discloses a robot parallel wheel leg based on supporting force detection and an installation method thereof.The robot parallel wheel leg is provided with a supporting force detection mechanism, and a left strain gauge and a right strain gauge of the supporting force detection mechanism are fixed between a wheel set connecting piece and an ankle joint connecting piece; the strain gauges are fixed to the ankle joint connecting piece and the wheel set connecting piece, the supporting force borne by the wheel-legged robot is obtained in real time through the strain gauges, direct detection of the supporting force of the wheel-legged robot on the ground can be achieved, the ground sensing capacity of the wheel-legged robot is enhanced, and leg control of the wheel-legged robot is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of wheel - leg robots, and particularly relates to a parallel wheel - leg of a robot based on support force detection and an installation method thereof. Background Art

[0002] The wheel - leg robot is a typical ground robot and has attracted extensive research interest globally in recent years. The wheel - leg robot combines the characteristics of high - speed movement of the wheeled structure and flexible obstacle - crossing of the legged structure, and can replace humans to perform tasks in complex environments, having broad application prospects.

[0003] In some existing wheel - leg robots, the legs adopt a parallel structure, and the parallel structure can effectively reduce the load of a single joint motor. The existing control algorithms of parallel wheel - leg robots need to indirectly obtain the support force of the ground on the robot through joint motor calculation, and the obtained support force data is inaccurate. Summary of the Invention

[0004] The present invention provides a parallel wheel - leg of a robot based on support force detection and an installation method thereof. The parallel wheel - leg of the robot can directly detect the support force of the ground on the wheel - leg robot.

[0005] To achieve the above object, the present invention adopts the following specific technical solutions:

[0006] The present invention provides a parallel wheel - leg of a robot based on support force detection. The parallel wheel - leg includes a left calf link, a left thigh link, a right calf link, a right thigh link, an ankle joint connector, a wheel set connector, a left joint motor, a right joint motor, a wheel set, and a support force detection mechanism;

[0007] The left thigh link is connected between the output end of the left joint motor and the top end of the left calf link; the right thigh link is connected between the output end of the right joint motor and the top end of the right calf link; the bottom ends of the right calf link and the left calf link are coaxially hinged to the ankle joint connector; both the right joint motor and the left joint motor are fixed between a long splint and a short splint;

[0008] The support force detection mechanism includes a left strain gauge, a right strain gauge, and a linear guiding mechanism; the left strain gauge and the right strain gauge are fixed between the wheel set connector and the ankle joint connector; the wheel set connector is used to install the linear guiding mechanism and the wheel set; the wheel set contacts the ground and provides driving force for walking through the rotation of the motor in the wheel set;

[0009] The rotation axis of the wheel set is coaxial with the bottom ends of the right calf link and the left calf link;

[0010] The linear guiding mechanism includes a linear guide rail, a slider, a slider connecting member, a left short connecting rod, and a right short connecting rod; the linear guide rail is fixedly installed on the wheel set connecting member in the vertical direction; the slider is slidably installed on the linear guide rail; the slider connecting member is fixedly installed on the slider; one end of the right short connecting rod is coaxially arranged with one end of the left short connecting rod and is hinged to the slider connecting member; the other end of the right short connecting rod is hinged to the right lower leg connecting rod; the other end of the left short connecting rod is hinged to the left lower leg connecting rod.

[0011] Furthermore, the left short connecting rod and the right short connecting rod are hinged to the slider connecting member through a bearing, a bushing, a screw, and a nut;

[0012] The right short connecting rod and the right lower leg connecting rod, and the left short connecting rod and the left lower leg connecting rod are all hinged through screws, nuts, and bearings.

[0013] Furthermore, the slider connecting member is fixed to the slider by screws;

[0014] The linear guide rail is fixedly installed on the wheel set connecting member by screws and nuts.

[0015] Furthermore, the ankle joint connecting member is provided with a through hole, and a hinge shaft is installed in the through hole;

[0016] The hinge shaft is coaxially arranged with the rotating shaft of the wheel set;

[0017] The bottom ends of the right lower leg connecting rod and the left lower leg connecting rod are both hinged to the hinge shaft.

[0018] Furthermore, one end of the ankle joint connecting member is connected to the center of the left strain gauge, and the other end is connected to the center of the right strain gauge;

[0019] The four corners of the left strain gauge and the four corners of the right strain gauge are all fixed to the wheel set connecting member.

[0020] Furthermore, the left strain gauge and the right strain gauge are fixed to the wheel set connecting member through a bushing, a screw, and a nut.

[0021] Furthermore, between the left lower leg connecting rod and the left thigh connecting rod and the ankle joint connecting member, and between the right lower leg connecting rod and the right thigh connecting rod and the ankle joint connecting member, they are all hinged through screws, nuts, and flange bearings.

[0022] In addition, the present invention also provides an installation method for the above-mentioned parallel wheel legs of the robot, and this installation method includes the following steps:

[0023] Step 1, fix the left joint motor and the right joint motor between the short splint and the long splint;

[0024] Step 2: Fix one end of the left thigh connecting rod to the output end of the left joint motor, and fix one end of the right thigh connecting rod to the output end of the right joint motor;

[0025] Step 3: Hinge the left calf connecting rod to the other end of the left thigh connecting rod, and hinge the right calf connecting rod to the other end of the right thigh connecting rod;

[0026] Step 4: Coaxially hinge the other ends of the left calf connecting rod and the right calf connecting rod to the ankle joint connecting piece;

[0027] Step 5: Fix the wheel set, linear guide rail, right strain gauge, and left strain gauge on the wheel set connecting piece;

[0028] Step 6: Slide the slider in cooperation with the linear guide rail;

[0029] Step 7: Fix the slider connecting piece on the slider;

[0030] Step 8: Hinge one ends of the left short connecting rod and the right short connecting rod to the slider connecting piece;

[0031] Step 9: Fix the ankle joint connecting piece on the right strain gauge and the left strain gauge;

[0032] Step 10: Hinge the other end of the left short connecting rod to the left calf connecting rod, and hinge the other end of the right short connecting rod to the right calf connecting rod.

[0033] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0034] The parallel wheel legs of the robot of the present invention are provided with a support force detection mechanism, and the left strain gauge and the right strain gauge of the support force detection mechanism are fixed between the wheel set connecting piece and the ankle joint connecting piece. By fixing the strain gauges to the ankle joint connecting piece and the wheel set connecting piece, the support force received by the wheel leg robot can be obtained in real time by using the strain gauges, which can directly detect the support force of the ground on the wheel leg robot, enhance the ground perception ability of the wheel leg robot, and realize the leg control of the wheel leg robot. Description of the Drawings

[0035] Figure 1 is a schematic structural diagram of the parallel wheel legs of the robot of the present invention;

[0036] Figure 2 is a schematic structural diagram of the support force detection mechanism.

[0037] Among them, 1 - short splint, 2 - right joint motor, 3 - long splint, 4 - right thigh connecting rod, 5 - right calf connecting rod, 6 - wheel set, 7 - wheel set connecting piece, 8 - right strain gauge, 9 - left strain gauge, 10 - ankle joint connecting piece, 11 - right short connecting rod, 12 - left short connecting rod, 13 - slider connecting piece, 14 - slider, 15 - linear guide rail, 16 - left calf connecting rod, 17 - left thigh connecting rod, 18 - left joint motor. Specific implementation mode

[0038] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0039] As Figure 1 shown, the embodiment of the present invention provides a robot parallel wheel leg based on support force detection. The robot parallel wheel leg includes a short splint 1, a right joint motor 2, a long splint 3, a right thigh connecting rod 4, a right calf connecting rod 5, a wheel set 6, a wheel set connecting piece 7, a right strain gauge element 8, a left strain gauge element 9, an ankle joint connecting piece 10, a right short connecting rod 11, a left short connecting rod 12, a slider connecting piece 13, a slider 14, a linear guide rail 15, a left calf connecting rod 16, a left thigh connecting rod 17 and a left joint motor 18, wherein:

[0040] The left joint motor 18 and the right joint motor 2 are embedded between the short splint 1 and the long splint 3 and are connected by screws between the short splint 1 and the long splint 3. The output end of the left joint motor 18 is connected to the top end of the left thigh connecting rod 17 by screws, and the output end of the right joint motor 2 is connected to the top end of the right thigh connecting rod 4 by screws. A circular through hole with the same diameter is provided at the bottom end of the left thigh connecting rod 17, the bottom end of the right thigh connecting rod 4, both ends of the left calf connecting rod 16, both ends of the right calf connecting rod 5 and the ankle joint connecting piece 10. The bottom end of the left thigh connecting rod 17 is hinged to the top end of the left calf connecting rod 16 by screws, nuts and flange bearings, the bottom end of the right thigh connecting rod 4 is hinged to the top end of the right calf connecting rod 5 by screws, nuts and flange bearings, and the other ends of the left calf connecting rod 16 and the right calf connecting rod 5 are both hinged to the ankle joint connecting piece 10 by screws, nuts and flange bearings.

[0041] The wheel set 6 is fixed on the wheel set connecting piece 7 by screws. The wheel set 6 is in direct contact with the ground, and the driving force is provided by the rotation of the motor in the wheel set 6.

[0042] The left calf connecting rod 16 and the right calf connecting rod 5 are respectively provided with a small circular through hole, and are hinged to the left short connecting rod 12 and the right short connecting rod 11 in the support force detection mechanism through screws, nuts and bearings.

[0043] Figure 2 The support force detection mechanism is shown as follows. The support force detection mechanism includes a right strain gauge 8, a left strain gauge 9 and a linear guiding mechanism; the linear guiding mechanism includes a linear guide rail 15, a slider 14, a slider connecting member 13, a right short connecting rod 11 and a left short connecting rod 12; the ankle joint connecting member 10 is connected to the centers of the left strain gauge 9 and the right strain gauge 8 through screws and nuts and a bushing, and the four corners of the left strain gauge 9 and the four corners of the right strain gauge 8 are fixed to the wheel set connecting member 7 through screws, nuts and bushings. The linear guide rail 15 is fixed to the corresponding hole positions of the wheel set connecting member 7 through screws and nuts, the slider 14 is matched with the linear guide rail 15, and the slider 14 can slide up and down along the linear guide rail 15. The slider connecting member 13 is fixed to the slider 14 through screws. One end of the left short connecting rod 12 and one end of the right short connecting rod 11 are hinged to the slider connecting member 13 through a bearing, a bushing, screws and nuts, and the other ends of the left short connecting rod 12 and the right short connecting rod 11 are respectively hinged to the left calf connecting rod 16 and the right calf connecting rod, thus forming a parallel five-link structure.

[0044] The embodiment of the present invention further provides an installation method for the parallel wheel legs of the above-mentioned robot. The installation method adopts the following installation steps:

[0045] Step 1, fix the left joint motor 18 and the right joint motor 2 between the short splint 1 and the long splint 3 with screws;

[0046] Step 2, fix the left thigh connecting rod 17 to the output end of the left joint motor 18, and fix the right thigh connecting rod 4 to the output end of the right joint motor 2;

[0047] Step 3, hinge the top end of the left calf connecting rod 16 to the bottom end of the left thigh connecting rod 17, and hinge the top end of the right calf connecting rod 5 to the bottom end of the right thigh connecting rod 4;

[0048] Step 4, hinge the other ends of the left calf connecting rod 16 and the right calf connecting rod 5 and the ankle joint connecting member 10 on the same axis;

[0049] Step 5, fix the wheel set 6, the guide rail 15, the right strain gauge 8 and the left strain gauge 9 on the wheel set connecting member 7;

[0050] Step 6, slidably mount the slider 14 on the linear guide rail 15;

[0051] Step 7, fix the slider connecting member 13 to the slider 14;

[0052] Step 8: Hinge and install one end of the left short connecting rod 12 and the right short connecting rod 11 on the slider connecting piece 13;

[0053] Step 9: Fix the ankle joint connecting piece 10, the right strain gauge 8 and the left strain gauge 9 that have been fixed on the wheel set connecting piece 7 through bushings, screws and nuts;

[0054] Step 10: Hinge the other end of the left short connecting rod 12 on the left calf connecting rod 16, and hinge the other end of the right short connecting rod 11 on the right calf connecting rod 5.

[0055] The working principle of the above-mentioned parallel wheel leg robot is as follows: When the parallel leg mechanism stands on the ground, the left and right joint motors achieve torque transmission through the thigh connecting rod, the calf connecting rod and the ankle joint connecting piece 10, and the wheel set 6 on the wheel set connecting piece 7 provides driving force for the robot through motor rotation. The two strain gauges between the ankle joint connecting piece 10 and the wheel set connecting piece 7 generate small deformations under the action of force, and the deformations are converted into the values of acting forces and fed back to the control system to realize the detection of the supporting force. When the left and right joints rotate, they will drive the leg connecting rods to move. The constraints composed of the left short connecting rod 12, the right short connecting rod 11, the left calf connecting rod 16, the right calf connecting rod 5, the linear guide rail 15, the slider 14, the slider connecting piece 13 and the wheel set connecting piece 7 keep the supporting force detection mechanism upward or obliquely upward and point between the left and right joint motors, ensuring the stable detection of the supporting force.

[0056] Obviously, those skilled in the art can make various changes and modifications to the embodiments of the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these changes and modifications.

Claims

1. A robot parallel wheel leg based on support force detection, characterized in that It includes a left calf link, a left thigh link, a right calf link, a right thigh link, an ankle joint connector, a wheel set connector, a left joint motor, a right joint motor, a wheel set, and a support force detection mechanism; The left thigh link is connected between the output end of the left joint motor and the top end of the left calf link; the right thigh link is connected between the output end of the right joint motor and the top end of the right calf link; the bottom ends of the right calf link and the left calf link are coaxially hinged to the ankle joint connector; both the right joint motor and the left joint motor are fixed between the long splint and the short splint; The support force detection mechanism includes a left strain gauge, a right strain gauge, and a linear guiding mechanism; the left strain gauge and the right strain gauge are fixed between the wheel set connector and the ankle joint connector; the wheel set connector is used to install the linear guiding mechanism and the wheel set; the wheel set contacts the ground and provides walking power through the rotation of the motor inside the wheel set; The rotation axis of the wheel set is coaxial with the bottom ends of the right calf link and the left calf link; The linear guiding mechanism includes a linear guide rail, a slider, a slider connector, a left short link, and a right short link; the linear guide rail is fixedly installed on the wheel set connector in the vertical direction; the slider is slidably installed on the linear guide rail; the slider connector is fixedly installed on the slider; one end of the right short link and one end of the left short link are coaxially arranged and hinged to the slider connector; the other end of the right short link is hinged to the right calf link; the other end of the left short link is hinged to the left calf link.

2. The parallel wheel legs of the robot according to claim 1, characterized in that, The left short link and the right short link are hinged to the slider connector through bearings, bushings, screws, and nuts; The right short link and the right calf link, and the left short link and the left calf link are both hinged through screws, nuts, and bearings.

3. The parallel wheeled leg robot according to claim 1, characterized in that The slider connector is fixed to the slider by screws; The linear guide rail is fixedly installed on the wheel set connector by screws and nuts.

4. The parallel wheeled leg robot according to claim 1, characterized in that, The ankle joint connector is provided with a through hole, and a hinge shaft is installed in the through hole; The hinge shaft is coaxial with the rotation axis of the wheel set; The bottom ends of the right calf link and the left calf link are both hinged to the hinge shaft.

5. The parallel wheeled leg robot according to claim 1, wherein, One end of the ankle joint connector is connected to the center of the left strain gauge, and the other end is connected to the center of the right strain gauge; The four corners of the left strain gauge and the four corners of the right strain gauge are both fixed to the wheel set connector.

6. The parallel wheeled leg robot according to claim 5, characterized in that The left strain gauge and the right strain gauge are fixed to the wheel set connector through bushings, screws, and nuts.

7. The parallel wheeled leg robot according to claim 1, characterized in that, The left calf link and the left thigh link and the ankle joint connector, and the right calf link and the right thigh link and the ankle joint connector are both hinged through screws, nuts, and flange bearings.

8. An installation method of the robot parallel wheel leg according to any one of claims 1-7, characterized in that, It includes the following steps: Step 1, fix the left joint motor and the right joint motor between the short splint and the long splint; Step 2, fix one end of the left thigh link to the output end of the left joint motor, and fix one end of the right thigh link to the output end of the right joint motor; Step 3: Hinge the left calf connecting rod to the other end of the left thigh connecting rod, and hinge the right calf connecting rod to the other end of the right thigh connecting rod; Step 4: Hinge the other ends of the left calf connecting rod and the right calf connecting rod coaxially to the ankle joint connecting piece; Step 5: Fix the wheel set, linear guide rail, right strain gauge and left strain gauge on the wheel set connecting piece; Step 6: Slide the slider in cooperation with the linear guide rail; Step 7: Fix the slider connecting piece on the slider; Step 8: Hinge one ends of the left short connecting rod and the right short connecting rod to the slider connecting piece; Step 9: Fix the ankle joint connecting piece on the right strain gauge and the left strain gauge; Step 10: Hinge the other end of the left short connecting rod to the left calf connecting rod, and hinge the other end of the right short connecting rod to the right calf connecting rod.

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