Variant multi-legged robot

Abstract

The variant multi-legged robot comprises a main body frame (1), a front pitching suspension assembly (2) and a rear pitching suspension assembly (3). Through adjustment of the driving element and the linkage system, the front pitching suspension assembly (2) and the rear pitching suspension assembly (3) can do pitching motion and adjust the foot end position in the motion module in a mechanical linkage mode, and passive mechanical coupling of the fuselage posture and the foot end posture is achieved. Through the unique suspension and linkage design, the robot can passively adapt to complex terrains, a large number of active control tasks are converted into automatic response of a mechanical structure, the complexity and energy consumption of a control system are remarkably reduced, and the autonomy and reliability of movement are improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of robot technology, and particularly relates to a high-adaptability mobile robot for passing through complex terrains, in particular, a self-adaptive mobile robot platform with a multi-legged structure and a self-adaptive suspension system and capable of realizing mechanical coupling of a body posture and foot end movement, which is suitable for heavy load transportation, inspection and exploration, rescue and evacuation and other complex tasks in various high-risk scenes. BACKGROUND

[0002] The complex terrain mobile robot is a key carrying and operation platform in tasks such as field resource exploration, emergency disaster rescue and extreme environment scientific investigation. However, the moving mechanism of the existing mainstream robot still has significant technical shortcomings when coping with rugged, discrete and soft unstructured terrains. The wheeled or tracked robot platform has simple control and high energy efficiency, but the continuous walking mechanism thereof is difficult to form stable and discrete support points in complex terrain environments, and has poor passability in rugged, large-fall and discrete obstacle terrains. The traditional multi-legged bionic robot has strong terrain adaptability, but each leg usually needs multiple active joints and complex real-time trajectory control, resulting in a very complex control system, high energy consumption and high cost. Moreover, the leg and the body are rigid or simply hinged, lack a mechanical structure that can be passively buffered and convert body posture movement, and the adaptive behavior depends on active calculation and driving at a high frequency.

[0003] Therefore, there is an urgent need for an innovative design that can internalize the intelligent part of terrain adaptation in the mechanical structure itself. The ideal solution is to use a special suspension connection mechanism to achieve buffering while automatically and mechanically driving the foot end actuator to produce adaptive adjustment through changes in the body posture, thereby greatly simplifying the control system and improving energy efficiency while retaining the obstacle crossing advantage of multi-legged robots. SUMMARY

[0004] The technical problem to be solved by the application is to provide a variable multi-legged robot to solve the contradiction between the terrain adaptability, passability and control complexity, high energy consumption of the existing robot.

[0005] The technical scheme of the application is as follows: A variable multi-legged robot is composed of a main frame and identical front and rear pitch suspension assemblies; the front and rear pitch suspension assemblies are rotationally connected to the main frame in the y-axis direction.

[0006] The mechanical structure, composition and assembly method of the front and rear pitch suspension assemblies are completely identical; the front and rear pitch suspension assemblies are symmetrically arranged about the xoz plane.

[0007] The front pitch suspension assembly comprises a suspension module, an electric push rod element and a linkage mechanism. The suspension module comprises a main suspension frame, first and second forked connecting frames and first and second quadruped motion modules.

[0008] The first and second forked connecting frames have the same mechanical structure, composition and assembly mode.

[0009] The first and second quadruped motion modules have the same mechanical structure, composition and assembly mode, and are symmetrically arranged about the yoz plane.

[0010] The linkage mechanism is fixedly connected between the main suspension frame and the leg groups of the first and second quadruped motion modules, so that the foot end positions of the first and second quadruped motion modules can be adjusted mechanically and in linkage with the pitch motion of the pitch suspension module relative to the main frame.

[0011] The main frame comprises identical front and rear half frames, and the front and rear half frames are symmetrically arranged about the xoz plane and are rotationally connected through passive rotation joints, so that the front and rear half frames can relatively rotate about the y axis.

[0012] The electric push rod element in the front pitch suspension assembly comprises an electric push rod and an electric push rod base.

[0013] The connection mode of the components in the front pitch suspension assembly is as follows: The electric push rod is rotationally connected with the main suspension frame in the suspension module, the electric push rod base is rotationally connected with the main frame, and the linkage mechanism is rotationally connected with the main frame through the pitch rotation axis of the suspension module, so that the front pitch suspension assembly can pitch relative to the main frame about the pitch axis.

[0014] The first forked connecting frame has a double-forked arm structure and comprises an upper forked arm, a lower forked arm and an anti-tilt rod.

[0015] The connection mode of the components in the suspension module is as follows: The inner sides of the upper and lower forked arms are rotationally connected with the main suspension frame, and the outer sides thereof are connected with the first quadruped motion module through ball joints; the inner side of the anti-tilt rod is connected with the main suspension frame through a ball joint, and the outer side thereof is connected with the first quadruped motion module through another ball joint.

[0016] The first quadruped motion module comprises a drive system, a mounting fixed frame, a spring damper, a leg group frame main plate, a single leg module and a ball joint.

[0017] The single leg module comprises a thigh rod, a second auxiliary rod, a third auxiliary rod and a calf rod.

[0018] The connection method of the components in the single-leg module is as follows: Mounting holes are arranged at both ends and the middle of the thigh rod, mounting holes are arranged at both ends of the second auxiliary rod, mounting holes are arranged at the three apex positions of the third auxiliary rod, and mounting holes are arranged at the two apex positions of the lower leg rod excluding the foot end; the mounting holes in the middle of the thigh rod and the mounting holes at one end of the second auxiliary rod are rotatably connected by an assembly shaft; the mounting holes at the bottom of the thigh rod and the mounting holes at the acute angle of the lower leg rod are rotatably connected by an assembly shaft; the mounting holes at the other end of the second auxiliary rod and the mounting holes at the obtuse angle of the third auxiliary rod are rotatably connected by an assembly shaft; the mounting holes at the acute angle of the third auxiliary rod and the mounting holes at the obtuse angle of the lower leg rod are rotatably connected by an assembly shaft.

[0019] The connection method of the components in the first quadrupedal motion module is as follows: The main board of the leg assembly frame is fixedly connected to the top surface of the mounting bracket; the lower end of the spring damper is connected to the bottom surface of the mounting bracket via a ball joint, and the upper end is connected to the main suspension frame via a ball joint; the side of the mounting bracket is connected to the first fork arm type connecting frame via three ball joints.

[0020] The linkage mechanism consists of a pitch shaft, a universal joint, a drive shaft, and two gear and rack drive units placed on each drive shaft; the two gear and rack drive units are used to drive the frame rods of the inner two legs and the outer two legs in the first quadruped motion module to change their lengths.

[0021] The pitch motion of the front pitch suspension assembly drives the pitch shaft to rotate. This rotation is transmitted to the corresponding drive shaft through a universal joint, and then the drive unit realizes the synchronous change of the position of the feet in the first quadruped motion module.

[0022] Each gear and rack drive unit includes: a drive gear, a rack, and a gear transmission chain; the reciprocating movement of the rack can drive the movement of the thigh rod in the single-leg module, thereby changing the length of the leg frame rod; the gear transmission chain includes at least two intermediate gears meshing and driving the rack to move.

[0023] The connection method of the components in the linkage mechanism is as follows: The pitch axis is fixedly connected to the drive shaft via a universal joint; the drive shaft is fixedly connected to the drive gear in the rack and pinion drive unit; in the rack and pinion drive unit, the drive gear meshes with the gear transmission chain; the gear transmission chain meshes with the rack; and the rack is fixedly connected to the thigh rod in its corresponding single-leg module. Attached Figure Description

[0024] Figure 1 Overall 3D diagram of a variant multi-legged robot Figure 2 3D diagram of the pitch suspension assembly Figure 3 3D diagram of the suspension module Figure 4 3D diagram of the main framework Figure 5 3D diagram of pitch motion principle Figure 6 3D diagram of the first fork-arm connecting frame Figure 7 3D diagram of the first quadrupedal locomotion module Figure 8 3D model of the single-leg module Figure 9 3D diagram of the linkage mechanism Figure 10 3D diagram of a gear and rack drive unit Detailed Implementation The present invention will now be described in further detail with reference to the accompanying drawings.

[0025] A variant of a multi-legged robot consists of a main frame 1 and identical front and rear pitch suspension assemblies 2 and 3; the front and rear pitch suspension assemblies 2 and 3 are rotatably connected to the main frame 1 at intervals along the y-axis direction. The mechanical structures of the front and rear pitch suspension assemblies 2 and 3 are completely identical in composition and assembly method; the front and rear pitch suspension assemblies 2 and 3 are symmetrically arranged about the xoz plane. The aforementioned pitch suspension assembly 2 includes a suspension module 2-1, an electric actuator element 2-2, and a linkage mechanism 2-3; The suspension module 2-1 consists of a main suspension frame 2-1-1, first and second wishbone connecting frames 2-1-2 and 2-1-3, and first and second quadruped motion modules 2-1-4 and 2-1-5; the first and second wishbone connecting frames 2-1-2 and 2-1-3 are symmetrically connected between the main suspension frame 2-1-1 and the first and second quadruped motion modules 2-1-4 and 2-1-5 via ball joints. The mechanical structures and assembly methods of the first and second fork-arm connecting frames 2-1-2 and 2-1-3 are completely identical. The mechanical structures, composition, and assembly methods of the first and second quadrupedal motion modules 2-1-4 and 2-1-5 are completely identical; the first and second quadrupedal motion modules 2-1-4 and 2-1-5 are arranged symmetrically about the yoz plane. The linkage mechanism 2-3 is fixedly connected between the main suspension frame 2-1-1 and the leg groups of the first and second quadrupedal motion modules 2-1-4 and 2-1-5, so that while the pitch suspension module 2 is pitching relative to the main frame 1, the foot positions of the first and second quadrupedal motion modules 2-1-4 and 2-1-5 can be mechanically linked and adjusted.

[0026] The main frame 1 is composed of the same front half frame 1-1 and rear half frame 1-2; the front half frame 1-1 and the rear half frame 1-2 are arranged symmetrically about the xoz plane and are rotatably connected by a passive rotating joint, so that the front half frame 1-1 and the rear half frame 1-2 can rotate relative to each other around the y axis.

[0027] The electric actuator element 2-2 in the aforementioned front pitch suspension assembly 2 consists of an electric actuator 2-2-1 and an electric actuator base 2-2-2; The connection method of the components in the front pitch suspension assembly 2 is as follows: The electric actuator 2-2-1 is rotatably connected to the main suspension frame 2-1-1 in the suspension module 2-1; the electric actuator base 2-2-2 is rotatably connected to the main frame 1; the linkage mechanism 2-3 passes through the pitch rotation axis of the suspension module 2-1 to realize the rotatable connection between the suspension module 2-1 and the main frame 1, thereby making the front pitch suspension assembly 2 pitch relative to the main frame 1 around the pitch axis.

[0028] The first fork arm type connecting frame 2-1-2 is a double fork arm structure, consisting of an upper fork arm 2-1-2-1, a lower fork arm 2-1-2-2 and an anti-tilt bar 2-1-2-3; The connection method of the components in suspension module 2-1 is as follows: The inner sides of the upper wishbone 2-1-2-1 and the lower wishbone 2-1-2-2 are rotatably connected to the main suspension frame 2-1-1, and the outer sides are connected to the first quadruped motion module 2-1-4 through ball joints 2-1-2-4 and 2-1-2-5; the inner side of the anti-roll bar 2-1-2-3 is connected to the main suspension frame 2-1-1 through ball joint 2-1-2-6, and the outer side is connected to the first quadruped motion module 2-1-4 through another ball joint 2-1-2-7.

[0029] The first quadrupedal motion module 2-1-4 includes: a drive system 2-1-4-1, a mounting bracket 2-1-4-2, a spring damper 2-1-4-3, a leg assembly frame main board 2-1-4-4, a single leg module 2-1-4-5, and a ball joint 2-1-4-6. The single-leg module 2-1-4-5 includes: thigh bar 2-1-4-5-1, secondary bar 2-1-4-5-2, tertiary bar 2-1-4-5-3, and calf bar 2-1-4-5-4; The connection method of the components in the single-leg module 2-1-4-5 is as follows: Mounting holes are arranged at both ends and the middle of the thigh rod 2-1-4-5-1; mounting holes are arranged at both ends of the second auxiliary rod 2-1-4-5-2; mounting holes are arranged at the three apex positions of the third auxiliary rod 2-1-4-5-3; and mounting holes are arranged at the two apex positions of the lower leg rod 2-1-4-5-4 excluding the foot end. The mounting holes in the middle of the thigh rod 2-1-4-5-1 and the mounting hole at one end of the second auxiliary rod 2-1-4-5-2 are rotatably connected by an assembly shaft. The mounting hole at the bottom of leg 2-1-4-5-1 and the mounting hole at the acute angle of lower leg 2-1-4-5-4 are rotatably connected by an assembly shaft; the mounting hole at the other end of the second auxiliary rod 2-1-4-5-2 and the mounting hole at the obtuse angle of third auxiliary rod 2-1-4-5-3 are rotatably connected by an assembly shaft; the mounting hole at the acute angle of third auxiliary rod 2-1-4-5-3 and the mounting hole at the obtuse angle of lower leg 2-1-4-5-4 are rotatably connected by an assembly shaft. The connection method of the components in the first quadrupedal motion module 2-1-4 is as follows: The main board 2-1-4-4 of the leg assembly frame is fixedly connected to the top surface of the mounting bracket 2-1-4-2; the lower end of the spring damper 2-1-4-3 is connected to the bottom surface of the mounting bracket 2-1-4-2 via a ball joint, and the upper end is connected to the main suspension frame 2-1-1 via a ball joint 2-1-4-6; the side of the mounting bracket 2-1-4-2 is connected to the first fork arm connecting frame 2-1-2 via three ball joints 2-1-2-4, 2-1-2-5, and 2-1-2-7.

[0030] The linkage mechanism 2-3 consists of a pitch pivot 2-3-1, a universal joint 2-3-2, a drive shaft 2-3-3, and two gear and rack drive units 2-3-4 placed on each drive shaft 2-3-3; the two gear and rack drive units 2-3-4 are used to drive the frame rod length of the inner two legs and the outer two legs in the first quadruped motion module 2-1-4 to change. The pitch motion of the front pitch suspension assembly 2 drives the pitch shaft 2-3-1 to rotate. This rotation is transmitted to the corresponding drive shaft 2-3-3 through the universal joint 2-3-2, and then the synchronous change of the position of the feet in the first quadruped motion module 2-1-4 is realized through the drive unit 2-3-4. Each gear and rack drive unit 2-3-4 includes: a drive gear 2-3-4-1, a rack 2-3-4-2, and a gear transmission chain 2-3-4-3; the reciprocating movement of the rack 2-3-4-2 can drive the movement of the thigh rod 2-1-4-5-1 in the single leg module 2-1-4-5, thereby changing the length of the leg frame rod; the gear transmission chain 2-3-4-3 includes at least two intermediate gears meshing and driving the rack 2-3-4-2 to move; The connection method of the components in linkage mechanism 2-3 is as follows: The pitch shaft 2-3-1 is fixedly connected to the drive shaft 2-3-3 via a universal joint 2-3-2; the drive shaft 2-3-3 is fixedly connected to the drive gear 2-3-4-1 in the gear and rack drive unit 2-3-4; in the gear and rack drive unit 2-3-4, the drive gear 2-3-4-1 meshes with the gear transmission chain 2-3-4-3; the gear transmission chain 2-3-4-3 meshes with the rack 2-3-4-2; the rack 2-3-4-2 is fixedly connected to the thigh rod 2-1-4-5-1 in its corresponding single-leg module 2-1-4-5.

Claims

1. A variant multi-legged robot, characterized in that: it is composed of a main frame (1) and identical front and rear pitch suspension assemblies (2, 3); the front and rear pitch suspension assemblies (2, 3) are rotatably connected to the main frame (1) along the y-axis direction at intervals; the mechanical structure, composition and assembly method of the front and rear pitch suspension assemblies (2, 3) are completely the same; the front and rear pitch suspension assemblies (2, 3) are symmetrically arranged about the xoz plane; the front pitch suspension assembly (2) comprises a suspension module (2-1), an electric push rod element (2-2) and a linkage mechanism (2-3); the suspension module (2-1) is composed of a main suspension bracket (2-1-1), first and second forked arm connecting brackets (2-1-2, 2-1-3) and first and second four-legged motion modules (2-1-4, 2-1-5); the first and second forked arm connecting brackets (2-1-2, 2-1-3) are symmetrically connected between the main suspension bracket (2-1-1) and the first and second four-legged motion modules (2-1-4, 2-1-5) through a spherical pair; the mechanical structure, composition and assembly method of the first and second forked arm connecting brackets (2-1-2, 2-1-3) are completely the same; the mechanical structure, composition and assembly method of the first and second four-legged motion modules (2-1-4, 2-1-5) are completely the same; the first and second four-legged motion modules (2-1-4, 2-1-5) are symmetrically arranged about the yoz plane; the linkage mechanism (2-3) is fixedly connected between the main suspension bracket (2-1-1) and the leg groups of the first and second four-legged motion modules (2-1-4, 2-1-5), so that the first and second four-legged motion modules (2-1-4, 2-1-5) can be adjusted in position at the foot end in mechanical linkage while the pitch suspension module (2) is in pitch motion relative to the main frame (1).

2. The variant multi-legged robot according to claim 1, characterized in that: the main frame (1) is composed of identical front and rear half frames (1-1, 1-2); the front and rear half frames (1-1, 1-2) are symmetrically arranged about the xoz plane and are rotatably connected through a passive rotary pair, so that the front and rear half frames (1-1, 1-2) can rotate relative to each other about the y-axis.

3. The variant multi-legged robot according to claim 1, characterized in that: the electric push rod element (2-2) in the front pitch suspension assembly (2) is composed of an electric push rod (2-2-1) and an electric push rod base (2-2-2); the connection mode of the components in the front pitch suspension assembly (2) is that: the electric push rod (2-2-1) is rotatably connected to the main suspension bracket (2-1-1) in the suspension module (2-1); the electric push rod base (2-2-2) is rotatably connected to the main frame (1); the linkage mechanism (2-3) passes through the pitch rotation axis of the suspension module (2-1) to rotatably connect the suspension module (2-1) to the main frame (1), so that the front pitch suspension assembly (2) can be in pitch motion relative to the main frame (1) about the pitch axis. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 4. The variant multi-legged robot according to claim 1, characterized in that: the first fork arm type connecting frame (2-1-2) is a double fork arm structure, which is composed of an upper fork arm (2-1-2-1), a lower fork arm (2-1-2-2) and an anti-tilt rod (2-1-2-3); the connecting mode of the components in the suspension module (2-1) is that: the inner sides of the upper fork arm (2-1-2-1) and the lower fork arm (2-1-2-2) are rotationally connected with the main suspension frame (2-1-1), and the outer sides are connected with the first four-legged movement module (2-1-4) through ball joints (2-1-2-4, 2-1-2-5); the inner side of the anti-tilt rod (2-1-2-3) is connected with the main suspension frame (2-1-1) through a ball joint (2-1-2-6), and the outer side is connected with the first four-legged movement module (2-1-4) through another ball joint (2-1-2-7).

5. The variant multi-legged robot according to claim 4, characterized in that: the first four-legged movement module (2-1-4) comprises a driving system (2-1-4-1), a mounting fixed frame (2-1-4-2), a spring damper (2-1-4-3), a leg group frame main plate (2-1-4-4), a single leg module (2-1-4-5) and a ball joint (2-1-4-6); the single leg module (2-1-4-5) comprises a thigh rod (2-1-4-5-1), a two-joint rod (2-1-4-5-2), a three-joint rod (2-1-4-5-3) and a shank rod (2-1-4-5-4); the connecting mode of the components in the single leg module (2-1-4-5) is that: the two ends and the middle part of the thigh rod (2-1-4-5-1) are provided with mounting holes, the two ends of the two-joint rod (2-1-4-5-2) are provided with mounting holes, the three corners of the three-joint rod (2-1-4-5-3) are provided with mounting holes, and the two corners of the shank rod (2-1-4-5-4) except the foot end are provided with mounting holes; the mounting hole in the middle part of the thigh rod (2-1-4-5-1) and the mounting hole at one end of the two-joint rod (2-1-4-5-2) are rotationally connected through a fitting shaft; the mounting hole at the lower end of the thigh rod (2-1-4-5-1) and the mounting hole at the acute corner of the shank rod (2-1-4-5-4) are rotationally connected through a fitting shaft; the mounting hole at the other end of the two-joint rod (2-1-4-5-2) and the mounting hole at the obtuse corner of the three-joint rod (2-1-4-5-3) are rotationally connected through a fitting shaft; the mounting hole at the acute corner of the three-joint rod (2-1-4-5-3) and the mounting hole at the obtuse corner of the shank rod (2-1-4-5-4) are rotationally connected through a fitting shaft; the connecting mode of the components in the first four-legged movement module (2-1-4) is that: The leg group frame main plate (2-1-4-4) is fixedly connected with the top surface of the mounting fixed frame (2-1-4-2); the lower end of the spring damper (2-1-4-3) is connected with the bottom surface of the mounting fixed frame (2-1-4-2) through a ball joint, and the upper end is connected with the main suspension frame (2-1-1) through a ball joint (2-1-4-6); the side surface of the mounting fixed frame (2-1-4-2) is connected with the first fork arm type connecting frame (2-1-2) through three ball joints (2-1-2-4, 2-1-2-5, 2-1-2-7).

6. The variant multi-legged robot according to claim 3, characterized in that: The linkage mechanism (2-3) is composed of a pitch rotation shaft (2-3-1), a universal joint (2-3-2), a transmission shaft (2-3-3) and two rack and pinion drive units (2-3-4) arranged on each transmission shaft (2-3-3); the two rack and pinion drive units (2-3-4) are respectively used to drive the frame rod length of the inner two legs and the outer two legs in the first quadruped motion module (2-1-4) to change; The pitch movement of the front pitch suspension assembly (2) drives the pitch rotation shaft (2-3-1) to rotate, the rotation is transmitted to the corresponding transmission shaft (2-3-3) through the universal joint (2-3-2), and then the synchronous change of the foot end position in the first quadruped motion module (2-1-4) is realized through the drive unit (2-3-4); Each rack and pinion drive unit (2-3-4) includes a driving gear (2-3-4-1), a rack (2-3-4-2) and a gear transmission chain (2-3-4-3); the reciprocating movement of the rack (2-3-4-2) can drive the movement of the thigh rod (2-1-4-5-1) in the single leg module (2-1-4-5), so that the leg frame rod length changes; the gear transmission chain (2-3-4-3) contains at least two intermediate gears meshing transmission and drives the rack (2-3-4-2) to move; The connection mode of the components in the linkage mechanism (2-3) is: The pitch rotation shaft (2-3-1) is fixedly connected with the transmission shaft (2-3-3) through the universal joint (2-3-2); the transmission shaft (2-3-3) is fixedly connected with the driving gear (2-3-4-1) in the rack and pinion drive unit (2-3-4); in the rack and pinion drive unit (2-3-4), the driving gear (2-3-4-1) is meshed with the gear transmission chain (2-3-4-3); the gear transmission chain (2-3-4-3) is meshed with the rack (2-3-4-2); the rack (2-3-4-2) is fixedly connected with the thigh rod (2-1-4-5-1) in the corresponding single leg module (2-1-4-5).

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