CN102390457B - Leg mechanism for four-legged robots - Google Patents
Leg mechanism for four-legged robots Download PDFInfo
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- CN102390457B CN102390457B CN 201110303670 CN201110303670A CN102390457B CN 102390457 B CN102390457 B CN 102390457B CN 201110303670 CN201110303670 CN 201110303670 CN 201110303670 A CN201110303670 A CN 201110303670A CN 102390457 B CN102390457 B CN 102390457B
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Abstract
The invention relates to a leg mechanism for four-legged robots, the leg mechanism comprises a drive motor, a femur mechanism, a knee-joint hinge, a tibia mechanism, a naked joint hinge and a metatarsus mechanism, wherein the femur mechanism is hinged with the tibia mechanism by the knee-joint hinge; the drive motor is fixed on the femur mechanism, and an output shaft of the drive motor drives the tibia mechanism to rotate by a bevel gear transmission mechanism in the knee-joint hinge; the tibia mechanism is hinged with the metatarsus mechanism by the naked joint hinge; and the drive motor drives the metatarsus mechanism to rotate by the bevel gear transmission mechanism in the knee-joint hinge and a bevel gear transmission mechanism in the naked joint hinge. In the invention, the number of joints of a leg structure is increased under the condition of not increasing the degree of freedom, so that the leg movement of the robot is more flexible, and the leg mechanism has the advantage of better movement performance.
Description
Technical field
The present invention relates to a kind of quadruped robot leg mechanism, in the situation that do not increase degree of freedom, the motion in simulated animal joint well, quadruped (horse, dog) is carried out Bionic Design, this project organization is compact, movable joint is flexible, has improved widely the exercise performance of quadruped robot.
Background technology
Quadruped robot is compared other robot the advantage of himself: for wheeled or caterpillar type robot, legged type robot more can adapt to than complex environment, as forest, and the meadow wetland, mountain forest etc.; Compare biped robot, quadruped robot is more steady, more easily adapts to irregular ground; Compare six biped robots, it is simple in structure, move more flexible, and control is comparatively easy, and manufacturing cost is lower.On the whole, quadruped robot has very large advantage, is one of type most possible at first practical in walking robot.It all has a wide range of applications quadruped robot in rescue and relief work, removal of mines exploration, amusement and military field, for example, can carry certain disaster relief supplies walking on rugged road surface; Can climb on precipitous precipice; Can carry out suitable operation in some dangerous rugged environments; Also can be used for the places such as family, hospital for mankind's service, bring joy to people.Thereby quadruped robot has a wide range of applications.
At present, external many about the research and comparison of quadruped robot.Relatively be typically the BigDog quadruped robot of the Boston dynamics laboratory development of CMU.This robot has the ability of carrying one fixed load, can freely walk with different gaits on coarse rubble ground or muddy ground, and open-air locomotor activity is very strong; Its maximum characteristics are to have stronger organism balance ability, under violent side effect, can keep balance.The joint of four legs of BigDog drives by hydraulic efficiency pressure system, and enough power can be provided, but its cost is very high, controls difficulty large, adopts at present this design and few.Traditional design mostly adopts motor (as stepping motor, servomotor etc.) as the joint drive source, and is simple in structure, but makes the exercise performance decrease of robot.Can improve the alerting ability of quadruped robot motion by the degree of freedom that increases movable joint, but this can strengthen the control difficulty.Due to the restriction of structure quadruped robot and drive source, make a lot of research at present all be based on static walking (in the process of walking, robot has three legs to land all the time), its prototype fabrication is simple, move more single, the speed of travel is very slow, is difficult to promote.Comparatively speaking, dynamically the motion of the quadruped robot of walking (being less than all the time three legs in motion process lands) is flexible, and the speed of travel is fast, and as the BigDog employing is exactly dynamically walking.But present domestic research is in theoretical research stage mostly, and material object manufacture is relatively less, and this is larger on the quadruped robot research impact with higher motion performance.Therefore, cost is lower, and the quadruped robot Prototype Design that exercise performance is good seems particularly important in quadruped robot research.
Summary of the invention
The object of the invention is to provide a kind of quadruped robot leg mechanism for the defective of prior art existence, and simple in structure, exercise performance is good.
In order to achieve the above object, design of the present invention is:
For convenience of description, the inertial coordinates system that is defined as follows
Oxyz: system of axes
OxyzFollow the right-handed Cartesian coordinate system rule, wherein
zAxle perpendicular to ground facing up,
xAxle points to the robot working direction.
The hip joint hinge contains two degree of freedom, comprise around
OxyzSystem of axes
xAxle and
yTwo rotational motion pairs of axle.
Knee joint hinge and ankle-joint hinge are link gear, have one degree of freedom, these two joints all have around
yThe rotational motion of axle is secondary.Described diarticular interlock realizes by two groups of finishing bevel gear cuters and a transmission shaft, this transmission shaft is arranged on the shin bone connecting rod, the two ends of axle connect by key respectively and fix two finishing bevel gear cuters, the finishing bevel gear cuter of wherein said transmission shaft one end and the finishing bevel gear cuter engagement that is arranged on the femur connecting rod, the finishing bevel gear cuter of the other end and the finishing bevel gear cuter engagement that is arranged on the metatarsal connecting rod, so just making the knee joint hinge of robot and ankle-joint hinge is one group of link gear.
A servomotor is installed on the femur connecting rod, and one group of finishing bevel gear cuter of servo motor transmission is controlled the shin bone connecting rod around the rotation of femur connecting rod, namely realizes rotatablely moving of robot knee joint hinge by this servomotor.Because knee joint hinge and ankle-joint hinge are one group of link gear, rotate together therefore the ankle-joint hinge also can followed the knee joint hinge, thereby realize described diarticular interlock.The ratio of number of teeth of the bevel-gear sett by change knee joint hinge and ankle-joint hinge place can be revised the amplitude ratio that described knee joint hinge and ankle-joint hinge rotatablely move, and can better realize Bionic Design like this, makes robot have good exercise performance.
Excessive in order to prevent ground shock, the metatarsal connecting rod adopts a damping spring to realize, main purpose is to absorb the impulsive force between vola and ground in the robot motion process.
According to the foregoing invention design, the present invention adopts following technical proposals:
A kind of quadruped robot leg mechanism comprises drive motor, femur mechanism, knee joint hinge, shin bone mechanism, naked joint hinge and metatarsal mechanism.Described femur mechanism is by knee joint hinge hinge shin bone mechanism.Described drive motor is fixedly mounted in femur mechanism, and the output shaft of drive motor drives shin bone mechanism by the bevel gear transmission mechanism in the knee joint hinge and rotates.Described shin bone mechanism is by naked joint hinge hinge metatarsal mechanism.Described drive motor drives the metatarsal mechanism driving by the bevel gear transmission mechanism in the knee joint hinge and the bevel gear transmission mechanism in the hinge of naked joint.
Described femur mechanism comprises femur connecting rod and motor fixed rack, and motor fixed rack is bolted on the femur connecting rod, and drive motor is fixedly mounted on motor fixed rack, guarantees that the output shaft of drive motor is along the femur pitman shaft to installation.
Described shin bone mechanism comprises shin bone connecting rod, shin bone transmission shaft, top chock and step, top chock and step are bolted on respectively on the shin bone connecting rod, the shin bone transmission shaft by the supporting of the bearing in the metal (upper seat with the parallel installation of shin bone connecting rod.
Described knee joint hinge comprises that shin bone drives finishing bevel gear cuter, pad, knee joint S. A., shin bone connecting rod head bearing, knee joint braking pad, knee joint finishing bevel gear cuter and femur connecting rod lower bearing.Shin bone connecting rod head bearing embeds by interference fit and is arranged on shin bone connecting rod top left hand, shin bone drives finishing bevel gear cuter and is bolted on shin bone connecting rod top left hand, and maintenance and the coaxial installation of shin bone connecting rod head bearing, the inner ring that shin bone drives finishing bevel gear cuter contacts with the outer ring applying of shin bone connecting rod head bearing; Described femur connecting rod bottom passes on left interference fit femur connecting rod lower bearing embed to be installed, and with the rotation minor axis interference fit of right side, shin bone connecting rod top projection, and maintenance and the coaxial installation of shin bone connecting rod head bearing; Knee joint S. A. right-hand member coordinates by bolt-locking with the knee joint finishing bevel gear cuter; The knee joint finishing bevel gear cuter is embedded in right side, femur connecting rod bottom by free-running fit, and maintenance and the coaxial installation of shin bone connecting rod head bearing, consists of the bevel gear transmission mechanism in the knee joint hinge; Knee joint S. A. and shin bone connecting rod head bearing interference fit, pad are arranged on knee joint S. A. left side, and contact with shin bone connecting rod head bearing left side, and knee joint S. A. high order end is fixed a hold-down nut; Between the knee joint braking pad is arranged on the left of right side, femur connecting rod bottom and knee joint finishing bevel gear cuter; The U-shaped groove of knee joint braking pad bottom is embedded in by interference fit in the gear wheel shaft of knee joint finishing bevel gear cuter, and knee joint braking pad top is fixed on femur connecting rod bottom by nut.
described metatarsal mechanism comprises the damping spring seat, adjust cushion block, damping spring, connecting rod on metatarsal, at the bottom of moving leader and robot foot, the damping spring seat is bolted on the bottom of connecting rod on metatarsal, damping spring is enclosed within on the axle sleeve of damping spring seat by free-running fit, and the axle sleeve top of damping spring one end and damping spring seat contacts, the other end contacts with adjustment cushion block top be enclosed within damping spring seat axle sleeve by free-running fit on, moving leader inserts in the axle sleeve of damping spring seat by free-running fit, the bottom of moving leader is fixed at the bottom of by screw thread fit and robot foot, and the top at the bottom of robot foot contacts with the bottom of adjusting cushion block, the moving leader upper end is installed circlip and is made it to be fixed in the axle sleeve of damping spring seat.
Described naked joint hinge comprises connecting rod bearing on metatarsal, shin bone connecting rod lower bearing, naked joint S. A., pad, ankle-joint finishing bevel gear cuter and ankle-joint brake pad; Shin bone connecting rod lower bearing embeds by interference fit and is arranged on left side, shin bone connecting rod bottom, on metatarsal, the connecting rod top left hand embeds by interference fit connecting rod bearing on metatarsal is installed, and with the rotation minor axis interference fit of right side, shin bone connecting rod bottom projection, and maintenance and the coaxial installation of shin bone connecting rod lower bearing; Naked joint S. A. right-hand member coordinates by bolt-locking with the ankle-joint finishing bevel gear cuter; The ankle-joint finishing bevel gear cuter is embedded in right side, connecting rod top on metatarsal by free-running fit, and maintenance and the coaxial installation of shin bone connecting rod lower bearing; Naked joint S. A. and shin bone connecting rod lower bearing interference fit, pad are arranged on naked joint S. A. left side, and contact with shin bone connecting rod lower bearing left side, and naked joint S. A. high order end is fixed a hold-down nut; The ankle-joint brake pad is arranged on metatarsal between the left side of right side, connecting rod top and ankle-joint finishing bevel gear cuter, consists of bevel gear transmission mechanism in the hinge of naked joint; The U-shaped groove of ankle-joint brake pad bottom is embedded in by interference fit in the gear wheel shaft of ankle-joint finishing bevel gear cuter, and ankle-joint brake pad top is fixed on the top of connecting rod on metatarsal by nut.
The present invention has following apparent outstanding substantive distinguishing features and remarkable advantage compared with prior art:
The present invention is on the basis of fully having studied the quadruped leg exercise, utilize motor control quadruped robot shank three joints, (2 degree of freedom of hip joint hinge, knee joint hinge and ankle-joint hinge are interlock to 3 degree of freedom, 1 degree of freedom only) motion, project organization is compact, flexible, reduce the control difficulty, improved the exercise performance of quadruped robot.
Description of drawings
Fig. 1 is quadruped robot four leg structural representations of the present invention.
Fig. 2 is the leg mechanism front view of one leg in Fig. 1.
The specific embodiment
Below in conjunction with accompanying drawing, quadruped robot leg joint of the present invention is described.
As shown in Figure 1, quadruped robot comprises four leg structures shown in Figure 2.
Embodiment one:
Referring to Fig. 2, this quadruped robot leg mechanism comprises drive motor (A1), femur mechanism (1), knee joint hinge (2), shin bone mechanism (3), naked joint hinge (4) and metatarsal mechanism (5):
1) described femur mechanism (1) is by knee joint hinge (2) hinge shin bone mechanism (3).
2) described drive motor (A1) is fixedly mounted in femur mechanism (1), and the output shaft of drive motor drives shin bone mechanism (3) by the bevel gear transmission mechanism in knee joint hinge (2) and rotates.
3) described shin bone mechanism (3) is by naked joint hinge (4) hinge metatarsal mechanism (5).
4) described drive motor (A1) drives metatarsal mechanism (5) transmission by the bevel gear transmission mechanism in knee joint hinge (2) and the bevel gear transmission mechanism in naked joint hinge (4).
Embodiment two:
The present embodiment and embodiment one are basic identical, and the feature part is as follows:
Described femur mechanism (1) comprises femur connecting rod (A30) and motor fixed rack (A29), motor fixed rack (A29) is bolted on femur connecting rod (A30), drive motor (A1) is fixedly mounted on motor fixed rack (A29), guarantees that the output shaft of drive motor (A1) is axially installed along femur connecting rod (A30).
Described shin bone mechanism (3) comprises shin bone connecting rod (A8), shin bone transmission shaft (A23), top chock (A7) and step (A22), top chock (A7) and step (A22) are bolted on respectively on shin bone connecting rod (A8), shin bone transmission shaft (A23) by the supporting of the bearing (A24) in metal (upper seat (A7, A22) with the parallel installation of shin bone connecting rod (A8).
Described knee joint hinge (2) comprises that shin bone drives finishing bevel gear cuter (A3), pad (A4), knee joint S. A. (A5), shin bone connecting rod head bearing (A6), knee joint braking pad (A25), knee joint finishing bevel gear cuter (A26) and femur connecting rod lower bearing (A28).Shin bone connecting rod head bearing (A6) embeds by interference fit and is arranged on shin bone connecting rod (A8) top left hand, shin bone drives finishing bevel gear cuter (A3) and is bolted on shin bone connecting rod (A8) top left hand, and maintenance and the coaxial installation of shin bone connecting rod head bearing (A6), the inner ring that shin bone drives finishing bevel gear cuter (A3) contacts with the outer ring applying of shin bone connecting rod head bearing (A6); Described femur connecting rod (A30) bottom passes on left interference fit femur connecting rod lower bearing (A28) embed to be installed, and with the rotation minor axis interference fit of shin bone connecting rod (A8) right side, top projection, and maintenance and the coaxial installation of shin bone connecting rod head bearing (A6); Knee joint S. A. (A5) right-hand member coordinates by bolt-locking with knee joint finishing bevel gear cuter (A26); Knee joint finishing bevel gear cuter (A26) is embedded in femur connecting rod (A30) right side, bottom by free-running fit, and maintenance and the coaxial installation of shin bone connecting rod head bearing (A6), consists of the bevel gear transmission mechanism in knee joint hinge (2); Knee joint S. A. (A5) and shin bone connecting rod head bearing (A6) interference fit, pad (A4) is arranged on the left of knee joint S. A. (A5), and contact with shin bone connecting rod head bearing (A6) left side, knee joint S. A. (A5) high order end is fixed a hold-down nut; Between knee joint braking pad (A25) is arranged on the left of femur connecting rod (A30) right side, bottom and knee joint finishing bevel gear cuter (A26); The U-shaped groove of knee joint braking pad (A25) bottom is embedded in by interference fit in the gear wheel shaft of knee joint finishing bevel gear cuter (A26), and knee joint braking pad (A25) top is fixed on femur connecting rod (A30) bottom by nut.
described metatarsal mechanism (5) comprises damping spring seat (A14), adjust cushion block (A17), damping spring (A16), connecting rod on metatarsal (A9), at the bottom of moving leader (A15) and robot foot (A18), damping spring seat (A14) is bolted on the bottom of connecting rod on metatarsal (A9), damping spring (A16) is enclosed within on the axle sleeve of damping spring seat (A14) by free-running fit, and the axle sleeve top of damping spring (A16) end and damping spring seat (A14) contacts, the other end contacts with adjustment cushion block (A17) top be enclosed within damping spring seat (A14) axle sleeve by free-running fit on, moving leader (A15) inserts in the axle sleeve of damping spring seat (A14) by free-running fit, the bottom of moving leader (A15) by screw thread fit and robot foot at the bottom of (A18) fixing, and at the bottom of robot foot, the top of (A18) contacts with the bottom of adjusting cushion block (A17), moving leader (A15) upper end is installed circlip and is made it to be fixed in the axle sleeve of damping spring seat (A14).
Described naked joint hinge (4) comprises connecting rod bearing on metatarsal (A10), shin bone connecting rod lower bearing (A11), naked joint S. A. (A12), pad (A13), ankle-joint finishing bevel gear cuter (A19) and ankle-joint brake pad (A21); Shin bone connecting rod lower bearing (A11) embeds by interference fit and is arranged on left side, shin bone connecting rod (A8) bottom, connecting rod on metatarsal (A9) top left hand embeds by interference fit connecting rod bearing (A10) on metatarsal is installed, and with the rotation minor axis interference fit of shin bone connecting rod (A8) right side, bottom projection, and maintenance and the coaxial installation of shin bone connecting rod lower bearing (A11); Naked joint S. A. (A12) right-hand member coordinates by bolt-locking with ankle-joint finishing bevel gear cuter (A19); Ankle-joint finishing bevel gear cuter (A19) is embedded in connecting rod on metatarsal (A9) right side, top and maintenance and the coaxial installation of shin bone connecting rod lower bearing (A11) by free-running fit; Naked joint S. A. (A12) and shin bone connecting rod lower bearing (A11) interference fit, pad (A13) is arranged on the left of naked joint S. A. (A12), and contact with shin bone connecting rod lower bearing (A11) left side, naked joint S. A. (A12) high order end is fixed a hold-down nut; Ankle-joint brake pad (A21) consists of bevel gear transmission mechanism in naked joint hinge (4) between being arranged on the left of connecting rod on metatarsal (A9) right side, top and ankle-joint finishing bevel gear cuter (A19); The U-shaped groove of ankle-joint brake pad (A21) bottom is embedded in by interference fit in the gear wheel shaft of ankle-joint finishing bevel gear cuter (A19), and ankle-joint brake pad (A21) top is fixed on the top of connecting rod on metatarsal (A9) by nut.
The principle of work of this quadruped robot leg mechanism is as follows:
Being achieved as follows of knee joint hinge and ankle-joint hinge movement:
As shown in Figure 2, be shank knee joint hinge and ankle-joint hinge generalized section.Knee joint drive motor (A1) is fixed on femur connecting rod (A30) by motor fixed rack (A29), knee joint drive motor (A1) axle head is fixed a motor finishing bevel gear cuter (A2), and motor finishing bevel gear cuter (A2) drives finishing bevel gear cuter (A3) engagement with shin bone.Shin bone drives finishing bevel gear cuter (A3) and is bolted on above shin bone connecting rod (A8).Be that knee joint drive motor (A1) is controlled shin bone connecting rod (A8) by bevel-gear sett and rotated around femur connecting rod (A30), realize that the knee joint hinge rotatablely moves.
The knee joint hinge is to drive finishing bevel gear cuter (A3), pad (A4), knee joint S. A. (A5), shin bone connecting rod head bearing (A6), knee joint braking pad (A25), knee joint finishing bevel gear cuter (A26) and femur connecting rod lower bearing (A28) by shin bone to consist of.Wherein knee joint finishing bevel gear cuter (A26) and knee joint S. A. (A5) pin by radial bolts; The other end of knee joint S. A. (A5) is fixed a nut, for the knee joint hinge provides an axial pre tightening force.Knee joint finishing bevel gear cuter (A26) is connected with femur connecting rod (A30) by knee joint braking pad (A25), relatively femur connecting rod (A30) is static to make knee joint finishing bevel gear cuter (A26), and namely knee joint finishing bevel gear cuter (A26) and femur connecting rod (A30) the joint S. A. (A5) of together staying with one's parents in order to make them happy rotates.
The ankle-joint hinge is to be made of connecting rod bearing (A10), ankle-joint finishing bevel gear cuter (A19) and ankle-joint brake pad (A21) on naked joint S. A. (A12), shin bone connecting rod lower bearing (A11), pad (A13), metatarsal.Wherein pin by radial bolts in ankle-joint finishing bevel gear cuter (A19) and naked joint S. A. (A12); The other end of naked joint S. A. (A12) is fixed a nut, for the ankle-joint hinge provides an axial pre tightening force.Ankle-joint finishing bevel gear cuter (A19) is connected with connecting rod (A9) on phalanx by ankle-joint brake pad (A21), make ankle-joint finishing bevel gear cuter (A19) relatively on phalanx connecting rod (A9) static, namely on ankle-joint finishing bevel gear cuter (A19) and phalanx, connecting rod (A9) together rotates around S. A. (A12).
Knee joint hinge and ankle-joint hinge are connected to be connected A20 with the axle head finishing bevel gear cuter by transmission shaft (A23), axle head finishing bevel gear cuter (A27)) connect, be used for transmitting the motoring torque of two joints.Transmission shaft (A23) is fixed on shin bone connecting rod (A8) by top chock (A7) and step (A22).
Stay with one's parents in order to make them happy joint S. A. (A5) when rotating when knee joint drive motor (A1) drives shin bone connecting rod (A8), and transmission shaft (A23) can rotate along with shin bone connecting rod (A8) the joint S. A. (A5) of together staying with one's parents in order to make them happy.Femur connecting rod (A30) is static relatively due to knee joint finishing bevel gear cuter (A26), by knee joint finishing bevel gear cuter (A26) and axle head finishing bevel gear cuter (A27) engagement, makes transmission shaft (A23) with respect to shin bone connecting rod (A8) rotation.By the engagement of axle head finishing bevel gear cuter (A20) and ankle-joint finishing bevel gear cuter (A19), transmission shaft (A23) can act on moment of rotation on ankle-joint finishing bevel gear cuter (A19), realizes that connecting rod on phalanx (A9) is around the rotation of shin bone connecting rod (A8).Realize the interlock of knee joint hinge and ankle-joint hinge by this transfer mode.Different with the mounting means of axle head finishing bevel gear cuter (A27) due to axle head finishing bevel gear cuter (A20), cause the knee joint hinge opposite with ankle-joint hinge hand of rotation, the mode of motion in simulated animal joint.
As shown in Figure 2, the phalanx connecting rod of robot leg structure by damping spring seat (A14), moving leader (A15), damping spring (A16), adjust at the bottom of cushion block (A17), robot foot the common formation of connecting rod (A9) on (A18) and phalanx.Moving leader (A15) upper end is fixed by circlip, and it is fixed in motion process in damping spring seat (A14).
Claims (5)
1. quadruped robot leg mechanism, comprise drive motor (A1), femur mechanism (1), knee joint hinge (2), shin bone mechanism (3), ankle-joint hinge (4) and metatarsal mechanism (5), it is characterized in that: described femur mechanism (1) comprises femur connecting rod (A30); Described femur mechanism (1) is by knee joint hinge (2) hinge shin bone mechanism (3);
Described knee joint hinge (2) comprises that shin bone drives finishing bevel gear cuter (A3), pad (A4), knee joint S. A. (A5), shin bone connecting rod head bearing (A6), knee joint braking pad (A25), knee joint finishing bevel gear cuter (A26) and femur connecting rod lower bearing (A28); Described shin bone mechanism (3) comprises shin bone connecting rod (A8), shin bone connecting rod head bearing (A6) embeds by interference fit and is arranged on shin bone connecting rod (A8) top left hand, shin bone drives finishing bevel gear cuter (A3) and is bolted on shin bone connecting rod (A8) top left hand, and maintenance and the coaxial installation of shin bone connecting rod head bearing (A6), the inner ring that shin bone drives finishing bevel gear cuter (A3) contacts with the outer ring applying of shin bone connecting rod head bearing (A6); Described femur connecting rod (A30) bottom passes on left interference fit femur connecting rod lower bearing (A28) embed to be installed, and with the rotation minor axis interference fit of shin bone connecting rod (A8) right side, top projection, and maintenance and the coaxial installation of shin bone connecting rod head bearing (A6); Knee joint S. A. (A5) right-hand member coordinates by bolt-locking with knee joint finishing bevel gear cuter (A26); Knee joint finishing bevel gear cuter (A26) is embedded in femur connecting rod (A30) right side, bottom by free-running fit, and maintenance and the coaxial installation of shin bone connecting rod head bearing (A6), consists of the bevel gear transmission mechanism in knee joint hinge (2); Knee joint S. A. (A5) and shin bone connecting rod head bearing (A6) interference fit, pad (A4) is arranged on the left of knee joint S. A. (A5), and contact with shin bone connecting rod head bearing (A6) left side, knee joint S. A. (A5) high order end is fixed a hold-down nut; Between knee joint braking pad (A25) is arranged on the left of femur connecting rod (A30) right side, bottom and knee joint finishing bevel gear cuter (A26); The U-shaped groove of knee joint braking pad (A25) bottom is embedded in by interference fit in the gear wheel shaft of knee joint finishing bevel gear cuter (A26), and knee joint braking pad (A25) top is fixed on femur connecting rod (A30) bottom by nut;
Described drive motor (A1) is fixedly mounted in femur mechanism (1), and the output shaft of drive motor drives shin bone mechanism (3) by the bevel gear transmission mechanism in knee joint hinge (2) and rotates;
Described shin bone mechanism (3) is by ankle-joint hinge (4) hinge metatarsal mechanism (5);
Described drive motor (A1) drives metatarsal mechanism (5) by the bevel gear transmission mechanism in knee joint hinge (2) and the bevel gear transmission mechanism in ankle-joint hinge (4) and rotates.
2. quadruped robot leg mechanism described according to claims 1, it is characterized in that described femur mechanism (1) also comprises motor fixed rack (A29), motor fixed rack (A29) is bolted on femur connecting rod (A30), drive motor (A1) is fixedly mounted on motor fixed rack (A29), guarantees that the output shaft of drive motor (A1) is axially installed along femur connecting rod (A30).
3. quadruped robot leg mechanism described according to claims 2, it is characterized in that described shin bone mechanism (3) also comprises shin bone transmission shaft (A23), top chock (A7) and step (A22), top chock (A7) and step (A22) are bolted on respectively on shin bone connecting rod (A8), shin bone transmission shaft (A23) by the supporting of the bearing (A24) in metal (upper seat (A7, A22) with the parallel installation of shin bone connecting rod (A8).
4. quadruped robot leg mechanism described according to claims 1, it is characterized in that described metatarsal mechanism (5) comprises damping spring seat (A14), adjust cushion block (A17), damping spring (A16), connecting rod on metatarsal (A9), at the bottom of moving leader (A15) and robot foot (A18), damping spring seat (A14) is bolted on the bottom of connecting rod on metatarsal (A9), damping spring (A16) is enclosed within on the axle sleeve of damping spring seat (A14) by free-running fit, and the axle sleeve top of damping spring (A16) end and damping spring seat (A14) contacts, the other end contacts with adjustment cushion block (A17) top be enclosed within damping spring seat (A14) axle sleeve by free-running fit on, moving leader (A15) inserts in the axle sleeve of damping spring seat (A14) by free-running fit, the bottom of moving leader (A15) by screw thread fit and robot foot at the bottom of (A18) fixing, and at the bottom of robot foot, the top of (A18) contacts with the bottom of adjusting cushion block (A17), moving leader (A15) upper end is installed circlip and is made it to be fixed in the axle sleeve of damping spring seat (A14).
5. quadruped robot leg mechanism described according to claims 4, is characterized in that described ankle-joint hinge (4) comprises connecting rod bearing on metatarsal (A10), shin bone connecting rod lower bearing (A11), ankle-joint S. A. (A12), pad (A13), ankle-joint finishing bevel gear cuter (A19) and ankle-joint brake pad (A21); Shin bone connecting rod lower bearing (A11) embeds by interference fit and is arranged on left side, shin bone connecting rod (A8) bottom, connecting rod on metatarsal (A9) top left hand embeds by interference fit connecting rod bearing (A10) on metatarsal is installed, and with the rotation minor axis interference fit of shin bone connecting rod (A8) right side, bottom projection, and maintenance and the coaxial installation of shin bone connecting rod lower bearing (A11); Ankle-joint S. A. (A12) right-hand member coordinates by bolt-locking with ankle-joint finishing bevel gear cuter (A19); Ankle-joint finishing bevel gear cuter (A19) is embedded in connecting rod on metatarsal (A9) right side, top and maintenance and the coaxial installation of shin bone connecting rod lower bearing (A11) by free-running fit; Ankle-joint S. A. (A12) and shin bone connecting rod lower bearing (A11) interference fit, pad (A13) is arranged on the left of ankle-joint S. A. (A12), and contact with shin bone connecting rod lower bearing (A11) left side, ankle-joint S. A. (A12) high order end is fixed a hold-down nut; Ankle-joint brake pad (A21) consists of bevel gear transmission mechanism in ankle-joint hinge (4) between being arranged on the left of connecting rod on metatarsal (A9) right side, top and ankle-joint finishing bevel gear cuter (A19); The U-shaped groove of ankle-joint brake pad (A21) bottom is embedded in by interference fit in the gear wheel shaft of ankle-joint finishing bevel gear cuter (A19), and ankle-joint brake pad (A21) top is fixed on the top of connecting rod on metatarsal (A9) by nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110303670 CN102390457B (en) | 2011-12-30 | 2011-12-30 | Leg mechanism for four-legged robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110303670 CN102390457B (en) | 2011-12-30 | 2011-12-30 | Leg mechanism for four-legged robots |
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Families Citing this family (18)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103144694B (en) * | 2013-03-26 | 2016-01-13 | 上海大学 | A kind of four-leg bionic robot pivot stud mechanism |
| CN103144693A (en) * | 2013-03-26 | 2013-06-12 | 上海大学 | Leg mechanism for four-footed bionic robot |
| CN103448828B (en) * | 2013-06-03 | 2016-08-10 | 上海大学 | A kind of Four-foot bio-robot leg mechanism |
| CN103600786A (en) * | 2013-10-30 | 2014-02-26 | 李天豪 | Intelligent doraemon |
| CN103625572B (en) * | 2013-12-17 | 2015-12-02 | 哈尔滨工程大学 | With the quadruped robot leg of elastic four-rod mechanism |
| CN104149870A (en) * | 2014-06-19 | 2014-11-19 | 铜陵翔宇商贸有限公司 | Mechanical leg of bionic robot |
| CN104386158B (en) * | 2014-11-17 | 2016-08-17 | 河北工业大学 | A kind of quadruped robot based on series elastic driver |
| CN104386157B (en) * | 2014-11-17 | 2017-02-01 | 河北工业大学 | Quadruped robot with flexible joints |
| CN104724201B (en) * | 2015-03-20 | 2017-01-04 | 哈尔滨工业大学 | The accurate passive bipod walking robot system of a kind of band hip oscillator |
| CN105059415A (en) * | 2015-08-06 | 2015-11-18 | 中国林业科学研究院林业新技术研究所 | Climbing robot |
| CN105109572A (en) * | 2015-08-26 | 2015-12-02 | 北京航空航天大学 | Single-leg structure for wheel-legged type robot in leg-arm mixing operation |
| CN105667623A (en) * | 2016-03-03 | 2016-06-15 | 上海大学 | Wheel-leg gait adjustable amphibious robot convenient to seal |
| CN107539385B (en) * | 2016-06-24 | 2019-11-12 | 沈阳新松机器人自动化股份有限公司 | A kind of variable damping flexible leg and its quadruped robot |
| CN106404232B (en) * | 2016-11-23 | 2022-07-26 | 华南理工大学 | Three-dimensional force sensor with damping function for robot walking mechanism |
| CN108016525A (en) * | 2017-12-19 | 2018-05-11 | 浙江工业大学 | Four-footed conveying robot device |
| CN113371095B (en) * | 2021-06-18 | 2022-11-29 | 哈尔滨工业大学（深圳） | Leg structure with joints rotating at any angle and multi-legged robot |
| CN113927624B (en) * | 2021-10-18 | 2023-04-07 | 九江学院 | Extendable quadruped robot based on rollable thin-walled tube |
| CN114872814A (en) * | 2022-04-15 | 2022-08-09 | 上海师范大学 | Bionic biped robot and stable gait planning method thereof |
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| CN101823484A (en) * | 2010-02-11 | 2010-09-08 | 上海交通大学 | Concealed air cushion vehicle |
| CN101850796A (en) * | 2010-01-07 | 2010-10-06 | 郑州轻工业学院 | Four-limb unit formed by combined joints of robot |
| CN102211627A (en) * | 2011-04-27 | 2011-10-12 | 浙江大学 | Four-leg robot mechanism based on bionic design |
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| JP2000280195A (en) * | 1999-01-28 | 2000-10-10 | Sony Corp | Joint device, leg type traveling device and arm device for robot device, leg type traveling robot device, and driving force transmitting device |
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|---|---|---|---|---|
| CN101850796A (en) * | 2010-01-07 | 2010-10-06 | 郑州轻工业学院 | Four-limb unit formed by combined joints of robot |
| CN101823484A (en) * | 2010-02-11 | 2010-09-08 | 上海交通大学 | Concealed air cushion vehicle |
| CN102211627A (en) * | 2011-04-27 | 2011-10-12 | 浙江大学 | Four-leg robot mechanism based on bionic design |
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