CN106741282A - A kind of robot leg containing linear joint - Google Patents
A kind of robot leg containing linear joint Download PDFInfo
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- CN106741282A CN106741282A CN201611146913.XA CN201611146913A CN106741282A CN 106741282 A CN106741282 A CN 106741282A CN 201611146913 A CN201611146913 A CN 201611146913A CN 106741282 A CN106741282 A CN 106741282A
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- leg
- robot
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- joint
- foot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a kind of robot leg containing linear joint, including leg body, linear joint is equipped with the leg body, the linear joint includes initiative part and follower, the follower is connected by connector with transverse rotation power set, the initiative part running drives follower to move along a straight line up and down and then leg body is moved up and down lift leg, and the operating of transverse rotation power set drives leg body front and rear to swing.The combination of thigh, knee joint, shank is integrated into a complete linear motion joint by robot leg of the invention, so as to replace conventional rotary motion by the linear motion of leg, the action of going down on one's knees of supporting leg is avoided, while the robot leg has mechanism simple, easy to maintain and the characteristics of strong heavy burden ability.
Description
Technical field
The present invention relates to robotics, more particularly to a kind of robot leg containing linear joint.
Background technology
, mainly including wheeled, crawler type, leg foot formula etc., wherein leg legged type robot is in fortune for the motion mode of mobile robot
Discrete foothold is only needed in dynamic without continuous path, thus more wheeled and caterpillar type robot its have it is more excellent
Elegant flexibility and environmental suitability.
Leg biped robot common at present has biped robot " petman ", " Atlas " of boston, U.S.A utility companies
And quadruped robot " BigDog ", " LS3 ", the biped robot " NAO " of French Aldebaran Robotics companies, meaning is greatly
The quadruped robot " HyQ " of sharp Institute for Research and Technology, biped robot " ASIMO " of Japanese honda company etc..Above-mentioned robot leg
Portion often uses " elbow formula " or " knee formula " structure, that is, have the parts such as obvious thigh, knee joint, shank, and difference is only knee joint
Towards the bending of body front or the bending of body rear.Chinese patent literature CN1883994A discloses a kind of human-imitating double-foot machine
People's artificial leg, the leg knee joint drives knee joint rotation using four-bar linkage structure and by motor.Chinese patent literature
CN103407514A discloses a kind of Four-foot bio-robot leg, and the leg contains two rotary joints.Chinese patent literature
CN101229826A discloses a kind of lower limb mechanism of robot, and its feature is to realize machine using parallel four-bar linkage
Mechanism's design of people's thigh and calf.Chinese patent literature CN103448828A discloses a kind of Four-foot bio-robot leg mechanism, should
Mechanism includes the rotary joints such as shoulder joint, knee joint.
The said goods and the designed robot of invention all simulate the leg structure of human or animal, that is, have obvious big
Leg, knee joint, shank, this kind of frame mode have certain bio-imitability, but also result in robot supporting leg when walking
There is certain action of going down on one's knees, the mode seemingly crept with bundle horse-ride step or quadruped is walked, this motion mode requirement
Joint actuator need to continue to export larger torsion to maintain body attitude, thus supporting leg provides branch by leg bone when relatively walking
The straight legs walking manner of support force will expend bigger energy.
The content of the invention
The purpose of the present invention is to overcome above-mentioned the deficiencies in the prior art, there is provided a kind of robot containing linear joint
Leg, the rotary joint that substitution is made up of thigh, knee joint, shank, simple with mechanism, it is easy to safeguard, energy are closed using straight line
The characteristics of consuming low and strong heavy burden ability.
To achieve the above object, the present invention uses following technical proposals：
A kind of robot leg containing linear joint, including leg body, are equipped with straight line pass in the leg body
Section, the linear joint includes initiative part and follower, and the follower is connected by connector with transverse rotation power set,
The initiative part running drives follower to move along a straight line up and down and then leg body is moved up and down lift leg, transverse rotation power dress
Putting operating drives leg body front and rear to swing.
The initiative part is leading screw, and the follower is the sliding block with silk hole.
Preferably, the sliding block is also engaged by linear bearing with line slideway, and line slideway is parallel to each other with leading screw.
The leading screw and line slideway are both secured on support frame, and support frame as described above is fixed with the shell of leg body and connected
Connect.
Preferably, the line slideway sets two, and it is in isosceles triangle that two line slideways cooperate with leading screw.
Or, the initiative part is gear, and the follower is tooth bar.
Or, the initiative part is Hydraulic Elements, and the follower is slide.
The leg body bottom portion sets rotary joint, and the rotary joint is connected with foot mechanism, controls foot mechanism
Luffing angle.
The rotary joint includes the power set of horizontally set, and power set are connected by leg foot connector and foot mechanism
Connect, power set drive leg foot connector swing and then adjust the luffing angle of foot mechanism.
The transverse rotation power set are connected by connecting rod with longitudinal rotary power unit, longitudinal rotary power unit fortune
Turn to drive leg body sideshake.
Beneficial effects of the present invention are：
The combination of thigh, knee joint, shank is integrated into a linear motion joint by robot leg of the invention, from
And robot body height regulation is changed into leg by kneed rotary movement and is moved along a straight line.Rotated using knee joint
During motion robot just as in the form of pricking horse-ride step walk, even if robotic station will also keep the state of going down on one's knees immediately, so as to cause
Robot need to continue to export and larger do power to maintain body attitude.And linear joint motion mode of the present invention then solves use
The drawbacks of knee sprung is walked during knee joint rotary mode, robot can be realized being acted just as leg vertical when people walks, so that
Reduce energy ezpenditure.The robot leg has mechanism simple, easy to maintain and the characteristics of strong heavy burden ability simultaneously.
Robot leg of the invention sets linear joint in leg body interior, when being connected with robot waist, machine
People's waist is motionless, then due to the drive of linear joint initiative part, linear joint follower is moved up and down so that leg body is upper and lower
It is mobile, and then realize lift leg action, joint of going down on one's knees in existing robot leg etc. is instead of by linear motion, when driving more
For laborsaving, energy ezpenditure is saved, the control for driving is also more simple and reliable.
Rotary joint is set in leg body bottom portion in the present invention, foot mechanism can be driven to adjust luffing angle, and then
The action of taking a step of foot mechanism is realized, can just be walked under less rising height when walking.
Longitudinal rotary power unit is connected in the present invention on transverse rotation power set, longitudinal rotary power unit drives
Leg body sideshake, and then realize moving left and right.
Brief description of the drawings
Fig. 1 is robot leg overall schematic of the invention；
Fig. 2 splits schematic diagram for the robot leg that the present invention is provided；
In figure, 1 hip joint, 2 leg mechanisms, 3 foot mechanisms, 4 shells, 5 lateral electric rotating machines, 6 connecting rods, to rotation before and after 7
Rotating motor, 8 connectors, 9 leg linear joint sliding blocks, 10 linear bearings, 11 reducing motors, 12 support frames, 13 line slideways, 14
Leading screw, 15 reducing motors, 16 legs foot connector, 17 passive rotary joints, 18 sole structure parts.
Specific embodiment
The present invention is further described with reference to the accompanying drawings and examples.
As shown in figure 1, a kind of robot leg with linear joint, including hip joint 1, leg mechanism 2 and foot mechanism
3。
Hip joint 1 is used to connect waist and the leg 2 of robot, and drives leg 2 to do relatively by two sets of reducing motors
In body fore-and-aft direction and side to oscillating motion.Leg mechanism 2 includes leg body, and straight line is equipped with the body of leg
Joint, linear joint includes initiative part and follower, follower by connector 8 and transverse rotation power set (it is i.e. front and rear to
Electric rotating machine 7) connection, initiative part running drives follower to move along a straight line up and down, front and rear to drive leg sheet to the operating of electric rotating machine 7
To swing before and after body.It is front and rear to connect with longitudinal rotary power unit (i.e. lateral electric rotating machine 5) with by connecting rod 6 to electric rotating machine 7
Connect, the operating of lateral electric rotating machine 5 drives leg body sideshake.The wherein lateral body of electric rotating machine 5 is consolidated with robot waist 1
Even, its rotary shaft is connected with front and rear by connecting rod 6 to the body of electric rotating machine 7.The front and rear output shaft to electric rotating machine 7 is then by connecting
Fitting 8 is connected with leg linear joint sliding block 9.
Initiative part can be leading screw, and follower is the sliding block with silk hole.
Or, initiative part can be gear, and follower is tooth bar.
Or, initiative part can be Hydraulic Elements, and follower is slide.
It is described by taking leading screw and sliding block as an example in the present embodiment, as shown in Fig. 2 leg mechanism 2 is by regulation robot leg
The linear joint of motion is constituted with the rotary joint of control foot luffing angle.
Linear joint includes reducing motor 11, two line slideways 13, linear bearing 10, leading screw 14, sliding blocks 9, support frame
12 are fixed on support frame 12 with shell 4, wherein reducing motor 11, line slideway 13 with leading screw 14.Sliding block 9 and linear bearing 10
It is connected, linear bearing 10 passes through line slideway 13,9 Kong Zeyu leading screws 14 of sliding block to coordinate.Linear joint reducing motor 11 is exported
Axle is connected with leading screw 14, drives leading screw 14 to rotate.Two line slideways 13 and the parallel installation of leading screw 14, it installs end face
In isosceles triangle.Support frame 12 is connected by screw with shell 4.When reducing motor 11 is operated, leading screw 14 is with movable slider 9
Lower movement, is fixed, due to machine before and after from sliding block 9 to electric rotating machine 7, connecting rod 6, lateral electric rotating machine 5 and robot waist
Device people leg weight is lighter, and after the robot leg is connected with robot waist, robot waist weight is bigger, and robot waist is not
It is dynamic, so that leg body moves up and down realization lift leg action.
Controlling the rotary joint of foot luffing angle includes the power set (i.e. reducing motor 15) of horizontally set and leg foot
Connector 16, the body of reducing motor 15 is fixed on shell 4, and its output shaft is then connected with leg foot connector 16.Leg foot connector
16 is the part for connecting robot leg 2 and foot 3, and its upper end connects reducing motor 15, and lower end is then connected with foot 3.
Foot mechanism 3 is made up of the passive rotary joint 17 with certain damping with sole structure part 18.
The operation of robot leg of the present invention is：
Lateral electric rotating machine 5 is operated, and by connecting rod 6, front and rear is delivered to leg mechanism 2, band to electric rotating machine 7, connector 8
Dynamic leg mechanism 2 completes moving left and right for robot leg relative to side-to-side movement；It is front and rear to be operated to electric rotating machine 7, pass through
Connector 8 is delivered to leg mechanism 2, drives leg mechanism 2 to be acted relative to leg advanced in years to swing, is completed before and after body；Slow down electricity
Machine 15 is operated, and foot mechanism 3 is delivered to by leg foot connector 16, adjusts the pitch angle of foot mechanism 3, simulation people's foot row
Action of taking a step when walking；Reducing motor 11 is operated, and leg linear joint sliding block 9 is passed to by leading screw 14, drives leg straight line
Joint sliding block 9 moves up and down, because waist is motionless, so that leg body is realized moving up and down completion lift leg action.Pass through
The front and rear operating to electric rotating machine 7, reducing motor 11, reducing motor 15 coordinates, and realizes that leg body steps forward leg walking, passes through
The operating of lateral electric rotating machine 5, realizes that leg body is moved left and right.
Although above-mentioned be described with reference to accompanying drawing to specific embodiment of the invention, not to present invention protection model
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need the various modifications made by paying creative work or deformation still within protection scope of the present invention.
Claims (10)
1. a kind of robot leg containing linear joint, it is characterized in that, including leg body, it is equipped with the leg body
Linear joint, the linear joint includes initiative part and follower, and the follower is filled by connector with transverse rotation power
Connection is put, the initiative part running drives follower to move along a straight line up and down and then leg body is moved up and down lift leg, laterally rotation
Rotating power apparatus operating drives leg body front and rear to swing.
2. robot leg as claimed in claim 1, it is characterized in that, the initiative part is leading screw, and the follower is band silk hole
Sliding block.
3. robot leg as claimed in claim 2, it is characterized in that, the sliding block is also matched by linear bearing with line slideway
Close, line slideway is parallel to each other with leading screw.
4. robot leg as claimed in claim 3, it is characterized in that, the leading screw and line slideway are both secured on support frame,
Support frame as described above is fixedly connected with the shell of leg body.
5. robot leg as claimed in claim 3, it is characterized in that, the line slideway sets two, two line slideways with
It is in isosceles triangle that leading screw cooperates.
6. robot leg as claimed in claim 1, it is characterized in that, the initiative part is gear, and the follower is tooth bar.
7. robot leg as claimed in claim 1, it is characterized in that, the initiative part is Hydraulic Elements, and the follower is to slide
Seat.
8. robot leg as claimed in claim 1, it is characterized in that, the leg body bottom portion sets rotary joint, the rotation
Turn joint to be connected with foot mechanism, control foot mechanism luffing angle.
9. robot leg as claimed in claim 8, it is characterized in that, the rotary joint includes the power set of horizontally set,
Power set are connected by leg foot connector with foot mechanism, and power set drive leg foot connector swing and then adjust foot
The luffing angle of portion mechanism.
10. robot leg as claimed in claim 1, it is characterized in that, the transverse rotation power set with by connecting rod and vertical
Connected to rotary power unit, longitudinal rotary power unit operating drives leg body sideshake.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611146913.XA CN106741282B (en) | 2016-12-13 | 2016-12-13 | Robot leg that contains straight line joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611146913.XA CN106741282B (en) | 2016-12-13 | 2016-12-13 | Robot leg that contains straight line joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106741282A true CN106741282A (en) | 2017-05-31 |
| CN106741282B CN106741282B (en) | 2019-12-31 |
Family
ID=58876643
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611146913.XA Active CN106741282B (en) | 2016-12-13 | 2016-12-13 | Robot leg that contains straight line joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106741282B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112441156A (en) * | 2019-08-29 | 2021-03-05 | 南京禹智智能科技有限公司 | Leg and foot mechanism of high-performance bionic foot type robot |
| WO2024123820A1 (en) * | 2022-12-06 | 2024-06-13 | FUJIFILM Irvine Scientific, Inc. | System and method for lifting and orienting a chamber |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101298260A (en) * | 2008-06-11 | 2008-11-05 | 清华大学 | Low-power consumption two-foot walking moving system and walking control method thereof |
| US20090260472A1 (en) * | 2006-07-31 | 2009-10-22 | Keisuke Suga | Legged robot |
| CN104071250A (en) * | 2014-07-10 | 2014-10-01 | 武汉大学 | Modular ten-freedom-degree biped walking robot |
| CN104890757A (en) * | 2015-06-24 | 2015-09-09 | 长春工业大学 | Traveling gear of humanoid robot |
| CN105752185A (en) * | 2016-03-03 | 2016-07-13 | 上海大学 | Hybrid robot capable of switching wheel leg gaits based on changes of gear train properties |
-
2016
- 2016-12-13 CN CN201611146913.XA patent/CN106741282B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090260472A1 (en) * | 2006-07-31 | 2009-10-22 | Keisuke Suga | Legged robot |
| CN101298260A (en) * | 2008-06-11 | 2008-11-05 | 清华大学 | Low-power consumption two-foot walking moving system and walking control method thereof |
| CN104071250A (en) * | 2014-07-10 | 2014-10-01 | 武汉大学 | Modular ten-freedom-degree biped walking robot |
| CN104890757A (en) * | 2015-06-24 | 2015-09-09 | 长春工业大学 | Traveling gear of humanoid robot |
| CN105752185A (en) * | 2016-03-03 | 2016-07-13 | 上海大学 | Hybrid robot capable of switching wheel leg gaits based on changes of gear train properties |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112441156A (en) * | 2019-08-29 | 2021-03-05 | 南京禹智智能科技有限公司 | Leg and foot mechanism of high-performance bionic foot type robot |
| CN112441156B (en) * | 2019-08-29 | 2021-11-30 | 南京禹智智能科技有限公司 | Leg and foot mechanism of high-performance bionic foot type robot |
| WO2024123820A1 (en) * | 2022-12-06 | 2024-06-13 | FUJIFILM Irvine Scientific, Inc. | System and method for lifting and orienting a chamber |
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| Publication number | Publication date |
|---|---|
| CN106741282B (en) | 2019-12-31 |
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Effective date of registration: 20210415 Address after: 203-d, Shanke Zhongchuang space, 19 Keyuan Road, Lixia District, Jinan City, Shandong Province Patentee after: Shanke Huazhi (Shandong) robot intelligent technology Co.,Ltd. Address before: 250353 Science Park, West New Town University, Changqing District, Shandong, Ji'nan Patentee before: Qilu University of Technology |