CN106741282B - Robot leg that contains straight line joint - Google Patents
Robot leg that contains straight line joint Download PDFInfo
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- CN106741282B CN106741282B CN201611146913.XA CN201611146913A CN106741282B CN 106741282 B CN106741282 B CN 106741282B CN 201611146913 A CN201611146913 A CN 201611146913A CN 106741282 B CN106741282 B CN 106741282B
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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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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a robot leg with a linear joint, which comprises a leg body, wherein the linear joint is arranged in the leg body in a matching manner, the linear joint comprises a driving part and a driven part, the driven part is connected with a transverse rotating power device through a connecting piece, the driving part operates to drive the driven part to do vertical linear motion so as to enable the leg body to move up and down to lift the leg, and the transverse rotating power device operates to drive the leg body to swing back and forth. The robot leg integrates the combination mode of the thigh, the knee joint and the shank into a complete linear motion joint, thereby replacing the common rotary motion by the linear motion of the leg, avoiding the knee bending action of the supporting leg, and simultaneously having the characteristics of simple mechanism, easy maintenance and strong load bearing capability.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot leg with a linear joint.
Background
The motion modes of the mobile robot mainly include a wheel type, a crawler type, a legged type and the like, wherein the legged type robot only needs discrete foot-falling points and does not need a continuous path in the motion, so that the mobile robot has more excellent flexibility and environmental adaptability than the wheel type and the crawler type robots.
Currently, the commonly used leg and foot robots include biped robot "petman", "Atlas" and quadruped robot "BigDog", "LS 3" of boston power company, biped robot "NAO" of Aldebaran Robotics, france, "HyQ" of the italian institute of technology, biped robot "ASIMO" of honda, and the like. The legs of the robot often adopt an elbow type or knee type structure, namely, the legs, the knee joints, the lower legs and the like are obvious, and the difference is that the knee joints are bent towards the front of the body or the back of the body. Chinese patent document CN1883994A discloses an artificial leg of an anthropomorphic biped robot, wherein the knee joint of the leg adopts a four-bar linkage structure and drives the knee joint to rotate by means of a driving motor. Chinese patent document CN103407514A discloses a four-footed bionic robot leg, which contains two rotary joints. Chinese patent document CN101229826A discloses a lower limb mechanism of a robot, which is characterized in that a parallel four-bar linkage is adopted to realize the mechanism design of the robot upper and lower legs. Chinese patent document CN103448828A discloses a leg mechanism of a four-legged bionic robot, which includes rotary joints such as shoulder joint and knee joint.
The robot designed by the product and the invention simulates the leg structure of human or animal, namely obvious thighs, knee joints and cruses, the structural mode has certain bionic property, however, the supporting legs of the robot have certain knee bending action when walking and walk like a way of walking by a zama step or a quadruped crawling, the motion mode requires a joint actuator to continuously output larger torsion to maintain the posture of the body, and therefore, the motion mode consumes larger energy than a straight leg walking mode in which the supporting legs provide supporting force by leg bones when walking.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a robot leg with a linear joint, wherein a rotary joint consisting of a thigh, a knee joint and a shank is replaced by the linear joint, and the robot leg has the characteristics of simple mechanism, easiness in maintenance, low energy consumption and strong load bearing capacity.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a robot leg that contains sharp joint, includes the shank body, this internal cooperation of shank sets up sharp joint, sharp joint includes initiative portion and driven portion, driven portion passes through the connecting piece and is connected with the horizontal rotation power device, the action of initiative portion drives linear motion about the driven portion and then makes the shank body reciprocate and lift the leg, and horizontal rotation power device operation drives shank body forward-backward swing.
The driving part is a lead screw, and the driven part is a slide block with a screw hole.
Preferably, the sliding block is matched with a linear guide rail through a linear bearing, and the linear guide rail is parallel to the screw rod.
The lead screw and the linear guide rail are fixed on the support frame, and the support frame is fixedly connected with the shell of the leg body.
Preferably, the number of the linear guide rails is two, and the two linear guide rails are matched with the screw rod to form an isosceles triangle.
Or, the driving part is a gear, and the driven part is a rack.
Or, the driving part is a hydraulic element, and the driven part is a sliding seat.
The bottom of the leg body is provided with a rotary joint, and the rotary joint is connected with the foot mechanism to control the pitch angle of the foot mechanism.
The rotary joint comprises a power device which is transversely arranged, the power device is connected with the foot mechanism through a leg-foot connecting piece, and the power device drives the leg-foot connecting piece to swing back and forth so as to adjust the pitching angle of the foot mechanism.
The transverse rotating power device is connected with the longitudinal rotating power device through a connecting rod, and the longitudinal rotating power device operates to drive the leg body to swing laterally.
The invention has the beneficial effects that:
the robot leg integrates the combination mode of the thigh, the knee joint and the shank into a linear motion joint, so that the height adjustment of the robot body is converted from the rotary motion mode of the knee joint into the linear motion of the leg. When the knee joint rotary motion is adopted, the robot walks in a way of a campstool, and the knee bending state is kept even when the robot stands, so that the robot needs to continuously output large power to maintain the posture of the body. The linear joint motion mode of the invention solves the defect of knee-bending walking when the knee joint rotation mode is adopted, and the robot can realize the leg vertical action just like the walking of a person, thereby reducing the energy consumption. Meanwhile, the robot leg has the characteristics of simple mechanism, easiness in maintenance and strong load bearing capacity.
According to the robot leg, the linear joint is arranged in the leg body, when the leg body is connected with the waist of the robot, the waist of the robot is not moved, the leg body is moved up and down by the up-and-down movement of the driven part of the linear joint under the driving of the driving part of the linear joint, so that the leg lifting action is realized, the knee bending joint and the like in the existing robot leg are replaced by the linear motion, the driving is more labor-saving, the energy consumption is saved, and the driving control is simpler and more reliable.
According to the invention, the rotary joint is arranged at the bottom of the leg body, so that the foot mechanism can be driven to adjust the pitching angle, the stepping action of the foot mechanism is further realized, and the walking can be carried out at a smaller lifting height during walking.
According to the invention, the transverse rotating power device is connected with the longitudinal rotating power device, and the longitudinal rotating power device drives the leg body to swing laterally so as to realize left-right movement.
Drawings
FIG. 1 is a general schematic view of a robot leg of the present invention;
FIG. 2 is a schematic diagram of a robot leg according to the present invention;
in the figure, a hip joint 1, a leg mechanism 2, a foot mechanism 3, a shell 4, a lateral rotating motor 5, a connecting rod 6, a forward and backward rotating motor 7, a connecting piece 8, a leg linear joint slider 9, a linear bearing 10, a speed reducing motor 11, a support frame 12, a linear guide rail 13, a lead screw 14, a speed reducing motor 15, a leg and foot connecting piece 16, a passive rotating joint 17 and a sole structural part 18 are arranged.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
As shown in fig. 1, a robot leg having a linear joint includes a hip joint 1, a leg mechanism 2, and a foot mechanism 3.
The hip joint 1 is used for connecting the waist and the legs 2 of the robot, and drives the legs 2 to swing in the front-back direction and the side direction relative to the body through two sets of speed reducing motors. Leg mechanism 2 includes the shank body, and this internal cooperation of shank sets up sharp joint, and sharp joint includes initiative portion and driven part, and the driven part passes through connecting piece 8 to be connected with horizontal rotation power device (around to rotating electrical machines 7 promptly), and the initiative portion operation drives linear motion from top to bottom of driven part, and the front and back is to the running front and back swing that drives the shank body to rotating electrical machines 7. The front-back rotating motor 7 is connected with a longitudinal rotating power device (namely, the lateral rotating motor 5) through a connecting rod 6, and the lateral rotating motor 5 operates to drive the leg body to swing laterally. Wherein, the body of the lateral rotating motor 5 is fixedly connected with the waist part 1 of the robot, and the rotating shaft thereof is connected with the body of the front and back rotating motor 7 through the connecting rod 6. The output shaft of the front-back rotating motor 7 is connected with a leg linear joint sliding block 9 through a connecting piece 8.
The driving part can be a lead screw, and the driven part is a slide block with a screw hole.
Alternatively, the driving part may be a gear and the driven part may be a rack.
Alternatively, the driving part may be a hydraulic element and the driven part may be a slide.
In the present embodiment, a lead screw and a slider are taken as an example for description, and as shown in fig. 2, the leg mechanism 2 is composed of a linear joint for adjusting the motion of the robot leg and a rotary joint for controlling the pitch angle of the foot.
The linear joint comprises a speed reducing motor 11, two linear guide rails 13, a linear bearing 10, a screw rod 14, a sliding block 9, a support frame 12 and a shell 4, wherein the speed reducing motor 11, the linear guide rails 13 and the screw rod 14 are fixed on the support frame 12. The slide block 9 is fixedly connected with a linear bearing 10, the linear bearing 10 penetrates through a linear guide rail 13, and a screw hole of the slide block 9 is matched with a screw rod 14. The output shaft of the linear joint speed reducing motor 11 is connected with the screw rod 14 to drive the screw rod 14 to rotate. The two linear guide rails 13 are arranged in parallel with the screw 14, and the mounting end surfaces of the two linear guide rails are isosceles triangles. The support frame 12 is connected to the housing 4 by screws. When the speed reducing motor 11 operates, the lead screw 14 drives the sliding block 9 to move up and down, the sliding block 9 is fixed with the robot waist through the front-back rotating motor 7, the connecting rod 6 and the lateral rotating motor 5, and the robot waist is heavier and does not move after the robot legs are connected with the robot waist due to the fact that the weight of the robot legs is lighter, so that the leg lifting action is realized due to the fact that the leg bodies move up and down.
The rotary joint for controlling the pitch angle of the foot comprises a power device (namely a speed reducing motor 15) and a leg-foot connecting piece 16 which are transversely arranged, the body of the speed reducing motor 15 is fixed on the shell 4, and the output shaft of the speed reducing motor is connected with the leg-foot connecting piece 16. The leg-foot connecting member 16 is a member for connecting the leg portion 2 and the foot portion 3 of the robot, and has an upper end connected to the reduction motor 15 and a lower end connected to the foot portion 3.
The foot mechanism 3 is composed of a passive rotary joint 17 with certain damping and a sole structure 18.
The operation process of the robot leg comprises the following steps:
the lateral rotating motor 5 runs and is transmitted to the leg mechanism 2 through the connecting rod 6, the front and back rotating motor 7 and the connecting piece 8 to drive the leg mechanism 2 to swing laterally relative to the body, so that the left and right movement of the robot legs is completed; the front-back rotating motor 7 runs and is transmitted to the leg mechanism 2 through the connecting piece 8 to drive the leg mechanism 2 to swing back and forth relative to the body, so that the leg stepping action is completed; the speed reducing motor 15 runs, is transmitted to the foot mechanism 3 through the leg-foot connecting piece 16, adjusts the front-back pitching angle of the foot mechanism 3 and simulates the stepping action of the feet of a person during walking; the speed reducing motor 11 runs, the leg linear joint sliding block 9 is transmitted to the leg linear joint sliding block 9 through the screw rod 14, the leg linear joint sliding block 9 is driven to move up and down, and the waist is fixed, so that the leg body can move up and down to complete leg lifting. The leg body walks forwards by the running cooperation of the front-back rotating motor 7, the speed reducing motor 11 and the speed reducing motor 15, and the leg body moves leftwards and rightwards by the running of the lateral rotating motor 5.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (7)
1. A robot leg with a linear joint is characterized by comprising a leg body, wherein the leg body is internally provided with the linear joint in a matching manner, the linear joint comprises a driving part and a driven part, the driven part is connected with a transverse rotating power device through a connecting piece, the driving part operates to drive the driven part to do vertical linear motion so as to enable the leg body to move up and down to lift the leg, and the transverse rotating power device operates to drive the leg body to swing back and forth;
the bottom of the leg body is provided with a rotary joint, and the rotary joint is connected with the foot mechanism and used for controlling the pitch angle of the foot mechanism;
the rotary joint comprises a power device which is transversely arranged, the power device is connected with the foot mechanism through a leg-foot connecting piece, and the power device drives the leg-foot connecting piece to swing back and forth so as to adjust the pitch angle of the foot mechanism;
the transverse rotating power device is connected with the longitudinal rotating power device through a connecting rod, and the longitudinal rotating power device operates to drive the leg body to swing laterally.
2. The robot leg of claim 1, wherein the driving portion is a lead screw and the driven portion is a slide block with a threaded bore.
3. The robot leg of claim 2, wherein the slide block further cooperates with a linear guide through a linear bearing, the linear guide being parallel to the lead screw.
4. A robot leg as claimed in claim 3, wherein the lead screw and the linear guide are both secured to a support frame, the support frame being fixedly connected to the outer shell of the leg body.
5. A robot leg as claimed in claim 3, wherein two linear guides are provided, the two linear guides cooperating with the lead screw to form an isosceles triangle.
6. The robot leg of claim 1, wherein the driving portion is a gear and the driven portion is a rack.
7. The robot leg of claim 1, wherein said driving portion is a hydraulic element and said driven portion is a slide.
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 |
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| Publication Number | Publication Date |
|---|---|
| CN106741282A CN106741282A (en) | 2017-05-31 |
| CN106741282B true CN106741282B (en) | 2019-12-31 |
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| 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 |
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| CN (1) | CN106741282B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| US20240182279A1 (en) * | 2022-12-06 | 2024-06-06 | FUJIFILM Irvine Scientific, Inc. | System and method for lifting and orienting a chamber |
Citations (4)
| 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 |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4539618B2 (en) * | 2006-07-31 | 2010-09-08 | トヨタ自動車株式会社 | Legged robot |
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2016
- 2016-12-13 CN CN201611146913.XA patent/CN106741282B/en active Active
Patent Citations (4)
| 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 |
| 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 |
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| Publication number | Publication date |
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| CN106741282A (en) | 2017-05-31 |
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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 |