CN109466652A - A kind of multiple degrees of freedom trunk mechanism suitable for biped robot - Google Patents
A kind of multiple degrees of freedom trunk mechanism suitable for biped robot Download PDFInfo
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- CN109466652A CN109466652A CN201811258888.3A CN201811258888A CN109466652A CN 109466652 A CN109466652 A CN 109466652A CN 201811258888 A CN201811258888 A CN 201811258888A CN 109466652 A CN109466652 A CN 109466652A
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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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Abstract
The invention belongs to robot body structure correlative technology fields, it discloses a kind of multiple degrees of freedom trunk mechanisms suitable for biped robot, the trunk mechanism includes the upper half, pelvis and hip joint component and two direction hip joint pitch driving assemblies, and the pelvis and hip joint component are connected to the upper half；Two direction hip joint pitch driving assemblies are connected to the pelvis and hip joint component；The upper half and the direction hip joint pitch driving assembly are driven by oil cylinder, and the pelvis and hip joint component are driven by motor；The upper half passes through three oil cylinders and realizes bending forward and backward, controlling rolling and the movement in vertical direction for robots；The pelvis and hip joint component match the pelvis for realizing the robot and hip joint with the direction hip joint pitch driving assembly in the movement in the direction yaw, the direction roll, the direction pitch.The present invention improves space utilization rate, and structure is simple, and movenent performance is preferable.
Description
Technical field
The invention belongs to robot body structure correlative technology fields, are suitable for biped machine more particularly, to one kind
The multiple degrees of freedom trunk mechanism of people.
Background technique
Complication system of the biped robot as a high integrity is related to theory of mechanisms, bionics, artificial intelligence and several
Where numerous subjects such as method.In recent years, researcher both domestic and external and scientific research institution have conducted extensive research biped robot.
It is most of that only the three degree of freedom at hip joint is designed but in the design of current biped robot's trunk structure,
Difficulty is increased to control of robot during stabilized walking in this way, reduces the activity space of robot, and mesh
Preceding biped robot or for pure fluid pressure type driving robot or be that pure electric motor type drives robot, in this way without sufficiently sharp
Driving advantage with both driving methods in each joint.
For people during walking, three degree of freedom is critically important at hip joint, but the freedom degree at other positions of trunk also has
Irreplaceable role, pelvis and waist joint are the key positions formed a connecting link, have adjust centre of body weight wave
Dynamic and carrying upper limb trunk and arm effect, can guarantee that the stability of system weight loading exercise and upper limb arbitrarily grab flexible
Property.For example, have research institution and realize using hip joint pitching, the tumbling motion of biped robot, but the knot of this mechanism
Structure is complicated, and quality is excessive, is unfavorable for improving the movenent performance of robot.Moreover, during walking movement, center of gravity up and down,
Left and right both direction can all generate different degrees of fluctuation, and single rolling freedom degree of hip joint can carry out the fluctuation of horizontal direction
It is reversed to adjust, and the fluctuation of vertical direction needs the stretching motion of backbone to adjust.Correspondingly, there is develop one kind for this field
Movenent performance is preferably suitable for the technical need of the multiple degrees of freedom trunk mechanism of biped robot.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of suitable for the more of biped robot
It is preferable to study and devise a kind of movenent performance based on the work characteristics of existing biped robot for freedom degree trunk mechanism
Multiple degrees of freedom trunk mechanism suitable for biped robot.Multiple degrees of freedom trunk mechanism realizes body by improved structure
The movement of all directions of pitching, rolling, torsion and four kinds of the vertical shift movements and pelvis and hip joint of dry mechanism, such as
This improves the movenent performance of biped robot, improves work efficiency, and man-computer cooperation and multi-level collaborative can be better achieved
Operation.In addition, multiple degrees of freedom trunk mechanism is during robot ambulation, can satisfy complicated gait curve, and
It can satisfy the performance requirement that robot walks at unstructured moving grids center.
To achieve the above object, the present invention provides a kind of multiple degrees of freedom trunk mechanism suitable for biped robot, institutes
Stating trunk mechanism includes the upper half, pelvis and hip joint component and two direction hip joint pitch driving assemblies, the pelvis
The upper half is connected to hip joint component；Two direction hip joint pitch driving assemblies be connected to the pelvis and
Hip joint component；
The upper half and the direction hip joint pitch driving assembly are driven by oil cylinder, and the pelvis and hip close
Section component is driven by motor；Bending forward and backward, controlling and turn over for biped robot is realized by three oil cylinders in the upper half
Rolling and vertical direction movement；The pelvis and hip joint component are matched with the direction hip joint pitch driving assembly
Come realize the biped robot pelvis and hip joint the direction yaw, the direction roll, the direction pitch movement.
Further, the upper half include thoracic cavity shell, the first servo-cylinder, three cross axles, the first connecting plate and
Two the second servo-cylinders, the thoracic cavity shell are formed with through slot, and the through slot is for accommodating first connecting plate；Three institutes
It states one in cross axle to be arranged on one end of first connecting plate, other two described cross axle is arranged described first
On the other end of connecting plate；Two cross axle intervals positioned at the same end of first connecting plate are arranged, and the two point
It is not connected to two second servo-cylinders, first servo-cylinder is connected to another described cross axle.
Further, the hydraulic stem of two second servo-cylinders is rotationally connected with the thoracic cavity shell respectively；Institute
First servo-cylinder is connected to the thoracic cavity shell；First servo-cylinder and second servo-cylinder are located at described
The front and rear portion of thoracic cavity shell.
Further, the movement travel of first servo-cylinder is 40mm；The movement travel of second servo-cylinder
For 60mm.
Further, the pelvis and hip joint component include the direction pelvis yaw drive module, the driving of the direction pelvis roll
Module, two direction hip joint yaw drive modules, two direction hip joint roll drive modules, the big plate of pelvis and pelvic rock
Part, the direction pelvis yaw drive module are connected to the middle part of first connecting plate, and shell is fixedly connected on the pelvis
Swing the middle part of plate；The ring flange of the direction pelvis roll drive module is connected to one end of the pelvic rock plate,
Its cage connection is in the big plate of the pelvis；Two hip joint yaw direction drive module settings on the big plate of the pelvis, and
It is connected to two direction hip joint roll drive modules.
Further, the big plate of the pelvis is in rectangle substantially, is opened up there are two circular hole and a square hole；The pelvis
Swing plate is in n font substantially, and one end is movably connected with after passing through the square hole in the big plate of the pelvis, other end connection
In the direction pelvis roll drive module；Hip joint yaw direction drive module is connected to described after the circular hole
The direction hip joint roll drive module.
Further, the direction pelvis yaw drive module, the direction pelvis roll drive module, the hip joint
The direction roll drive module is similar to the structure of the direction hip joint yaw drive module, and driving principle is identical.
Further, hip joint roll direction drive module is connected to the hip joint side yaw by connection component
To drive module, the connection component includes the direction hip joint roll swing component, the connection of hip joint roll direction swing component
The ring flange and the direction hip joint pitch driving assembly of the direction hip joint roll drive module, and the hip joint
The direction roll swing component by the direction hip joint roll drive module flange dish driving.
Further, the direction hip joint yaw drive module includes electric machine assembly, is connected to the defeated of the electric machine assembly
Enter axis, be connected to the harmonic speed reducer of the input shaft and be connected to the pelvis ring flange of the harmonic speed reducer, the pelvis
Ring flange is connected to the direction hip joint roll drive module, and hip joint yaw direction drive module passes through the pelvis
Ring flange gives movement output to the direction hip joint roll drive module.
Further, the driver of the direction hip joint pitch driving assembly is third servo-cylinder, by by institute
The linear motion for stating third servo-cylinder is changed into rotary motion, and then the hip joint is driven to move in the direction pitch.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, it is provided by the invention suitable
Multiple degrees of freedom trunk mechanism for biped robot mainly has the advantages that
1. the upper half and the direction hip joint pitch driving assembly are driven by oil cylinder, the pelvis and hip
Joint assembly is driven by motor, and so improves the space utilization rate and flexibility of biped robot, meets robot
Performance requirement in walking process, and it is compact-sized.
2. the upper half realizes bending forward and backward, controlling rolling and in vertical side for biped robot by three oil cylinders
To movement；The pelvis and hip joint component match described double to realize with the direction hip joint pitch driving assembly
The pelvis and hip joint of biped robot so improve biped robot in the movement in the direction yaw, the direction roll, the direction pitch
Movenent performance, improve work efficiency, man-computer cooperation and multi-level collaborative operation can be better achieved, and can meet complicated
Gait curve.
3. the movement travel of first servo-cylinder is 40mm；The movement travel of second servo-cylinder is 60mm,
In the case where the center of gravity surge requirements for so ensuring to meet robot, structural compactness and harmony are improved, flexibility is higher,
Practicability is stronger.
4. two for being located at the same end of first connecting plate cross axle interval setting, and the two is connected to
Two second servo-cylinders, first servo-cylinder are connected to another described cross axle, the first servo oil
Cylinder and second servo-cylinder match realize the upper half bend forward and backward (pitch) and left and right rolling (roll),
And the movement in the direction (vertical) in waist joint, structure is simple, and quality is smaller, and freedom degree adjusts simple.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the multiple degrees of freedom trunk mechanism provided by the invention suitable for biped robot.
Fig. 2 is the schematic diagram of another angle of the multiple degrees of freedom trunk mechanism suitable for biped robot in Fig. 1.
Fig. 3 is the freedom degree schematic diagram in each joint of the multiple degrees of freedom trunk mechanism suitable for biped robot in Fig. 1.
Fig. 4 is movement letter of the multiple degrees of freedom trunk mechanism suitable for biped robot in Fig. 1 in the direction waist pitch
Figure.
Fig. 5 is the schematic diagram of the upper half of the multiple degrees of freedom trunk mechanism suitable for biped robot in Fig. 1.
Fig. 6 is another angle of the upper half of the multiple degrees of freedom trunk mechanism suitable for biped robot in Fig. 5
Schematic diagram.
Fig. 7 is that the pelvis of multiple degrees of freedom trunk mechanism and the structure of hip joint suitable for biped robot in Fig. 1 show
It is intended to.
Fig. 8 is the schematic diagram of pelvis in Fig. 7 and hip joint along an angle.
Fig. 9 is the schematic diagram of pelvis in Fig. 7 and hip joint along another angle.
Figure 10 is the partial schematic diagram of the pelvis and hip joint in Fig. 7.
Figure 11 is the direction the hip joint pitch driving of the multiple degrees of freedom trunk mechanism suitable for biped robot in Fig. 1
The partial schematic diagram of component.
Figure 12 is the direction the hip joint pitch driving of the multiple degrees of freedom trunk mechanism suitable for biped robot in Fig. 1
The structural schematic diagram of component.
Figure 13 A is the direction the hip joint yaw driving mould of the multiple degrees of freedom trunk mechanism suitable for biped robot in Fig. 1
The front schematic view of block.
Figure 13 B is the direction the hip joint yaw driving mould of the multiple degrees of freedom trunk mechanism suitable for biped robot in Fig. 1
The side schematic view of block.
Figure 14 is diagrammatic cross-section of the hip joint yaw direction drive module in Figure 13 A along the direction A-A.
Figure 15 is the direction the pelvis yaw drive module of the multiple degrees of freedom trunk mechanism suitable for biped robot in Fig. 1
Structural schematic diagram.
Figure 16 is the direction the pelvis roll drive module of the multiple degrees of freedom trunk mechanism suitable for biped robot in Fig. 1
Structural schematic diagram.
Figure 17 is the direction the hip joint roll driving mould of the multiple degrees of freedom trunk mechanism suitable for biped robot in Fig. 1
The structural schematic diagram of block.
Figure 18 is the structural representation of the big plate of pelvis of the multiple degrees of freedom trunk mechanism suitable for biped robot in Fig. 1
Figure.
In all the appended drawings, identical appended drawing reference is used to denote the same element or structure, in which: the thoracic cavity 1- shell,
The first servo-cylinder of 2-, 3- cross axle, the first connecting plate of 4-, the second servo-cylinder of 5-, the direction 6- pelvis yaw drive module, 7-
The direction pelvis roll drive module, the direction 8- hip joint yaw drive module, 81- electric machine assembly, the first deep groove ball bearing of 82-,
83- motor baffle ring, 84- input shaft, 85- second encoder component, 86- pelvis ring flange, 87- harmonic speed reducer, 88- shell,
89- four-point contact ball, the direction 9- hip joint roll drive module, the big plate of 10- pelvis, 11- pelvic rock plate, 12-
A connection piece, the first crossed roller bearing of 13-, 14- first axle, 15- connecting plate, the outer retaining ring of 16- first, the first inner shield ring of 17-,
The direction 18- hip joint roll swing component, the direction 19- hip joint yaw revolving part, the outer retaining ring of 20- second, 21- encoder supporting element,
The second crossed roller bearing of 22-, the second inner shield ring of 23-, 24- connection encoder axis, the second deep groove ball bearing of 25-, 26- first are compiled
Code device assembly, the second axis of 27-, the second connector of 28-, 29- rack gear, 30- third connector, 31- third servo-cylinder, 32- are straight
Linear movement pick-up, the first fixing piece of 33-, the second fixing piece of 34-, the first plate of 35-, 36- third axis, 37- elastic element,
The second plate of 38-, 39- sliding block, 40- gear, 41- guide rail, the second synchronous pulley of 42-, 43- synchronous belt, the first synchronous belt of 44-
Wheel, 45- third plate.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
Please refer to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the multiple degrees of freedom trunk machine provided by the invention suitable for biped robot
The movement in the direction pitch, the direction roll and the direction vertical of structure, the upper half of multiple degrees of freedom trunk mechanism is distinguished
It is realized by the movement of a hydraulic cylinder of two hydraulic cylinders and front of behind；The pelvis of multiple degrees of freedom trunk mechanism
The direction yaw and the direction roll freedom degree are realized by pelvis yaw direction drive module and pelvis roll direction drive module respectively；
Yaw, roll, pitch three degree of freedom of the hip joint of multiple degrees of freedom trunk mechanism are driven by the direction hip joint yaw respectively
The driving assembly of module, hip joint roll direction drive module and trunk top is realized.As described multiple degrees of freedom trunk machine
The direction hip joint pitch of structure uses Driven by Hydraulic Cylinder, and the movement of the upper half also uses Driven by Hydraulic Cylinder, the multiple degrees of freedom
Other joint motions of trunk mechanism use motor driven, can effectively improve the space utilization rate of biped robot in this way,
Meet the performance requirement during robot ambulation.
Multiple degrees of freedom trunk mechanism includes the upper half, pelvis and hip joint component and two directions hip joint pitch
Driving assembly, the pelvis and hip joint component are connected to the upper half；Two direction hip joint pitch driving assemblies
It is connected to the pelvis and hip joint component.The hip joint of the upper half and multiple degrees of freedom trunk mechanism is adopted respectively
Motor driven is used with the pelvis of Driven by Hydraulic Cylinder, multiple degrees of freedom trunk mechanism.Wherein, the upper half uses three liquid
Cylinder pressure realizes the movement in the direction pitch, the direction roll and the direction vertical.
Fig. 5 and Fig. 6 is please referred to, the upper half includes 2, three thoracic cavity shell 1, the first servo-cylinder cross axles 3, first
Connecting plate 4 and two the second servo-cylinders 5, the thoracic cavity shell 1 are formed with through slot, and the through slot connects for accommodating described first
4, three cross axles 3 of fishplate bar and first servo-cylinder 2.In present embodiment, the through slot is outside the thoracic cavity
Shell 1.First connecting plate 4 is arranged along the length direction of the through slot, and one in three cross axles 3 is arranged described
On one end of first connecting plate 4, other two described cross axle 3 is arranged on the other end of first connecting plate 4.Positioned at institute
Two interval of cross axle 3 settings of the same end of the first connecting plate 4 are stated, and the two is connected to two described second and watches
Oil cylinder 5 is taken, the hydraulic stem of two second servo-cylinders 5 is rotationally connected with the thoracic cavity shell 1 respectively.Described first watches
It takes oil cylinder 2 and is connected to the cross axle 3, be located at the front of the thoracic cavity shell 1, two second servo-cylinders 5 are located at
The rear portion of the thoracic cavity shell 1.
In present embodiment, the cross axle 3 is IKO cross axle；The movement travel of first servo-cylinder 2 is
40mm；The movement travel of second servo-cylinder 5 is 60mm.The upper half the direction pitch, the direction roll and
The movement in the direction vertical is matched to realize by first servo-cylinder 2 and second servo-cylinder 5.Robot exists
It is all smaller in the angle that the direction pitch and the direction roll move in practical walking process, therefore hydraulic parallel is used to drive, make
It obtains first servo-cylinder 2 and second servo-cylinder 5 is used as main support component.When first servo-cylinder 2
When the length that hydraulic stem stretches out remains unchanged, two described second servo-cylinder, 5 up and down or one rise and one drop simultaneously, with
Realize respectively the upper half bend forward and backward (pitch) and left and right rolling (roll) both movement.When first servo
, it can be achieved that the waist of multiple degrees of freedom trunk mechanism closes when oil cylinder 2 and second servo-cylinder 5 rise or decline simultaneously
The movement in the direction vertical of section.In addition, when investigation shows people's constant speed walking of a height 180cm, his center of gravity
Fluctuation range in perpendicular is substantially in 30mm~40mm, and according to bionics principle, the center of gravity of biped robot fluctuates model
Thus enclose also should be in this way, realize the driving of the upper half using the servo-cylinder of small stroke.
Fig. 7, Fig. 8, Fig. 9 and Figure 10 are please referred to, the pelvis connects the upper half with hip joint component and the hip closes
Save the direction pitch driving assembly comprising 7, two direction pelvis yaw drive module 6, the direction pelvis roll drive module hips close
Save 8, two direction hip joint roll drive modules 9 of the direction yaw drive module, the big plate 10 of pelvis, pelvic rock part 11 and first
Connector 12.
Please refer to Figure 15, Figure 16, Figure 17 and Figure 18, the big plate 10 of pelvis is in rectangle substantially, opens up that there are two circular holes
And a square hole, two circular hole interval settings, and the square hole is located between two circular holes.The circular hole is used
The direction the hip joint yaw drive module 8 described in collecting part；The square hole is used for one end for the pelvic rock plate 11
It passes through.In present embodiment, the pelvic rock plate 11 is in n font substantially, and one end passes through after the square hole actively
It is connected to the big plate 10 of the pelvis, the other end is connected to the direction pelvis roll drive module 7.It drives in the direction the pelvis yaw
Dynamic model block 6 is connected to the middle part of first connecting plate 4, and shell is fixedly connected on the middle part of the pelvic rock plate 11,
It is driven by motor, with the movement for realizing pelvis in the direction yaw.The ring flange of the direction pelvis roll drive module 7
It is connected to one end of the pelvic rock plate 11, shell is connected to the big plate of the pelvis by first connector 12
10.The direction pelvis yaw drive module 6 and the direction pelvis roll drive module 7 are located at the big plate 10 of the pelvis
Opposite two sides.
In present embodiment, connecting plate 15 is fixedly connected on the big plate 10 of the pelvis and drives far from the direction the pelvis yaw
On the surface of module 6, one end of first axle 14 is connected to the connecting plate 15, and the other end is connected to the first crossed roller bearing
13, first crossed roller bearing 13 is mounted on the pelvic rock plate 11 far from the direction pelvis roll drive module
On 7 one end.First inner shield ring 17 of first crossed roller bearing 13 is matched with the first axle 14, and described first hands over
First outer retaining ring 16 of fork roller bearing 13 is connected to the pelvic rock plate 11, and first inner shield ring 17 is connected to described
First axle 14 so prevents the axial movement of first crossed roller bearing 13.In present embodiment, the pelvis side roll
To the central axis of the arc-shaped surface of drive module 7 and the center overlapping of axles of the first axle 14.The driving of the direction the pelvis roll
The ring flange of module 7 is driven by motor, the pelvic rock plate 11 with the direction pelvis roll drive module 7 ring flange
It moves, while being rotated by first crossed roller bearing 13 around the first axle 14 together, to generate pelvis in roll
The movement in direction.
Two direction hip joint yaw drive modules 8 are connected to two hips after being each passed through two circular holes
The joint direction roll drive module 9 is driven by motor to realize hip joint in the rotation in the direction yaw.In present embodiment, institute
State the direction pelvis yaw drive module 6, the direction pelvis roll drive module 7, the direction hip joint roll drive module 9
Similar to the structure of the direction hip joint yaw drive module 8, driving principle is identical, is only the direction the hip joint roll
Drive module 9 is not provided with encoder component.
Figure 13 A, Figure 13 B and Figure 14 are please referred to, the direction hip joint yaw drive module 8 includes electric machine assembly 81, first
Deep groove ball bearing 82, motor baffle ring 83, input shaft 84, second encoder component 85, pelvis ring flange 86, harmonic speed reducer 87,
Shell 88 and four-point contact ball 89, the electric machine assembly 81 are arranged in one end of the shell 88, the harmonic reduction
The middle part of the shell 88 is arranged in device 87, and the four-point contact ball 89 is arranged in the other end of the shell 88.Institute
The first deep groove ball bearing 82 is stated to be arranged in the shell 88, be located at the harmonic speed reducer 87 and the electric machine assembly 81 it
Between.One end of the input shaft 84 is connected to the electric machine assembly 81, and the other end connects after passing through first deep groove ball bearing 82
It is connected to the harmonic speed reducer 87.The motor baffle ring 83 is connected to one of the input shaft 84 far from the harmonic speed reducer 87
On end, it is used to avoid the axial movement of rotor.The second encoder component 85 is connected to the electric machine assembly 81.Institute
The one end for stating pelvis ring flange 86 is connected to the harmonic speed reducer 87 after the four-point contact ball 89.Wherein, institute
The first deep groove ball bearing 82 and the four penalty kicks contact ball bearing 89 are stated respectively as the input shaft 84 and the pelvis flange
The supporting element of disk 86.
The electric machine assembly 81 is used as driving link, gives motion transmission to the harmonic speed reducer by the input shaft 84
On 87, and then the pelvis ring flange 86 is by movement output to the direction hip joint roll drive module 9.Second coding
Revolving speed of the device assembly 85 for the motor of electric machine assembly 81 described in real-time measurement, and then calculate and obtain the pelvis ring flange 86
Revolving speed.
The direction hip joint roll drive module 9 is connected to the direction the hip joint yaw by connection component and drives mould
Block 8, the connection component include the direction hip joint roll swing component 18, the hip joint yaw for being connected to the pelvis ring flange 86
Direction revolving part 19, the second outer retaining ring 20, encoder supporting element 21, the second crossed roller bearing 22, the second inner shield ring 23, connection
Encoder axis 24, the second deep groove ball bearing 25 and the first encoder component 26.
The direction hip joint yaw revolving part 19 is substantially L-shaped, and one end is connected to the driving of the direction the hip joint roll
Module 9, the other end are connected to the encoder supporting element 21.The pelvis ring flange 86 is connected to the direction the hip joint yaw
The middle part of revolving part 19.The direction hip joint roll swing component 18 is connected to the direction hip joint roll drive module 9
Ring flange, the direction hip joint roll drive module 9 drive the direction hip joint roll swing component 18, the hip joint
The direction roll swing component 18 is connected to the direction hip joint pitch driving assembly.The deep groove ball bearing 25 is inlaid in coding
In device supporting element 21, it is set on connection encoder axis 24.Second crossed roller bearing 22 is arranged in the hip joint
On the direction yaw revolving part 19, the second retaining ring 20 of second crossed roller bearing 22 is connected to the rotation of the direction the hip joint yaw
Turn part 19, the second inner shield ring 23 is connected to one end of the connection encoder axis 24, described to connect the another of encoder axis 24
End is set on second deep groove ball bearing 25.The magnetic head of first encoder component 26 and the connection encoder axis 24
It is connected, reading head is connected with the encoder supporting element 21.The motor of the direction hip joint roll drive module 9
Rotation is exported by its ring flange, to generate hip joint in the rotation in the direction roll.
Figure 11 and Figure 12 is please referred to, the structure of two direction hip joint pitch driving assemblies is identical, the hip joint
The direction pitch driving assembly includes the second axis 27, the second connector 28, rack gear 29, third connector 30, third servo-cylinder
31, linear displacement transducer 32, the first fixing piece 33, the second fixing piece 34, the first plate 35, third axis 36, elastic element 37,
Second plate 38, sliding block 39, gear 40, guide rail 41, the second synchronous pulley 42, synchronous belt 43, the first synchronous pulley 44 and third
Plate 45.
Second plate 38 is arranged with the third plate 45 interval, and the two sides of first plate 35 are connected to described
Second plate 38 and the third plate 45.First fixing piece 33 and the elastic element 37 are fixed on first plate
35 one end, and between second plate 38 and the third plate 45.The third servo-cylinder 31 is fixed on institute
It states on elastic element 37, first fixing piece 33 is for being supported and positioning to the third servo-cylinder 31.This implementation
In mode, the movement travel of the third servo-cylinder 31 is 130mm.Two second fixing pieces 34 are arranged at intervals on described
On first plate 35, and second fixing piece 34 is set on the third servo-cylinder 31.The linear displacement transducer
32 are fixedly connected on second fixing piece 34, and one end is connected to the third servo oil by the third connector 30
The hydraulic stem of cylinder 31.One end of the rack gear 29 is connected to the liquid of the third servo-cylinder 31 by second connector 28
Compression bar.In present embodiment, the rack gear 29, the third servo-cylinder 31 and the linear displacement transducer 32 are mutually flat
Row；The third servo-cylinder 31 is between the rack gear 29 and the linear displacement transducer 32.The sliding block 39 is fixed
It is connected to the side of the rack gear 29, the guide rail 41 is fixed on second plate 38, and the sliding block 39 is slidably arranged
On the guide rail 41, it can be slided along the guide rail 41.The gear 40 is meshed with the rack gear 29, is connected by key
In on the third axis 36.The both ends of the third axis 36 are separately positioned on second plate 38 and the third plate 45
On, the gear 40 is between second plate 38 and the third plate 45.In present embodiment, the third axis 36
It is spaced and is arranged with second axis 27, second axis 27 is connected to the direction hip joint roll swing component 18.Described first
Synchronous pulley 44 is connected to the third axis 36, and is between the two interference fit.First synchronous pulley 44 passes through described
Synchronous belt 43 is connected to second synchronous pulley 42, and the synchronous belt 43 is set in first synchronous pulley 44 and described
On two synchronous pulleys 42.To be located at second plate 38 opposite two for second synchronous pulley 42 and the gear 40
Side.Second synchronous pulley 42 is arranged on one end of second axis 27, forms interference between second axis 27
Cooperation.Second axis 27 and the third axis 36 can be rotated relative to second plate 38.
Second axis 27 is connected by key in the direction hip joint roll swing component 18, the third servo-cylinder 31
The rack gear 29 is driven to move, the rack gear 29 drives the gear 40 to rotate, and the gear 40 drives first synchronous belt
44 rotation of wheel, first synchronous pulley 44 drive second synchronous pulley 42 to rotate by the synchronous belt 43, and described the
Two synchronous pulleys 42 drive second axis 27 to rotate, to realize hip joint in the movement in the direction pitch.Wherein, described straight
Linear movement pick-up 32 is used to detect the movement travel of the third servo-cylinder 31, and then calculates hip joint by geometrical relationship and exist
The movement angle in the direction pitch.
Multiple degrees of freedom trunk mechanism provided by the invention suitable for biped robot, multiple degrees of freedom trunk mechanism are logical
The structure and movement characteristic of analysis biped robot are crossed, the upper half and hip joint pitch direction driving assembly are driven using oil cylinder
The advantages of dynamic, remaining joint uses motor driven, so takes full advantage of two kinds of drivers improves space utilization rate, and full
The foot performance requirement of biped robot in the process of walking.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of multiple degrees of freedom trunk mechanism suitable for biped robot, it is characterised in that:
Multiple degrees of freedom trunk mechanism includes that the upper half, pelvis and hip joint component and two directions hip joint pitch are driven
Dynamic component, the pelvis and hip joint component are connected to the upper half；Two hip joint pitch direction driving assemblies connect
It is connected to the pelvis and hip joint component；
The upper half and the direction hip joint pitch driving assembly are driven by oil cylinder, the pelvis and hip joint group
Part is driven by motor；The upper half realized by three oil cylinders the bending forward and backward of biped robot, left and right rolling and
In the movement of vertical direction；The pelvis and hip joint component are matched with the direction hip joint pitch driving assembly to be come in fact
Movement of the pelvis and hip joint of the existing biped robot in the direction yaw, the direction roll, the direction pitch.
2. being suitable for the multiple degrees of freedom trunk mechanism of biped robot as described in claim 1, it is characterised in that: the upper half
Portion includes thoracic cavity shell, the first servo-cylinder, three cross axles, the first connecting plate and two the second servo-cylinders, the thoracic cavity
Shell is formed with through slot, and the through slot is for accommodating first connecting plate；One in three cross axles is arranged in institute
On the one end for stating the first connecting plate, other two described cross axle is arranged on the other end of first connecting plate；Positioned at institute
Two cross axle interval settings of the same end of the first connecting plate are stated, and the two is connected to two second servos
Oil cylinder, first servo-cylinder are connected to another described cross axle.
3. being suitable for the multiple degrees of freedom trunk mechanism of biped robot as claimed in claim 2, it is characterised in that: described in two
The hydraulic stem of second servo-cylinder is rotationally connected with the thoracic cavity shell respectively；First servo-cylinder is connected to the thoracic cavity
Shell；First servo-cylinder and second servo-cylinder are located at the front and rear portion of the thoracic cavity shell.
4. being suitable for the multiple degrees of freedom trunk mechanism of biped robot as claimed in claim 2, it is characterised in that: described first
The movement travel of servo-cylinder is 40mm；The movement travel of second servo-cylinder is 60mm.
5. such as the described in any item multiple degrees of freedom trunk mechanisms suitable for biped robot of claim 2-4, it is characterised in that:
The pelvis and hip joint component include the direction pelvis yaw drive module, the direction pelvis roll drive module, two hip joints
The direction yaw drive module, two direction hip joint roll drive modules, the big plate of pelvis and pelvic rock part, the pelvis side yaw
The middle part of first connecting plate is connected to drive module, shell is fixedly connected on the middle part of the pelvic rock plate；
The ring flange of the direction pelvis roll drive module is connected to one end of the pelvic rock plate, and cage connection is in described
The big plate of pelvis；Two hip joint yaw direction drive module settings are connected to two institutes on the big plate of the pelvis
State the direction hip joint roll drive module.
6. being suitable for the multiple degrees of freedom trunk mechanism of biped robot as claimed in claim 5, it is characterised in that: the pelvis
Big plate is in rectangle substantially, opens up that there are two circular hole and a square holes；The pelvic rock plate is in n font, one substantially
End is movably connected in the big plate of the pelvis after the square hole, and the other end is connected to the direction pelvis roll driving mould
Block；Hip joint yaw direction drive module is connected to the direction hip joint roll drive module after passing through the circular hole.
7. being suitable for the multiple degrees of freedom trunk mechanism of biped robot as claimed in claim 5, it is characterised in that: the pelvis
The direction yaw drive module, the direction pelvis roll drive module, the direction hip joint roll drive module with the hip
The structure of the joint direction yaw drive module is similar, and driving principle is identical.
8. being suitable for the multiple degrees of freedom trunk mechanism of biped robot as claimed in claim 5, it is characterised in that: the hip closes
It saves the direction roll drive module and the direction hip joint yaw drive module, the connection component packet is connected to by connection component
The direction hip joint roll swing component is included, hip joint roll direction swing component connects the direction hip joint roll drive module
Ring flange and the direction hip joint pitch driving assembly, and hip joint roll direction swing component is by the hip joint
The flange dish driving of the direction roll drive module.
9. such as the described in any item multiple degrees of freedom trunk mechanisms suitable for biped robot of claim 2-4, it is characterised in that:
The direction hip joint yaw drive module include electric machine assembly, the input shaft for being connected to the electric machine assembly, be connected to it is described defeated
Enter the harmonic speed reducer of axis and be connected to the pelvis ring flange of the harmonic speed reducer, the pelvis ring flange is connected to the hip
The joint direction roll drive module, hip joint yaw direction drive module are given movement output by the pelvis ring flange
The direction hip joint roll drive module.
10. the multiple degrees of freedom trunk mechanism according to any one of claims 1-4 suitable for biped robot, feature exist
In: the driver of the direction hip joint pitch driving assembly be third servo-cylinder, by by the third servo-cylinder
Linear motion be changed into rotary motion, and then the hip joint is driven to move in the direction pitch.
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