CN110253620A - A kind of integrated joint of fast demountable can variant multi-foot robot - Google Patents
A kind of integrated joint of fast demountable can variant multi-foot robot Download PDFInfo
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- CN110253620A CN110253620A CN201910678817.7A CN201910678817A CN110253620A CN 110253620 A CN110253620 A CN 110253620A CN 201910678817 A CN201910678817 A CN 201910678817A CN 110253620 A CN110253620 A CN 110253620A
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- ankle
- interface
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- 210000000629 knee joint Anatomy 0.000 claims abstract description 41
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 36
- 210000004394 hip joint Anatomy 0.000 claims abstract description 33
- 210000002414 leg Anatomy 0.000 claims abstract description 30
- 210000002303 tibia Anatomy 0.000 claims abstract description 27
- 239000003638 chemical reducing agent Substances 0.000 claims description 16
- 238000005452 bending Methods 0.000 claims description 11
- 230000010355 oscillation Effects 0.000 claims description 6
- 229910000838 Al alloy Inorganic materials 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 4
- 210000003423 ankle Anatomy 0.000 claims description 3
- 210000002683 foot Anatomy 0.000 claims 1
- 210000001624 hip Anatomy 0.000 claims 1
- 230000007246 mechanism Effects 0.000 description 14
- 230000005540 biological transmission Effects 0.000 description 13
- 230000009467 reduction Effects 0.000 description 8
- 241000238631 Hexapoda Species 0.000 description 5
- 239000000203 mixture Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000008450 motivation Effects 0.000 description 3
- 241000592274 Polypodium vulgare Species 0.000 description 2
- 230000003796 beauty Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 210000003715 limbic system Anatomy 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000178 monomer Substances 0.000 description 2
- 230000018199 S phase Effects 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000003447 ipsilateral effect Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000000979 retarding effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
A kind of integrated joint of fast demountable can variant multi-foot robot, including trunk and supporting leg；The bottom of trunk is arranged in several supporting legs；Every supporting leg includes hip joint module, knee joint module, ankle-joint module, tibia and sufficient end；One end of hip joint module is fixed at the bottom of trunk, and the axis of hip joint module is perpendicular to ground；The other end of hip joint module is connect with one end of knee joint module；The other end of knee joint module is connect with one end of ankle-joint module；One end of the other end connection tibia of ankle-joint module, the other end of tibia connect sufficient end；The present invention provides a kind of integrated joint of fast demountable can variant multi-foot robot, compared with ordinary robot, hip joint, knee joint and ankle-joint using it is modular design and meet interchangeability；Mouth is mechanically connected by plug-in and connects each module with electrical contact interface, quick-detach, each module of assembling, the quantity for increasing or reducing joint module can meet the requirement of different freedom degrees fastly.
Description
Technical field
The invention belongs to robotic technology field, in particular to the integrated joint of a kind of fast demountable can variant polypody machine
Device people.
Background technique
Currently, legged type robot is widely used in the crowds such as rescue and relief work, field exploration, extraterrestrial exploration, military affairs, nuclear power industry
It is multi-field.As one kind of robot, it is excellent that there is legged type robot conventional track formula robot or wheeled robot to be short of
Gesture controls also relatively convenient, not although crawler type or wheeled robot can reach very high movement speed on flat ground
Adapt to non-structured natural environment.And although the legged type robot speed of travel is relatively slow, to non-structured ground
Adaptability it is stronger, can flexibly be moved in the complicated landform that wheeled or caterpillar type robot cannot reach.Sufficient formula machine
People can smoothly walk in the land occupation most of various unstructured moving grids of ball surface, before having extraordinary application
Scape.
The structure in each joint of traditional legged type robot is not quite similar, and not only makes the type of part more, and manufacture is complicated,
And it is not easy to install, interchangeability is bad, is difficult to repair rapidly when certain joint is broken down or in addition to this replacement goes back hardly possible
To meet the customization demand for being directed to different task.
Summary of the invention
The purpose of the present invention is to propose to a kind of integrated joint module of fast demountable can variant multi-foot robot, with solve
The above problem.
To achieve the above object, the invention adopts the following technical scheme:
A kind of integrated joint of fast demountable can variant multi-foot robot, including trunk and supporting leg；Several supporting leg settings
In the bottom of trunk；
Every supporting leg includes hip joint module, knee joint module, ankle-joint module, tibia and sufficient end；Hip joint module
One end is fixed at the bottom of trunk, and perpendicular to ground, hip joint module can be in horizontal direction for the axis of hip joint module
It swings；The other end of hip joint module is connect with one end of knee joint module, and the axis of knee joint module is parallel to ground, and knee closes
Saving module being capable of longitudinal oscillation；The other end of knee joint module is connect with one end of ankle-joint module, the axis of ankle-joint module
For axis with knee joint module at obtuse angle, ankle-joint module being capable of longitudinal oscillation；The other end connection tibia of ankle-joint module
One end, the other end of tibia connect sufficient end；
Hip joint module includes shell, brshless DC motor, driver and harmonic speed reducer；Brshless DC motor is axially set
It sets inside the housing, driver setting is inside the shell for driving brshless DC motor, the output end connection of brshless DC motor
The output end of harmonic speed reducer, harmonic speed reducer stretches out shell；
Knee joint module is identical with ankle-joint modular structure；Knee joint module is based on hip joint module and the second cone tooth
Wheel；Fixing sleeve is equipped with first bevel gear on the output end of harmonic speed reducer, and second bevel gear is arranged inside the shell by shaft；The
Two bevel gears are greater than first bevel gear.
Further, it is connected between hip joint module and knee joint module by lateral mechanical interface, harmonic speed reducer
Output end stretches out shell and is fixedly connected with lateral mechanical interface；Pass through longitudinal pipe straightening machine between knee joint module and ankle-joint module
The connection of tool interface, one end of longitudinal straight tube mechanical interface are fixedly installed connecting plate, and the shaft of connecting plate and second bevel gear is solid
Fixed connection；By longitudinal pipe bending machine interface connection between ankle-joint module and tibia, one end of longitudinal pipe bending machine interface is solid
Surely it is provided with connecting plate, connecting plate is fixedly connected with the shaft of second bevel gear.
Further, lateral mechanical interface, longitudinal straight tube mechanical interface and longitudinal pipe bending machine interface are single-open
Tubulose, and include retaining ring and Locking arc；It is semicircular circle that section is provided in the outer circle of the opening of three interfaces
Ring card slot is provided with retaining ring on the outside of annulus card slot, a circle Locking arc is provided between retaining ring and interface outer circle.
Further, it is semicircle that knee joint module and ankle-joint module, which are provided with one week cross section close to the end of trunk,
The annulus platform of shape；Tibia is the hollow aluminium-alloy pipe of taper, and cross is distributed in the inner circle of one end of ankle-joint module in tibia
Section is semicircular annulus platform, and tibia end offers axial groove；Annular table matches with annulus card slot.
Further, electricity is provided on the brshless DC motor of hip joint module, knee joint module and ankle-joint module
Motivation carries position coder.
Further, by being exported after harmonic speed reducer by its flexbile gear, flexbile gear passes through edge for the input of brshless DC motor
Even circumferential distribution screw connection plate-like elastic element right end cap, plate-like elastic element right end cap further through rubber element with
The left end cap of plate-like elastic element is connected, and plate-like elastic element left end cap is integrated with output shaft；Plate-like elastic element surface
Output shaft on be provided with joint angles encoder.
Further, the inside bottom of lateral mechanical interface, longitudinal straight tube mechanical interface and longitudinal pipe bending machine interface is equal
It is provided with electrical electric shock interface；Pass through above three interface and electrical electric shock interface connection between modules.
Further, electrically electric shock interface includes top needle connector, joint control plate and contact, and top needle connector connection is closed
Control panel is saved, contact is arranged on joint control plate.
Further, sufficient end includes length adjustment bar and hemispherical rubber, and hemispherical rubber is fixed at length adjustment
Bar bottom, length adjustment bar are connected with tibia end thread, are provided with retaining ring on the outside of junction.
Compared with prior art, the present invention has following technical effect:
The present invention provides a kind of integrated joint of fast demountable can variant multi-foot robot, with ordinary robot's phase
Than hip joint, knee joint and ankle-joint are using modular design and meet interchangeability；By plug-in be mechanically connected mouth and
Electrical contact interface connects each module, can fast quick-detach, each module of assembling, can also increase or reduce the number of joint module
Amount meets the requirement of different freedom degrees；
The present invention can realize the various deformation monomer bodily form of robot shape by the reduction gearing mechanism of direction-changeable.Make
Single leg of assembling design has enough intensity and flexibility.On the other hand, by respective driving device, electrical system, control
In a complete module, each module is a complete electro-mechanical system for system, sensor integration, between module
It being connected by unified mechanical interface with electrical electric shock interface, this can be placed in outside joint to avoid by complicated cabling, from
And electric wire and leg exercise is avoided to interfere and influence beauty.
Detailed description of the invention
Fig. 1 be fast demountable of the present invention integrated joint can variant multi-foot robot overall mechanism schematic diagram；
Fig. 2 is the single legged model side view of modularized design of the present invention；
Fig. 3 is the hip joint structure sectional view of modularized design of the present invention；
Fig. 4 is the knee joint structure cross-sectional view of modularized design of the present invention；
Fig. 5 is the ankle joint structure cross-sectional view of modularized design of the present invention；
Fig. 6 is tibia structure sectional view of the present invention；
Fig. 7 is sufficient end contour structures and cross-sectional view of the invention；
Fig. 8 is the mechanical interface cross-sectional view of modularized joint of the present invention；
Fig. 9 is plate-like rubber elastic element installation diagram of the present invention；
Figure 10 is electrical contact interface contact distribution map of the present invention.
1 --- hip joint module, 2 --- knee joint module, 3 --- ankle-joint module, 4 --- tibia, 5 --- sufficient end,
6 --- shell, 7 --- brshless DC motor, 8 --- driver, 9 --- joint angles encoder, 10 --- harmonic speed reducer,
11 --- lateral mechanical interface, 12 --- electrically get an electric shock interface, 13 --- second bevel gear, 14 --- longitudinal straight tube machinery connect
--- --- --- Locking arc, 19 --- retaining ring, 21 --- electricity of length adjustment bar, 18 of longitudinal pipe bending machine interface, 16 of mouth, 15
Motivation carries position coder, 22 --- flexbile gear, 23 --- plate-like rubber elastic element, 24 --- first bevel gear, 25 ---
Output shaft, 28 --- contact.
Specific embodiment
Below in conjunction with attached drawing, the present invention is further described:
The present invention illustrate by taking hexapod robot as an example the quick-disassembly structure characteristic of robot, joint module Integrated Trait and can
Variant functional characteristic.Robot list leg is by hip joint module 1, knee joint module 2, ankle-joint module 3, tibia 4 and sufficient 5 groups of end
At.
Hip joint module 1 is used for the horizontal swing of single leg.By shell 6, brshless DC motor 7 and its driver 8, joint angle
Encoder 9, harmonic gear drive mechanism 10, lateral mechanical interface 11 and electrical contact interface 12 is spent to form.Select disc brushless
Direct current generator, with feature small in size, that power is big, torque characteristics is good.In view of the limitation in structure size, by motor edge
Axial arrangement, in order to enable it is defeated to can get large torque using harmonic reduction gear for the compact-sized and big retarding ratio of deceleration mechanism
Out.
Knee joint module 2 is used for the longitudinal oscillation of single leg, is the joint module in single leg middle section.By shell 6, brushless straight
Galvanic electricity machine 7 and its driving plate 8, joint angles encoder 9, harmonic gear drive mechanism 10 and bevel gear transmission 13, longitudinal direction
Straight tube mechanical interface 14 and electrical contact interface 12 form.Wherein, by motor housing 6, brshless DC motor 7 and its driver 8,
Joint angles encoder 9, harmonic gear drive mechanism 10 form electric machine assembly.Disc type brushless dc. motor 7 is axially disposed, is
Make deceleration mechanism compact-sized, using harmonic reduction gear, then level-one bevel gear transmission 13 is installed and can get and is greatly subtracted
Speed ratio, and changeable movement and power output direction.Knee joint module 2 adds level-one Bevel Gear Transmission to obtain again by electric machine assembly
The movement output for changing transmission direction is arrived, it is electric machine assembly and bevel gear transmission 13 and longitudinal straight tube mechanical interface
14 connect composition.
Ankle-joint module 3 is used for single leg longitudinal oscillation, exports connection component as end.It is passed by electric machine assembly and bevel gear
Motivation structure 13 and longitudinal pipe bending machine interface 15 connect composition.Ankle-joint module 3 only has machinery to connect with knee joint module 2
Mouth-shaped is different, and other parts are all the same.
Tibia 4 is the hollow aluminium-alloy pipe of taper, and sufficient end 5 is a hemispherical rubber, can alleviate the impact on ground, half
Spherical rubber feet end 5 is directly consolidated with metal nuts when manufacturing, and is fixed by screws on the adjusting rod 16 of tibia,
Length adjustment bar 16 is connect by external screw thread with tibia main body, can change the length of tibia entirety by rotation adjusting lever 16,
Tightening retaining ring 19 again can be fixed by length adjustment bar 16.
Joint module is integrated by various assemblies, and hip joint module 1, knee joint module 2 and ankle as described above close
Module 3 is saved, the interchangeability of component is met between their threes, can be integrated by different components and be mounted to different leg types, leg is grown
Movement mechanism.
Shell 6 is made of aviation aluminium, has the characteristics that light-weight.It is to accommodate internal each component that it, which is acted on, also as whole
The skeleton of a joint module.Rectangular opening is provided on shell, it is therefore an objective to be the terminal plate slot milling of motor.
The both ends of each joint module 1.2.3 are designed with the mechanical interface 11.14.15 for fast assembling-disassembling, an end interface
For male connector, another end interface is female.The slot that male connector is cut out can deform slightly outwards expansion, and cross is distributed in inner circle
Section is semicircular annulus platform, to realize that fast fastening is connect with the circular annulus card slot of female outer circle upper half, then outward buckle
Upper locking ring 19 can reinforce the connection of male connector and female.Male connector top outer circle is circular conical surface, and design has satisfaction certainly in female outer circle
One circle Locking arc 18 of bolt part, so that retaining ring 19 clasps after male connector, no matter impact force is much to loosen.
The reduction gearing mechanism of direction-changeable is made of harmonic gear drive mechanism 10 and bevel gear transmission 13, can be real
The transmission ratio of existing 172:1；Wherein, single harmonic slows down up to 100:1 reduction ratio, its output end can external bevel-gear sett deceleration
Up to 172:1 reduction ratio；Harmonic speed reducer plays main decelerating effect, and bevel gear reduction ratio very little mainly plays change transmission direction
Effect.By whether selection installation bevel gear mechanism assembly, and selection install any mechanical interface component, it can be achieved that robot
The various deformation monomer bodily form of shape.
Joint motor driving plate 8 is the round integrated circuit board that diameter is less than 6 diameter of shell, is designed in joint module
Portion；By using the microprocessor of encapsulation type as core, being subject to CAN bus transceiver, CAN controller, electrical contact interface 12
Composition.This design is powered so that can not have to electric wire line between joint module, easy to disassemble.Joint drive plate 8 is mainly made
Be to receive from be located at body master board control instruction, be converted into the control instruction to motor, in addition body
The master board of body receives return path signal, is the signal from joint motor driving plate 8 and joint angles encoder 9.
Electrical contact interface 12 is the electric interfaces on a kind of integrated circuit board, by top needle connector and is located at joint control
Realize that there are four contacts 28 altogether, and the biggish contact of two of them is for connecting motor and its driving plate and control in contact on plate
Joint module and body master board are realized for connecting CAN bus in power supply needed for making sheet, other two lesser contact
Communication.The time of wiring when can save replacement joint module using the connection type of top needle connector and contact.
In view of hexapod robot often walk in non-structured ground, each joint will inevitably be born from ground
Impact force, therefore impact force is absorbed using plate-like elastic element 23, in 7 output power of motor, elastic element can be in load
Deform under effect, be converted into the elastic potential energy of itself so that power output have flexibility, protection harmonic speed reducer and
The damage that driving motor is not overloaded.On the other hand the output torque in joint can be realized both without just by plate-like elastic element
Property impact include two rotary encoders also without the control of soft impulse, in the present invention, one is that the included position of motor is compiled
Code device 21, another joint angles encoder 9 are located at output shaft, directly measure the position in joint.By the signal of two encoders
It is sent to control panel, the deflection of plate-like elastic element 23 can be calculated by processing, measures the output in joint indirectly
Torque, to be controlled, meanwhile, also it is able to achieve the control of joint velocity and position.
If attached drawing 1 is to shown in Figure 10, the invention discloses a kind of integrated joints of fast demountable can variant polypody machine
People is made of trunk mechanism and limbic system.Installation of the trunk mechanism for components such as each supporting leg, control panel, sensors.This hair
Bright to use rectangle body, six legs are distributed along rectangular centre axisymmetrical, ipsilateral each single leg towards identical, part leg when moving ahead
It can be swung with identical posture, so that the planning and control of gait are relatively easy.In view of controlling the convenience with gait planning,
Entire body is process by a monolith high-strength aluminium alloy plate, installed additional below trunk the gusset of horizontal and vertical distribution with
Increase intensity, has threaded hole and through-hole for fixing each single leg, control panel, the components such as plastic shell on body.Limbic system
Every single leg tool is there are three rotary freedom, to meet hexapod robot kinematic dexterity, every single leg by hip joint module 1,
Knee joint module 2, ankle-joint module 3, tibia 4 and sufficient end 5 form.Wherein, the axis of hip joint is perpendicular to ground, so that single leg
Energy swing controls moving ahead and turning for entire robot；The axis of knee joint and ankle-joint is parallel to ground, and move ahead
Direction is overlapped, and single leg is swung to upper side, so that ground and avoiding obstacles are left in sufficient end.Each joint is by disc type
The driving device driving that brshless DC motor 7 and retarder are constituted.The slewing area of hip joint is ± 25 °, and knee joint and ankle close
Section can then rotate ± 90 °, and slewing area is larger, it is sufficient to meet the requirement of flexibility.
Hexapod robot often walk in non-structured ground, and each joint will inevitably bear the impact from ground
Power, therefore impact force is absorbed using plate-like elastic element 23.The input of motor is by defeated by flexbile gear 22 after harmonic speed reducer
Out, flexbile gear 22 is connected by circumferentially equally distributed screw with the right end cap of plate-like elastic element 23, plate-like elastic element
23 right end caps are connected further through rubber element with the left end cap of plate-like elastic element 23,23 left end cap of plate-like elastic element with it is defeated
Shaft 25 is made of one, and directly outputs power to first bevel gear 24.With plate-like elastic element 23 can make single leg with
The interaction of environment and people have certain flexibility and safety, meet the requirement of certain operations specifics, avoid conventional rigid
The excessively stiff feature of driver output power.
On the other hand, hip joint, knee joint and ankle-joint are using modularized design, knee joint and ankle-joint in addition to machinery connects
Except mouth is different, other each sections are axially disposed by disc type brushless dc. motor 7, in order to enable retarder structure as far as possible is tight
It gathers, using harmonic reduction gear, then 13 further expansion transmission ratio of second bevel gear is installed and to change transmission direction defeated by power
Out.By respective driving device, electrical system, control system, sensor integration in a complete module, each module is
One complete electro-mechanical system, the interface that gets an electric shock by unified mechanical interface and electrically between module connect, this can
It is placed in outside joint to avoid by complicated cabling, electric wire and leg exercise is avoided to interfere and influence beauty.
Electrical contact interface 12 is the electric interfaces on a kind of integrated circuit board, by top needle connector and is located at joint control
Realize that there are four contacts altogether, and the biggish contact of two of them is for connecting motor and its driving plate and control in contact on plate
The logical of joint module and body master board is realized for connecting CAN bus in power supply needed for plate, other two lesser contact
Letter.The time of wiring when can save replacement joint module using the connection type of top needle connector and contact.
Hip joint module, which is connected by electric machine assembly and lateral mechanical interface 11, to be formed, and knee joint module is by motor group
Part, bevel gear transmission 13 and longitudinal straight tube mechanical interface 14 connect composition, and ankle-joint is by electric machine assembly, bevel gear
Transmission mechanism 13 and longitudinal pipe bending machine interface 15 connect composition.By mechanical interface and electrical electric shock interface, when certain
It, can be with the new electric machine assembly of quick-replaceable, bevel gear transmission 13 when joint breaks down and needs to continue to execute task
And mechanical interface, the reliability of hexapod robot is substantially increased, the time is saved.Meanwhile this but also customization be melted into
To be possible, single leg structure with different freedom degrees can be obtained, to meet difference by increasing or subtracting pauciarticular quantity
The application requirement of occasion.
Claims (9)
1. a kind of integrated joint of fast demountable can variant multi-foot robot, which is characterized in that including trunk and supporting leg；It is several
The bottom of trunk is arranged in supporting leg；
Every supporting leg includes hip joint module (1), knee joint module (2), ankle-joint module (3), tibia (4) He Zuduan (5)；Hip
One end of joint module (1) is fixed at the bottom of trunk, and the axis of hip joint module (1) is perpendicular to ground, hip joint mould
Block (1) can be swung in horizontal direction；The other end of hip joint module (1) is connect with one end of knee joint module (2), knee joint
The axis of module (2) is parallel to ground, and knee joint module (2) being capable of longitudinal oscillation；The other end and ankle of knee joint module (2) close
One end connection of module (3) is saved, the axis of ankle-joint module (3) and the axis of knee joint module (2) are at obtuse angle, ankle-joint module
It (3) being capable of longitudinal oscillation；The other end of one end of other end connection tibia (4) of ankle-joint module (3), tibia (4) connects foot
It holds (5)；
Hip joint module (1) includes shell (6), brshless DC motor (7), driver (8) and harmonic speed reducer (10)；It is brushless straight
Galvanic electricity machine (7) is axially disposed within shell (6) inside, and driver (8) setting is in shell (6) for driving brshless DC motor
(7), the output end of brshless DC motor (7) connects harmonic speed reducer (10), and the output end of harmonic speed reducer (10) stretches out shell
(6)；
Knee joint module (2) is identical with ankle-joint module (3) structure；Knee joint module (2) is based on hip joint module (1 institute
It further include first bevel gear (24) and second bevel gear (13) on the basis of structured；It is solid on the output end of harmonic speed reducer (10)
Surely it is arranged with first bevel gear (24), second bevel gear (13) is arranged in shell (6) by shaft；Second bevel gear (13) is big
In first bevel gear (24).
2. a kind of integrated joint of fast demountable according to claim 1 can variant multi-foot robot, which is characterized in that
It is connected between hip joint module (1) and knee joint module (2) by lateral mechanical interface (11), the output of harmonic speed reducer (10)
End is stretched out shell (6) and is fixedly connected with lateral mechanical interface (11)；Pass through between knee joint module (2) and ankle-joint module (3)
Longitudinal straight tube mechanical interface (14) connection, one end of longitudinal straight tube mechanical interface is fixedly installed connecting plate, connecting plate and second
The shaft of bevel gear (13) is fixedly connected；Between ankle-joint module (3) and tibia (4) even by longitudinal pipe bending machine interface (15)
It connects, one end of longitudinal pipe bending machine interface (15) is fixedly installed connecting plate, and connecting plate and the shaft of second bevel gear (13) are solid
Fixed connection.
3. a kind of integrated joint of fast demountable according to claim 2 can variant multi-foot robot, which is characterized in that
Lateral mechanical interface (11), longitudinal straight tube mechanical interface (14) and longitudinal pipe bending machine interface (15) are the pipe of single-open
Shape, and include retaining ring (19) and Locking arc (18)；Section is provided in the outer circle of the opening of three interfaces as semicircle
Annulus card slot, be provided with retaining ring (19) on the outside of annulus card slot, be provided with a circle between retaining ring (19) and interface outer circle
Locking arc (18).
4. a kind of integrated joint of fast demountable according to claim 3 can variant multi-foot robot, which is characterized in that
It is semicircular annulus platform that knee joint module (2) and ankle-joint module (3), which are provided with one week cross section close to the end of trunk,；
Tibia (4) is the hollow aluminium-alloy pipe of taper, and tibia (4) is distributed with transversal in the inner circle of the one end of ankle-joint module (3)
Face is semicircular annulus platform, and tibia (4) end offers axial groove；Annular table matches with annulus card slot.
5. a kind of integrated joint of fast demountable according to claim 1 can variant multi-foot robot, which is characterized in that
Motor is provided on the brshless DC motor (7) of hip joint module (1), knee joint module (2) and ankle-joint module (3) certainly
Band position coder (21).
6. a kind of integrated joint of fast demountable according to claim 1 can variant multi-foot robot, which is characterized in that
The input of brshless DC motor (7) after harmonic speed reducer (10) by its flexbile gear (22) by being exported, and flexbile gear (22) is by along circle
Week, equally distributed screw connected the right end cap of plate-like elastic element (23), and plate-like elastic element (23) right end cap is further through rubber
Element is connected with the left end cap of plate-like elastic element (23), and plate-like elastic element (23) left end cap and output shaft (25) are one
Body；Joint angles encoder (9) are provided on output shaft on the inside of plate-like elastic element (23).
7. a kind of integrated joint of fast demountable according to claim 2 can variant multi-foot robot, which is characterized in that
The inside bottom of lateral mechanical interface (11), longitudinal straight tube mechanical interface (14) and longitudinal pipe bending machine interface (15) is provided with
Electrical electric shock interface (12)；Electric shock interface (12) connection by above three interface and electrically between modules.
8. a kind of integrated joint of fast demountable according to claim 7 can variant multi-foot robot, which is characterized in that
Electrical electric shock interface (12) includes top needle connector, joint control plate and contact (28), top needle connector connecting joint control panel,
Contact (28) is arranged on joint control plate.
9. a kind of integrated joint of fast demountable according to claim 1 can variant multi-foot robot, which is characterized in that
Sufficient end (5) includes length adjustment bar (16) and hemispherical rubber, and hemispherical rubber is fixed at length adjustment bar (16) bottom,
Length adjustment bar (16) is connected with tibia (4) end thread, is provided with retaining ring on the outside of junction.
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