CN110406613A - A kind of light-duty single leg mechanism of multiple degrees of freedom - Google Patents
A kind of light-duty single leg mechanism of multiple degrees of freedom Download PDFInfo
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- CN110406613A CN110406613A CN201910803724.2A CN201910803724A CN110406613A CN 110406613 A CN110406613 A CN 110406613A CN 201910803724 A CN201910803724 A CN 201910803724A CN 110406613 A CN110406613 A CN 110406613A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 31
- 210000002414 leg Anatomy 0.000 claims abstract description 104
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 35
- 210000000629 knee joint Anatomy 0.000 claims abstract description 31
- 210000004394 hip joint Anatomy 0.000 claims abstract description 28
- 210000002303 tibia Anatomy 0.000 claims abstract description 28
- 238000009434 installation Methods 0.000 claims abstract description 20
- 230000001360 synchronised effect Effects 0.000 claims description 20
- 230000009467 reduction Effects 0.000 claims description 11
- 239000003381 stabilizer Substances 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 abstract description 13
- 238000000034 method Methods 0.000 abstract description 3
- 230000003068 static effect Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 15
- 239000000463 material Substances 0.000 description 11
- 238000010586 diagram Methods 0.000 description 10
- 229910000838 Al alloy Inorganic materials 0.000 description 5
- 230000008901 benefit Effects 0.000 description 5
- 239000007787 solid Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 241000238631 Hexapoda Species 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 2
- 210000003423 ankle Anatomy 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 210000002683 foot Anatomy 0.000 description 2
- 230000007659 motor function Effects 0.000 description 2
- 229920001778 nylon Polymers 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000002917 arthritic effect Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 210000000521 femorotibial joint Anatomy 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000011796 hollow space material Substances 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000000392 somatic effect Effects 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
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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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
A kind of light-duty single leg mechanism of multiple degrees of freedom, including hip joint module, knee joint module, ankle-joint module, tibia and sufficient end；Hip joint module, knee joint module, ankle-joint module, tibia and sufficient end are sequentially connected；Whole single leg design method of the invention not only substantially increase robot leg to the adaptability of complicated landform, improve the stability of Robotic Dynamic and static state, also improve the bearing capacity of robot entirety and control precision；Multiple degrees of freedom list leg, movement is flexible, and light-weight；Driving motor installation site reduces the big problem of rotary inertia that end joint is easy to generate closer to body, and more conducively driving mechanism moves；This movement Work Space Range of single leg in terms of mechanism kinematic with power is big.
Description
Technical field
The invention belongs to robot running gear technical field, in particular to the light-duty single leg mechanism of a kind of multiple degrees of freedom.
Background technique
With the raising of social intelligence's degree, need to go that the mankind is replaced to reach some mankind by machine in certain occasions
The place that can not be reached and the special occasions that human life may be jeopardized.As planetary surface, disaster occur mine, Fire prevention and
Struggle against terror etc..Topographic irregularity and it is rugged and rough be these environment common feature.To make wheeled robot and crawler type
The application of robot is restricted.Wheel type mobile mode has advantage when driving in the landform of relatively flat, but on not level land
On face when driving, energy consumption will greatly increase, and on soft terrain or serious rugged landform, the effect of wheel also will be tight
It loses again, mobile efficiency substantially reduces.In order to improve wheel to the adaptability of soft terrain and uneven ground, crawler type is moved
Flowing mode comes into being, but mobility of the crawler-type mobile mode on uneven ground is still very poor, and fuselage shakes tight when driving
Weight.Compared with wheeled, caterpillar mobile robot, legged type robot has advantage energy on rugged road surface.
Leg is the important component that robot is used to support body and walking movement.Most of single leg mechanism bionical at present
It is Three Degree Of Freedom, since the center of gravity of body needs to make corresponding adjusting according to hypsography state, is crossing complexity
Four-degree-of-freedom leg reflects more advantages than Three Degree Of Freedom leg when rugged topography.Also, due to most of four-degree-of-freedom leg foot
Robot leg design be to be both provided with driving power source in each joint, this make later stage leg bar and its motor to
Previous stage leg bar motor brings excessive lift leg to load, so that the even entire somatic mechanism of whole leg is heavy, action is limited, machine
Dynamic property is poor, it is difficult to adapt to complicated landform.
In the design of leg bar transmission mechanism, the leg transmission mechanism that many legged type robots use at present is connecting rod machine
Structure can get the reciprocally swinging of driven leg bar (lift leg is moved with leg is fallen).However, the driving lever of connection motor side also mostly uses greatly
Reciprocally swinging moves driven leg bar by intermediate connecting rod passing movement and power, because intermediary movements chain is longer, enables motor
Consumption increases, and also to be driven inaccurate.In addition, some legs design by kinematic link directly it is exposed outside, this to be driven
Mechanism is easy the collision by external environment, and moving link is caused to be easy to be damaged.
In the design of leg rod structure, the leg rod structure of current most of robots is designed using solid hopkinson bar either
Solid slab, in this way design can satisfy the intensity requirement and load requirement of robot, still, can aggravate the whole of robot in this way
Body weight wastes the excessive energy consumption of motor, so that mobility is poor than cumbersome when its movement.
At present many leg biped robots each section of leg bar because its planform and transmission mechanism configuration limitation so that often
The movable angle of section leg bar is all smaller, about at 60~120 degree.This one small movable angle can reduce the fortune of single leg mechanism
Dynamic working space, is unfavorable for the movement of robot.In addition, the folding of minimum angles is not achieved between adjacent legs bar, cause
Packaging must be split when transport, reached using must reinstall behind ground again, so that transport is inconvenient, and be easy damage in dismounting
Circuit connection and components inside bad robot.
In the design of motor, what most of hexapod robot were selected at present is traditional market supply of material motor, tradition electricity
Shape, volume structure and the torque of machine be all not achieved robot to output torque will enough big, volume wants minimum, weight is most light,
Shape will be bonded the requirement of robot shape.
Summary of the invention
The purpose of the present invention is to provide a kind of light-duty single leg mechanisms of multiple degrees of freedom, to solve the above problems.
To achieve the above object, the invention adopts the following technical scheme:
A kind of light-duty single leg mechanism of multiple degrees of freedom, including hip joint module, knee joint module, ankle-joint module, tibia and
Sufficient end；Hip joint module, knee joint module, ankle-joint module, tibia and sufficient end are sequentially connected；
Tibia includes support rod and first pulley, and one end inside of support rod is provided with first band by belt wheel installation axle
Wheel, the other end are fixedly connected with sufficient end；
Ankle-joint module includes that supporing shell, synchronous belt, first motor, the second motor, the second belt wheel and the second motor are defeated
Shaft；One end of supporing shell and one end that support rod is provided with first pulley are hinged, pass through inside the other end of supporing shell
Second motor output shaft is fixedly installed the second belt wheel, passes through synchronous band connection between two belt wheels；It is provided in supporing shell
One end two sides of second belt wheel are respectively arranged with first motor and the second motor；It is opposite that first motor is able to drive ankle-joint module
It is rotated in knee joint module, the second motor is able to drive the rotation of the second belt wheel；First motor (12) and the second motor (13)
Installation site reduces the big problem of rotary inertia that end joint is easy to generate close to body, and more conducively driving mechanism moves；
It can make joint that there is biggish rotation angle using toothed belt transmission, it is more flexible and synchronous to the angle control of tibia
V belt translation is more accurate easy to control.
Knee joint module includes support side plate, third motor and third motor output shaft；It is logical inside one end of support side plate
Cross third motor output shaft and be provided with third motor, another end cap of support side plate in the supporing shell end of ankle-joint module,
And support side plate and supporing shell are hinged；First motor and the second motor are fixed in support side plate；
Hip joint module includes mounting rack, the 4th motor and frame board；Two pieces of frame boards are arranged in parallel, two pieces of frame boards
One end is separately positioned in the gap between third motor two sides and support side plate, and third motor is fixed on frame board；Two
The 4th motor is provided between the other end of block frame board, the gap between the 4th motor and frame board is provided with mounting rack.
Further, supporing shell includes left shell and right shell body, and left shell and right shell body are arranged in parallel and are respectively set
Supporting the two sides of boom end, the end of support rod opens up fluted, and belt wheel installation axle, belt wheel installation axle are provided in groove
Both ends be provided with blowout patche, blowout patche is fixedly connected with left shell or right shell body, and bearing, first band are provided in belt wheel installation axle
Wheel is arranged on bearing.
Further, support side plate includes left plate and right side plate, and left plate and right side plate are arranged in parallel, left plate and the right side
It is fixedly connected between side plate by middle casing；One end of left plate and right side plate is separately positioned on first motor and supporing shell
And second between motor and supporing shell, the output shaft of first motor is fixedly connected with supporing shell.
Further, frame board includes left skeleton and right skeleton, is fixedly connected between left skeleton and right skeleton, support side plate
The other end be groove-like, third motor output shaft is provided in groove, third motor is arranged on third motor output shaft.
Further, several bolts hole are provided on mounting rack, mounting rack is connected with robot body.
Further, sufficient end includes stabilizer blade and gum cover；One end of stabilizer blade is fixedly connected with support rod, and the other end and gum cover are solid
Fixed connection.
Further, first motor, the second motor, third motor and the 4th motor include shell, stator, rotor, row
Carrier, planetary reduction gear and central axle sleeve；Stator is coaxially disposed inside housings, and the inside of stator is coaxially arranged with stator, fixed
Son is connect with planet carrier, and planet carrier is connect with planetary reduction gear；First motor upper planet retarder connects sun wheel shaft, sun gear
Axis connection supporing shell；Planetary reduction gear on second motor connects the second motor output shaft.
Each list leg all devises structural member leg bar, and each section of leg pole-footing is designed to difference according to the size and Orientation of its stress
Cross sectional shape, while alleviating weight again do not lose bearing strength and rigidity, making leg bar both has strong bearing capacity
Complete motor function can reduce weight guarantee mobility again.
Compared with prior art, the present invention has following technical effect:
Whole single leg design method of the invention not only substantially increase robot leg to the adaptability of complicated landform,
Robotic Dynamic and static stability are improved, the bearing capacity and control precision of robot entirety are also improved；
Multiple degrees of freedom list leg, movement is flexible, and light-weight；Driving motor installation site reduces end closer to body
The big problem of the rotary inertia that end joint is easy to generate, more conducively driving mechanism move；This single leg is in mechanism kinematic and power side
The movement Work Space Range in face is big.
Each joint motor structure is simple and independently of each other at a unit, forms independent motor module, has interchangeability
And it is conducive to reduce cost.Each joint has biggish working space, can shrink and be folded into the size of raw footage about 1/3, can
To reduce the volume of robot, it is convenient for carrying.
The present invention devises under equal volume, with the leg bar that material is least, weight is most light, intensity is good.Single leg includes
Four sections of leg bars select aluminium alloy to make every section of leg bar, tibia 4 leg bar section morphology be it is I-shaped, 3 leg bar of ankle-joint module is cut
Face form is hollow, and 2 leg bar section morphology of knee joint module is hollow, 1 leg bar section morphology of hip joint module is I-shaped
Type.
The present invention devises retarder motor, is integrated into leg structure, has obtained fortune small in size, that power density is big
Movable joint (hip joint, knee joint, ankle-joint) and light-weight, flexible single leg mechanism.It can make leg using this electric machine structure
Portion joint is more compact, while meeting certain load-carrying properties, and small volume, precision are high, torque is big, high-efficient.
The present invention has carried out light-weight design to motor, and the layout of each motor is all concentrated to body as far as possible, sets in this way
Meter can reduce leg inertia, improve kinematic dexterity.
The present invention devises structural member leg bar.Bearing capacity strength and stiffness are not lost again while in order to mitigate weight, often
One section of leg bar design should can be completed to transport all according to stress (driving force, resistance) size direction and connecting joint part shape
Dynamic function completes aesthetic effect again.
Detailed description of the invention
Fig. 1 is the single legged model side view of modularized design of the present invention；
Fig. 2 is the single leg foot end of the present invention and tibia structural schematic diagram；
Fig. 3 is the single leg ankle-joint modular structure schematic diagram of the present invention；
Fig. 4 is the single leg knee joint modular structure schematic diagram of the present invention；
Fig. 5 is the single leg hip joint modular structure schematic diagram of the present invention；
Fig. 6 is the single femorotibial joint drive mechanism schematic diagram of the present invention；
Fig. 7 is the single leg ankle-joint drive mechanism schematic diagram of the present invention；
Fig. 8 is the single 4 leg bar section morphology schematic diagram of leg tibia of the present invention；
Fig. 9 is the single 3 leg bar section morphology schematic diagram of leg ankle-joint module of the present invention；
Figure 10 is the single 2 leg bar section morphology schematic diagram of leg knee joint module of the present invention；
Figure 11 is the single 1 leg bar section morphology schematic diagram of leg hip joint module of the present invention；
Description of symbols
The meaning that each serial number represents in Fig. 1 are as follows:
1 --- --- --- ankle-joint module, 4 --- tibia, 5 --- sufficient end of knee joint module, 3 of hip joint module, 2.
The meaning that each serial number represents in Fig. 2 are as follows:
6 --- --- --- support rod, 9 --- stabilizer blade, 10 --- gum covers of first pulley, 8 of belt wheel installation axle, 7.
The meaning that each serial number represents in Fig. 3 are as follows:
11 --- the second belt wheel, 12 --- first motor, 13 --- the second motor, 14 --- second motor output shaft,
15 --- left shell, 16 --- right shell body, 17 --- synchronous belts.
The meaning that each serial number represents in Fig. 4 are as follows:
18 --- third motor, 19 --- third motor output shaft, 20 --- middle casing, 21 --- left plate,
22 --- right side plate.
The meaning that each serial number represents in Fig. 5 are as follows:
23 --- --- the 4th motor, 25 --- left skeleton, 26 --- right skeletons of mounting rack, 24.
The meaning that each serial number represents in Fig. 6 are as follows:
27 --- bearing, 28 --- blowout patches.
The meaning that each serial number represents in Fig. 7 are as follows:
29 --- shell, 30 --- stator, 31 --- rotor, 33 --- central axle sleeves, 35 --- sun wheel shaft, 37 ---
Planet carrier, 40 --- shell, 45 --- planet carrier.
Specific embodiment
Below in conjunction with attached drawing, the present invention is further described:
Please refer to Fig. 1 to Figure 11, a kind of light-duty single leg mechanism of multiple degrees of freedom, including hip joint module 1, knee joint module 2,
Ankle-joint module 3, tibia 4 and sufficient end 5；Hip joint module 1, knee joint module 2, ankle-joint module 3, tibia 4 and sufficient end 5 are successively
Connection；
Tibia 4 includes support rod 8 and first pulley 7, and one end inside of support rod 8 is provided with first by belt wheel installation axle
Belt wheel 7, the other end are fixedly connected with sufficient end 5；
Ankle-joint module 3 includes supporing shell, synchronous belt 17, first motor 12, the second motor 13, the second belt wheel 11 and the
Two motor output shafts 14；One end of supporing shell and one end that support rod 8 is provided with first pulley 7 are hinged, supporing shell it is another
The second belt wheel 11 is fixedly installed by the second motor output shaft 14 inside one end, is connected between two belt wheels by synchronous belt 17
It connects；One end two sides that the second belt wheel 11 is provided in supporing shell are respectively arranged with first motor 12 and the second motor 13；First
Motor 12 is able to drive ankle-joint module 3 and rotates relative to knee joint module 2, and the second motor 13 is able to drive 11 turns of the second belt wheel
It is dynamic；
Knee joint module 2 includes support side plate, third motor 18 and third motor output shaft 19；In one end of support side plate
Portion is provided with third motor 18 by third motor output shaft 19, the support of another end cap of support side plate in ankle-joint module 3
Shell end, and support side plate and supporing shell are hinged；First motor 12 and the second motor 13 are fixed at support side plate
On；
Hip joint module 1 includes mounting rack 23, the 4th motor 24 and frame board；Two pieces of frame boards are arranged in parallel, two pieces of bones
One end of frame plate is separately positioned in the gap between 18 two sides of third motor and support side plate, and third motor is fixed on skeleton
On plate；The 4th motor 24 is provided between the other end of two pieces of frame boards, the gap between the 4th motor 24 and frame board is all provided with
It is equipped with mounting rack 23.
Supporing shell includes left shell 15 and right shell body 16, and left shell 15 and right shell body 16 are arranged in parallel and are respectively set
In, two sides of 8 end of support rod, the end of support rod 8 opens up fluted, and belt wheel installation axle 6, belt wheel installation are provided in groove
The both ends of axis 6 are provided with blowout patche 28, and blowout patche 28 is fixedly connected with left shell 15 or right shell body 16, are arranged in belt wheel installation axle 6
There is bearing, first pulley 7 is arranged on bearing.
Support side plate includes left plate 21 and right side plate 22, and left plate 21 and right side plate 22 are arranged in parallel, 21 He of left plate
It is fixedly connected between right side plate 22 by middle casing 20；One end of left plate 21 and right side plate 22 is separately positioned on first motor
Between 12 and supporing shell and the second motor 13 and supporing shell, the output shaft and supporing shell of first motor 12 are fixed to be connected
It connects.
Frame board includes left skeleton 25 and right skeleton 26, is fixedly connected between left skeleton 25 and right skeleton 26, support side plate
The other end be groove-like, third motor output shaft 19 is provided in groove, third motor is arranged in third motor output shaft 19
On.
Several bolts hole are provided on mounting rack 23, mounting rack 23 is connected with robot body.
Sufficient end 5 includes stabilizer blade 9 and gum cover 10；One end of stabilizer blade 9 is fixedly connected with support rod 8, and the other end and gum cover 10 are solid
Fixed connection.
First motor 12, the second motor 13, third motor 18 and the 4th motor 24 include shell, stator 30, rotor 31,
Planet carrier 27, planetary reduction gear and central axle sleeve 33；Stator 30 is coaxially disposed inside housings, and the inside of stator 30 is coaxially disposed
There is stator, stator is connect with planet carrier, and planet carrier is connect with planetary reduction gear；First motor upper planet retarder connects sun gear
Axis, sun wheel shaft connect supporing shell；Planetary reduction gear on second motor connects the second motor output shaft 14.
A kind of light-duty single leg mechanism of four-degree-of-freedom for bionical hexapod robot, including mechanical system, motion control system
System two parts.Wherein mechanical system includes mechanical structure and transmission system；Compact mechanical structure is mainly reflected in: light motor mould
Block simplifies structure leg bar, V belt translation leg foot structure, collapsible legs rod structure；Transmission system includes hip joint module 1, knee joint
Module 2, ankle-joint module 3, tibia 4.Kinetic control system includes first motor, the second motor, third motor, the 4th motor.
Four articulation mechanisms that this list leg is made of four drivers and four connecting rods, the material of the gum cover 10 that lands at sufficient end 5
Material is to be carved with the abrasive rubber of decorative pattern, can significantly increase frictional force, wherein pass through in the support rod 8 of tibia 4 and sufficient end 5 it is special
Glue be fixed together, the upper end of tibia is mounted on the centre of left shell 15 and right shell body 16, band by 7 installation axle 6 of belt wheel
Wheel 7 is mounted in 7 installation axle 6 of belt wheel by bearing 27；
In ankle, left shell 15 is connected by bearing with the second motor output shaft 14, right shell body 16 and the second electricity
Casing body 40 is bolted, and first motor shell 29 is connect by bearing with central axle sleeve 33, in planet carrier 37 and bearing
Between planetary reduction gear is installed, the rotation of rotor 31 drives planetary gear rotation, and planetary gear drives sun gear rotation, sun gear installation
In sun wheel shaft 35, sun gear is spread out of torque by sun wheel shaft 35, and then is controlled ankle-joint module 3 and closed relative to knee
Save the angle of module 2.The rotor of second motor transmits torque to planetary gear by planetary reducer, passes through planetary gear
Retarder drives the rotation of the second motor transmission shaft 14, is connected between the second motor transmission shaft 14 and right side plate 22 by bearing, band
It is connected by key between wheel 11 and the second motor transmission shaft 14, the rotation band movable belt pulley 11 of the second motor transmission shaft 14 rotates, band
Wheel 11 passes through 17 driving pulley 7 of synchronous belt, to control angle of the tibia relative to ankle-joint；
At knee joint module 2, middle casing 20 is solid by 6 holding screws between left plate 21 and right side plate 22
Even, the upper end and third motor output shaft 19 of left plate 21 and right side plate 22 connect, and third motor controls knee joint by rotating
Angle of the module 2 relative to hip joint module 1；
At hip joint module 1, left skeleton 25 is mounted among third motor 18 and left plate 21, and right skeleton 26 is mounted on
Among third motor 18 and right side plate 22, left skeleton 25 is connect with the upper end of right skeleton 26 with the 4th motor 24, mounting rack 23
Upper end is mounted on the centre of left skeleton 25 and the 4th motor 24, and the lower end of mounting rack 23 is mounted on right skeleton 26 and the 4th motor 24
Centre, the axis perpendicular of the axis of the 4th motor output shaft and third motor output shaft, what is mainly controlled is leg structure
Rotation in the horizontal plane, mounting rack 23 are connected by screw with robot body.
First motor 12 directly drives angle of the ankle-joint module relative to knee joint module by output shaft；Second motor
Synchronous pulley 11 is driven by output shaft 14, synchronous pulley 11 drives synchronous pulley 7 by synchronous belt 17, to control tibia 4
Angle relative to ankle-joint module；Third motor 18 directly drives knee joint module 2 relative to hip joint by output shaft 19
The angle of module；4th motor 24 drives hip joint module 1 to control the angle of whole leg in the horizontal plane by output shaft.In this way
As long as determining the corner of each driver, then tibia 4 and sufficient end 5 are determining in space, that is, single leg is controllable
, then by algorithm, allow single leg end to make corresponding track, to complete the control of single leg.
The chondritic that sufficient end 5 is made of stabilizer blade 9 and the gum cover 10 that lands, the material of stabilizer blade 9 are nylon, the machine of nylon
Tool intensity is high, good toughness, has higher tensile strength, compression strength, and fatigue performance is prominent, can be after flexion repeatedly
Still keep original mechanical strength.Land gum cover 10 material be abrasive rubber, the service life for the gum cover that lands, In can be increased
It is carved with decorative pattern on the face for gum cover and the ground face contact of landing, the gum cover that can make to land significantly increases frictional force when being contacted with ground, subtracts
The generation of slippery conditions is lacked, so that the movement of robot is more accurate.
Tibia 4 is made of support rod 8, belt wheel 7, belt wheel installation axle 6, and support rod 8 is an I-shaped thin plate, thin
The two sides of plate are fluted, and least material is used on the basis for meeting intensity requirement, alleviates the overall weight of robot,
So that the structure of robot is slim and graceful.Toothed belt transmission can make joint have biggish rotation angle, and maximum can reach 300 °, this
One advantage increases working space, more flexible to the control of tibia, and the transmission of synchronous belt is more accurate easily controllable.Together
Step V belt translation also has the advantages that gear and belt transmission, and the transmission system as robot is relatively suitble to, and synchronous belt is certain
The impact in movement can be alleviated in degree, reduce the rotary inertia of leg, toothed belt transmission is also more stable, being capable of absorbing drop
It makes an uproar.
Ankle-joint module 3 is by belt wheel 11, first motor 12, the second motor 13, the second motor output shaft 14, left shell
15, right shell body 16, synchronous belt 17 form, and are connected by screw between two shells, left shell and right shell body use half work
Character form structure, and have on left shell and right shell body one like rectangular hole, this configuration reduces the use of material,
Alleviate the overall weight of robot.First motor 12 directly drives ankle-joint module 3 relative to knee joint mould by output shaft
The angle of block 2, the second motor drive synchronous pulley 11 by output shaft 14, and synchronous pulley 11 drives synchronous belt by synchronous belt 17
Wheel 7, to control angle of the tibia relative to ankle-joint, first motor 12 and the second motor 13 do relatively independent movement.It closes
Corner is saved at least up to 300 °.
Knee joint module 2 is by third motor 18, third motor output shaft 19, middle casing 20, left plate 21, right side plate
22 compositions, middle casing are mounted on the centre of left plate and right side plate, are connected with left plate and right side plate by 6 holding screws
It picks up and, left plate and right side plate are all made of half I-shape construction, and weight is alleviated in the case where meeting intensity requirement.Third
Motor 18 directly drives knee joint module 2 by output shaft 19, controls angle of the knee joint module 2 relative to hip joint module 1.
Joint rotation angle is at least up to 300 °.
Hip joint module 1 is made of mounting rack 23, the 4th motor 24, left skeleton 25, right skeleton 26, between two skeletons
It is connected by screw to, it is fluted in the upper and lower side of skeleton, weight is alleviated in the case where meeting intensity requirement.Hip joint mould
Block is connected by mounting rack 23 with the body of robot, and the 4th motor 24 controls hip joint module 1 in horizontal plane by output shaft
Interior angle.Joint rotation angle is at least up to 300 °.
Retarder motor is made of the planetary reducer of high power density DC brushless motor and autonomous Design, this
Money brushless motor is hollow type motor, is made of annular stator and rotor.Planetary reduction gear is designed at rotor hollow space to work as
In, obtain movable joint (hip joint, knee joint, ankle-joint) small in size, that power density is big.And then leg structure can be simplified,
It can make that leg arthritic volume is small, structure is more compact using the structure of the retarder motor, while meet sufficiently large hold
Carry performance.
Leg bar is the important component of single leg, and a single leg contains four sections of leg bars, selects aluminium alloy to make every section of leg bar, be
Mitigation weight, leg bar are designed to hollow out or notching construction；In addition, it is strong not lose load again while in order to mitigate weight
Degree and rigidity, each section of leg bar design, should all according to stress (driving force, resistance) size direction and connecting joint part shape
It can complete motor function and complete aesthetic effect again, be designed to structural member leg bar.Based on this, the tibia 4 of single leg in the present invention
Leg bar section morphology is designed as I-shaped, and 3 leg bar section morphology of ankle-joint module is designed as hollow, 2 leg bar of knee joint module
Section morphology is designed as hollow, 1 leg bar section morphology of hip joint module be designed as it is I-shaped.It is made of this planform
Leg bar, it is available on an equal basis with the most light leg bar of weight is reached under material volume, it is also available to be assigned on an equal basis with material volume
To the optimal leg bar of intensity.
Whole leg of single leg can make robot reach minimum volume by folding, and wherein tibia 4 and sufficient end 5 can be with
Ankle-joint module 3 is gone in the folding of shin joint, tibia 4 and sufficient end 5 can pass through ankle with ankle-joint module 3 after folding together
Joint folds at knee joint module 2 and hip joint module 1, so that convenient transportation, reduces the damage dismounted back and forth to components
It is bad.
The material of single leg is mainly aluminium alloy, and the relative density of aluminium alloy is smaller, is meeting wanting for certain design strength
It asks down, it is more light relative to metal materials such as stainless steel, 45 steel, it can satisfy robot leg rod structure and light weight wanted
It asks, and aluminium alloy is cheap, is easily worked molding, machining accuracy is high.
Claims (7)
1. a kind of light-duty single leg mechanism of multiple degrees of freedom, which is characterized in that including hip joint module (1), knee joint module (2), ankle
Joint module (3), tibia (4) He Zuduan (5)；Hip joint module (1), knee joint module (2), ankle-joint module (3), tibia
(4) He Zuduan (5) is sequentially connected；
Tibia (4) includes support rod (8) and first pulley (7), is provided with inside one end of support rod (8) by belt wheel installation axle
First pulley (7), the other end are fixedly connected with sufficient end (5)；
Ankle-joint module (3) includes supporing shell, synchronous belt (17), first motor (12), the second motor (13), the second belt wheel
(11) and the second motor output shaft (14)；It cuts with scissors one end that one end and support rod (8) of supporing shell are provided with first pulley (7)
It connects, is fixedly installed the second belt wheel (11) inside the other end of supporing shell by the second motor output shaft (14), two belt wheels
Between by synchronous belt (17) connect；The two sides that the second belt wheel (11) is provided in supporing shell are respectively arranged with first motor
(12) and the second motor (13)；First motor (12) is able to drive ankle-joint module (3) and rotates relative to knee joint module (2),
Second motor (13) is able to drive the second belt wheel (11) rotation；
Knee joint module (2) includes support side plate, third motor (18) and third motor output shaft (19)；One end of support side plate
Inside is provided with third motor (18) by third motor output shaft (19), and another end cap of support side plate is in ankle-joint module
(3) supporing shell end, and support side plate and supporing shell are hinged；First motor (12) and the second motor (13) fixation are set
It sets in support side plate；
Hip joint module (1) includes mounting rack (23), the 4th motor (24) and frame board；Two pieces of frame boards are arranged in parallel, and two pieces
One end of frame board is separately positioned in gap of the third motor (18) between two sides and support side plate, and third motor is fixed on
On frame board；The 4th motor (24) is provided between the other end of two pieces of frame boards, between the 4th motor (24) and frame board
Gap is provided with mounting rack (23).
2. a kind of light-duty single leg mechanism of multiple degrees of freedom according to claim 1, which is characterized in that supporing shell includes left housing
Body (15) and right shell body (16), left shell (15) and right shell body (16) are arranged in parallel and are separately positioned on, support rod (8) end
Two sides, the end of support rod (8) open up fluted, are provided in groove belt wheel installation axle (6), the both ends of belt wheel installation axle (6)
It is provided with blowout patche (28), blowout patche (28) is fixedly connected with left shell (15) or right shell body (16), and belt wheel installation axle is arranged on (6)
There is bearing, first pulley (7) is arranged on bearing.
3. a kind of light-duty single leg mechanism of multiple degrees of freedom according to claim 1, which is characterized in that support side plate includes left side
Plate (21) and right side plate (22), left plate (21) and right side plate (22) are arranged in parallel, between left plate (21) and right side plate (22)
It is fixedly connected by middle casing (20)；One end of left plate (21) and right side plate (22) be separately positioned on first motor (12) and
Between supporing shell and the second motor (13) and supporing shell, the output shaft and supporing shell of first motor (12) are fixed to be connected
It connects.
4. a kind of light-duty single leg mechanism of multiple degrees of freedom according to claim 3, which is characterized in that frame board includes left skeleton
(25) and right skeleton (26) it, being fixedly connected between left skeleton (25) and right skeleton (26), the other end of support side plate is groove-like,
It is provided in groove third motor output shaft (19), third motor is arranged on third motor output shaft (19).
5. a kind of light-duty single leg mechanism of multiple degrees of freedom according to claim 1, which is characterized in that mounting rack is arranged on (23)
There are several bolts hole, mounting rack (23) is connected with robot body.
6. a kind of light-duty single leg mechanism of multiple degrees of freedom according to claim 1, which is characterized in that sufficient end (5) includes stabilizer blade
(9) and gum cover (10)；One end of stabilizer blade (9) is fixedly connected with support rod (8), and the other end is fixedly connected with gum cover (10).
7. a kind of light-duty single leg mechanism of multiple degrees of freedom according to claim 1, which is characterized in that first motor (12), the
Two motors (13), third motor (18) and the 4th motor (24) include shell, stator (30), rotor (31), planet carrier (27),
Planetary reduction gear and central axle sleeve (33)；Stator (30) is coaxially disposed inside housings, and the inside of rotor (31) is coaxially arranged with
Stator, stator are connect with planet carrier, and planet carrier is connect with planetary reduction gear；First motor upper planet retarder connects sun gear
Axis, sun wheel shaft connect supporing shell；Planetary reduction gear on second motor connects the second motor output shaft (14).
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| CN201910803724.2A CN110406613A (en) | 2019-08-28 | 2019-08-28 | A kind of light-duty single leg mechanism of multiple degrees of freedom |
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| CN201910803724.2A CN110406613A (en) | 2019-08-28 | 2019-08-28 | A kind of light-duty single leg mechanism of multiple degrees of freedom |
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| CN110682976A (en) * | 2019-11-25 | 2020-01-14 | 西北工业大学 | Multi-degree-of-freedom mechanical wheel leg structure of wheel leg combined type mobile robot |
| CN112393057A (en) * | 2020-12-11 | 2021-02-23 | 河海大学 | Bionic leg structure of tubular pile wall-climbing robot |
| CN113459153A (en) * | 2021-07-06 | 2021-10-01 | 杭州国辰机器人科技有限公司 | Three-degree-of-freedom motion joint assembly |
| CN114516374A (en) * | 2022-03-07 | 2022-05-20 | 安徽理工大学 | Six-legged robot based on synchronous belt transmission |
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| CN114516374A (en) * | 2022-03-07 | 2022-05-20 | 安徽理工大学 | Six-legged robot based on synchronous belt transmission |
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