CN111688838B - Biped robot lower limb structure based on modular joints - Google Patents
Biped robot lower limb structure based on modular joints Download PDFInfo
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- CN111688838B CN111688838B CN202010561457.5A CN202010561457A CN111688838B CN 111688838 B CN111688838 B CN 111688838B CN 202010561457 A CN202010561457 A CN 202010561457A CN 111688838 B CN111688838 B CN 111688838B
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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 relates to a biped robot lower limb structure based on modular joints, which comprises: the lower end of the hip joint mechanism is rotationally connected with the thigh part, and the hip joint mechanism is used for driving the knee joint mechanism and the shank mechanism to swing back and forth, swing left and right and rotate inside and outside; the knee joint mechanism is fixedly arranged on the thigh part and is used for driving the shank mechanism to swing back and forth; the shank mechanism is movably arranged at the lower end of the thigh piece and is driven by the knee joint mechanism to rotate back and forth. The gravity center of the legs of the biped robot can be adjusted upwards, so that the inertia of the legs of the biped robot is smaller when the legs swing, and the biped robot can walk more stably and rapidly.
Description
Technical Field
The invention relates to the technical field of biped robots, in particular to a lower limb structure of a biped robot based on modular joints.
Background
The biped robot is a comprehensive subject with one multidisciplinary fusion and intersection, relates to multidisciplines such as bionics, mechanics, control theory and control engineering, sensor information fusion, computer science and the like, and relates to problems in many aspects such as mechanics, stability theory, control theory and the like.
The biped robot simulates the feet of a human being during design, the whole leg is divided into a sole, a shank and a thigh, the rotary joint of the sole and the shank is called as an ankle, and the rotary joint of the shank and the thigh is called as a knee joint; generally, in order to drive the foot pad to lift, an ankle driving motor is arranged at the ankle, the purpose of driving the foot pad to lift is achieved through the driving of the ankle driving motor, and in order to drive the shank to swing backwards, a knee joint driving motor is also arranged at the knee joint, so that the knee joint driving motor drives the shank to swing backwards.
The above prior art solutions have the following drawbacks: the ankle motor sets up in ankle department, knee joint motor setting in knee joint department for the focus of whole leg is on the low side, and when the both feet are whipped, inertia can be great, is unfavorable for the stable walking of both feet robot, so remain to improve.
Disclosure of Invention
Aiming at the defects in the prior art, one of the purposes of the invention is to provide a lower limb structure of a biped robot based on modular joints, which can adjust the gravity center of the legs of the biped robot upwards, so that the inertia of the legs of the biped robot is smaller when the legs swing, and the biped robot can walk more stably.
The above object of the present invention is achieved by the following technical solutions:
a modular joint-based biped robotic lower limb structure comprising: the lower end of the hip joint mechanism is rotationally connected with the thigh part, and the hip joint mechanism is used for driving the knee joint mechanism and the shank mechanism to swing back and forth, swing left and right and rotate inside and outside; the knee joint mechanism is fixedly arranged on the thigh part and is used for driving the shank mechanism to swing back and forth; shank mechanism activity sets up and rotates around thigh spare lower extreme and driven by knee joint mechanism, and shank mechanism includes: the upper end of the shank part is rotatably connected with the lower end of the thigh part; the sole component is rotationally arranged at the lower end of the shank component; the ankle joint first driving piece is fixedly arranged at the upper end of the shank piece and is used for driving the sole assembly to lift up and down through the pull rod; the upper end of the pull rod is movably connected with the first driving piece of the ankle joint, and the lower end of the pull rod is movably connected with the sole component.
Through adopting above-mentioned technical scheme, knee joint mechanism sets up on thigh spare, make knee joint mechanism from the junction rebound of shank spare with thigh spare a section distance, and again because the first driving piece setting of ankle joint is in the upper end department of shank spare, make the first driving piece of ankle joint also rebound a section distance from the junction of sole subassembly with shank spare, compare before knee joint mechanism and the first driving piece of ankle joint removed, the focus position on the biped will shift up, when the biped whipping, biped inertia can be littleer, help biped robot more stable, walk fast.
The invention may in a preferred example be further configured such that the mid-thigh member projects forwardly in a V-shape.
Through adopting above-mentioned technical scheme for thigh spare rear side forms the V-arrangement space, when shank mechanism backward rotation, just can rotate to the V-arrangement space in, compares in the state of thigh spare vertical setting, and this kind of mode makes shank mechanism can have bigger backward rotation space, and the shank mechanism of being convenient for lifts up and obtains more actions of a larger margin.
The invention may further be configured in a preferred example such that the knee joint mechanism comprises: the knee joint driving piece is fixedly arranged on the thigh piece and used for driving the first linkage piece to rotate; the first linkage part is fixedly arranged on an output shaft of the knee joint driving part, and one end of the first linkage part is rotatably connected with one end of the first connecting rod; the second linkage part is fixedly arranged at the upper end of the shank mechanism, one end of the second linkage part is rotatably connected with the other end of the first connecting rod, the position where the second linkage part is connected with the first connecting rod and the position where the first linkage part is connected with the first connecting rod are on the same side, the second linkage part and the first linkage part rotate on the same plane, and the first linkage part is located on the front side of the second linkage part.
By adopting the technical scheme, when the knee joint driving part outputs rotation, the first linkage part can be driven to rotate firstly, then along with the rotation of the first linkage part, the first linkage part can drive the first connecting rod to move backwards, and after the first connecting rod moves backwards, the second linkage part can be pushed backwards to rotate, and the second linkage part can drive the shank mechanism fixedly connected with the second linkage part to move backwards, so that the shank mechanism is lifted backwards, at the moment, the shank part rotates forwards by a certain angle, and the shank mechanism is put downwards, so that the aim of walking forwards can be achieved; through the first connecting rod transmit the power between first linkage and the second linkage, compare in the mode through synchronous pulley transmission, the connecting rod transmission is because there is not the condition that the transmission delays because there is not the elasticity, and mechanism control response speed is faster, and connecting rod drive mechanism stability also can be higher moreover, has better shock resistance, helps promoting life.
The invention can in a preferred example be further configured such that the knee joint drive is fixedly arranged at a bend in the thigh part.
Through adopting above-mentioned technical scheme for knee joint driving piece position shifts up, and the knee joint driving piece just also need not drive shank mechanism at thigh spare and shank mechanism's junction and has rotated this moment, has also reduced a driving piece here, and then leads to the focus of biped to also shift upwards, and when the biped whipping, inertia of shank mechanism department also will reduce, helps the biped to stabilize the walking.
In a preferred example, the invention may be further configured that a second connecting rod is further disposed between the first linkage member and the second linkage member, and two ends of the second connecting rod are respectively rotatably connected with the first linkage member and the second linkage member.
Through adopting above-mentioned technical scheme, the effort that first connecting rod received has been shared in the setting of second connecting rod for first connecting rod is not fragile, also makes the transmission efficiency of power higher between first linkage piece and the second linkage piece moreover, helps the corresponding speed of hoist mechanism's control.
The invention may in a preferred example be further configured such that the hip joint mechanism comprises: the hip joint connecting piece connects the inner and outer rotating assemblies on two adjacent legs together; the inner and outer rotating assemblies are fixedly arranged on the hip joint connecting piece and are used for driving the left and right rotating assemblies to rotate inside and outside; the left and right rotating assemblies are fixedly arranged at the lower ends of the inner and outer rotating assemblies and are used for driving the front and rear rotating assemblies to rotate left and right; the front and back rotating assembly is fixedly arranged below the left and right rotating assembly and is used for driving the thigh piece to rotate front and back.
By adopting the technical scheme, the arrangement of the hip joint connecting piece connects the two legs of the lower limbs of the biped robot together so as to realize the purpose of walking; the arrangement of the inner and outer rotating assemblies ensures that the left and right rotating assemblies and the components below the left and right rotating assemblies can rotate in the inner and outer directions together, which is beneficial to the realization of steering of the biped robot; the left and right rotating assemblies are arranged, so that the positions of the front and rear rotating assemblies on the feet and the parts below the rotating assemblies can be adjusted left and right, the gravity centers of the feet can fall on the soles in contact with the ground, and the biped robot can stand and is not easy to fall down; the front and back rotating assemblies are arranged, so that after the knee joint mechanism drives the shank mechanism to be folded upwards, the thigh piece can rotate forwards by a certain angle, and then when the shank mechanism is put down, the shank mechanism achieves the purpose of stepping forwards, so that the feet can walk.
The invention may further be configured in a preferred example, the internal and external rotation assembly includes a first hip joint driver and a first hip joint connector, the first hip joint driver is vertically and fixedly arranged on the first hip joint connector and is used for driving the first hip joint connector to rotate internally and externally; one end of the first hip joint connecting piece is fixedly connected with an output shaft of the first hip joint driving piece, and the other end of the first hip joint connecting piece is fixedly connected with the upper end of the left-right rotating assembly.
By adopting the technical scheme, the arrangement of the first hip joint driving piece provides sufficient power for the internal and external rotation of the first hip joint connecting piece, so that the internal and external rotation of the first hip joint connecting piece and the left and right rotating assemblies connected with the first hip joint connecting piece can be realized together, and the turning of the feet can be realized.
The invention can be further configured in a preferred example, the left-right rotation assembly comprises a hip joint second driving piece and a hip joint second connecting piece, and the hip joint second driving piece is fixedly arranged on the hip joint first connecting piece and is used for driving the hip joint second connecting piece to rotate left and right; one end of the second hip joint connecting piece is fixedly connected with an output shaft of the second hip joint driving piece, and the other end of the second hip joint connecting piece is fixedly connected with the front and rear rotating assemblies.
By adopting the technical scheme, the arrangement of the second hip joint driving piece provides sufficient power for the left and right rotation of the second hip joint connecting piece, the projection of the gravity center on the sole is facilitated, the biped robot can stand stably and is not easy to fall down.
The invention may further be configured in a preferred example, wherein the front-back rotating assembly includes a third hip joint driver fixedly disposed on the second hip joint connector and used for driving the thigh member to rotate back and forth.
By adopting the technical scheme, the third driving piece of the hip joint provides sufficient power for the front and back movement of the thigh piece, so that the thigh piece can swing back and forth to realize the purpose of advancing the feet forwards.
The present invention may further be configured in a preferred example, the sole assembly includes a sole left-right rotating assembly and a sole, the sole left-right rotating assembly is movably disposed below the lower leg member and is used for driving the sole to rotate left and right, and the sole is rotatably disposed below the sole left-right rotating assembly.
Through adopting above-mentioned technical scheme, sole lifting subassembly and the setting of sole rotation of a left side and a right side subassembly for the sole has two degrees of freedom, so that the more nimble motion of sole and stable of standing, when lifting the foot and walking forward, the sole is difficult for producing the scraping with ground moreover.
In summary, the invention includes at least one of the following beneficial technical effects:
compared with the prior knee joint mechanism, the first ankle joint driving piece and the first knee joint driving piece move upwards for a certain distance, so that the gravity center of the double feet of the double-foot robot is higher, the inertia influence is smaller when the double feet swing, and the walking is more stable;
due to the arrangement of the hollow holes, the double feet of the double-foot robot are lighter in weight, so that the double feet are not so hard to be lifted, and the double feet can walk conveniently;
compared with a synchronous belt transmission mode, the force transmission is more timely, the control response speed of the mechanism is higher, and the mechanism is more stable;
the hip joint first driving piece, the hip joint second driving piece, the hip joint third driving piece and the knee joint driving piece all adopt the same modular joint, the driving piece at the ankle also adopts the same modular joint, 12 degrees of freedom adopt two kinds of modular joints, mechanical interfaces and electrical interfaces are unified, the complexity of a system is reduced, interchangeability is improved, cost is reduced, and the biped robot is easy to maintain.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Figure 2 is a schematic diagram of a single-leg explosive structure of the present invention.
Fig. 3 is a schematic view of the retracted lower leg mechanism of the present invention.
In the drawings, 1, a hip joint mechanism; 11. a hip joint connector; 12. an inner and outer rotating assembly; 121. a hip joint first driver; 122. a hip joint first connector; 13. a left and right rotating assembly; 131. a hip joint second driver; 132. a hip joint second connector; 14. a front and rear rotating assembly; 2. a thigh member; 21. hollowing out holes; 22. an arc-shaped plate; 23. a balance plate; 24. an end cap; 3. a knee joint mechanism; 31. a knee joint drive; 32. a first linkage member; 33. a second linkage member; 34. a first link; 4. a shank mechanism; 41. a lower leg member; 411. a support member; 4111. a left support member; 4112. a right support member; 4113. a connecting ring; 42. a sole lifting assembly; 421. an ankle joint first drive member; 422. a pull rod; 423. a U-shaped connector; 424. a rotating shaft; 43. a sole assembly; 431. a sole left-right rotating assembly; 4311. an ankle joint second driving member; 4312. an ankle support; 4313. a six-dimensional force sensor; 432. a sole of a foot; 5. a second link; 6. and a suspension arm.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1 and 2, the lower limb structure of the biped robot based on the modular joints, disclosed by the invention, has the advantages that the gravity center of the biped is raised, so that the inertia of the biped is smaller when the biped swings, and the biped robot is beneficial to stable walking; the single foot includes: the hip joint mechanism 1, the thigh part 2, the knee joint mechanism 3 and the shank mechanism 4, wherein the lower end of the hip joint mechanism 1 is rotatably connected with the upper end of the thigh part 2, and the hip joint mechanism 1 is used for driving the knee joint mechanism 3 and the shank mechanism 4 to swing back and forth; the knee joint mechanism 3 is fixedly arranged on the thigh part 2, and the knee joint mechanism 3 is used for driving the shank mechanism 4 to swing back and forth; the upper end of the shank mechanism 4 is rotationally connected with the lower end of the thigh piece 2 and is driven by the knee joint mechanism 3 to rotate back and forth; when the feet walk, the knee joint mechanism 3 on one foot firstly drives the shank mechanism 4 to rotate backwards, so that the shank mechanism 4 is lifted backwards, then the hip joint mechanism 1 drives the thigh part 2 to rotate forwards, so that the thigh part 2, the knee joint mechanism 3 and the shank mechanism 4 rotate forwards together by a certain angle, at the moment, the knee joint mechanism 3 puts down the shank mechanism 4 downwards and returns to the original state, and the purpose of stepping one foot forwards is achieved.
Referring to fig. 1 and 2, a hip joint mechanism 1 includes: the hip joint connecting piece 11, the inner and outer rotating assemblies 12, the left and right rotating assemblies 13 and the front and rear rotating assemblies 14 are arranged on the upper leg and the lower leg, the two feet share one hip joint connecting piece 11, the hip joint connecting piece 11 is flat and made of aluminum alloy, the hip joint connecting piece 11 is horizontally arranged, and the hip joint connecting piece 11 connects the inner and outer rotating assemblies 12 on the two adjacent legs together; the inner and outer rotating assemblies 12 are fixedly arranged on the hip joint connecting piece 11 and are used for driving the left and right rotating assemblies 13 to rotate inside and outside; the left and right rotating assemblies 13 are fixedly arranged at the lower ends of the inner and outer rotating assemblies 12 and are used for driving the front and rear rotating assemblies 14 to rotate left and right; the front-rear rotating assembly 14 is fixedly arranged below the left-right rotating assembly 13 and is used for driving the thigh piece 2 to rotate front and back.
Referring to fig. 1 and 2, specifically, the internal and external rotation assembly 12 includes a first hip joint driving member 121 and a first hip joint connecting member 122, the first hip joint driving member 121 is a servo motor, a flange made of an aluminum alloy material is welded on an outer side surface of the first hip joint driving member 121, the flange is defined as a first fixing flange, one end of an output shaft of the first hip joint driving member 121 vertically penetrates through the first hip joint connecting member 11, a through hole is formed in the hip joint connecting member 11 for the first hip joint driving member 121 to penetrate through, the first fixing flange on the outer side surface of the first hip joint driving member is abutted against an upper surface of the first hip joint connecting member 11, and then the first fixing flange is fixedly connected with the first hip joint connecting member 11 through a screw, so that the first hip joint driving member 121 is fixed on the first hip; a flange plate made of aluminum alloy is coaxially welded on an output shaft of the first hip joint driving part 121, the flange plate is defined as a first output flange plate, the first output flange plate is fixedly connected with the upper end of a first hip joint connecting part 122 through screws, and the lower end of the first hip joint connecting part 122 is fixedly connected with the upper end of the left-right rotating component 13; at this time, after the first hip joint driving member 121 is powered on, the output shaft of the first hip joint driving member 121 rotates, and the first hip joint connecting member 122 can be driven to rotate around the axis of the output shaft through the first output flange, so that the left and right rotating assemblies 13 fixedly connected with the first hip joint connecting member 122 rotate on the horizontal plane, and the biped robot can turn.
Referring to fig. 1 and 2, the left-right rotation assembly 13 includes a second hip joint driver 131 and a second hip joint connector 132, the second hip joint driver 131 is also a servo motor, a flange made of aluminum alloy is welded on the outer surface of the second hip joint driver 131, the flange is defined as a second fixed flange, one end of the output shaft of the second hip joint driver 131 passes horizontally forward from the rear side surface of the lower end of the first hip joint connector 122 through the first hip joint connector 122, and the second fixed flange abuts against the rear side surface of the lower end of the first hip joint connecting piece 122, at this time, the second fixed flange is fixedly connected with the first hip joint connecting piece 122 through a screw, so that the hip joint second driver 131 is fixed on the hip joint first connector 122, and the hip joint first connector 122 is provided with a through hole for the hip joint second driver 131 to pass through; a flange plate made of aluminum alloy is coaxially welded on an output shaft of the second hip joint driving piece 131, the flange plate is defined as a second output flange plate, the output shaft of the second hip joint driving piece 131 penetrates through the upper end of the second hip joint connecting piece 132, the second output flange plate is abutted against the upper end of the second hip joint connecting piece 132 and is fixedly connected with the upper end of the second hip joint connecting piece 132 through screws, a through hole for the output shaft of the second hip joint driving piece 131 to penetrate through is formed in the upper end of the second hip joint connecting piece 132, and the lower end of the second hip joint connecting piece 132 is fixedly connected with the front; at this time, after the second driving member 131 of the hip joint is powered on, the output shaft of the second driving member 131 of the hip joint drives the second connecting member 132 of the hip joint to rotate left and right on the vertical plane through the second output flange, so that the front and rear rotating assemblies 14 are also driven to rotate left and right, and the feet can be opened to avoid obstacles.
Referring to fig. 1 and 2, the front and rear rotating assembly 14 includes a third hip joint driving member, which is also a servo motor, a flange made of an aluminum alloy material is welded on an outer surface of the third hip joint driving member, the flange is defined as a third fixing flange, one end of an output shaft of the third hip joint driving member horizontally penetrates through a lower end of the second hip joint connecting member 132, the third fixing flange abuts against a side surface of the second hip joint connecting member 132 and is fixedly connected with the second hip joint connecting member 132 through a screw, and a through hole is formed in the second hip joint connecting member 132 for the third hip joint driving member to penetrate through; a flange plate made of aluminum alloy is coaxially fixed on an output shaft of the hip joint third driving piece, the flange plate is defined as a third output flange plate, a through hole for the output shaft of the hip joint third driving piece to pass through is formed in the upper end of the thigh piece 2, and when the output shaft of the hip joint third driving piece passes through the through hole in the upper end of the thigh piece 2, the third output flange plate is abutted against the surface of one side of the upper end of the thigh piece 2 and is fixedly connected with the upper end of the thigh piece 2 through a bolt; when the third driving piece of the hip joint is electrified, the output shaft of the third driving piece of the hip joint outputs rotation, so that the third flange plate drives the thigh piece 2 to rotate back and forth, the thigh piece 2 can step forward, and the walking purpose is further realized.
Referring to fig. 1 and 2, the thigh part 2 is a V-shaped stainless steel sheet body, and the middle part of the thigh part 2 protrudes forward, so that a part of space is left at the rear side of the thigh part 2, and the knee joint mechanism 3 drives the shank mechanism 4 to rotate backwards with larger amplitude; a plurality of hollow holes 21 are uniformly formed in the thigh piece 2, so that the quality of the thigh piece 2 is greatly reduced, the quality of the feet is greatly reduced, and the feet can walk more flexibly.
Referring to fig. 1 and 2, the knee joint mechanism 3 includes: the knee joint driving part 31 is also a servo motor, a flange made of aluminum alloy is welded on the outer side surface of the knee joint driving part 31 and is defined as a fourth fixed flange, one end of an output shaft of the knee joint driving part 31 horizontally penetrates through the bending part of the thigh part 2, so that the fourth fixed flange is abutted against one side surface of the bending part of the thigh part 2, and then the fourth flange is fixedly connected with the thigh part 2 through screws, so that the knee joint driving part 31 is fixed on the thigh part 2; a flange plate made of aluminum alloy is coaxially welded on an output shaft of the knee joint driving piece 31, the flange plate is defined as a fourth output flange plate, the middle part of the first linkage piece 32 is fixed on the fourth output flange plate through a screw, the first linkage piece 32 is in a prismatic sheet shape and made of aluminum alloy, and one end of the first linkage piece 32 is rotatably connected with one end of the first connecting rod 34 through a rivet; the second linkage member 33 is also in a prismatic sheet shape and is made of aluminum alloy, the second linkage member 33 is fixedly arranged at the upper end of the lower leg mechanism 4, one end of the second linkage member is rotatably connected with the other end of the first link 34 through a rivet, the position where the second linkage member 33 is connected with the first link 34 and the position where the first linkage member 32 is connected with the first link 34 are on the same side, the second linkage member 33 and the first linkage member 32 rotate on the same plane, and the first linkage member 32 is located on the front side of the second linkage member 33.
Referring to fig. 1 and 3, when the knee joint driving member 31 is powered on and the output shaft rotates clockwise, the first linkage member 32 rotates clockwise around the output shaft axis of the knee joint driving member 31, so that the end of the first linkage member 32 connected with the first link 34 pushes the first link 34 to move backward, and after the first link 34 moves backward, the end of the first link 34 connected with the second linkage member 33 will be pushed, so that the second linkage member 33 drives the lower leg mechanism 4 to rotate backward together, so that the lower leg mechanism 4 rotates towards the inner side of the bending position of the upper leg member 2, at this time, the hip joint third driving member drives the upper leg member 2 to rotate forward by a certain angle, so that the knee joint mechanism 3, the upper leg member 2 and the lower leg mechanism 4 also move forward, and then the output shaft of the knee joint driving member 31 rotates counterclockwise, so that the lower leg mechanism 4 is lowered back to the original state, the shank mechanism 4 also achieves the purpose of stepping forward.
Referring to fig. 1 and 2, in order to reduce the burden of the first link 34, a second link 5 is further disposed between the first link 32 and the second link 33, the second link 5 is parallel to the first link 34 and is located above the first link 34, and two ends of the second link 5 are also respectively connected to the first link 32 and one end of the second link 33, which is far away from the first link 34, in a rotating manner through rivets; at this time, the first linkage 32, the first link 34, the second linkage 33 and the second link 5 form a four-bar linkage, and compared with the transmission of a synchronous pulley, the four-bar linkage is not easy to have time delay in force transmission, the control response speed of the mechanism is faster, and the mechanism is more stable.
Referring to fig. 1 and 2, the lower leg mechanism 4 includes: shank 41, sole lifting subassembly 42 and sole subassembly 43, shank 41 includes two vertical parallel arrangement's shank board, and the shank board is the aluminum alloy material and is the fretwork form setting, and shank upper end level is provided with a support piece 411, and support piece 411 includes: a left support 4111, a right support 4112, and a connecting ring 4113 for fixedly connecting the left support 4111 and the right support 4112, wherein two side surfaces of the connecting ring 4113 are fixedly connected to the left support 4111 and the right support 4112 by bolts, respectively, and the left support 4111 and the right support 4112 are both half-bowl-shaped and have opposite openings; two ends of the supporting part 411 respectively penetrate through the upper ends of the two lower leg plates and are fixedly connected through screws, and the lower end of the upper leg part 2 is sleeved at one end of the supporting part 411 and is rotatably connected with the supporting part 411 through a bearing; the middle part of the second linkage member 33 is sleeved at one end of the support member 411 positioned outside the two leg plates and is fixedly connected with the support member 411 through screws, so that when the second linkage member 33 rotates, the support member 411 can be driven to rotate together, and then the leg plates are driven to rotate together; in order to make the stress on the knee joint more uniform, an arc plate 22 is fixed on one side surface of the lower end of the thigh part 2 far away from the other foot through a screw, a balance plate 23 is fixed on one side surface of the arc plate 22 far away from the thigh part 2 through a screw, the balance plate 23 is parallel to the thigh part 2, the supporting part 411 is positioned between the balance plate 23 and the thigh part 2, one end of the supporting part 411 passes through the balance plate 23 and is rotatably connected with the balance plate 23 through a bearing, and in order to protect the bearing, an end cover 24 is fixed at the position through a bolt to cover the bearing at the position, when the acting force is transmitted from the thigh part 2, one part of the acting force can be continuously transmitted along the thigh part 2, the other part can be transmitted to the balance plate 23 and then is respectively transmitted downwards through the two thigh plates, which is beneficial to the uniform stress at the position and improves the stability of the motion of the two feet, and simultaneously, the rigidity and the structural strength of the part are improved.
Referring to fig. 1 and 2, a sole lifting assembly 42 is disposed on the lower leg 41 and is used for driving the sole assembly 43 to rotate up and down, and the sole lifting assembly 42 includes: the ankle joint driving device comprises an ankle joint first driving piece 421, a pull rod 422, two U-shaped connecting pieces 423 and a rotating shaft 424, wherein the ankle joint first driving piece 421 is a servo motor, a flange made of an aluminum alloy material is fixedly connected to the outer side surface of the ankle joint first driving piece 421 through a screw, the flange is defined as a fifth fixing flange, the ankle joint first driving piece 421 is horizontally arranged inside a supporting piece 411, and the ankle joint first driving piece 421 is fixedly connected with the supporting piece 411 through the fifth fixing flange and the screw; a flange plate made of aluminum alloy is coaxially welded on an output shaft of the first ankle joint driving piece 421, the flange plate is a fifth output flange plate, a suspension arm 6 extends out of the fifth output flange plate, the suspension arm 6 penetrates out of the right support piece 4112, and an arc-shaped groove is formed in the right support piece 4112 for the suspension arm 6 to extend out; the pull rod 422 is vertically arranged on the front side of the lower leg plate, the upper end of the pull rod 422 is rotatably connected with the suspension arm 6 extending out of the fifth flange plate through a U-shaped connecting piece 423, the U-shaped connecting piece 423 is provided with an upward opening and is rotatably connected with the fifth flange plate through a screw, the lower end of the pull rod 422 is rotatably connected with the sole left-right rotating component 43 through another U-shaped connecting piece 423, the opening of the U-shaped connecting piece 423 faces downward, the upper end and the lower end of the pull rod 422 respectively penetrate through the bottoms of the two U-shaped connecting pieces 423 and are respectively in threaded connection with the two U-shaped connecting pieces 423, and the upper end and the lower end of the pull rod 422 are respectively provided with external threads with opposite left-right rotating directions, so that the distance between the two U-shaped pieces 423 can be adjusted by rotating the pull rod; the rotating shaft 424 is horizontally arranged at the lower ends of the lower leg plates, the lower ends of the two lower leg plates are respectively and rotatably connected with the rotating shaft 424 through two bearings, and the sole assembly 43 is connected on the rotating shaft 424; when the output shaft of the first driving member 421 rotates, the fifth output flange is also driven to rotate, and at this time, the suspension arm 6 swings up and down along the arc-shaped groove in the arc-shaped groove, so that the pull rod 422 moves up and down, thereby achieving the purpose of pulling the sole assembly 43 to rotate up and down around the axis of the rotating shaft 424.
Referring to fig. 1 and 2, the sole unit 43 includes a sole left/right rotation unit 431 and a sole 432, which are provided below the lower leg 41 and drive the sole 432 to rotate left and right, and the sole left/right rotation unit 431 includes: an ankle joint second driving piece 4311, an ankle support 4312 and a six-dimensional force sensor 4313, wherein the ankle joint second driving piece 4311 is a servo motor, the ankle joint second driving piece 4311 is horizontally arranged below the calf plate, a sleeve is welded on the upper surface of the outer side of the ankle joint second driving piece 4311, the sleeve is coaxially sleeved on the part of the rotating shaft 424 between the two calf plates, the sleeve is rotatably connected with the rotating shaft 424 through a bearing, so that the ankle joint second driving member 4311 can rotate around the axis of the rotating shaft 424, an aluminum alloy flange plate is coaxially welded on an output shaft of the ankle joint second driving member 4311, the flange plate is defined as a sixth output flange plate fixedly connected to the outer side surface of the ankle support 4312 by screws, when the output shaft of the ankle joint second driving member 4311 rotates, the ankle support 4312 can be driven to rotate left and right by the sixth output flange plate; the ankle support 4312 is U-shaped and has an upward opening, the ankle second driving member 4311 is located inside the ankle support 4312, a connecting shaft is coaxially welded to an end portion of the ankle second driving member 4311 far away from an output shaft of the ankle second driving member 4311, penetrates through the ankle support 4312, is far away from an end of the output shaft of the ankle second driving member 4311, and is rotatably connected with the ankle support 4312 through a bearing; the six-dimensional force sensor 4313 is fixed below the ankle support 4312 by a screw; the sole 432 is fixed below the six-dimensional force sensor 4313 by a screw.
Referring to fig. 1 and 2, when the output shaft of the ankle joint second driving member 4311 rotates, the output shaft first drives the sixth output flange to rotate on the vertical plane, and then the sixth output flange drives the ankle support 4312 to rotate left and right on the vertical plane, so that the six-dimensional force sensor 4313 and the sole 432 rotate left and right on the vertical plane.
The implementation principle of the embodiment is as follows: when the first driving parts 121 of the hip joints on the left foot and the right foot rotate rightwards at the same time, the biped robot can face to the right, and the right steering can be completed when the robot walks forwards, and similarly, when the first driving parts 121 of the hip joints on the left foot and the right foot rotate leftwards at the same time, the left steering can be completed; when the feet are in a standing state, the second hip joint driving parts 131 on the feet can be started, so that the second hip joint driving parts 131 drive the second hip joint connecting parts 132 to adjust the projection of the gravity center of the feet in the vertical direction to fall on the soles of the feet, and the feet can stand stably.
When the biped robot takes a step, the knee joint driving piece 31 on the right foot is started, so that the first linkage piece 32 rotates clockwise, then, through the transmission between the first link 34 and the second link 5, the second link 33 is also rotated clockwise, thereby driving the shank mechanism 4 to rotate backwards to achieve the purpose of lifting the shank, then the third driving piece of the hip joint rotates forwards for a certain angle, so that the knee joint mechanism 3, the thigh part 2 and the shank mechanism 4 all move forwards, at the moment, the hip joint connecting piece 11, the left foot internal and external rotation component 12 and the left and right rotation component 13 need to make adaptive movement, so that the knee joint mechanism 3, the thigh part 2 and the shank mechanism 4 on the right foot all move forward smoothly, finally the output shaft of the knee joint driving part 31 rotates anticlockwise, the shank mechanism 4 is put down downwards, and the right foot finishes the action of stepping forward; and the left foot and the right foot alternately step forward, so that the aim of stepping forward of the biped robot can be fulfilled.
Meanwhile, when the shank mechanism 4 rotates backwards, the first driving member 421 of the ankle joint can pull the pull rod 422 to move upwards through the fifth output flange plate, so that the sole left-right rotating assembly 431 and the sole 432 can be lifted upwards a little, and the sole 432 is prevented from scraping the ground when the shank rotates backwards; when the lower leg mechanism 4 is lowered downwards, the first driving member 421 of the ankle joint can lower the pull rod 422 downwards through the fifth output flange, so that the left and right sole rotating assemblies 431 and the sole 432 are lowered downwards, and the sole 432 stably steps on the ground.
The embodiments of the present invention are preferred embodiments of the present invention, and the scope of the present invention is not limited by these embodiments, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.
Claims (9)
1. A biped robot lower limb structure based on modular joints, comprising: the hip joint mechanism (1), the thigh piece (2), the knee joint mechanism (3) and the shank mechanism (4), wherein the lower end of the hip joint mechanism (1) is rotatably connected with the thigh piece (2), and the hip joint mechanism (1) is used for driving the knee joint mechanism (3) and the shank mechanism (4) to swing back and forth, swing left and right and rotate inside and outside; the knee joint mechanism (3) is fixedly arranged on the thigh part (2), and the knee joint mechanism (3) is used for driving the shank mechanism (4) to swing back and forth; shank mechanism (4) activity sets up and rotates around thigh spare (2) lower extreme and driven by knee joint mechanism (3), shank mechanism (4) include: the ankle joint comprises a lower leg part (41), a sole component (43), an ankle joint first driving part (421) and a pull rod (422), wherein the upper end of the lower leg part (41) is rotatably connected with the lower end of the thigh part (2); the sole assembly (43) is rotatably arranged at the lower end of the lower leg piece (41); the ankle joint first driving part (421) is fixedly arranged at the upper end of the lower leg part (41) and is used for driving the sole component (43) to lift up and down through the pull rod (422); the upper end of the pull rod (422) is movably connected with the first driving piece (421) of the ankle joint, and the lower end of the pull rod (422) is movably connected with the sole component (43); the sole assembly (43) comprises a sole left-right rotating assembly (431) and a sole (432), the sole left-right rotating assembly (431) is movably arranged below the lower leg piece (41) and is used for driving the sole (432) to rotate left and right, and the sole (432) is rotatably arranged below the sole left-right rotating assembly (431); the hip joint mechanism (1) comprises: hip joint connecting piece (11), inside and outside rotatory subassembly (12), control rotatory subassembly (13) and front and back rotating assembly (14), inside and outside rotatory subassembly (12) include first drive piece of hip joint (121), left and right sides rotating assembly (13) include hip joint second drive piece (131), front and back rotating assembly (14) include hip joint third drive piece, knee joint mechanism (3) include knee joint drive piece (31), and same modularization joint is all adopted to hip joint first drive piece, hip joint second drive piece, hip joint third drive piece and knee joint drive piece, and the drive piece of ankle department also adopts same modularization joint.
2. The modular joint-based biped robotic lower limb structure of claim 1, wherein the middle part of the thigh member (2) is projected forward in a V-shape.
3. The modular joint-based biped robotic lower limb structure of claim 2, wherein the knee joint mechanism (3) further comprises: the knee joint driving piece (31) is fixedly arranged on the thigh piece (2) and used for driving the first linkage piece (32) to rotate; the first linkage piece (32) is fixedly arranged on an output shaft of the knee joint driving piece (31), and one end of the first linkage piece (32) is rotatably connected with one end of the first connecting rod (34); the second linkage piece (33) is fixedly arranged at the upper end of the lower leg mechanism (4), one end of the second linkage rod is rotatably connected with the other end of the first connecting rod (34), the position where the second linkage piece (33) is connected with the first connecting rod (34) and the position where the first linkage piece (32) is connected with the first connecting rod (34) are on the same side, the second linkage piece (33) and the first linkage piece (32) rotate on the same plane, and the first linkage piece (32) is located on the front side of the second linkage piece (33).
4. The modular joint-based biped robot lower limb structure according to claim 3, characterized in that the knee joint driving member (31) is fixedly arranged at a bend on the thigh member (2).
5. The modular joint based biped robot lower limb structure according to claim 3, characterized in that a second connecting rod (5) is further arranged between the first linkage (32) and the second linkage (33), and two ends of the second connecting rod (5) are respectively and rotatably connected with the first linkage (32) and the second linkage (33).
6. The modular joint-based biped robotic lower limb structure of claim 1, wherein the hip joint mechanism (1) comprises: the hip joint connecting piece (11), the inner and outer rotating assemblies (12), the left and right rotating assemblies (13) and the front and rear rotating assemblies (14), wherein the hip joint connecting piece (11) connects the inner and outer rotating assemblies (12) on two adjacent legs together; the inner and outer rotating assemblies (12) are fixedly arranged on the hip joint connecting piece (11) and are used for driving the left and right rotating assemblies (13) to rotate inside and outside; the left and right rotating assemblies (13) are fixedly arranged at the lower ends of the inner and outer rotating assemblies (12) and are used for driving the front and rear rotating assemblies (14) to rotate left and right; the front-back rotating assembly (14) is fixedly arranged below the left-right rotating assembly (13) and is used for driving the thigh piece (2) to rotate front and back.
7. The modular joint-based biped robot lower limb structure according to claim 6, wherein the inner and outer rotating assemblies (12) further comprise a first hip joint connector (122), and a first hip joint driving piece (121) is vertically and fixedly arranged on the first hip joint connector (11) and is used for driving the first hip joint connector (122) to rotate in and out; one end of the first hip joint connecting piece (122) is fixedly connected with an output shaft of the first hip joint driving piece (121), and the other end of the first hip joint connecting piece (122) is fixedly connected with the upper ends of the left and right rotating assemblies (13).
8. The modular joint-based biped robot lower limb structure according to claim 7, wherein the left and right rotating assemblies (13) further comprise a hip joint second connector (132), and a hip joint second driving member (131) is fixedly arranged on the hip joint first connector (122) and is used for driving the hip joint second connector (132) to rotate left and right; one end of the second hip joint connecting piece (132) is fixedly connected with an output shaft of the second hip joint driving piece (131), and the other end of the second hip joint connecting piece (132) is fixedly connected with the front and back rotating assembly (14).
9. The modular joint-based biped robot lower limb structure according to claim 8, characterized in that a hip joint third driving member is fixedly arranged on the hip joint second connecting member (132) and used for driving the thigh member (2) to rotate back and forth.
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| CN112776915B (en) * | 2021-01-28 | 2022-06-07 | 南方科技大学 | Multi-posture biped robot |
| CN115195899B (en) * | 2021-04-09 | 2023-06-30 | 暗物智能科技(广州)有限公司 | Wheel foot switching type robot |
| CN115402442B (en) * | 2022-09-23 | 2023-06-23 | 哈尔滨工业大学（深圳） | Full motor driving rope driving mechanical leg based on suspension arm hinge type joint |
| CN116803832A (en) * | 2023-08-23 | 2023-09-26 | 深圳逐际动力科技有限公司 | Leg structure, bipedal robot, humanoid robot, robot |
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| JP2009113135A (en) * | 2007-11-05 | 2009-05-28 | Hitachi Ltd | Biped mobile mechanism |
| CN101229826B (en) * | 2008-02-28 | 2010-04-14 | 清华大学 | Lower limb mechanism of biped robot |
| CN101423075B (en) * | 2008-12-09 | 2011-04-06 | 华南理工大学 | Modular six freedom-degree initiative joint type bipod walking robot |
| CN104071250A (en) * | 2014-07-10 | 2014-10-01 | 武汉大学 | Modular ten-freedom-degree biped walking robot |
| CN107719506A (en) * | 2017-09-27 | 2018-02-23 | 深圳市行者机器人技术有限公司 | A kind of leg structure and the sufficient formula mobile platform using the structure |
| CN109466652B (en) * | 2018-10-26 | 2021-02-09 | 华中科技大学 | Multi-degree-of-freedom trunk mechanism suitable for biped robot |
| CN209870593U (en) * | 2019-05-29 | 2019-12-31 | 南方科技大学 | Humanoid biped robot mechanical structure |
| CN110466643B (en) * | 2019-08-01 | 2021-10-22 | 电子科技大学 | Penguin bionic robot and walking method |
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