CN113978569A - Robot two-degree-of-freedom ankle joint structure module - Google Patents
Robot two-degree-of-freedom ankle joint structure module Download PDFInfo
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- CN113978569A CN113978569A CN202111627479.8A CN202111627479A CN113978569A CN 113978569 A CN113978569 A CN 113978569A CN 202111627479 A CN202111627479 A CN 202111627479A CN 113978569 A CN113978569 A CN 113978569A
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- connecting shaft
- cross connecting
- robot
- bevel gears
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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 discloses a two-degree-of-freedom ankle joint structure module of a robot, which comprises a shank arm, a foot, a cross connecting shaft, a gear assembly and a driving device, wherein the foot is arranged below the shank arm through the cross connecting shaft, and the longitudinal shaft part of the cross connecting shaft is rotationally connected with the foot. The gear assembly comprises a first bevel gear arranged on the longitudinal axis part of the cross connecting shaft and two second bevel gears symmetrically arranged on two sides of the lower end of the shank arm, the two second bevel gears are in rotating fit with the shank arm, and the first bevel gear is meshed with the two second bevel gears. The two driving devices are symmetrically arranged on two sides of the shank arm, the lower end of each driving device is connected with the second bevel gear on the same side, and the driving devices drive the two second bevel gears to synchronously rotate. The servo motor controls the rotation mode of the cross connecting shaft through the transmission mechanism and the bevel gear assembly, so that the feet can rotate around the transverse shaft part or the longitudinal shaft part of the cross connecting shaft, the posture of the feet can be adjusted, the structure is simpler, the gravity center position is improved, and the gait balance control is more stable.
Description
Technical Field
The invention relates to the technical field of humanoid robots, in particular to a two-degree-of-freedom ankle joint structure module of a robot.
Background
With the rapid development of science and technology, people pay more and more attention to the research, development and application of humanoid robots. The humanoid robot has more joints, and each joint generally has a motor for driving control, but the performance requirements and the overall arrangement of each joint of the humanoid robot on the motors are different. Generally, in order to facilitate the control of the gait motion of the robot, the center of gravity of the robot is generally increased as much as possible.
At present, the main problems in the prior art are: 1. two degrees of freedom of the ankle joint of the humanoid robot are generally controlled to rotate by two driving motors independently, the performance requirement of the joint rotation on the torque of a single motor is high, the structure is complex, the assembly is inconvenient, and the manufacturing cost is high. 2. The driving motor is generally arranged at a position close to the ankle joint, so that the gravity center of the leg of the robot is lower, and the gait control of the robot is not facilitated. Thus, further improvements and enhancements are needed in the art.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide a robot two-degree-of-freedom ankle joint structure module, which solves the problems that the existing humanoid robot ankle joint structure is complex and has high requirement on motor torque, and the gravity center of the leg of the robot is low.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a robot two-degree-of-freedom ankle joint structure module comprises a shank arm, a foot, a cross connecting shaft, a gear assembly and a driving device, wherein the foot is arranged below the shank arm through the cross connecting shaft, and the longitudinal shaft part of the cross connecting shaft is rotationally connected with the foot.
The gear assembly comprises a first bevel gear arranged on the longitudinal axis part of the cross connecting shaft and two second bevel gears symmetrically arranged on two sides of the lower end of the shank arm, the two second bevel gears are in rotating fit with the shank arm, and the first bevel gear is meshed with the two second bevel gears.
The two driving devices are symmetrically arranged on two sides of the shank arm, the lower end of each driving device is connected with the second bevel gear on the same side, and the driving devices drive the two second bevel gears to synchronously rotate.
As a preferable scheme of the invention, the shank arm is of a pipe body structure with openings at the upper end and the lower end, and two ankle joint shaft holes are symmetrically formed at two sides of the lower end of the shank arm.
As a preferable scheme of the invention, the bevel gear is sleeved on the longitudinal shaft part of the cross connecting shaft and is in rotating fit with the longitudinal shaft part of the cross connecting shaft, and the bevel gear I is fixedly connected with the foot part.
One side of each of the two bevel gears which deviates from the two bevel gears is provided with a connecting shaft sleeve respectively, the two bevel gears are coaxially and fixedly connected with the connecting shaft sleeves, and each connecting shaft sleeve is in running fit with the side wall of the shank arm through a bearing.
As a preferable scheme of the present invention, the second bevel gear has a second gear shaft hole, and the two second gear shaft holes are arranged oppositely.
Two ends of the cross shaft part of the cross connecting shaft penetrate through the second gear shaft holes and are in running fit with the two second bevel gears.
As a preferable scheme of the invention, the bevel gear I is provided with a gear shaft hole I, one end of the longitudinal shaft part of the cross connecting shaft penetrates through the gear shaft hole and is in rotating fit with one end of the bevel gear I, and the bevel gear I is detachably and fixedly connected with the foot part through the flange shaft sleeve.
As a preferable proposal of the invention, the other end of the longitudinal shaft part of the cross connecting shaft penetrates into the foot and is in rotating fit with the foot.
As a preferable scheme of the invention, the driving device comprises servo motors and belt transmission mechanisms, the servo motors are fixedly arranged on the inner sides of the upper parts of the shank arms, the output ends of the two servo motors are deviated from each other, and are respectively connected with the connecting shaft sleeve through one belt transmission mechanism.
As a preferable scheme of the present invention, the belt transmission mechanism includes a first belt wheel and a second belt wheel, an axle of the first belt wheel is coaxially and fixedly connected to an output end of the servo motor, an axle of the second belt wheel is coaxially and fixedly connected to an outer end of the connecting shaft sleeve, and the first belt wheel is connected to the second belt wheel through a synchronous belt.
As a preferable scheme of the invention, two knee joint shaft holes are symmetrically formed on two sides of the upper end of the shank arm.
The second purpose of the present invention is to provide a working method of the robot two-degree-of-freedom ankle joint structure module, which specifically comprises the following steps:
step one, the thigh arm drives the shank arm to move upwards, and the two servo motors receive an instruction sent by a robot control system to start and determine the rotating direction of the output end of the servo motors when the feet leave the ground.
And step two, the servo motor drives the two bevel gears II to synchronously rotate, the rotating directions of the two bevel gears II are opposite, the two bevel gears II drive the bevel gears I to rotate around the axes of the bevel gears I and drive the cross connecting shaft to partially rotate around the longitudinal axis of the cross connecting shaft, the two bevel gears II stop rotating after the feet partially rotate around the longitudinal axis of the cross connecting shaft to a preset angle, and the feet keep the left and right inclination angles unchanged.
And step three, the servo motor drives the two bevel gears II to synchronously rotate, the rotating directions of the two bevel gears II are the same, the two bevel gears II are meshed with the bevel gear I, the bevel gear II, the bevel gear I, the cross connecting shaft and the foot part keep relatively static states, meanwhile, after the cross shaft part of the cross connecting shaft rotates to a preset angle, the two bevel gears II stop rotating, and the foot part keeps a front-back inclination angle unchanged.
And step four, stopping the rotation of the servo motor, keeping the foot at a preset posture, driving the shank arm to move downwards by the thigh arm, and contacting the lower surface of the foot with the ground. Namely, the sequence of the angle adjustment of the foot around the transverse shaft part or the longitudinal shaft part of the cross connecting shaft can be changed, and the aim of adjusting the posture of the foot is the same.
By adopting the technical scheme, the invention has the beneficial technical effects that:
1. the invention provides a two-degree-of-freedom ankle joint structure module of a robot, which integrates a driving motor module by adopting a parallel driving structure of two servo motors, and realizes the two-degree-of-freedom rotation of a foot around a cross connecting shaft by controlling a bevel gear component of an ankle joint to be matched with a cross shaft through the two servo motors, thereby achieving the effect of simultaneously coupling and driving stress of the two driving motors and reducing the performance requirement on the torque of a single motor. When the two servo motors rotate in the same direction, the feet of the robot can be driven to rotate around the transverse shaft part of the cross connecting shaft in the front-back direction, and when the two motors rotate in the reverse direction, the feet of the robot are driven to rotate around the longitudinal shaft part of the cross connecting shaft in the left-right direction, so that the structure is simpler, the manufacturing cost is lower, and the load capacity, the energy efficiency and the motion flexibility of the leg joints of the robot are improved.
2. According to the humanoid robot ankle joint structure provided by the invention, the servo motor and the transmission mechanism are arranged at the upper part of the robot shank arm close to the knee joint, and the servo motor can realize the rotation of the humanoid robot ankle joint in a synchronous belt transmission mode, so that the gravity center position of the leg part of the robot is improved, and the balance and stability of the gait control of the robot are facilitated.
Drawings
Fig. 1 is a schematic perspective view of a two-degree-of-freedom ankle joint structure module of a robot according to the present invention.
FIG. 2 is a left view structure diagram of a two-degree-of-freedom ankle joint structure module of a robot.
Fig. 3 is a structural sectional view of the invention in the direction of view B-B in fig. 2.
Fig. 4 is a structural cross-sectional view in the direction of view C-C of the present invention in fig. 2.
Fig. 5 is a rear view structure diagram of a two-degree-of-freedom ankle joint structure module of a robot.
Fig. 6 is a structural sectional view in the direction of view a-a of the present invention in fig. 5.
Fig. 7 is a schematic view of a portion of the invention of fig. 1 showing the cross-connecting shaft and gear assembly.
Fig. 8 is a schematic structural view of another portion of the invention of fig. 1, showing the calf arm.
The reference numbers in the figures illustrate: 1. a shank arm; 11. an ankle joint shaft hole 11; 12. a knee joint shaft hole; 13. a strip-shaped side plate; 14. a connecting plate; 2. a foot section; 21. a mounting seat; 3. a cross connecting shaft; 4. a drive device; 41. a servo motor; 42. a first pulley; 43. a second pulley; 44. a synchronous belt; 51. a first bevel gear; 52. a second bevel gear; 53. connecting the shaft sleeve; 54. a flange shaft sleeve; 55. and a bearing.
Detailed Description
The invention is described in detail below with reference to the accompanying drawings:
The shank arm 1 is a square tube structure with openings at the upper end and the lower end, and comprises two strip-shaped side plates 13 which are oppositely arranged at the left side and the right side, the middle parts of the front side and the rear side of the two strip-shaped side plates are respectively fixed and connected into a whole through a connecting plate 14 to form the square tube-shaped shank arm 1, and the shank arm 1 adopts a hollow structure to be beneficial to reducing the weight of the shank arm and installing parts at the inner side of the shank arm.
Two knee joint shaft holes 12 are symmetrically formed in the left side and the right side of the upper end of the shank arm 1, the inner diameters of the two knee joint shaft holes 12 are equal, the two knee joint shaft holes are coaxial and are opposite in positive direction, the upper end of the shank arm 1 is movably connected with the lower end of the thigh arm through a knee joint component, and the thigh arm drives the shank arm 1 and the foot to ascend or descend in the walking process of the robot.
Two ankle joint shaft holes 11 are symmetrically formed in two sides of the lower end of the lower leg arm 1, and the two ankle joint shaft holes 11 are equal in inner diameter and are coaxial and opposite in forward direction.
Two installation bases 21 are arranged above the rear portion of the foot portion 2, the two installation bases 21 are arranged in tandem at intervals, the lower end of each installation base is fixedly welded with the upper surface of the foot portion 2 into a whole, the cross connecting shaft 3 is located between the installation bases 21, and the longitudinal axis portion of the cross connecting shaft 3 corresponds to the two installation bases 21. Meanwhile, the cross connecting shaft 3 is positioned between the two ankle joint shaft holes 11, and the cross shaft part of the cross connecting shaft 3 corresponds to the two ankle joint shaft holes 11.
The gear assembly is positioned in two ankle joint shaft holes 11 at the lower end of the lower leg arm 1 and comprises a first bevel gear 51 arranged on the longitudinal shaft part of the cross connecting shaft 3 and two second bevel gears 52 symmetrically arranged on the left side and the right side of the lower end of the lower leg arm 1, the two second bevel gears 52 are in rotating fit with the lower leg arm 1, and the first bevel gear 51 is meshed with the two second bevel gears 52.
The two driving devices 4 are symmetrically arranged on two sides of the shank arm 1, the lower end of each driving device 4 is connected with the second bevel gear 52 on the same side, and the driving devices 4 drive the two second bevel gears 52 to synchronously rotate.
As a preferable scheme of the invention, the bevel gear I51 is sleeved at the rear part of the longitudinal shaft part of the cross connecting shaft 3 and is rotationally connected with the longitudinal shaft part of the cross connecting shaft 3, the rear end of the bevel gear I51 is fixedly connected with the foot part 2, and the front end of the bevel gear I is a toothed surface meshed with the bevel gear II 52. Specifically, the bevel gear 51 is provided with a first gear shaft hole, the rear end of the longitudinal shaft part of the cross connecting shaft 3 penetrates through the gear shaft hole and is in running fit with the bevel gear 51, the front end of the longitudinal shaft part of the cross connecting shaft 3 penetrates through the mounting seat 21 on the front side and is in running fit with the mounting seat 21 on the front side, and the mounting seat 21 on the front side supports the front end of the longitudinal shaft part of the cross connecting shaft 3.
The rear end of the first bevel gear 51 is fixed with a flange shaft sleeve 54 coaxially arranged with the first bevel gear, the flange shaft sleeve 54 is also sleeved on the longitudinal shaft part of the cross connecting shaft 3, and the first bevel gear 51 is detachably and fixedly connected with the mounting seat 21 which is positioned on the rear side above the foot part 2 through the flange shaft sleeve 54. In a working state, the longitudinal axis part of the cross connecting shaft 3 and the bevel gear I51 synchronously rotate, and the foot part 2 is driven to rotate around the longitudinal axis part of the cross connecting shaft 3, so that the left and right height adjustment of the lower surface of the foot part 2 is realized.
As a preferable scheme of the invention, the gear surfaces of the two bevel gears 52 are positioned at opposite sides, one sides of the two bevel gears 52, which are far away from each other, are respectively provided with a connecting shaft sleeve 53, the outer end surfaces of the two bevel gears 52 are coaxially and fixedly welded with one end of the connecting shaft sleeve 53 into a whole, the other end of the connecting shaft sleeve 53 passes through the ankle joint shaft hole 11 at the same side, and each connecting shaft sleeve 53 is in rotating fit with the side wall of the lower leg arm 1 through a bearing 55.
Specifically, the second bevel gear 52 has a second gear shaft hole, and the two second gear shaft holes are also coaxially and oppositely arranged. The two ends of the cross shaft part of the cross connecting shaft 3 respectively penetrate through the gear shaft holes II, the end parts are positioned on the inner side of the connecting shaft sleeve 53, the cross shaft part of the cross connecting shaft 3 is in free rotating fit with the two bevel gears II 52, and the two bevel gears II 52 play a supporting role for the cross shaft part of the cross connecting shaft 3, so that the cross connecting shaft is always kept between the two mounting seats 21. Since the two second bevel gears 52 are both meshed with the first bevel gear 51, the rotation of the two second bevel gears 52 and the connecting shaft sleeve 53 are synchronized.
As a preferred embodiment of the present invention, the driving device 4 comprises servo motors 41 and belt transmission mechanisms, the servo motors 41 are fixedly arranged at the inner sides of the upper parts of the lower leg arms 1, the output ends of the two servo motors 41 are deviated from each other, and are respectively connected with the connecting shaft sleeves 53 through one belt transmission mechanism. The belt transmission mechanism comprises a first belt wheel 42 and a second belt wheel 43, wherein the wheel shaft of the first belt wheel 42 is coaxially and fixedly connected with the output end of the servo motor 41, the wheel shaft of the second belt wheel 43 is coaxially and fixedly connected with the outer end of the connecting shaft sleeve 53, and the first belt wheel 42 is connected with the second belt wheel 43 through a synchronous belt 44.
The servo motor 41 is powered by a power supply of the robot, a signal end of the servo motor 41 is communicated with a control system of the robot, the control system sends instructions to the servo motor 41 to start and stop, and the rotation direction and the rotation speed of the output end of the servo motor 41 are controlled, and the robot adopts the prior art for the power supply and the control system of the servo motor 41.
step one, the thigh arm drives the shank arm to move upwards, and under the state that the foot leaves the ground, the two servo motors 41 receive an instruction sent by the robot control system, start to be started and determine the rotating direction of the output end of the servo motor 41.
And step two, the servo motor 41 respectively drives the two second bevel gears 52 to synchronously rotate, the rotating directions are opposite, the two second bevel gears 52 drive the first bevel gears 51 to rotate around the axes of the first bevel gears and drive the cross connecting shaft 3 to partially rotate around the longitudinal axis of the cross connecting shaft, after the feet 2 rotate around the longitudinal axis of the cross connecting shaft 3 to a preset angle, the two second bevel gears 52 stop rotating, and the feet 2 keep the left and right inclination angles unchanged.
And step three, the servo motor 41 drives the two second bevel gears 52 to synchronously rotate, the rotating directions are the same, the two second bevel gears 52 are meshed with the first bevel gear 51, the second bevel gears 52, the first bevel gears 51, the cross connecting shaft 3 and the foot part 2 keep a relative static state, the two second bevel gears 52 stop rotating after rotating around the horizontal shaft part of the cross connecting shaft 3 to a preset angle, and the foot part 2 keeps a front and back inclination angle unchanged.
Step four, the servo motor 41 stops rotating, the foot 2 keeps a preset posture, the thigh arm drives the shank arm to move downwards, and the lower surface of the foot is contacted with the ground.
Parts which are not described in the invention can be realized by adopting or referring to the prior art.
Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (9)
1. A robot two-degree-of-freedom ankle joint structure module is characterized by comprising a shank arm, a foot, a cross connecting shaft, a gear assembly and a driving device, wherein the foot is arranged below the shank arm through the cross connecting shaft, and the longitudinal shaft part of the cross connecting shaft is rotationally connected with the foot;
the gear assembly comprises a first bevel gear arranged on the longitudinal axis part of the cross connecting shaft and two second bevel gears symmetrically arranged on two sides of the lower end of the shank arm, the two second bevel gears are in rotating fit with the shank arm, and the first bevel gears are meshed with the two second bevel gears;
the two driving devices are symmetrically arranged on two sides of the shank arm, the lower end of each driving device is connected with the second bevel gear on the same side, and the driving devices drive the two second bevel gears to synchronously rotate.
2. The two-degree-of-freedom ankle joint structural module of the robot as claimed in claim 1, wherein the shank arm is a tube structure with openings at upper and lower ends, and two ankle joint shaft holes are symmetrically formed at both sides of the lower end of the shank arm.
3. The two-degree-of-freedom ankle joint structural module of the robot as claimed in claim 1, wherein a bevel gear is sleeved on a longitudinal axis part of the cross connecting shaft and is in rotational fit with the longitudinal axis part of the cross connecting shaft, and the bevel gear I is fixedly connected with the foot;
one side of each of the two bevel gears which deviates from the two bevel gears is provided with a connecting shaft sleeve respectively, the two bevel gears are coaxially and fixedly connected with the connecting shaft sleeves, and each connecting shaft sleeve is in running fit with the side wall of the shank arm through a bearing.
4. The two-degree-of-freedom robot ankle joint structural module according to claim 1 or 3, wherein the second bevel gear has a second gear shaft hole, and the two second gear shaft holes are arranged oppositely;
two ends of the cross shaft part of the cross connecting shaft penetrate through the second gear shaft holes and are in running fit with the two second bevel gears.
5. The two-degree-of-freedom ankle joint structural module of a robot as claimed in claim 1 or 3, wherein the bevel gear i has a first gear shaft hole, one end of the longitudinal axis part of the cross connecting shaft penetrates through the first gear shaft hole and is in rotational fit with one end of the bevel gear i, and the first bevel gear i is detachably and fixedly connected with the foot part through a flange bushing.
6. The two-degree-of-freedom robot ankle joint structural module according to claim 5, wherein the other end of the longitudinal axis portion of the cross connecting shaft penetrates the foot and is rotatably fitted to the foot.
7. The two-degree-of-freedom ankle joint structural module of the robot as claimed in claim 3, wherein the driving device comprises a servo motor and a belt transmission mechanism, the servo motor is fixedly arranged on the inner side of the upper part of the shank arm, the output ends of the two servo motors are deviated from each other and are respectively connected with the connecting shaft sleeve through one belt transmission mechanism.
8. The two-degree-of-freedom ankle joint structural module of the robot as claimed in claim 7, wherein the belt transmission mechanism comprises a first belt wheel and a second belt wheel, the axle of the first belt wheel is coaxially and fixedly connected with the output end of the servo motor, the axle of the second belt wheel is coaxially and fixedly connected with the outer end of the connecting shaft sleeve, and the first belt wheel is connected with the second belt wheel through a synchronous belt.
9. The two-degree-of-freedom ankle joint structural module of the robot as claimed in claim 1, wherein two knee joint shaft holes are symmetrically formed at both sides of the upper end of the shank arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111627479.8A CN113978569A (en) | 2021-12-29 | 2021-12-29 | Robot two-degree-of-freedom ankle joint structure module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111627479.8A CN113978569A (en) | 2021-12-29 | 2021-12-29 | Robot two-degree-of-freedom ankle joint structure module |
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| CN113978569A true CN113978569A (en) | 2022-01-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111627479.8A Pending CN113978569A (en) | 2021-12-29 | 2021-12-29 | Robot two-degree-of-freedom ankle joint structure module |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114750853A (en) * | 2022-05-17 | 2022-07-15 | 中国北方车辆研究所 | Passive type double-freedom-degree foot device of four-foot robot |
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| CN112603611A (en) * | 2020-12-10 | 2021-04-06 | 华中科技大学 | Bionic mechanical leg |
| CN112720405A (en) * | 2020-12-04 | 2021-04-30 | 北京理工大学 | Humanoid robot and multi-rotation-freedom-degree ankle joint thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR100788787B1 (en) * | 2006-07-25 | 2007-12-27 | 재단법인 포항지능로봇연구소 | Multiple axis driving apparatus and robot using the same |
| CN102128213A (en) * | 2011-02-24 | 2011-07-20 | 哈尔滨工业大学 | Belt transmission cross full shaft type two-degree-of-freedom universal joint mechanism |
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| CN114750853A (en) * | 2022-05-17 | 2022-07-15 | 中国北方车辆研究所 | Passive type double-freedom-degree foot device of four-foot robot |
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