CN114771688A - Cable-free three-degree-of-freedom joint module and bionic leg and foot structure - Google Patents
Cable-free three-degree-of-freedom joint module and bionic leg and foot structure Download PDFInfo
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- CN114771688A CN114771688A CN202210505764.0A CN202210505764A CN114771688A CN 114771688 A CN114771688 A CN 114771688A CN 202210505764 A CN202210505764 A CN 202210505764A CN 114771688 A CN114771688 A CN 114771688A
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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 cableless three-degree-of-freedom joint module and a bionic leg and foot structure. The cableless three-degree-of-freedom joint realizes the built-in structural form of a knee joint cable, the power and signal cables of a knee joint module realize protection and wiring through a forward swing joint hollow shaft connected with the knee joint module in series, the problems of interference and reliability caused by the fact that the knee joint cable is externally arranged when the bionic robot moves are solved, and after the bionic robot is integrated, the system is free of the externally arranged cable, and the reliability and safety of the system can be greatly improved. The modularized single-leg module of the bionic robot is modularized, high in reliability and convenient to install and detach. The leg-foot and cable-free bionic joint of the bionic robot has high modularization degree and good reliability and stability, and can be widely applied to bionic robots with double feet, four feet, six feet, wheel feet and the like.
Description
Technical Field
The invention belongs to the field of bionic robots, and particularly relates to a cable-free three-degree-of-freedom joint module and a bionic leg-foot structure, which are used for bionic robots such as biped robots and quadruped robots.
Background
Leg-legged robot research is increasingly pursuing higher speed high dynamic mobility at higher load capacities, however, more stringent challenges are posed to robot action and drive system design, and under the real size and weight constraints, designing a joint execution component meeting high dynamic performance requirements becomes the pursuit of numerous robot designers, even becomes a hard condition for limiting and constraining the robot capacity boundary. The flexibility and the reliability of the motion posture of the robot are particularly outstanding and important. The flexibility and reliability of the robot are directly affected by the freedom degree configuration and the wiring and routing mode of the joints of the robot, so that the problems of freedom degree arrangement of the multi-freedom-degree joints of the bionic robot, cable harness routing and high-dynamic bionic leg and foot structure design need to be solved urgently.
Disclosure of Invention
The invention provides a cableless three-degree-of-freedom joint module and a bionic leg-foot structure, and aims to solve the technical problems that: (1) the bionic robot has the advantages that the problems of external motor cables of the three-degree-of-freedom joint knee joint of the robot and reliability reduction caused by long-time reciprocating motion fatigue such as cable breakage, poor contact and the like are solved, the system modularization is guaranteed, and meanwhile, the motion range of the three-degree-of-freedom joint of the robot and the system reliability are improved. (2) Realizing the perception capability of the sole of the foot.
In order to solve the technical problems, the invention provides a cable-free three-degree-of-freedom joint module which is characterized by comprising a forward swing joint, a knee joint and a lateral expansion joint; the tail part of a knee joint is fixedly connected with the output end of a front swing joint, a front swing joint motor of the front swing joint is fixedly connected with the output end of a side-unfolding motor through one side of a front swing motor supporting seat, the other side of the front swing joint is connected with a robot body through a rotating pin shaft, the knee joint and the front swing joint are arranged in the same direction, the rotation axis of the side-unfolding joint is perpendicular to the axis of the front swing joint and the axis of the knee joint, the front swing joint is of a hollow structure, and a power line and a control line of a knee joint module are led out from the tail part of the front swing motor through a hollow shaft of the front swing motor.
The tail part of the knee joint is connected with the output end of the front swing motor through a knee joint mounting flange, the knee joint mounting flange is located on a crossed roller bearing, the outer ring of the crossed roller bearing is installed with the knee joint mounting flange in a matched mode, and the inner ring of the crossed roller bearing is installed with the front swing motor supporting support in a matched mode.
A front swing joint output molded surface 1043 is designed on the knee joint mounting flange 104 and is in molded surface fit with a front swing joint output shaft, and a crossed roller bearing inner ring is matched with a front swing joint supporting seat boss surface 10213.
The knee joint cable passes through the wiring groove 1044 on the knee joint mounting flange 104 and then passes through the forward swing joint hollow shaft 1022 to be led out from the tail of the forward swing joint, and a cable supporting bearing 1023 is designed at the forward swing joint hollow shaft.
The single joint is composed of an axial flux motor and an integrated speed reducer, and double stator windings of the axial flux motor are fixed on a structural member of the motor.
The cableless three-degree-of-freedom joint module according to claim 5, wherein the speed reducer portion is embedded in an inner diameter space of the axial flux motor, and a cross roller bearing is used as an output end bearing of the joint motor.
And a modularized mounting structure is adopted, and the whole mounting interface is arranged on the mounting end surface of the side-unfolding motor and the supporting end surface of the front swing motor.
A leg and foot structure of a bionic robot is characterized by comprising a leg and a leg of the foot and a cableless three-degree-of-freedom joint module, wherein the leg and a knee joint motor shell are fixedly installed, the leg and the leg of the foot 3 are connected with the leg and the leg of the foot 2 through a knee joint pin shaft 202 to form a revolute pair, one end of a crank 11 is fixedly connected with a knee joint output shaft, and the other end of the crank is connected with the leg and the leg of the foot 3 through a connecting rod 12 to form a parallel four-connecting-rod mechanism.
The lower end of the leg of the foot is fixedly connected with a flange connecting disc, a force sensor is arranged in a hole cavity of the flange connecting disc, and a bolt penetrates through the force sensor to connect the flange connecting disc with a foot bottom connecting seat; the hexagonal boss 403 at the lower end of the flange connection disc 4 is in sliding fit with the hexagonal concave cavity 601 on the sole connection seat 6, so that the robot can float along the leg direction when walking.
The upper part of the flange connecting disc 4 is provided with a bolt hole 401 for connecting with the crus 3; the upper end is provided with an O-shaped ring groove and a hole cavity for installing a force sensor, the O-shaped ring 8 is arranged in the O-shaped ring groove 402, the force sensor 5 is arranged in the hole cavity 404, and a hole for wiring is arranged in the hole cavity.
Has the beneficial effects that:
(1) when guaranteeing the modularization, solved traditional bionic robot multi freedom joint especially knee joint cable external, reliability reduction problems such as cable fracture, contact failure that long-time reciprocating motion fatigue leads to.
(2) High reliability, good modularization degree, and convenient disassembly and maintenance.
(3) The bionic leg and foot structure which can satisfy field walking and has the foot and ground sensing capability is designed, the structure ensures the larger motion space and maneuvering capability of a leg and foot system, and can be widely applied to bionic robot sequences such as biped, quadruped, hexapod, wheel foot and the like.
Drawings
Fig. 1 is a cross-sectional view of a cableless three-degree-of-freedom joint according to the present invention.
Fig. 2 is a schematic diagram of a three-degree-of-freedom motion rotating shaft according to the present invention.
Fig. 3 is a perspective structural view of a knee joint mounting flange.
Fig. 4 is a three-dimensional structure view of the lateral expansion joint supporting seat.
Fig. 5(a) and (b) are the perspective and internal cross-sectional views of the leg-foot system of the present invention.
Fig. 6(a) - (e) are perspective views of the structure of the foot sensing device of the present invention and its components, respectively.
Fig. 7 is a perspective view of the structure of the bionic leg-foot system of the invention.
Fig. 8 is an integrated three-dimensional structure diagram of the bionic leg and foot complete machine.
FIG. 9 is a perspective view of a bionic leg and foot with a cableless three-degree-of-freedom joint according to the present invention.
The symbols in the figure illustrate:
1-three-degree-of-freedom joint, 101-lateral extension joint, 1011-lateral extension joint mounting flange, 102-forward swing joint, 1021-forward swing joint supporting seat, 10211-supporting seat fixing square hole, 10212 supporting seat fixing shaft hole, 10213-forward swing joint supporting seat convex table top, 1022-forward swing joint hollow shaft, 1023-cable supporting bearing, 1024-forward swing joint reducer, 1025-forward swing joint motor, 103-knee joint, 1031-knee joint output shaft, 1032-knee joint reducer, 1033 knee joint motor, 104-knee joint mounting flange, 1041-knee joint fixing hole, 1042-forward swing motor fixing hole, 1043-forward swing joint output profile, 1044-knee joint wiring groove, 105-knee joint mounting flange supporting bearing, 106-forward swing joint supporting seat mounting bearing, 2-thigh, 201-crank bearing seat, 202-knee joint pin shaft, 203-knee joint lock nut, 204-knee joint thrust bearing, 205-knee joint copper sleeve, 206-knee joint steel sleeve, 3-calf, 301-connecting rod pin shaft, 302-connecting rod elastic retainer ring, 303-connecting rod copper sleeve, 304-connecting rod pin shaft steel sleeve, 4-flange connecting disc, 401-fastening screw hole, 402-O ring mounting groove, 403-hexagonal boss, 404-cavity for mounting pressure sensor, 5-force sensor, 501-through hole, 6-sole connecting seat, 601-hexagonal cavity, 602-bolt through hole, 603-fastening screw hole, 603-hexagonal cavity, 7-bolt, 8-O ring, 9-protective cover, 10-foot end, 1001-fastening screw hole.
Detailed Description
In order to make the objects, contents and advantages of the present invention more apparent, the following detailed description of the embodiments of the present invention is provided.
The invention provides a cableless three-degree-of-freedom joint module which comprises a lateral expansion joint 101, a forward swing joint 102, a knee joint 103 and a knee joint mounting flange 104;
the knee joint and the front swing joint are arranged in the same direction, the rotation axis of the lateral expansion joint 101 is perpendicular to the axis of the front swing knee joint, the front swing joint is of a hollow structure, and a power line and a control line of the knee joint module are led out from the tail of the front swing motor through a hollow shaft of the front swing motor, so that the cable-free design of the knee joint module is realized.
The tail end of the knee joint is fixedly connected with the output end of the front swing joint, the front swing joint motor is fixedly connected with the output end of the side-unfolding motor through one side of the front swing motor supporting seat, and the other side of the front swing joint motor is connected with the robot body through the rotating pin shaft, so that the three-degree-of-freedom joint module forms a simply supported beam structure.
Preferably, the lateral expansion joint 101, the forward swing joint 102, the knee joint 103 and the knee joint mounting flange 104 form a three-degree-of-freedom joint of a leg-foot system, the knee joint 103 and the forward swing joint 102 are arranged in the same direction, the tail of the knee joint 103 is fixedly connected with a fixing hole 1041 of the knee joint mounting flange 104, the knee joint mounting flange 104 is fixedly connected with an output shaft of the forward swing joint 102 through a fixing hole 1042, in order to prevent a fixing screw or a pin shaft from being subjected to shear stress, a forward swing joint output profile 1043 is designed on the knee joint mounting flange 104 to be matched with a forward swing joint output shaft forming profile, meanwhile, the knee joint mounting flange is matched with an outer ring of the crossed roller bearing 105, and an inner ring of the crossed roller bearing is matched with a convex table surface 10213 of a forward swing joint support seat, so that the output rigidity and the rotation precision of the knee joint cantilever structure are ensured. The knee joint cable passes through the forward swing joint hollow shaft 1022 through the wiring groove 1044 and is led out from the tail of the forward swing joint, and in order to reduce the abrasion of the cable fixing position caused by the integral rotation of the knee joint cable, the cable supporting bearing 1023 is designed at the hollow shaft, so that the free rotation of the cable can be ensured. The rotating shaft of the lateral expansion joint 101 is orthogonally arranged with the front swing joint 102, the output shaft of the lateral expansion joint 101 is fixedly connected with a supporting seat fixing square hole 10211 of a front swing joint supporting seat, so that a three-degree-of-freedom joint is formed, and a design scheme that a knee joint cable is internally provided and a flying-line-free cable is formed by leading out wires from the tail part of the front swing joint.
The single joint is formed by an axial flux motor and an integrated speed reducer; the double-stator winding of the axial flux motor is fixed on a structural member of the motor, and meanwhile, a mounting and fixing path and a heat conduction and heat dissipation path are provided for the motor. In order to shorten the axial size of the joint module, the structure of the speed reducer is embedded in the inner diameter space of the axial flux motor, and the bearing at the output end of the joint motor adopts a crossed roller bearing to realize the axial and radial loads of a cantilever structure.
A leg and foot structure of a bionic robot comprises a three-degree-of-freedom joint, a leg 2, a leg 3, a flange connection disc 4, a force sensor 5, a sole connection seat 6, a bolt 7, an O-shaped ring 8, a protection cover 9 and a foot end 10. The knee joint copper bush is arranged in a gap formed by the knee joint pin shaft 202 and the foot thigh 3, the self-lubricating performance of the copper bush can ensure that the foot shank normally rotates, the knee joint steel bush 206 is arranged in the gap formed by the knee joint pin shaft 202 and the foot thigh 2, the locking nut 203 is used for fixing the knee joint pin shaft 202, the needle roller bearings 204 are symmetrically arranged between the foot thigh 2 and the foot thigh 3, the axial rigidity and the rotation precision of the foot shank are ensured, and meanwhile the problems of friction, noise and the like between the foot thigh 2 and the foot shank 3 are avoided. One end of a crank 11 is fixedly connected with a knee joint output shaft, the other end of the crank forms a revolute pair with a connecting rod 12, so that a parallel four-bar mechanism is formed, the connecting rod 12 and the foot and lower leg 3 form a revolute pair through a connecting rod pin shaft 301, a connecting rod copper sleeve 303 is installed in a gap between the connecting rod pin shaft 301 and the connecting rod 12 to ensure self-lubricating rotation between the connecting rod and the pin shaft, a connecting rod pin shaft steel sleeve 304 is installed in a gap between a connecting rod pin shaft 310 and the foot and lower leg to enhance the wear resistance of a contact surface, and the axial movement of the connecting rod pin shaft 301 is limited by elastic check rings 302 symmetrically arranged at two ends.
Further, the flange connection plate 4 is provided with a bolt hole 401 for connecting with the lower leg 3. The O-ring 8 is received in the groove 402 and provides a corresponding frictional force to assist in assembly. The force sensor 5 is housed in a bore 404, in which a hole for wiring is made. The hexagonal boss 403 at the lower end of the flange connection plate 4 is in sliding fit with the hexagonal concave cavity 601 on the sole connection seat 6, so that the four-footed robot can float along the leg direction when walking, and the foot can be prevented from rotating. The middle of the force sensor 5 is a through hole 501, and a bolt can be fastened through the through hole. The sole connecting seat 6, the flange connecting plate 4 and the force sensor 5 are connected and fastened together through a bolt 7. Hexagonal cavity 601 and flange connection dish 4 hexagon boss 403 sliding fit on sole connecting seat 6, it has certain clearance of floating between the two, when rubber sole 10 contacted ground transmits power to sole connecting seat 6, sole connecting seat 6 upwards floats directly transmits power to force transducer 5, so not only can detect the state that lands of foot, but also can read the size of foot atress, for control four-footed robot motion gesture provides help. The sole connecting seat, the flange connecting plate and the force sensor are fixed together through the bolts.
Further, the bolts 7 will fix the sole connecting seat 6, the flange connection plate 4 and the force sensor 5 together. The O-shaped ring 8 is arranged in the groove 402, the protective cover 9 is symmetrically designed and fixed at the ankle joint of the lower leg 3 through bolts to complete the smooth transition from the lower leg to the foot end, so that the influence on the robot motion caused by stumbling caused by steps, branches and the like in the field excitation process is avoided. The foot end 10 is made of a flexible material. The concave structure is attached to the convex structure of the sole connecting seat 6 and fixed on the sole connecting seat 6 through the fastening screw hole 1001.
Furthermore, the bionic leg-foot structure formed above can adopt a modular assembly form, the whole leg-foot is fixedly connected with the robot body through a fixing hole of a lateral expansion joint flange 1011, and the other side of the bionic leg-foot structure forms a simple supporting beam structure of the leg-foot with a front swing joint supporting seat mounting bearing 106 fixed on the robot body, so that the mounting and fixing of the leg-foot system can be realized.
The side exhibition, the preceding pendulum, the power line and the signal line of knee joint motor need be drawn forth and carry out motor control, because knee joint output pivoted in, itself will rotate along with preceding pendulum joint output shaft, for avoiding the knee joint cable to rotate along with the knee joint and lead to tired scheduling problem, the signal line and the power line of knee joint motor are drawn forth by the knee joint afterbody, knee joint motor mounting flange and preceding pendulum joint design are hollow structure, the cable is drawn forth by preceding pendulum joint motor afterbody via the quill shaft, position design appears in preceding pendulum motor afterbody and is supported bearing structure by the cable, thereby avoid the cable to rotate and produce the friction with the casing and lead to the cable damaged inefficacy.
The bionic leg and foot structure realizes three-degree-of-freedom motion, the crank, the connecting rod, the leg of the foot and the thigh of the foot form a parallel four-bar mechanism, and the knee joint motion is converted into flexion and extension motion of the leg of the foot through the four-bar mechanism.
The bionic leg-foot middle flange connecting disc is fixed on the leg of the foot through a screw, and the upper end of the bionic leg-foot middle flange connecting disc is provided with a cavity for installing an O-shaped ring groove and a cavity for installing a force sensor. The middle is provided with a through hole for fastening a bolt. The hexagonal boss structure at the lower end is in sliding fit with the hexagonal concave cavity structure on the foot bottom connecting seat, so that the four-legged robot can float along the leg direction when walking, and the foot can be prevented from rotating.
The rubber soles are made of rubber materials and have a buffering effect on the soles.
The cableless three-degree-of-freedom joint realizes the structural form of the knee joint cable built-in, the power and signal cables of the knee joint module realize protection and wiring through the forward swing joint hollow shaft connected with the knee joint module in series, the problems of interference and reliability caused by the external arrangement of the knee joint cable when the bionic robot moves are solved, and the reliability and the safety of a system can be greatly improved because the external cable is not arranged after the bionic robot is integrated. The bionic leg-foot structure integrates a cableless joint module and a foot-ground sensing unit, and a modularized and high-reliability bionic robot modularized single-leg module convenient to mount and dismount is achieved. The leg and foot and cableless bionic joint of the bionic robot has high modularization degree and better reliability and stability, and solves the problem of cable wiring and routing of the current multi-degree-of-freedom bionic robot. Can be widely applied to bionic robots of double feet, four feet, six feet, wheel feet and the like.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A cable-free three-degree-of-freedom joint module is characterized by comprising a forward swing joint, a knee joint and a lateral expansion joint; the tail part of a knee joint is fixedly connected with the output end of a front swing joint, a front swing joint motor of the front swing joint is fixedly connected with the output end of a side-unfolding motor through one side of a front swing motor supporting seat, the other side of the front swing joint is connected with a robot body through a rotating pin shaft, the knee joint and the front swing joint are arranged in the same direction, the rotation axis of the side-unfolding joint is perpendicular to the axis of the front swing joint and the axis of the knee joint, the front swing joint is of a hollow structure, and a power line and a control line of a knee joint module are led out from the tail part of the front swing motor through a hollow shaft of the front swing motor.
2. The cableless three-degree-of-freedom joint module of claim 1, wherein the tail of the knee joint is connected with the output end of the forward swing motor through a knee joint mounting flange, the knee joint mounting flange is located on a crossed roller bearing, the outer ring of the crossed roller bearing is installed with the knee joint mounting flange in a matched mode, and the inner ring of the crossed roller bearing is installed with the forward swing motor support base in a matched mode.
3. The cableless three-degree-of-freedom joint module of claim 2, wherein the knee joint mounting flange 104 is designed with a forward swing joint output profile 1043 that forms a profile fit with the forward swing joint output shaft, and the inner ring of the crossed roller bearing is matched with the boss surface 10213 of the forward swing joint support base.
4. The cableless three-degree-of-freedom joint module according to claim 2, wherein the knee joint cable is led out from the tail of the forward swing joint through the forward swing joint hollow shaft 1022 after passing through the wiring groove 1044 on the knee joint mounting flange 104, and a cable support bearing 1023 is designed at the forward swing joint hollow shaft.
5. The cableless three-degree-of-freedom joint module according to claim 1, wherein a single joint is composed of an axial flux motor and an integrated speed reducer, and double stator windings of the axial flux motor are fixed to a structural member of the motor.
6. The cableless three-degree-of-freedom joint module according to claim 5, wherein the speed reducer portion is embedded in an inner diameter space of the axial flux motor, and a cross roller bearing is used as an output end bearing of the joint motor.
7. The cableless three-degree-of-freedom joint module according to claim 1, wherein a modular mounting structure is adopted, and the entire mounting interface is provided on the mounting end surface of the side-extension motor and the support end surface of the front swing motor.
8. A leg and foot structure of a bionic robot is characterized by comprising a leg and a foot shank and the cableless three-degree-of-freedom joint module according to any one of claims 1 to 7, wherein the leg and the knee joint motor shell are fixedly installed, the leg 3 and the leg 2 are connected through a knee joint pin 202 to form a revolute pair, one end of a crank 11 is fixedly connected with a knee joint output shaft, and the other end of the crank is connected with the leg 3 through a connecting rod 12 to form a parallel four-connecting-rod mechanism.
9. The leg and foot structure of the bionic robot as claimed in claim 8, wherein the lower end of the leg of the foot is fixedly connected with a flange connecting disc, a force sensor is arranged in a hole cavity of the flange connecting disc, and a bolt penetrates through the force sensor to connect the flange connecting disc with the foot bottom connecting seat; the hexagonal boss 403 at the lower end of the flange connection disc 4 is in sliding fit with the hexagonal concave cavity 601 on the sole connection seat 6, so that the robot can float along the leg direction when walking.
10. The leg and foot structure of the bionic robot as claimed in claim 9, wherein the flange connecting disc 4 is provided with a bolt hole 401 at the upper part for connecting with the leg 3; the upper end is provided with an O-shaped ring groove and a hole cavity for installing a force sensor, the O-shaped ring 8 is arranged in the O-shaped ring groove 402, the force sensor 5 is arranged in the hole cavity 404, and a hole for wiring is arranged in the hole cavity.
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| CN202210505764.0A CN114771688A (en) | 2022-05-10 | 2022-05-10 | Cable-free three-degree-of-freedom joint module and bionic leg and foot structure |
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| CN202210505764.0A CN114771688A (en) | 2022-05-10 | 2022-05-10 | Cable-free three-degree-of-freedom joint module and bionic leg and foot structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115123419A (en) * | 2022-07-29 | 2022-09-30 | 广东亿嘉和科技有限公司 | Leg of wheeled foot robot with force balance and hollow routing and working method |
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| CN215851566U (en) * | 2021-04-30 | 2022-02-18 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Thigh and single leg assembly of robot and quadruped robot |
| CN214930219U (en) * | 2021-06-21 | 2021-11-30 | 北京哈崎机器人科技有限公司 | Sufficient robot joint moment detection mechanism and sufficient robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115123419A (en) * | 2022-07-29 | 2022-09-30 | 广东亿嘉和科技有限公司 | Leg of wheeled foot robot with force balance and hollow routing and working method |
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