CN207311656U - A kind of single leg structure of electronic quadruped robot - Google Patents
A kind of single leg structure of electronic quadruped robot Download PDFInfo
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- CN207311656U CN207311656U CN201721431077.XU CN201721431077U CN207311656U CN 207311656 U CN207311656 U CN 207311656U CN 201721431077 U CN201721431077 U CN 201721431077U CN 207311656 U CN207311656 U CN 207311656U
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Abstract
A kind of single leg structure of electronic quadruped robot, including hip joint, knee joint, thick link, shank link and foot, hip joint include the first hip joint and the second hip joint again；Second hip joint is connected with the power output end of the first hip joint；Knee joint is connected by thick link with the power output end of the first hip joint, knee joint and the second hip joint are rigidly connected, the power output end of second hip joint is connected with kneed power intake by transmission mechanism, shank is fixedly connected on kneed power output end, and foot is connected on shank.The structure ensure that the low quality and low rotor inertia of thigh and shank, with preferable exercise performance, simple and compact for structure, the knee joint and hip joint that ensure that single leg have good reverse drive characteristic, available for assemble can bounce, the electronic quadruped robot of high load dead weight ratio.
Description
Technical field
A kind of single leg structure for electronic quadruped robot is the utility model is related to, belongs to robotic technology field.
Background technology
In the changeable natural environment of landform, leg legged type robot can preferably adaptation to the ground change, to complicated landform
With higher passability, there is certain superiority compared to wheeled or caterpillar type robot.Leg legged type robot is one
Research field with higher attraction, has broad application prospects in fields such as industry, landform exploration, military and national defenses.
Current leg legged type robot research, is to use hydraulic-driven system mostly to improve the load of robot dead weight ratio
System.BigDog developed such as the SCalf quadruped robots that Shandong University develops, Boston Dynamics companies of the U.S. etc., is
Using fluid power system.Later stage Boston, Dynamics companies have developed electronic quadruped robot SpotMini, but due to
Moment capacity of motor etc. limits, and the dynamic property performance of current electronic leg legged type robot is general, still with larger
Improve space.
Electronic leg legged type robot is developed, compares the structure simplified and driving motor is exactly placed on joint part.Leg foot
Volume, weight, output torque and the kinematic accuracy of formula joint of robot, are the main determining factors of its overall performance.Current
Joint of robot, the less brshless DC motor of generally use output torque.In order to obtain larger output torque, it usually needs
RV retarder or harmonic speed reducer of the configuration with larger speed reducing ratio.However, reverse driving effect of the big retarding than transmission system
Fruit is poor, makes robot poor to the force-sensing ability of environment, is not suitable for setting up leg legged type robot.
Chinese patent literature CN 104942822A are disclosed《A kind of two-freedom degree joint of robot for space》, pass through two
Joint drive component, joint transmission component, realize the movement of joint two-freedom, by adjusting the rotating speed of two motors and turning
Angle, realizes joint pitching, rotation, three kinds of motion modes that both synthesize.But the device uses multi-stage planetary gear reduction box
And Bevel Gear Transmission, transmission mechanism is complex, and joint size and weight are larger.
Utility model content
The purpose of this utility model is towards when the demand of foreleg legged type robot, for existing leg legged type robot not
Foot, there is provided a kind of dynamic is good, output torque is big, simple and compact for structure, reverse driveability is good and with high dynamic characteristic
Single leg structure of electronic quadruped robot.
Single leg structure of the electronic quadruped robot of the utility model, adopts the following technical scheme that：
Single leg structure of the electronic quadruped robot, including hip joint, knee joint, thick link, shank link and foot,
Hip joint includes the first hip joint and the second hip joint again；Second hip joint is connected with the power output end of the first hip joint；Knee
Joint is connected by thick link with the power output end of the first hip joint, and knee joint and the second hip joint are rigidly connected, and second
The power output end of hip joint is connected with kneed power intake by transmission mechanism, and shank is connected to kneed power
Output terminal, foot are connected on shank.
First hip joint, including the first driving motor, the first joint main shaft, the first transmission case and the output of the first joint
Axis；The stator of first driving motor is built-in with Hall sensor, and the rotor of the first driving motor is connected with the first joint main shaft, the
One joint main shaft is installed on the first driving electric machine casing, is provided with the first encoder on the first driving electric machine casing, first compiles
The magnetic head connecting shaft of code device is nested in the endoporus of the first joint main shaft；First transmission case is connected to the first driving electric machine casing
On, planetary reduction gear and the first joint output shaft, the input shaft of planetary reduction gear and the first joint are installed in the first transmission case
Main shaft connects, and the planet carrier output terminal of the first joint output shaft and planetary reduction gear connects.
Second hip joint, including the second driving motor and second joint main shaft, the second driving motor stator are built-in with
Hall sensor, the second driving rotor are connected with second joint main shaft, and second joint main shaft is installed on the second driving motor
On housing, second joint main shaft is connected by transmission mechanism with the entering spindle in knee joint, is pacified on the second driving electric machine casing
Equipped with second encoder, the magnetic head connecting shaft of second encoder is nested in the endoporus of second joint main shaft, the second driving motor
Connecting rod is provided with housing, the connecting rod and the first joint output axis connection.
The knee joint, including knee joint output transmission case, knee joint input transmission case, knee joint output shaft connecting rod, knee
Joint bearing connecting rod and entering spindle, knee joint output transmission case are connected with knee joint input transmission case, knee joint output transmission
Planetary reduction gear and knee joint output shaft connecting rod are installed, knee joint output shaft connecting rod is connected with planetary reduction gear, and knee closes in case
Entering spindle is installed in section input transmission case, entering spindle is connected with planetary reduction gear, in entering spindle and the second hip joint
Second joint main shaft connected by transmission mechanism, be connected with knee joint bearing connecting rod on knee joint output shaft connecting rod.
During single leg operation of above-mentioned electronic quadruped robot, the first driving motor in the first hip joint is according to its encoder
Servo-control signal rotation, and drive power output end (the first joint output shaft) to operate by planetary reduction gear, and then band
Dynamic second hip joint, thick link, knee joint assembly and shank are closed relative to the first hip to be rotated.Second in second hip joint drives
Dynamic motor is rotated according to the servo-control signal of its encoder, and drives kneed power intake (input shaft) to rotate,
And then by planetary reduction gear drive kneed power output end (output shaft connecting rod) rotate, it is achieved thereby that shank relative to
The rotation of thigh.
The utility model is passed through using the rimless directly drive torque motor, and utilize single-stage planetary speed reducer of high torque output
Using toothed belt transmission, hip joint and kneed driving motor are placed in hip region, ensure that thigh and shank
Low quality and low rotor inertia so that the list leg structure has preferable exercise performance.Have the characteristics that：
1. the advantages that making full use of rimless straight drive torque motor output torque big, simple and compact for structure, ensure that single leg
Knee joint and hip joint have good reverse drive characteristic, available for leg foot formula machine of the assembling with contour dynamic characteristic of bouncing
Device people.
2. single leg structure of the high joint moment of torsion of compact, available for set up can bounce, the electronic four-footed of high load dead weight ratio
Robot.
Brief description of the drawings
Fig. 1 is the overall appearance schematic diagram of single leg structure of the electronic quadruped robot of the utility model.
Fig. 2 is the sectional view of the first joint motor of hip joint case in the utility model.
Fig. 3 is the sectional view of the first joint transmission of hip joint case in the utility model.
Fig. 4 is the sectional view of hip joint second joint in the utility model.
Fig. 5 is knee joint and synchronous belt appearance diagram in the utility model.
Fig. 6 is kneed sectional view in the utility model.
In figure：1. the first driving electric machine casing, 2. first encoders, 3. output flanges, 4. hip joints second driving motor
Housing, 5. connecting rods, 6. synchronous belts, 7. thick links, 8. knee joint output transmission cases, 9. knee joints input transmission case, 10 is defeated
Shaft connecting rod, 11. shank links, 12. foots, 13. case lids, 14. first driving motor stators, 15. first driving motors turn
Son, 16. end caps, 17. first encoder magnetic heads, 18. magnetic head connecting shafts, 19. ball bearings, 20. first joint main shafts, 21.
One hip joint transmission case, 22. planetary reduction gears, 23. crossed roller bearings, 24. first joint output shafts, 25. second encoders,
26. second encoder magnetic head, 27. magnetic head connecting shafts, 28. ball bearings, 29. second joint main shafts, 30. second driving motors turn
Son, 31. second driving motor stators, 32. end caps, 33. case lids, 34. output pulleys, 35. bearing connecting rods, 36. crossed rollers
Bearing, 37. planetary reduction gears, 38. crossed roller bearings, 39. knee joint entering spindles, 40. input belt wheels, 41. ball bearings.
Embodiment
The electronic quadruped robot list leg structure of the utility model includes hip joint I and knee joint II, thick link, shank
Connecting rod and foot.Hip joint includes the first hip joint and the second hip joint again.
As shown in Figure 1, the second hip joint is connected with the power output end of the first hip joint, it is specifically in the first hip joint
First joint output shaft 24 is connected by output flange 3 thereon with the connecting rod 5 in the second hip joint.Knee joint II is by big
Leg connecting rod 7 is connected with the power output end in the first hip joint, and specifically the knee joint output transmission case 8 in knee joint is by big
Leg connecting rod 7 is connected with the output flange 3 on the first joint output shaft 24 in the first hip joint.II and second hip joint of knee joint
Rigid connection, the specifically connecting rod 5 on the second hip joint are connected with knee joint input transmission case 9；Meanwhile second hip joint
Power output end is connected with the power intake of knee joint II by transmission mechanism, and transmission mechanism uses toothed belt transmission, specifically
It is the output pulley 34 on the second joint main shaft 29 in the second hip joint and the input tape in entering spindle 39 in knee joint II
Synchronous belt 6 is connected between wheel 40, realizes power transmission.Shank 11 is fixedly connected on the output shaft connecting rod 10 in knee joint II,
Foot 12 is connected on shank 11.
Such as Fig. 2 and Fig. 3, the first hip joint includes the first driving motor, the first joint main shaft 20, the first encoder 2, first
21 and first joint output shaft 24 of transmission case.First driving motor drives motor stator 14 by the first driving electric machine casing 1, first
With the first driving rotor 15.First driving motor stator 14 is pressed in the first driving electric machine casing 1 by case lid 13,
Stator 14 is built-in with Hall sensor.First driving rotor 15 is nested on the first joint main shaft 20, and passes through end cap 16
Compress.First joint main shaft 20 is supported at both ends in the first driving electric machine casing 1 and case lid 13 by two ball bearings 19
On bearing block.The side of first driving electric machine casing 1 is provided with the first encoder 2 by screw, and the magnetic head of the first encoder 2 connects
Spindle 18 is nested in the endoporus of the first joint main shaft 20, and magnetic head 17 is provided with magnetic head connecting shaft 18.First transmission case 21 is logical
Screw is crossed to be rigidly connected with case lid 13.Planetary reduction gear 22 is installed in first transmission case 21.The input of planetary reduction gear 22
Axis is connected with the first joint main shaft 20, realizes power transmission.In first transmission case 21 the is provided with by crossed roller bearing 23
One joint output shaft 24, the derrated shaft of the first joint output shaft 24 are matched somebody with somebody with the planet carrier output terminal sawtooth hole of planetary reduction gear 22
Close, realize power transmission.Output flange 3 is installed on the end face of first joint output shaft 24.
As shown in Figure 1 and Figure 4, the second hip joint includes the second driving motor, second joint main shaft 29 and second encoder
25.Second driving motor drives motor stator 31 and second to drive rotor 30 by the second driving electric machine casing 4, second.The
Two driving motor stators 31 are pressed in the second driving electric machine casing 4 by case lid 33, and stator 31 is built-in with Hall sensor.
Second driving rotor 30 is nested on second joint main shaft 29, and is compressed by end cap 32.Second joint main shaft 29 passes through
Two ball bearings 28 are supported at both ends on the second driving electric machine casing 4 and the bearing block of case lid 33.Second joint main shaft 29
On output pulley 34 is installed.The side of second driving electric machine casing 4 is provided with second encoder 25, the second coding by screw
The magnetic head connecting shaft 27 of device 25 is nested in the endoporus of second joint main shaft 29, and magnetic head 26 is provided with magnetic head connecting shaft 27.The
The side of two driving electric machine casing lids 33 is provided with connecting rod 5.
As shown in Fig. 1, Fig. 5 and Fig. 6, knee joint II includes knee joint output transmission case 8, knee joint input transmission case 9, knee
Joint output shaft connecting rod 10, knee joint bearing connecting rod 35, planetary reduction gear 37, entering spindle 39 and input belt wheel 40.Knee joint
Input transmission case 9 is connected with knee joint output transmission case 8, and planetary reduction gear 37 is provided with knee joint output transmission case 8.Knee closes
Output shaft connecting rod 10, the derrated shaft of output shaft connecting rod 10 are provided with by the first crossed roller bearing 36 in section output transmission case 8
Coordinate with the planet carrier output terminal sawtooth hole of planetary reduction gear 37, realize power transmission.Pass through the in knee joint input transmission case 9
Two crossed roller bearings 38 are provided with entering spindle 39, and the input shaft of the sawtooth hole and planetary reduction gear 37 of entering spindle 39 is matched somebody with somebody
Close, realize power transmission.Input belt wheel 40 is installed in entering spindle 39, inputs between belt wheel 40 and output pulley 34 and connects together
Walk band 6.Bearing connecting rod 35 is connected with output shaft connecting rod 10, bearing connecting rod 35 is supported on knee joint by ball bearing 41 and inputs
Transmission case 9.Bearing connecting rod 35 is used to be fixedly connected with shank 11.
The course of work of above-mentioned electronic quadruped robot list leg is as described below.
The first driving rotor 15 in first hip joint is rotated according to the servo-control signal of the first encoder 2, is led to
The first joint main shaft 20 is crossed to be output on the input shaft of planetary reduction gear 22.After being slowed down by planetary reduction gear 22, by planet
Turning on the first joint output shaft 24 and output flange 3 after frame output deceleration.Due to 3 and second hip joint of output flange it
Between be rigidly connected so that drive the second hip joint, thick link 7, knee joint assembly and shank 11 relative to the first hip joint turn
It is dynamic.The second driving rotor 30 in second hip joint is rotated according to the servo-control signal of second encoder 25, by the
Two joint main shafts 29 are output to output pulley 34 and rotate.Output pulley 34 transmits motion to input belt wheel 40 by synchronous belt 6,
Entering spindle 39 is driven to rotate.After being slowed down by planetary reduction gear 37, exported by planet carrier and rotate drive output shaft connecting rod 10
Rotate.Be rigidly connected with bearing connecting rod 35 due to output shaft connecting rod 10 and be connected with shank 11, it is achieved thereby that shank relative to
The rotation of thigh.
Claims (4)
1. a kind of single leg structure of electronic quadruped robot, including hip joint, knee joint, thick link, shank link and foot,
It is characterized in that：Hip joint includes the first hip joint and the second hip joint again；The power output of second hip joint and the first hip joint
End connection；Knee joint is connected by thick link with the power output end of the first hip joint, knee joint and the second hip joint rigidity
Connection, the power output end of the second hip joint are connected with kneed power intake by transmission mechanism, and shank is connected to knee
The power output end in joint, foot are connected on shank.
2. single leg structure of electronic quadruped robot according to claim 1, it is characterized in that：First hip joint, bag
Include the first driving motor, the first joint main shaft, the first transmission case and the first joint output shaft；Built in the stator of first driving motor
There is Hall sensor, the rotor of the first driving motor is connected with the first joint main shaft, and the first joint main shaft is installed on the first driving
On electric machine casing, the first encoder is installed on the first driving electric machine casing, the magnetic head connecting shaft of the first encoder is nested in the
In the endoporus of one joint main shaft；First transmission case is connected on the first driving electric machine casing, and planet is provided with the first transmission case
Retarder and the first joint output shaft, the input shaft of planetary reduction gear are connected with the first joint main shaft, the first joint output shaft with
The planet carrier output terminal connection of planetary reduction gear.
3. single leg structure of electronic quadruped robot according to claim 1, it is characterized in that：Second hip joint, bag
The second driving motor and second joint main shaft are included, the second driving motor stator is built-in with Hall sensor, and the second driving motor turns
Son is connected with second joint main shaft, and second joint main shaft is installed on the second driving electric machine casing, and second joint main shaft passes through biography
Motivation structure is connected with the entering spindle in knee joint, and second encoder, second encoder are provided with the second driving electric machine casing
Magnetic head connecting shaft be nested in the endoporus of second joint main shaft, second driving electric machine casing on be provided with connecting rod, the connection
Bar and the first joint output axis connection.
4. single leg structure of electronic quadruped robot according to claim 1, it is characterized in that：The knee joint, including knee
Joint output transmission case, knee joint input transmission case, knee joint output shaft connecting rod, knee joint bearing connecting rod and entering spindle, knee
Joint output transmission case is connected with knee joint input transmission case, and planetary reduction gear is provided with knee joint output transmission case and knee closes
Output shaft connecting rod is saved, knee joint output shaft connecting rod is connected with planetary reduction gear, and input master is provided with knee joint input transmission case
Axis, entering spindle are connected with planetary reduction gear, and entering spindle passes through transmission mechanism with the second joint main shaft in the second hip joint
Connect, knee joint bearing connecting rod is connected with knee joint output shaft connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721431077.XU CN207311656U (en) | 2017-10-30 | 2017-10-30 | A kind of single leg structure of electronic quadruped robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721431077.XU CN207311656U (en) | 2017-10-30 | 2017-10-30 | A kind of single leg structure of electronic quadruped robot |
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| CN207311656U true CN207311656U (en) | 2018-05-04 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107651041A (en) * | 2017-10-30 | 2018-02-02 | 山东大学 | A kind of single leg structure of electronic quadruped robot |
| CN109774811A (en) * | 2018-12-31 | 2019-05-21 | 南京工程学院 | A kind of small biped robot and its control method of brshless DC motor driving |
| CN111216823A (en) * | 2019-10-31 | 2020-06-02 | 广东省智能制造研究所 | Modular foot type single leg and cycloid planning method based on low speed reduction ratio motor technology |
| EP3936420A4 (en) * | 2019-03-07 | 2022-05-11 | Hangzhou Yushu Technology Co., Ltd. | Robot integrated joint unit and legged robot applying same |
-
2017
- 2017-10-30 CN CN201721431077.XU patent/CN207311656U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107651041A (en) * | 2017-10-30 | 2018-02-02 | 山东大学 | A kind of single leg structure of electronic quadruped robot |
| CN107651041B (en) * | 2017-10-30 | 2024-02-20 | 山东大学 | Single leg structure of electric quadruped robot |
| CN109774811A (en) * | 2018-12-31 | 2019-05-21 | 南京工程学院 | A kind of small biped robot and its control method of brshless DC motor driving |
| EP3936420A4 (en) * | 2019-03-07 | 2022-05-11 | Hangzhou Yushu Technology Co., Ltd. | Robot integrated joint unit and legged robot applying same |
| CN111216823A (en) * | 2019-10-31 | 2020-06-02 | 广东省智能制造研究所 | Modular foot type single leg and cycloid planning method based on low speed reduction ratio motor technology |
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