CN216468151U - Biped robot - Google Patents

Abstract

The utility model relates to a biped robot, which comprises a crotch and two legs positioned at the left side and the right side of the crotch, wherein the legs are connected with the crotch through a hinge; the leg part comprises a thigh part, a knee joint, a lower leg part, an ankle joint and a foot part which are connected in sequence, and a hip joint is arranged between the thigh part and the crotch part for connection; the knee joint is a passive joint, at least one set of knee joint driving module is arranged between the thigh part and the shank part, two ends of the knee joint driving module are respectively hinged with the thigh part and the shank part, and the knee joint driving module moves in a telescopic way to drive the shank part to bend at the knee joint; the ankle joint is a passive joint, at least one set of ankle joint driving module is arranged between the shank part and the foot part, two ends of the ankle joint driving module are respectively hinged with the shank part and the foot part, and the ankle joint driving module stretches and retracts to drive the leg part to bend at the ankle joint; the knee joint driving module and the ankle joint driving module can be self-locked. The utility model can prevent the joint from being flaccid when the power is off, prevent the robot from falling down or lying prone and avoid smashing people or damaging objects.

Description

Biped robot

Technical Field

The utility model relates to the technical field of robots, in particular to a biped robot.

Background

The robot industry has been developed in China, but humanoid biped robot products are still in the starting stage in China. At present, the biped robot that internal scientific research colleges or scientific and technological type enterprise published, in order to improve the flexibility of robot, often increase the degree of freedom in each joint department of robot, the mode that the steering wheel was piled up is adopted mostly to current biped robot, and the action form is more like large-scale toy, and in the not enough or state of cutting off the power supply suddenly of robot electric power, the joint of robot can be paralyzed soft and fall or lie prone on the horse, exists the potential safety hazard of pounding the people or damaging article.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides a biped robot, which is used for solving the potential safety hazard problems that in the prior art, when the robot is in an insufficient power state or in a sudden power failure state, joints of the robot are immediately paralyzed and fall down or lie prone, and people are knocked down or objects are damaged. In order to achieve one or part or all of the above purposes or other purposes, the utility model provides a biped robot, which comprises a crotch and two leg parts positioned at the left side and the right side of the crotch;

the leg part comprises a thigh part, a knee joint, a lower leg part, an ankle joint and a foot part which are connected in sequence, and a hip joint is arranged between the thigh part and the crotch part for connection;

the knee joint is a passive joint, at least one set of knee joint driving module is arranged between the thigh part and the shank part, two ends of the knee joint driving module are respectively hinged with the thigh part and the shank part, and the knee joint driving module moves in a telescopic way to drive the shank part to bend at the knee joint;

the ankle joint is a passive joint, at least one set of ankle joint driving module is arranged between the shank and the foot, two ends of the ankle joint driving module are respectively hinged with the shank and the foot, and the ankle joint driving module moves in a telescopic manner to drive the shank to bend at the ankle joint;

the knee joint driving module and the ankle joint driving module can be self-locked.

Furthermore, the hip joint comprises three driving devices which are connected in sequence and control three degrees of freedom of the leg, and the three driving devices respectively drive the leg to swing left and right, front and back relative to the crotch and twist by taking the vertical direction as an axis.

Further, the three driving devices are respectively a steering engine, a first servo motor and a second servo motor,

the steering engine is connected with the crotch part and the first servo motor and drives the first servo motor to rotate, so that the linkage leg part is twisted by taking the vertical direction as an axis;

the first servo motor is connected with and drives the second servo motor to rotate, so that the leg parts are linked to perform left and right side swinging;

the second servo motor is connected with and drives the leg to swing forwards and backwards.

Further, the knee joint and/or the ankle joint are single-degree-of-freedom or multi-degree-of-freedom joints.

Further, one end of each ankle joint is connected with the corresponding shank, the other end of each ankle joint is a ball head, the upper end of each foot is provided with a corresponding ball socket, the ball heads are buckled in the ball sockets, two sets of ankle joint driving modules are arranged between the corresponding shank and the corresponding foot side by side, the upper ends of the two sets of ankle joint driving modules are hinged to the shank, the lower ends of the two sets of ankle joint driving modules are hinged to the foot, the foot is controlled to turn up and down when the two sets of ankle joint driving modules stretch synchronously, and the foot is controlled to swing left and right when the ankle joint driving modules stretch asynchronously.

Furthermore, the upper end of the crotch is provided with a third servo motor for controlling the rotation of the crotch.

Further, knee joint drive module or ankle joint drive module are push rod motor module, and push rod motor module is including being motor module, gear box module, lead screw transmission module and the push rod module that same axis was arranged and is connected gradually.

Furthermore, the screw rod transmission module comprises a screw rod and a slide block, the screw rod and the slide block are in threaded connection, the slide block is connected to the screw rod in a sliding mode and moves along the axis of the screw rod, the slide block is fixedly connected with the push rod module, the screw rod is in transmission connection with the reduction box module, and the reduction box module controls the screw rod to rotate and drives the slide block and the push rod module to move linearly;

when the knee joint driving module is a push rod motor module, the motor module is hinged with the thigh part, and the push rod module is hinged with the shank part;

when the ankle joint driving module is the push rod motor module, the motor module is hinged with the shank part, and the push rod module is hinged with the foot part.

Further, the lead screw is a trapezoidal lead screw.

Further, the reduction box module is a planetary transmission.

The embodiment of the utility model has the following beneficial effects:

the utility model is provided with two passive joints of knee joint and ankle joint, which are respectively provided with a driving module with self-locking function for control, thus, the leg part is not bent at the knee joint and the ankle joint under the condition of power failure, the posture of the biped robot is effectively kept, and the paralysis is prevented; the problem of robot among the prior art electric power not enough or outage state suddenly, the joint of robot can be on the horse to be paralyzed soft and fall or lie prone down, have the safe hidden of pounding the people or damaging article is solved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Wherein:

FIG. 1 is a first perspective view of a biped robot;

FIG. 2 is a second perspective view of the biped robot;

FIG. 3 is a cross-sectional view of a leg;

FIG. 4 is an exploded view of the hip joint;

fig. 5 is a cross-sectional view of the pusher motor module.

The reference numerals are explained below: 1-the crotch part; 11-flank; 2-a leg portion; 21-thigh section; 211-thigh shell; 22-knee joint; 23-lower leg; 231-lower leg portion shell; 24-ankle joint; 241-bulb; 25-a foot part; 251-a ball and socket; 3-hip joint; 31-a steering engine; 32-a first servomotor; 33-a second servomotor; 34-a first connector; 35-a second connector; 41-a first hinge; 42-a second hinge; 43-a third hinge; 44-a fourth hinge; 5-a knee joint driving module; 6-ankle joint driving module; 7-a third servo motor; p-push rod motor module; p1-motor module; p11-top linker; p12-control panel; p13-magnetic encoder; p14-dipole magnet; p15-motor; p2-reduction box module; p21-upper cover of reduction box; p22-lower cover of reduction box; p23-planetary gear set; p3-screw rod transmission module; p31-lead screw; p32-slide; p33-shaft; p34-rod barrel upper end cover; p35-rod barrel lower end cover; p4-pushrod module; p41-push rod.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 and fig. 2 together, a biped robot according to a preferred embodiment of the present invention includes a crotch portion 1 and two leg portions 2 located at the left and right sides of the crotch portion 1; the leg part 2 comprises a thigh part 21, a knee joint 22, a shank part 23, an ankle joint 24 and a foot part 25 which are connected in sequence, and a hip joint 3 is arranged between the thigh part 21 and the crotch part 1 for connection; the knee joint 22 is a passive joint, at least one set of knee joint driving module 5 is arranged between the thigh part 21 and the shank part 23, two ends of the knee joint driving module 5 are respectively hinged with the thigh part 21 and the shank part 23, and the knee joint driving module 5 moves in a telescopic way to drive the leg part 2 to bend at the knee joint 22; the ankle joint 24 is a passive joint, at least one set of ankle joint driving module 6 is arranged between the shank 23 and the foot 25, two ends of the ankle joint driving module 6 are respectively hinged with the shank 23 and the foot 25, and the ankle joint driving module 6 moves in a telescopic manner to drive the shank 2 to bend at the ankle joint 24; the knee joint driving module 5 and the ankle joint driving module 6 can be self-locked. So, under the outage state, knee joint drive module 5 and ankle joint drive module 6 auto-lock, flexible state is unchangeable, and shank 2 is unchangeable at knee joint 22, ankle joint 24 department bend angle, effectively avoids the robot to be paralyzed soft and topple over.

The hip joint 3 comprises three driving devices which are connected in sequence and control three degrees of freedom of the leg parts 2, and the three driving devices respectively drive the leg parts 2 to swing left and right, swing front and back relative to the crotch part 1 and twist by taking the vertical direction as an axis. The knee joint 22 and the ankle joint 24 are passive joints, that is, the joints are not directly driven by a motor, a steering engine, or the like, and the hip joint 3 is an active joint.

The three driving devices are respectively a steering engine 31, a first servo motor 32 and a second servo motor 33, the steering engine 31 is connected with the crotch part 1 and the first servo motor 32, the steering engine 31 drives the first servo motor 32 to rotate, and therefore the leg part 2 is linked to be twisted by taking the vertical direction as an axis, and left and right turning in the advancing process can be achieved conveniently; the first servo motor 32 is connected with and drives the second servo motor 33 to rotate, so that the leg part 2 is linked to perform left-right side swinging for adjusting the advancing posture and the central position; the second servo motor 33 is connected to drive the leg part 2 to swing forward and backward, thereby realizing a walking action. By adopting a geodetic coordinate system, the second servo motor 33 controls the pitch angle (pitch) of the leg part 2, the steering engine 31 controls the yaw angle (yaw), and the first servo motor 32 controls the roll angle (roll), so that the leg part 2 swings to any required Euler angle, and the flexibility of the biped robot is improved.

As shown in fig. 4, the steering engine 31 and the first servo motor 32 are connected by a first connecting member 34, and the first servo motor 32 and the second servo motor 33 are connected by a second connecting member 35. Two sides of the crotch part 1 extend to form a side wing 11, a steering engine 31 is fixed on the top surface of the side wing 11, a first connecting piece 34 is positioned below the side wing 11, a vertical hole is formed in the side wing 11 for a steering rod of the steering engine 31 to penetrate through, the steering rod is in transmission connection with the first connecting piece 34, and the steering engine 31 drives the first connecting piece 34 to twist along the vertical direction; the first connecting piece 34 is fixedly connected with a rotating shaft of the first servo motor 32, the second connecting piece 35 is fixedly connected with a machine body of the first servo motor 32, and when the first servo motor 32 works, the machine body of the first servo motor 32 rotates to drive the second connecting piece 35 to rotate; the second connecting piece 35 is fixedly connected with the body of the second servo motor 33, the rotating shaft of the second servo motor 33 is fixedly connected with the thigh part 21, and the second servo motor 33 drives the thigh part 21 to swing forwards and backwards.

Referring to fig. 2, 3 and 5, the knee joint driving module 5 or the ankle joint driving module 6 is a push rod motor module P, and as shown in fig. 5, the push rod motor module P includes a motor module P1, a reduction box module P2, a screw rod transmission module P3 and a push rod module P4 which are arranged on the same axis and connected in sequence.

As shown in fig. 5, the motor module P1 preferably includes an upper joint P11, a control board P12, a magnetic encoder P13, a bipolar magnet P14 and a motor P15; the reduction gearbox module P2 comprises a reduction gearbox upper cover P21, a reduction gearbox lower cover P22 and a planetary gear set P23; the screw rod transmission module P3 comprises a screw rod P31, a slide block P32, a rod barrel P33, a rod barrel upper end cover P34 and a rod barrel lower end cover P35; the pushrod module P4 includes a pushrod.

The upper joint P11 is hinged with the thigh part 21 or the shank part 23, the upper joint P11 contains a control plate P12, a magnetic encoder P13, a bipolar magnet P14 and a motor P15, the bipolar magnet P14 is positioned at the top of the motor P15 and is connected with the rotating shaft of the motor P15, the bipolar magnet P14 is positioned above the bipolar magnet P14 and is fixed at the bottom surface of the control plate P12, the magnetic encoder P13 can identify the rotating angle of the bipolar magnet P14, so that the angle signal selected by the motor P15 can be collected and used for calculating and identifying the rotating angle and the number of turns of the motor P15.

When the knee joint driving module 5 is the push rod motor module P, the motor module P1 is hinged with the thigh 21, and the push rod module P4 is hinged with the shank 23; when the ankle joint driving module 6 is the push rod motor module P, the motor module P1 is hinged to the lower leg portion 23, and the push rod module P4 is hinged to the foot portion 25.

The reduction box module P2 is located below the motor module P1, the planetary gear set P23 is arranged between the reduction box upper cover P21 and the reduction box lower cover P22, the planetary gear set P23 comprises a sun gear, at least 2 planet gears which are arranged around the sun gear and meshed with each other, and an outer gear ring meshed with the planet gears, and a rotating shaft of the motor P15 penetrates through the reduction box upper cover P21 to be connected with the sun gear.

The screw rod P31 and the slider P32 are in threaded connection, the slider P32 is in sliding connection with the screw rod P31 and moves along the axis of the screw rod P31, the slider P32 is fixedly connected with the upper end of the push rod P41, the screw rod P31 is in transmission connection with the reduction gearbox module P2, the upper end of the screw rod P31 penetrates through the lower cover P22 of the reduction gearbox to be in nested connection with the outer gear ring, the outer gear ring rotates to drive the screw rod P31 to rotate, optionally, the outer gear ring is provided with a non-circular-shaped hole, and a non-circular-shaped shaft is arranged at one end, corresponding to the screw rod P31, of the outer gear ring. Further, a rod barrel P33 is wrapped outside the screw rod P31, the upper end and the lower end of the rod barrel P33 are respectively covered with a rod barrel upper end cover P34 and a rod barrel lower end cover P35, the rod barrel upper end cover P34 and the rod barrel lower end cover P35 are arranged to be of a central hole structure, and the rod barrel upper end cover P34 and the rod barrel lower end cover P35 are in threaded connection with the rod barrel P33. The screw rod transmission module P3 has a self-locking function, optionally, the screw rod P31 is a trapezoidal screw rod, when the lead screw P31 has a lead angle smaller than the static friction angle between the screw rod P31 and the slide block P32, a reverse self-locking function is generated, optionally, the knee joint driving module 5 or the ankle joint driving module 6 is other telescopic driving modules with a self-locking function or a band-type brake function.

The rotary motion of the motor P15 is transmitted to the sun gear through the rotating shaft of the motor, the rotary motion is transmitted to the screw rod P31 after the planet gear and the deceleration, the rotary motion is converted into the back-and-forth motion of the slide block P32 along the axis direction of the screw rod P31 through the matching of the screw rod P31 and the slide block P32, and finally the linear motion is transmitted out through the push rod P41 connected with the slide block P32. It should be noted that the reduction gearbox module P2 can be implemented by other speed reducers, and the speed reducer is only exemplified by a planetary speed reducer.

Further, the knee joint 22 and/or the ankle joint 24 are single-degree-of-freedom or multi-degree-of-freedom joints, and the single degree of freedom can adopt a revolute pair connection structure, such as a hinge; the multi-degree-of-freedom joint can adopt a spherical pair connecting structure, such as a ball head and ball socket structure, and can also adopt multi-degree-of-freedom connecting pieces such as a universal joint, and the like, which are not described in the specification.

As shown in fig. 3, as a preferable scheme, one end of the ankle joint 24 is connected with the lower leg portion 23, the other end is a ball 241, the upper end of the foot portion 25 is provided with a corresponding ball socket 251, the ball 241 is buckled in the ball socket 251, two sets of ankle joint driving modules 6 are arranged between the lower leg portion 23 and the foot portion 25 side by side, the upper ends of the two sets of ankle joint driving modules 6 are hinged with the lower leg portion 23, the lower ends of the two sets of ankle joint driving modules 6 are hinged with the foot portion 25, the foot portion 25 is controlled to turn up and down when the two sets of ankle joint driving modules 6 are synchronously stretched and stretched, the foot portion 25 is controlled to swing left and right when the two sets of ankle joint driving modules are not stretched synchronously, and two degrees of freedom are realized. When the two push rod motor modules P extend out simultaneously, the foot parts 25 are driven to hook upwards; when the two push rod motor modules P retract simultaneously, the foot part 25 is driven to be stretched straight downwards; when one of them is extended and the other is retracted, the foot parts 25 are driven to swing inwards or outwards. Similarly, an alternative may be provided, in which one end of the ankle joint 24 is fixedly connected to the foot 25, and the ball end forms a spherical pair with the lower leg 23. Similarly, the knee joint 22 may employ the ankle joint 24 configuration and drive scheme described above. Thus, a multiple-degree-of-freedom overstaffed structure achieved by piling steering engines or motors at the ankle joints 24 is avoided. In the embodiment, 3 degrees of freedom are arranged at the hip joint 3, 1 degree of freedom is arranged at the knee joint 22, and 2 degrees of freedom are arranged at the ankle joint 24, so that the flexibility of the biped robot is fully improved, and the biped robot is more anthropomorphic.

Further, as shown in fig. 1, a third servo motor 7 is arranged at the upper end of the crotch part 1 and is used for controlling the rotation of the crotch part 1 to simulate the rotation of the waist.

In conclusion, the utility model solves the problem that in the prior art, when the robot is in an insufficient power or sudden power failure state, the joints of the robot can be immediately paralyzed and fall down or lie prone, and the safety of smashing people or damaging objects is hidden. The utility model is provided with two passive joints of a knee joint 22 and an ankle joint 24 which are respectively provided with a driving module with a self-locking function for control, so that a leg part 2 is not bent at the knee joint 22 and the ankle joint 24 under the condition of power failure, the posture of the biped robot is effectively kept, and the paralysis is prevented; meanwhile, the utility model is provided with a plurality of degrees of freedom, thus fully improving the flexibility of the biped robot and being more anthropomorphic; a spherical pair is formed between the ankle joint 24 and the foot part 25, two degrees of freedom of the foot part are controlled through the two push rod motor modules which are connected in parallel, and the problem that the motor is piled at the ankle joint 24 to realize a multiple-degree-of-freedom overstaffed structure is solved.

The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the utility model is not limited by the scope of the appended claims.

Claims (10)

1. A biped robot, characterized by: comprises a crotch part (1) and two leg parts (2) positioned at the left side and the right side of the crotch part (1);

the leg part (2) comprises a thigh part (21), a knee joint (22), a shank part (23), an ankle joint (24) and a foot part (25) which are connected in sequence, and a hip joint (3) is arranged between the thigh part (21) and the crotch part (1) for connection;

the knee joint (22) is a passive joint, at least one set of knee joint driving module (5) is arranged between the thigh part (21) and the lower leg part (23), two ends of the knee joint driving module (5) are respectively hinged with the thigh part (21) and the lower leg part (23), and the knee joint driving module (5) moves in a stretching way to drive the leg part (2) to bend at the knee joint (22);

the ankle joint (24) is a passive joint, at least one set of ankle joint driving module (6) is arranged between the lower leg part (23) and the foot part (25), two ends of the ankle joint driving module (6) are respectively hinged with the lower leg part (23) and the foot part (25), and the ankle joint driving module (6) stretches and retracts to drive the leg part (2) to bend at the ankle joint (24);

the knee joint driving module (5) and the ankle joint driving module (6) can be self-locked.

2. The biped robot of claim 1 wherein: the hip joint (3) comprises three driving devices which are connected in sequence and used for controlling three degrees of freedom of the leg parts (2), and the three driving devices are used for driving the leg parts (2) to swing left and right, swing front and back relative to the crotch part (1) and twist by taking the vertical direction as an axis.

3. The biped robot of claim 2 wherein: the three driving devices are respectively a steering engine (31), a first servo motor (32) and a second servo motor (33),

the steering engine (31) is connected with the crotch part (1) and the first servo motor (32), and the steering engine (31) drives the first servo motor (32) to rotate, so that the linkage leg part (2) is twisted by taking the vertical direction as an axis;

the first servo motor (32) is connected with and drives the second servo motor (33) to rotate, so that the leg part (2) is linked to perform left and right side swinging;

the second servo motor (33) is connected with and drives the leg part (2) to swing forwards and backwards.

4. The biped robot of claim 1 wherein: the knee joint (22) and/or the ankle joint (24) are single degree of freedom or multiple degree of freedom joints.

5. The biped robot of claim 1 wherein: the one end and shank (23) of ankle joint (24) are connected, the other end is bulb (241), foot (25) upper end is equipped with corresponding ball socket (251), bulb (241) buckle is in ball socket (251), install two sets of ankle joint drive module (6) side by side between shank (23) and foot (25), the upper end of two sets of ankle joint drive module (6) all is articulated with shank (23), the lower extreme all is articulated with foot (25), control foot (25) are turned from top to bottom when two sets of ankle joint drive module (6) are synchronous flexible, control foot (25) horizontal hunting when asynchronous flexible.

6. The biped robot of claim 1 wherein: and the upper end of the crotch part (1) is provided with a third servo motor (7) for controlling the rotation of the crotch part (1).

7. The biped robot of any one of claims 1 to 6, wherein: the knee joint driving module (5) or the ankle joint driving module (6) is a push rod motor module (P), and the push rod motor module (P) comprises a motor module (P1), a reduction gearbox module (P2), a screw rod transmission module (P3) and a push rod module (P4) which are arranged on the same axis and connected in sequence.

8. The biped robot of claim 7 wherein: the screw rod transmission module (P3) comprises a screw rod (P31) and a sliding block (P32), the screw rod (P31) and the sliding block (P32) are in threaded connection, the sliding block (P32) is connected to the screw rod (P31) in a sliding mode and moves along the axis of the screw rod (P31), the sliding block (P32) is fixedly connected with the push rod module (P4), the screw rod (P31) is in transmission connection with the reduction box module (P2), and the reduction box module (P2) controls the screw rod (P31) to rotate to drive the sliding block (P32) and the push rod module (P4) to move linearly;

when the knee joint driving module (5) is a push rod motor module (P), the motor module (P1) is hinged with the thigh part (21), and the push rod module (P4) is hinged with the shank part (23);

when the ankle joint driving module (6) is a push rod motor module (P), the motor module (P1) is hinged with the small leg part (23), and the push rod module (P4) is hinged with the foot part (25).

9. The biped robot of claim 8 wherein: the screw rod (P31) is a trapezoidal screw rod.

10. The biped robot of claim 7 wherein: the gearbox module (P2) is a planetary transmission.

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