CN113602379B - Robot leg and quadruped robot - Google Patents
Robot leg and quadruped robot Download PDFInfo
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- CN113602379B CN113602379B CN202111016178.1A CN202111016178A CN113602379B CN 113602379 B CN113602379 B CN 113602379B CN 202111016178 A CN202111016178 A CN 202111016178A CN 113602379 B CN113602379 B CN 113602379B
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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 application provides robot shank and quadruped robot includes: the device comprises a first driving unit, a second driving unit, a first driving wheel, a first driven wheel, a second driving wheel, a second driven wheel, a first transmission belt, a second transmission belt and a first tensioning device. First drive unit, second drive unit cooperate and realize the mutual compensation of power, effectively reduce drive unit's output torque, can utilize littleer motor just enough to order about the motion of quadruped robot, have important meaning to the lightweight design of quadruped robot and strong load.
Description
Technical Field
The application relates to the technical field of robots, in particular to a robot leg and a quadruped robot.
Background
The quadruped robot gradually becomes a hot point of research of scholars at home and abroad in recent years, the leg mechanism of the existing quadruped robot is mainly driven in a joint direct-drive mode, a control system is simple and reliable in the method, but a knee joint motor becomes a load of a hip joint motor, and the whole structure is redundant and burdensome. Therefore, in the design of the leg mechanism of the four-legged robot, the design of the leg mechanism with the minimum output torque of the required driving motor is difficult.
Therefore, there is a need to provide an improved solution to the above-mentioned deficiencies of the prior art.
Disclosure of Invention
It is an object of the present application to provide a solution or solution to the above-mentioned problems of the prior art.
In order to achieve the above object, the present application provides the following technical solutions:
the application provides a robot leg, includes: the knee joint driving device comprises a first driving unit, a second driving unit, a first driving wheel, a first driven wheel, a second driving wheel, a second driven wheel, a first transmission belt, a second transmission belt, a first tensioning device and a knee joint rotating shaft;
the first driving unit and the second driving unit are both arranged on the trunk of the quadruped robot, an output shaft of the first driving unit and an output shaft of the second driving unit are coaxial, the first driving wheel is fixed on the output shaft of the first driving unit, the second driving wheel is fixed on the output shaft of the second driving unit, and two sides of a thigh are respectively and rotatably arranged on the output shaft of the first driving unit and the output shaft of the second driving unit;
the knee joint rotating shaft is arranged at the knee joint of the leg part, and the first driven wheel and the second driven wheel are arranged in parallel and are both rotationally connected to the knee joint rotating shaft;
the first driven wheel and the second driven wheel are fixedly connected with the lower leg, and the knee joint rotating shaft is respectively connected with the upper leg and the lower leg in a rotating manner;
the first transmission belt comprises an inner surface and an outer surface, inner transmission teeth are arranged on the inner surface, outer transmission teeth are arranged on the outer surface, the first driving wheel is in transmission connection with the first transmission belt through the inner transmission teeth, the first driven wheel is in transmission connection with the first transmission belt through the outer transmission teeth, and the first tensioning device is used for enabling the outer transmission teeth to be meshed with the first driven wheel;
the first driving wheel drives the first driven wheel to rotate through the first transmission belt, the rotating directions of the first driving wheel and the first driven wheel are opposite, the second driving wheel drives the second driven wheel to rotate through the second transmission belt, and the rotating directions of the second driving wheel and the second driven wheel are the same;
the thigh and the shank swing simultaneously when the output directions of the first driving unit and the second driving unit are the same and the torques are different.
Further, the robot leg further comprises a second tensioning device, and the second tensioning device is used for enabling the second transmission belt to be attached to the second driving wheel and the second driven wheel.
Further, the first tensioning device is a V-shaped tensioning device fixed on the thigh, and the first driven wheel is arranged in an opening of the V-shaped tensioning device.
Further, the first driving wheel and the first driven wheel have the same module and the same diameter.
Further, the second driving wheel and the second driven wheel have the same module and the same diameter.
Further, the first driven wheel and the second driven wheel have the same module and the same diameter.
Further, the first driving unit includes a first motor and a first speed reducer, the second driving unit includes a second motor and a second speed reducer, and the first motor is the same as the second motor in type, and the first speed reducer is the same as the second speed reducer in type.
Further, the second tensioning device includes a base plate, a first tensioning wheel and a second tensioning wheel, the base plate is fixed on the thigh, a first long hole and a second long hole are formed in the base plate, the first tensioning wheel moves on the base plate along the length direction of the first long hole, the second tensioning wheel moves on the base plate along the length direction of the second long hole, and both the first tensioning wheel and the second tensioning wheel are provided with tensioning springs;
and the first tensioning wheel and the second tensioning wheel apply tensioning force to the second transmission belt under the action of the tensioning spring.
Further, the first tensioning wheel and the second tensioning wheel are respectively arranged on two sides of the second transmission belt, the tensioning spring is in a stretching state, and the first tensioning wheel and the second tensioning wheel press the second transmission belt towards the opposite direction.
The embodiment of the present application further provides a quadruped robot, including: front limb and hind limb, said front limb and said hind limb along the fore-and-aft direction of said robot connect to said trunk of said robot, said front limb and said hind limb have two said robot legs of any one of the above-mentioned embodiments separately, two said legs of said front limb, two said legs of said hind limb are all along said left and right direction symmetrical arrangement of robot in said trunk both sides of robot separately.
Compared with the closest prior art, the technical scheme of the embodiment of the application has the following beneficial effects:
1) First drive unit, second drive unit cooperate and realize the mutual compensation of power, effectively reduce drive unit's output torque, can utilize littleer motor just enough to order about the motion of quadruped robot, have important meaning to the lightweight design of quadruped robot and strong load.
2) The second tensioning device is arranged, so that accurate transmission between the second transmission belt and the second driven wheel and between the second transmission belt and the second driving wheel can be well guaranteed.
3) The V-shaped tensioning device is simple in structure and meets requirements.
4) The calculation and control of the torque output quantity of the first driving unit and the second driving unit are facilitated.
5) The second tensioning device is provided with a first tensioning wheel and a second tensioning wheel, and the stress balance of the second transmission belt is facilitated.
6) The tension spring is used for ensuring the continuous tension force, and the accurate transmission between the second transmission belt and the second driven wheel and between the second transmission belt and the second driving wheel is facilitated.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. Wherein:
fig. 1 is a three-dimensional view of a robot leg provided in accordance with some embodiments of the present application;
fig. 2 is a schematic structural view of a robot leg provided in accordance with some embodiments of the present application;
fig. 3 is a cross-sectional schematic view of a robot leg provided in accordance with some embodiments of the present application.
Description of the reference numerals: 1. a hip joint motor; 2. a first driving unit; 3. a second driving unit; 4. a first drive wheel; 5. a second drive wheel; 6. a first drive belt; 7. a second belt; 8. a thigh; 9. a second tensioning device; 91. a first tensioning wheel; 92. a second tensioning wheel; 93. a substrate; 10. a first tensioning device; 101. a third tension pulley; 11. a lower leg; 12. a foot; 13. a hip joint connection plate; 14. a knee joint rotating shaft; 15. a first driven wheel; 16. a second driven wheel.
Detailed Description
The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. Various examples are provided by way of explanation of the present application and not limitation of the present application. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present application without departing from the scope or spirit of the application. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. It is therefore intended that the present application encompass such modifications and variations as fall within the scope of the appended claims and their equivalents.
In the description of the present application, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, which are merely for convenience of description of the present application and do not require that the present application must be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. The terms "connected," "connected," and "disposed" as used herein are intended to be broadly construed, and may include, for example, fixed and removable connections; can be directly connected or indirectly connected through intermediate components; the connection may be a wired electrical connection, a wireless electrical connection, or a wireless communication signal connection, and a person skilled in the art can understand the specific meaning of the above terms according to specific situations.
The present invention provides an embodiment of a quadruped robot, as shown in fig. 1 to 3, comprising: the robot comprises a trunk, forelimbs and hind limbs, wherein the motion direction of the robot is defined as the front-back direction of the robot, the trunk of the robot extends along the front-back direction, the forelimbs and the hind limbs are connected to the trunk of the robot along the front-back direction of the robot, the forelimbs and the hind limbs are respectively provided with two robot legs, and the two legs of the forelimbs and the two legs of the hind limbs are respectively symmetrically arranged on the two sides of the trunk of the robot along the left-right direction of the robot. The joint of the trunk and the leg is a hip joint of the robot, and the hip joint comprises a hip joint motor 1 and a hip joint connecting plate 13.
The robot leg includes: the device comprises a first driving unit 2, a second driving unit 3, a first driving wheel 4, a first driven wheel 15, a second driving wheel 5, a second driven wheel 16, a first transmission belt 6, a second transmission belt 7, a first tensioning device 10, a second tensioning device 9, a thigh 8, a shank 11, a knee joint rotating shaft 13 and a foot 12.
The first driving unit 2 comprises a first motor and a first speed reducer, the second driving unit 3 comprises a second motor and a second speed reducer, the first driving unit 2 and the second driving unit 3 are both mounted on the trunk of the quadruped robot, and specifically, the first driving unit 2 and the second driving unit 3 are fixed on the hip joint connecting plate 13. Therefore, the mechanism redundancy of the legs is effectively reduced, the motion inertia of the legs during motion is reduced, the motion of the four-foot robot is more stable, and the control precision of the four-foot robot is improved. Meanwhile, the output torques of the first driving unit 2 and the second driving unit 3 can be reduced, so that the first driving unit 2 and the second driving unit 3 can be smaller in size, or the first driving unit 2 and the second driving unit 3 with the same size are more beneficial to leg movement of the quadruped robot.
The first motor and the second motor are the same in type, and the first speed reducer and the second speed reducer are the same in type, so that the movement of the leg of the robot can be controlled conveniently.
The knee joint rotating shaft 14 is arranged at the knee joint of the leg, and the first driven wheel 15 and the second driven wheel 16 are arranged in parallel and are both rotatably connected to the knee joint rotating shaft 14. The first driven wheel 15 and the second driven wheel 16 are both fixedly connected with the lower leg 11, and the knee joint rotating shaft 14 is respectively connected with the thigh 8 and the lower leg 11 in a rotating way.
The first driving wheel 4 drives the first driven wheel 15 to rotate through the first transmission belt 6, and the second driving wheel 5 drives the second driven wheel 16 to rotate through the second transmission belt 7. The first transmission belt 6 comprises an inner surface and an outer surface, inner transmission teeth are arranged on the inner surface, outer transmission teeth are arranged on the outer surface, the first driving wheel 4 is in transmission connection with the first transmission belt 6 through the inner transmission teeth, the first driven wheel 15 is in transmission connection with the first transmission belt 6 through the outer transmission teeth, the first tensioning device 10 is used for enabling the outer transmission teeth to be meshed with the first driven wheel 15, concretely, the first tensioning device 10 is a V-shaped tensioning device, the V-shaped tensioning device is fixed on a thigh 8, the first driven wheel 15 is arranged in an opening of the V-shaped tensioning device, third tensioning wheels 101 are respectively arranged at two ends of the opening, and the third tensioning wheels 101 are in rolling fit with the first transmission belt 6 to apply tensioning force to the first transmission belt 6. The first transmission belt 6 is provided with transmission teeth on the inner surface and the outer surface, so that the first driving wheel 4 drives the first driven wheel 15 to rotate, and the rotation directions of the first driving wheel 4 and the first driven wheel 15 are opposite.
The first driving wheel 4, the first driven wheel 15, the second driving wheel 5 and the second driven wheel 16 have the same module and the same diameter, so that the motion of the leg of the robot can be controlled conveniently.
The second tensioning device 9 is used for attaching the second transmission belt 7 to the second driving wheel 5 and the second driven wheel 16, the second tensioning device 9 comprises a base plate 93, a first tensioning wheel 91 and a second tensioning wheel 92, the base plate 93 is fixed on the thigh 8, the base plate 93 is provided with a first long hole and a second long hole, the first tensioning wheel 91 moves on the base plate 93 along the length direction of the first long hole, the second tensioning wheel 92 moves on the base plate 93 along the length direction of the second long hole, the first tensioning wheel 91 and the second tensioning wheel 92 are respectively arranged on two sides of the second transmission belt 7, and both the first tensioning wheel 91 and the second tensioning wheel 92 are provided with tensioning springs; the tension spring is in a stretched state, and under the action of the tension spring, the first tension wheel 91 and the second tension wheel 92 press the second transmission belt 7 toward each other, applying tension to the second transmission belt 7.
When the output directions of the first drive unit 2 and the second drive unit 3 are the same and the torques are the same, the lower leg 11 is fixed, and the upper leg 8 swings around the common axis of the output shaft of the first drive unit 2 and the output shaft of the second drive unit 3. When the output directions of the first driving unit 2 and the second driving unit 3 are opposite, the thigh 8 is not moved, the lower leg 11 swings around the knee joint rotating shaft 14, and when the output directions of the first driving unit 2 and the second driving unit 3 are the same and the torques are different, the thigh 8 and the lower leg 11 swing at the same time (when the torque of the first output unit is smaller than the torque of the second output unit, the thigh 8 and the lower leg 11 swing in the same direction, the thigh 8 and the lower leg 11 have a tendency of relative folding or relative extension, and when the torque of the first output unit is larger than the torque of the second output unit, the thigh 8 and the lower leg 11 swing in opposite directions).
The specific embodiment of the robot leg of the present application is the same as the structure of the robot leg in the specific embodiment of the quadruped robot of the present application, and is not described again.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (8)
1. Robot leg, its characterized in that includes: the knee joint driving device comprises a first driving unit, a second driving unit, a first driving wheel, a first driven wheel, a second driving wheel, a second driven wheel, a first transmission belt, a second transmission belt, a first tensioning device and a knee joint rotating shaft;
the first driving unit and the second driving unit are both arranged on the trunk of the quadruped robot, an output shaft of the first driving unit and an output shaft of the second driving unit are coaxial, the first driving wheel is fixed on the output shaft of the first driving unit, the second driving wheel is fixed on the output shaft of the second driving unit, and two sides of a thigh are respectively and rotatably arranged on the output shaft of the first driving unit and the output shaft of the second driving unit;
the knee joint rotating shaft is arranged at the knee joint of the leg part, and the first driven wheel and the second driven wheel are arranged in parallel and are both rotationally connected to the knee joint rotating shaft;
the first driven wheel and the second driven wheel are fixedly connected with the lower leg, and the knee joint rotating shaft is respectively connected with the upper leg and the lower leg in a rotating manner;
the first transmission belt comprises an inner surface and an outer surface, inner transmission teeth are arranged on the inner surface, outer transmission teeth are arranged on the outer surface, the first driving wheel is in transmission connection with the first transmission belt through the inner transmission teeth, the first driven wheel is in transmission connection with the first transmission belt through the outer transmission teeth, and the first tensioning device is used for enabling the outer transmission teeth to be meshed with the first driven wheel;
the first driving wheel drives the first driven wheel to rotate through the first transmission belt, the rotating directions of the first driving wheel and the first driven wheel are opposite, the second driving wheel drives the second driven wheel to rotate through the second transmission belt, and the rotating directions of the second driving wheel and the second driven wheel are the same;
when the output directions of the first driving unit and the second driving unit are the same and the torques are the same, the thigh swings around the common axis of the output shaft of the first driving unit and the output shaft of the second driving unit, when the output directions of the first driving unit and the second driving unit are opposite, the shank swings around the knee joint rotating shaft, and when the output directions of the first driving unit and the second driving unit are the same and the torques are different, the thigh swings and the shank swing at the same time;
the robot leg further comprises a second tensioning device, and the second tensioning device is used for enabling the second transmission belt to be attached to the second driving wheel and the second driven wheel;
the second tensioning device comprises a base plate, a first tensioning wheel and a second tensioning wheel, the base plate is fixed on the thigh, a first long hole and a second long hole are formed in the base plate, the first tensioning wheel moves on the base plate along the length direction of the first long hole, the second tensioning wheel moves on the base plate along the length direction of the second long hole, and both the first tensioning wheel and the second tensioning wheel are provided with tensioning springs;
and the first tensioning wheel and the second tensioning wheel apply tensioning force to the second transmission belt under the action of the tensioning spring.
2. A robot leg according to claim 1, characterized in that the first tensioning device is a V-shaped tensioning device, which is fixed on the thigh, the first driven wheel being arranged in an opening of the V-shaped tensioning device.
3. A robot leg according to claim 1, characterized in that the first driving wheel and the first driven wheel have the same module and the same diameter.
4. A robot leg according to claim 3, wherein the second driving wheel and the second driven wheel have the same module and the same diameter.
5. The robot leg of claim 4, wherein the first and second driven wheels have the same modulus and the same diameter.
6. The robot leg according to claim 1, wherein the first drive unit comprises a first motor and a first reducer, the second drive unit comprises a second motor and a second reducer, and the first motor is the same type as the second motor and the first reducer is the same type as the second reducer.
7. The robot leg according to claim 1, wherein the first tension pulley and the second tension pulley are provided on both sides of the second belt, respectively, the tension spring is in a stretched state, and the first tension pulley and the second tension pulley press the second belt toward each other.
8. A quadruped robot, comprising: trunk, forelimb and hindlimb, said forelimb and said hindlimb connect to said trunk along the fore-and-aft direction of said robot, said forelimb and said hindlimb have two robot legs of any one of claims 1-7 respectively, two said legs of said forelimb, two said legs of said hindlimb are all arranged symmetrically on both sides of said trunk of said robot along the left-and-right direction of said robot respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111016178.1A CN113602379B (en) | 2021-08-31 | 2021-08-31 | Robot leg and quadruped robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111016178.1A CN113602379B (en) | 2021-08-31 | 2021-08-31 | Robot leg and quadruped robot |
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| CN113602379A CN113602379A (en) | 2021-11-05 |
| CN113602379B true CN113602379B (en) | 2022-10-11 |
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| CN110884588A (en) * | 2019-12-23 | 2020-03-17 | 中国科学院空间应用工程与技术中心 | Quadruped robot platform based on serial mechanical legs |
| CN112407096A (en) * | 2020-12-15 | 2021-02-26 | 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) | Robot leg and quadruped robot based on differential mechanism |
| CN112519917A (en) * | 2020-12-29 | 2021-03-19 | 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) | Collaborative interactive robot based on wheel-foot type hybrid movement |
| CN112519916A (en) * | 2020-12-29 | 2021-03-19 | 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) | Wheel-foot hybrid robot |
| CN113525551A (en) * | 2021-08-31 | 2021-10-22 | 中电科机器人有限公司 | Robot leg and four-footed robot based on chain drive |
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2021
- 2021-08-31 CN CN202111016178.1A patent/CN113602379B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP0331914A2 (en) * | 1988-03-10 | 1989-09-13 | International Business Machines Corporation | Four degree of freedom gripper |
| JP2001179663A (en) * | 1999-12-24 | 2001-07-03 | Sony Corp | Leg type mobile robot, its control method and charging station |
| JP2001239478A (en) * | 2000-02-28 | 2001-09-04 | Sony Corp | Leg type mobile robot and movable leg unit connecting structure for leg type mobile robot |
| JP2003136463A (en) * | 2001-10-29 | 2003-05-14 | Omron Corp | Movable part structure of robot |
| CN107651041A (en) * | 2017-10-30 | 2018-02-02 | 山东大学 | A kind of single leg structure of electronic quadruped robot |
| CN109484510A (en) * | 2018-12-14 | 2019-03-19 | 深圳市行者机器人技术有限公司 | A kind of robot running gear |
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| CN112407096A (en) * | 2020-12-15 | 2021-02-26 | 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) | Robot leg and quadruped robot based on differential mechanism |
| CN112519917A (en) * | 2020-12-29 | 2021-03-19 | 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) | Collaborative interactive robot based on wheel-foot type hybrid movement |
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| CN113602379A (en) | 2021-11-05 |
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