CN104260799A - Universal human walking simulating robot - Google Patents

Universal human walking simulating robot Download PDF

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Publication number
CN104260799A
CN104260799A CN201410452719.9A CN201410452719A CN104260799A CN 104260799 A CN104260799 A CN 104260799A CN 201410452719 A CN201410452719 A CN 201410452719A CN 104260799 A CN104260799 A CN 104260799A
Authority
CN
China
Prior art keywords
motor
bolted
connected
thigh
support
Prior art date
Application number
CN201410452719.9A
Other languages
Chinese (zh)
Inventor
姜大伟
程庭海
张邦成
何丽鹏
赵俊鹏
宋国亚
刘溢泉
吴桐
常笑鹏
Original Assignee
长春工业大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 长春工业大学 filed Critical 长春工业大学
Priority to CN201410452719.9A priority Critical patent/CN104260799A/en
Publication of CN104260799A publication Critical patent/CN104260799A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/032Vehicles 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

Abstract

The invention relates to a universal human walking simulating robot, and provides one set of universal human walking simulating mechanism to various humanoid robots, and solves the problems of practicability, economy and intelligence of the robots. Crotch joints with swinging pairs and revolving pairs are connected with knee joints with swinging pairs through thighs; the knee joints are connected with ankle joints with swinging pairs and revolving pairs through shanks; and a certain walking function is realized through the cooperation and coordinated actions of two legs. The universal human walking simulating robot has the advantages of novel structure, simplicity, compactness, small size, light weight, reliable connection of all joints, modular design, convenience for disassembly, inside arrangement of motor wires and sensor wires and simple and clear transmission relation.

Description

General biped robot imitating human walking

Technical field:

The invention belongs to service robot field, especially can pass through development biped robot imitating human walking, for all kinds of anthropomorphic robot provides a set of general class people traveling gear.

Background technology:

Biped robot imitating human walking has a wide range of applications, and its research has huge social benefit and potential economic benefit, can be applied in multiple fields such as military affairs, service, medical treatment, education, amusements.Along with the process of modern development and aging population, apery service robot is in each field market demand by increasing, if having advantage in price and reliability, the market risk is less.In addition, the components and parts of production domesticization can be selected after development as far as possible, greatly reduce costs.

Summary of the invention:

The invention provides a kind of general biped robot imitating human walking, to solve Study on Problems and artificial intelligence that current all kinds of apery " service robot " runs in walking and advanced control algorithm research provides good platform.

The technical scheme that the present invention takes is: by having, swinging pair is connected with the knee joint with a swinging pair by thigh with the crotch joint of turning pair, this knee joint is connected with the ankle-joint with swinging pair and turning pair by shank.

The structure in crotch of the present invention joint is: motor is fixed on flange through upper junction plate, flange and turning cylinder are bolted, turning cylinder is bolted on lower connecting plate equally, turning cylinder and leg knuckle support are bolted, leg knuckle support is connected with thigh swinging mounting, first motor is fixed on thigh housing, leg joint deep groove ball bearing is arranged between thigh housing and thigh swinging mounting, connect end cap with leg and large leg joint coupling end covers in fixing both sides, and with bolt, two end cap is fixed on leg knuckle support.

The kneed structure of the present invention is: the second motor is fixed on shank, and knee joint deep groove ball bearing is arranged between shank and thigh, and both sides are connected end cap with outside knee joint connection cover with interior survey knee joint and are bolted.

The structure in ankle joint of the present invention is: the 3rd motor is fixed on ankle arthrosis support, shank housing links with ankle arthrosis support and fixes with bolt, ankle arthrosis deep groove ball bearing is arranged between shank housing and ankle arthrosis support, two ends are with connecting end cap and being connected end cap and fixing, servomotor is fixed in foot stand, foot's joint deep groove ball bearing is arranged between ankle arthrosis support and foot stand, and ankle arthrosis connects end cap and is connected with foot stand by ankle arthrosis support.

Another one leg structure is identical therewith, two legs are connected by connecting panel, form biped robot imitating human walking, this walking robot can carry out various operation by apish leg function, complete the revolution of ankle, the swing of ankle, knee swing, thigh swings, the action such as the revolution of thigh, and realize certain walking function by the Cooperation And Coordination action of both legs.

Advantage of the present invention is that novel structure, simple and compact, volume are little, lightweight, and each joint connects reliable and adopts modular design, convenient disassembly, and motor lines, pickup wire are built-in, and drive connection is simple and clear; Humanoid Robot Based on Walking system can realize independently moving or the interlock of each degree of freedom, can realize apery walking movement within the specific limits; There is high-precision motion and positioning precision, easy to loading and unloading, adjustment easily, reliable operation; Reach the top standard of same kind of products at abroad, price is lower than abroad.

Accompanying drawing illustrates:

Fig. 1 is structural representation of the present invention;

The structural representation in Tu2Shi crotch of the present invention joint;

Fig. 3 is the kneed structural representation of the present invention;

Fig. 4 is the structural representation of ankle-joint of the present invention;

Fig. 5 is DC servo motor structural representation of the present invention;

Detailed description of the invention:

Consult Fig. 1, by having, swinging pair is connected with the knee joint 3 with a swinging pair by thigh 2 with the crotch joint 1 of turning pair, this knee joint is connected with the ankle-joint 5 with swinging pair and turning pair by shank 4.

Consult Fig. 2, the structure of crotch 1 is: motor 112 is fixed on flange 111 through upper junction plate 101, flange 111 and turning cylinder 110 are bolted, turning cylinder 110 is bolted on lower connecting plate 102 equally, turning cylinder 110 and leg knuckle support 103 are bolted, leg knuckle support 103 is connected with thigh swinging mounting 105, DC servo motor system 109 is connected between leg knuckle support 103 and thigh swinging mounting 105 by motor bolt, first motor 108 is bolted on thigh 2 by motor, leg joint deep groove ball bearing 107 is arranged between thigh 2 and thigh swinging mounting 105, connect end cap 106 with leg to fix in both sides, and with bolt, two end cap 104 is fixed on leg knuckle support 103.

Consult Fig. 3, the structure of knee joint 3 is: the second motor 303 is bolted on shank 4 by motor, knee joint deep groove ball bearing 301 is arranged between shank 4 and thigh 2, and both sides are connected end cap 304 with outside knee joint connection cover 302 with interior survey knee joint and are bolted.

Consult Fig. 4, the structure in ankle joint 5 is: the 3rd motor 508 is bolted on ankle arthrosis support 501 by motor, shank 4 links with ankle arthrosis support 501 and fixes with bolt, ankle arthrosis deep groove ball bearing 502 is arranged between shank 4 and ankle arthrosis support 501, two ends are with connecting end cap 503 and being connected end cap 507 and fixing, DC servo motor system 506 is fixed in foot stand 505, foot's joint deep groove ball bearing 502 is arranged between ankle arthrosis support 501 and foot stand 505, ankle arthrosis connects end cap 504 and is connected with foot stand 505 by ankle arthrosis support.

Consult Fig. 5, the structure of servo electrical machinery system is: coder 603 and DC machine 602 are bolted, and retarder 601 is connected by key with DC machine 602.

Claims (5)

1. the general biped robot imitating human walking of one, is characterized in that swinging pair is connected with the knee joint 3 with a swinging pair by thigh 2 with the crotch joint 1 of turning pair, this knee joint is connected with the ankle-joint 5 with swinging pair and turning pair by shank 4 by having.
2. general biped robot imitating human walking according to claim 1, it is characterized in that motor 112 is fixed on flange 111 through upper junction plate 101, flange 111 and turning cylinder 110 are bolted, turning cylinder 110 is bolted on lower connecting plate 102 equally, turning cylinder 110 and leg knuckle support 103 are bolted, leg knuckle support 103 is connected with thigh swinging mounting 105, DC servo motor system 109 is connected between leg knuckle support 103 and thigh swinging mounting 105 by motor bolt, first motor 108 is bolted on thigh 2 by motor, leg joint deep groove ball bearing 107 is arranged between thigh 2 and thigh swinging mounting 105, connect end cap 106 with leg to fix in both sides, and with bolt, two end cap 104 is fixed on leg knuckle support 103.
3. general biped robot imitating human walking according to claim 1, it is characterized in that the second motor 303 is bolted on shank 4 by motor, knee joint deep groove ball bearing 301 is arranged between shank 4 and thigh 2, and both sides are connected end cap 304 with outside knee joint connection cover 302 with interior survey knee joint and are bolted.
4. general biped robot imitating human walking according to claim 1, it is characterized in that the 3rd motor 508 is bolted on ankle arthrosis support 501 by motor, shank 4 links with ankle arthrosis support 501 and fixes with bolt, ankle arthrosis deep groove ball bearing 502 is arranged between shank 4 and ankle arthrosis support 501, two ends are with connecting end cap 503 and being connected end cap 507 and fixing, DC servo motor system 506 is fixed in foot stand 505, foot's joint deep groove ball bearing 502 is arranged between ankle arthrosis support 501 and foot stand 505, ankle arthrosis connects end cap 504 and is connected with foot stand 505 by ankle arthrosis support.
5. general biped robot imitating human walking according to claim 1, it is characterized in that coder 603 and DC machine 602 are bolted, retarder 601 is connected by key with DC machine 602.
CN201410452719.9A 2014-09-05 2014-09-05 Universal human walking simulating robot CN104260799A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410452719.9A CN104260799A (en) 2014-09-05 2014-09-05 Universal human walking simulating robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410452719.9A CN104260799A (en) 2014-09-05 2014-09-05 Universal human walking simulating robot

Publications (1)

Publication Number Publication Date
CN104260799A true CN104260799A (en) 2015-01-07

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201410452719.9A CN104260799A (en) 2014-09-05 2014-09-05 Universal human walking simulating robot

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CN (1) CN104260799A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107856757A (en) * 2017-11-16 2018-03-30 哈尔滨工业大学 A kind of big climbable gradient robot foot of milling cutter type that can actively change soft landform

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1290590A (en) * 1999-09-20 2001-04-11 索尼公司 Robot walking controller and walking control method
CN101229826A (en) * 2008-02-28 2008-07-30 清华大学 Lower limb mechanism of biped robot
CN201712689U (en) * 2009-05-22 2011-01-19 华南理工大学 Modular six-degree-of-freedom active joint type biped walking robot
CN102556198A (en) * 2011-12-29 2012-07-11 浙江大学 Six-foot walking robot
CN103029130A (en) * 2012-12-05 2013-04-10 长春工业大学 Humanoid robot
CN103465272A (en) * 2013-09-29 2013-12-25 哈尔滨工业大学 Six-degree-of-freedom humanoid robot arm
CN103496411A (en) * 2013-10-12 2014-01-08 哈尔滨石油学院 Double-foot leg four-bar linkage humanoid robot

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1290590A (en) * 1999-09-20 2001-04-11 索尼公司 Robot walking controller and walking control method
CN101229826A (en) * 2008-02-28 2008-07-30 清华大学 Lower limb mechanism of biped robot
CN201712689U (en) * 2009-05-22 2011-01-19 华南理工大学 Modular six-degree-of-freedom active joint type biped walking robot
CN102556198A (en) * 2011-12-29 2012-07-11 浙江大学 Six-foot walking robot
CN103029130A (en) * 2012-12-05 2013-04-10 长春工业大学 Humanoid robot
CN103465272A (en) * 2013-09-29 2013-12-25 哈尔滨工业大学 Six-degree-of-freedom humanoid robot arm
CN103496411A (en) * 2013-10-12 2014-01-08 哈尔滨石油学院 Double-foot leg four-bar linkage humanoid robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107856757A (en) * 2017-11-16 2018-03-30 哈尔滨工业大学 A kind of big climbable gradient robot foot of milling cutter type that can actively change soft landform

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Application publication date: 20150107

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