CN104369790B - A kind of biped robot's walking mechanism - Google Patents
A kind of biped robot's walking mechanism Download PDFInfo
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- CN104369790B CN104369790B CN201410446333.7A CN201410446333A CN104369790B CN 104369790 B CN104369790 B CN 104369790B CN 201410446333 A CN201410446333 A CN 201410446333A CN 104369790 B CN104369790 B CN 104369790B
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- shank
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- leg mechanism
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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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- 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
- B62D57/022—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 consisting of members having both rotational and walking movements
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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
- B62D57/028—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 having wheels and mechanical legs
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention provides a kind of biped robot's walking mechanism, including the leg mechanism that waist mechanism is identical with two-strip structure, described leg mechanism is symmetrical arranged and is connected to waist mechanism both sides；Described leg mechanism includes big leg mechanism and little leg mechanism, described big leg mechanism is connected by the Chebyshev mechanism arranged from top to bottom and pantogragh mechanisms in series and forms, and described little leg mechanism is made up of the two groups of parallel-crank mechanisms being arranged at shank top and shank bottom；Described shank top is provided with shank telescopic drive motor, is used for driving regulation shank mechanism length, thus adjusts the gait of walking mechanism with across obstacle；Described waist mechanism includes gear module, bearing module and waist bracket；The alternately rotating of motor is driven to realize leg mechanism turning in the process of walking by planning waist；Being provided with the roller for realizing running on wheels pattern on described little leg mechanism, the present invention has diverse in function, structure is reliable, control simple, low cost and other advantages.
Description
Technical field
The invention belongs to robotics, especially relate to a kind of biped robot's walking mechanism.
Background technology
The huge applications of service robot is worth and market prospect has become as being permitted including America and Europe, Japan and Korea S and China
The common recognition of many countries, and formulated special development plan and strategy by some countries.And anthropomorphic robot adapts to people because having
The living environment of class, can directly use the instrument of the mankind and have affinity these three highlight excellent because having the feature of people
Point, becomes the robot partner of the human future being expected most, also becomes one of the study hotspot in service robot field.
According to incompletely statistics, the anthropomorphic robot from the most sincere justice of First in 1973 is since Japan is born, and the whole world is carried out
Anthropomorphic robot project is more than 100.
Anthropomorphic robot is made up of head, extremity and trunk, and wherein upper limb realizes capturing and operation, and lower limb realize walking.
Anthropomorphic robot is using the mankind as the prototype of bionics fiber, and robot extremity are imitated by researcher in current worldwide
Substantial amounts of research has been carried out in raw design, carries out degree of freedom configuration, with simulating human in the joint of mechanism's design upper mold apery class
Motion and motion characteristic.Particularly single lower limb is typically each designed with 6-7 degree of freedom, realizes hands and foot fortune in three dimensions
Dynamic.The ASIMO of the most advanced level of anthropomorphic robot is generally represented, Korean science as more representational anthropomorphic robot has
KHR and the HUBO Series machine people of technology institute, Japanese industries Technical Integration Studies HRP Series machine people, Italian Technology
The iCub of institute, the WABIAN-2 of Waseda University, the H7 of Tokyo University's exploitation, Technical University at Munich is in robot
The REEM-B of Robot Helps Me To Avoid Danger LOLA and the Pal Robotics exploitation of exploitation on the basis of Johnnie, Humboldt-Universitaet zu Berlin opens
The Myon sent out, the Mahru etc. of Samsung of Korea S exploitation, be owned by two legs being respectively arranged with 6 or 7 degree of freedom.
At home, biped robot has been carried out substantial amounts of research work by Ye Youduojia research institution, and achieves plentiful and substantial
Achievement in research.Relatively early carry out the antecessor of National University of Defense technology's exploitation of anthropomorphic robot research, and Beijing reason later
The BHR Series machine people of work university exploitation, the THBIP of Tsing-Hua University, the realizing of Zhejiang University, empty robot and Chinese Academy of Sciences's Hefei thing
Matter research institute is also owned by two legs being respectively arranged with 6 degree of freedom at the IPR-1 etc. of exploitation in 2013.
The joint of these robot leg design reference mankind's both legs carries out degree of freedom configuration, the robot leg designed and developed
Portion has higher motility, can complete to walk upright with simulating human, turns, the motion such as obstacle detouring, stair activity, but how electricity
The use of machine also makes this kind of robot Shortcomings, is summarized as follows:
1. cost is high: each degree of freedom of robot leg all configures a motor, a harmonic speed reducer and a motor
Driver, additionally, be generally also configured with multi-dimension force sensor etc., these standard component prices are the most costly so that robot is because of height
Cost and the actual application of distance also has the most far distance.
2. energy consumption is big: the use of many motors makes robot overall power relatively big, and anthropomorphic robot is to power by battery,
Therefore high power causes challenge to the flying power of battery.
3. weight is big: the standard component such as motor, harmonic speed reducer is heavier so that robot weight is relatively big, on the one hand exacerbates
The consumption of energy, on the one hand makes greatly robot safety the highest due to inertia.
4. control complexity: large number of motor makes the complexity of control system greatly improve, and makes system simultaneously
Stability decreases.
Summary of the invention
For the deficiencies in the prior art, the technical problem to be solved be to provide a kind of diverse in function,
Structure is reliable, control simple, biped robot's walking mechanism of low cost.
The present invention solves the technical scheme of described technical problem: a kind of biped robot's walking mechanism, including waist machine
The leg mechanism that structure is identical with two-strip structure, described leg mechanism is symmetrical arranged and is connected to waist mechanism both sides；
Described leg mechanism includes big leg mechanism and little leg mechanism, and described big leg mechanism is by the Qie Bixue arranged from top to bottom
Husband mechanism and pantogragh mechanisms in series connect composition；Leg is installed at the input hinge of described Chebyshev mechanism and drives electricity
Machine, is driven by this motor and is used for producing the gait curve being suitable for walking, and pantogragh mechanism is used for amplifying this curve；Described shank
Mechanism is made up of shank top and shank bottom two parts, and shank top and shank bottom are by parallel-crank mechanism structure
Become；Described shank top is provided with shank telescopic drive motor, is used for driving regulation shank mechanism length；Described little leg mechanism
Length is realized by the relative position between regulation shank upper and lower, and shank top is provided with chute, and shank bottom is pacified
Equipped with slide bar, slide bar can slide up and down in chute, thus drive shank bottom away from (close) shank top, to increase
(reduction) shank mechanism length, in order to adjust the gait of walking mechanism with across obstacle；
Described waist mechanism includes gear module, bearing module and waist bracket；Described gear module is identical by four
Spur gear wheel is that parallel being arranged in order of axis engages composition two-by-two, and the gear being positioned at both sides is solid with the framework of leg mechanism respectively
Fixed connection, waist drives motor to be arranged in one of them of middle two spur gear wheels, when waist drives electric machine rotation,
The cylindrical straight gear wheel speed of both sides is consistent but in opposite direction, is driven the alternately rotating of motor to realize leg machine by planning waist
Structure turning in the process of walking；Described bearing module is made up of four thrust ball bearings, is divided into two groups to be arranged on waist bracket
In and be connected with two legs portion mechanism respectively, make two legs portion mechanism can rotate around waist mechanism, it is achieved break-in walking.
Described shank telescopic drive motor output shaft is a screw rod, screw rod coordinates and is provided with a nut, this nut
Being arranged on shank bottom, when shank telescopic drive motor just (instead) turns, nut moves along screw rod to away from (close) motor one side
Dynamic, thus drive shank bottom to make leg length increase (reduction) away from (close) shank top.
Being provided with the roller for realizing running on wheels pattern on described little leg mechanism, this roller is arranged at the bottom of shank top
End, is individually controlled by idler wheel driving galvanic electricity machine, and when robot is operated in foot formula pattern, the foot being installed on shank lower bottom end is low
In being installed on the roller of bottom, shank top, i.e. roller is unsettled, and foot lands, and when robot is operated in wheeled pattern, peace
The roller being loaded on bottom, shank top is less than the foot being installed on shank lower bottom end, i.e. foot is unsettled, and roller lands, biped row
Walk mechanism and realized the switching of wheeled and sufficient formula pattern by the length changing little leg mechanism.
Compared with prior art, owing to using technique scheme, these biped walking mechanism both legs are configured with seven altogether
Degree of freedom, designs relative to the robot leg of traditional many motors, and the quantity of motor reduces nearly half, but equally realizes
The craspedodrome of robot, turning, obstacle detouring and stair activity etc., and there are sufficient formula and wheeled two kinds of walking modes.
The invention has the beneficial effects as follows: have diverse in function, structure is reliable, control simple, low cost and other advantages, as imitative
The walking mechanism of robot people, has good using value.
Accompanying drawing explanation
Below with reference to accompanying drawing and combine example be specifically described the present invention, advantages of the present invention and implementation will
Becoming apparent from, wherein content shown in accompanying drawing is only used for explanation of the present invention, and does not constitute to the present invention in all senses
On restriction, in the accompanying drawings:
Fig. 1 is biped robot's walking mechanism general effect figure of the present invention；
Fig. 2 is the leg structure figure of biped robot's walking mechanism of the present invention；In Fig. 2, Fig. 2 (a) is biped machine of the present invention
The leg mechanism sketch of device people's walking mechanism；Fig. 2 (b) is the left lower limb structural representation of biped robot's walking mechanism of the present invention；
Fig. 2 (c) is the shank superstructure figure of biped robot's walking mechanism of the present invention；Fig. 2 (d) is biped robot of the present invention walking
The shank lower junction composition of mechanism；
Fig. 3 is the waist structure figure of biped robot's walking mechanism of the present invention；In Fig. 3, Fig. 3 (a) is biped machine of the present invention
The structural representation of the waist mechanism of device people's walking mechanism；Fig. 3 (b) is that waist mechanism middle (center) bearing module of the present invention is connected with leg
Structural representation；Fig. 3 (c) is waist mechanism middle gear module of the present invention and leg portion attaching structure figure；
Fig. 4 is the schematic diagram that biped robot's walking mechanism of the present invention realizes turning to 40 °；In Fig. 4, Fig. 4 (a) is the present invention
Biped robot's walking mechanism realizes turning to the motor movement curve chart of 40 °；Fig. 4 (b) is biped robot's vehicle with walking machine of the present invention
Structure realizes turning to the process schematic of 40 °；
Fig. 5 is the schematic diagram that biped robot's walking mechanism of the present invention realizes across obstacle；
Fig. 6 is the principle schematic that biped robot's walking mechanism of the present invention realizes going upstairs；
Fig. 7 is the schematic diagram that biped robot's walking mechanism of the present invention is operated in wheeled pattern；In Fig. 7, Fig. 7 (a) is this
Invention biped robot's walking mechanism is operated in the schematic diagram of wheeled pattern；Fig. 7 (b) is biped robot's walking mechanism of the present invention
The inverted pendulum control illustraton of model of wheeled pattern；
Fig. 8 is an Application Example of biped robot's walking mechanism of the present invention；
In accompanying drawing:
1, leg mechanism 2, waist mechanism 11, big leg mechanism
12, little leg mechanism 13, leg drive motor 14, shank telescopic drive motor
21, bearing module 22, gear module 23, waist bracket
24, waist drives motor 121, shank top 122, shank bottom
123, foot 124, slide bar 125, chute
126, idler wheel driving galvanic electricity machine 127, roller 141, screw rod
142, nut
Detailed description of the invention
It is further discussed below the present invention below in conjunction with embodiment and accompanying drawing thereof:
As Figure 1-3, one biped robot's walking mechanism of the present invention is identical with two-strip structure including waist mechanism 2
Leg mechanism 1, described leg mechanism 1 is symmetrical arranged and is connected to waist mechanism 2 both sides；
Described leg mechanism includes big leg mechanism 11 and little leg mechanism 12, and described big leg mechanism 11 is by arranging from top to bottom
Chebyshev mechanism and pantogragh mechanisms in series connect composition；At the input hinge of described Chebyshev mechanism, leg is installed to drive
Galvanic electricity machine 13, is driven by this motor and is used for producing the gait curve being suitable for walking, and pantogragh mechanism is used for amplifying this curve；Institute
State little leg mechanism 12 to be made up of shank top 121 and shank bottom 122 two parts, and shank top 121 and shank bottom 122 equal
It is made up of parallel-crank mechanism；Described shank top 121 is provided with shank telescopic drive motor 14, is used for driving regulation shank
The length of mechanism 12；The length of described little leg mechanism 12 is by the phase para-position between regulation shank top 121 and shank bottom 122
Putting and realize, shank top 121 is provided with chute 125, and shank bottom 122 is provided with slide bar 124, and slide bar 124 can be at chute
Slide up and down in 125, thus drive shank bottom 122 away from (close) shank top 121, to increase (reduction) little leg mechanism 12
Length, in order to adjust the gait of walking mechanism with across obstacle；
Described waist mechanism 2 includes gear module 22, bearing module 21 and waist bracket 23；Described gear module 22 is by four
Individual identical spur gear wheel is that parallel being arranged in order of axis engages composition two-by-two, be positioned at the gear of both sides respectively with leg mechanism
The framework of 1 is fixing to be connected, and waist drives motor 24 to be arranged in one of them of middle two spur gear wheels, when waist drives
When motor 24 rotates, the cylindrical straight gear wheel speed of both sides is consistent but in opposite direction, drives replacing of motor 24 by planning waist
Rotating realizes leg mechanism 1 turning in the process of walking；Described bearing module 21 is made up of four thrust ball bearings, is divided into
In two groups are arranged on waist bracket 23 and it is connected with two legs portion mechanism 1 respectively, makes the two legs portion mechanism 1 can be around waist machine
Structure 2 rotates, it is achieved break-in is walked.
Described shank telescopic drive motor 14 output shaft is a screw rod 141, screw rod 141 coordinates and is provided with a nut
142, this nut 142 is arranged on shank bottom 122, and when shank telescopic drive motor 14 just (instead) turns, nut 142 is along screw rod
141 move to away from (close) motor one side, thus drive shank bottom 122 to make leg away from (close) shank top 121
Length increases (reduction).
Being provided with the roller 127 for realizing running on wheels pattern on described little leg mechanism 12, this roller 127 is arranged on little
The bottom on lower limb top 121, is individually controlled by idler wheel driving galvanic electricity machine 126, when robot is operated in foot formula pattern, is installed on shank
The foot of bottom, bottom 122 is less than the roller 127 being installed on bottom, shank top 121, i.e. roller 127 is unsettled, foot 123
Ground, and when robot is operated in wheeled pattern, it is installed on the roller 127 of bottom, shank top 121 less than being installed under shank
The foot 123 of bottom, portion 122, i.e. foot 123 are unsettled, and roller 127 lands, and biped walking mechanism is by changing little leg mechanism 12
Length realizes the switching of wheeled and sufficient formula pattern.
Fig. 2 (a) show the leg mechanism sketch of biped robot's walking mechanism of the present invention, capitalization in figure (A, B,
C ...) represent hinge, M1, M2 and M3 represent driving motor, the connecting rod in numeral (1,2,3 ...) outgoing mechanism；In figure, ABCDE is
Chebyshev mechanism, it is a quadric chain, frame AB, one end the crank AC that is fixed in frame,
Rocking bar BD that individual one end is fixed in frame and the fork CDE being connected with crank and rocking bar while one is constituted, its length ratio
For AB: AC: BC: CD: DE=2: 1: 2.5: 2.5: 2.5；FGHIJK is pantogragh mechanism, and it is also a quadric chain, by
Input lever FGH, take-off lever HJK, connecting rod GI and connecting rod IJ are constituted, and GH is parallel and parallel equal to IJ, IG and is equal to HJ, F, I and K tri-
Point conllinear.
Fig. 4 (a) is the motor movement curve chart realizing turning to for biped robot's walking mechanism, when being arranged on gear die
After waist on group inner gear shaft drives motor to be endowed such characteristics of motion, it realizes turning to 40 ° in may be implemented in four steps
Change, as shown in Fig. 4 (b).
Shown in Fig. 5 is the principle schematic realizing across obstacle by changing shank mechanism length, wherein barrier A
The barrier can crossed over when being fixed on maximum for shank mechanism length, B is the little leg mechanism of reasonable adjusting during crossing over
The barrier that length can be crossed over, it can be seen that by regulating the length of little leg mechanism 12, the size of the barrier that can cross over
Bigger.
Shown in Fig. 6 is the principle schematic gone upstairs by changing shank mechanism length to realize, 1.-10. hand over for left and right lower limb
10 steps replaced, by the characteristics of motion of shank telescopic drive motor of making rational planning for, can realize in 10 steps
Four steps in biped robot's walking mechanism, the planning gone downstairs is similar.
Fig. 7 (a) is the schematic diagram that biped robot's walking mechanism is operated in wheeled pattern, and Fig. 7 (b) is biped robot's row
Walk the inverted pendulum control model of the wheeled pattern of mechanism.
Fig. 8 is that biped robot's walking mechanism applies an embodiment in drawing dolly, biped robot's walking mechanism
Can be used for drawing object carrier by this application.
It should be noted that Fig. 4-6 is used only to illustrate that biped robot's walking mechanism of the present invention can realize turning to, more
The functions such as barrier and stair activity, Fig. 8 show only the one of which of biped robot's walking mechanism of the present invention and applies, but this
Motion planning and the application of invention biped robot's walking mechanism are not limited to above-mentioned several embodiment.
Obviously, those skilled in the art can to a kind of biped robot's walking mechanism of the present invention and method of work,
Carry out various change and modification without departing from the spirit and scope of the present invention.So, if these of the present invention are revised and modification
Belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these changes and modification exists
In.
Claims (3)
1. biped robot's walking mechanism, including the leg mechanism that waist mechanism is identical with two-strip structure, described leg machine
Structure is symmetrical arranged and is connected to waist mechanism both sides, it is characterised in that:
Described leg mechanism includes big leg mechanism and little leg mechanism, and described big leg mechanism is by the Chebyshev's machine arranged from top to bottom
Structure and pantogragh mechanisms in series connect composition；Leg is installed at the input hinge of described Chebyshev mechanism and drives motor, logical
Crossing this motor and drive the gait curve being used for producing applicable walking, pantogragh mechanism is used for amplifying this curve；Described little leg mechanism
It is made up of shank top and shank bottom two parts, and shank top and shank bottom are constituted by parallel-crank mechanism；Institute
State shank top and shank telescopic drive motor is installed, be used for driving regulation shank mechanism length；The length of described little leg mechanism
Being realized by the relative position between regulation shank upper and lower, shank top is provided with chute, and shank bottom is provided with
Slide bar, slide bar can slide up and down in chute, thus drive shank bottom away from shank top, long to increase little leg mechanism
Degree；Or drive shank bottom is near shank top, to reduce shank mechanism length, in order to adjust the gait of walking mechanism to cross over
Barrier；
Described waist mechanism includes gear module, bearing module and waist bracket；Described gear module is by four identical cylinders
Spur gear is that parallel being arranged in order of axis engages composition two-by-two, is positioned at the gear fixing company with the framework of leg mechanism respectively of both sides
Connecing, waist drives motor to be arranged in one of them of middle two spur gear wheels, when waist drives electric machine rotation, and both sides
Cylindrical straight gear wheel speed consistent but in opposite direction, drive the alternately rotating of motor to realize leg mechanism by planning waist and exist
Turning in walking process；Described bearing module is made up of four thrust ball bearings, is divided into two groups to be arranged in waist bracket also
It is connected with two legs portion mechanism respectively, makes two legs portion mechanism can rotate around waist mechanism, it is achieved break-in is walked.
Biped robot's walking mechanism the most according to claim 1, it is characterised in that: described shank telescopic drive motor is defeated
Shaft is a screw rod, screw rod coordinates and is provided with a nut, and this nut is arranged on shank bottom, when shank telescopic drive electricity
When machine rotates forward, nut moves along screw rod to away from motor one side, thus drives shank bottom to make leg long away from shank top
Degree increases；When shank telescopic drive motor reversal, nut moves along screw rod near motor one side, thus drives shank bottom
Near shank top, leg length is reduced.
Biped robot's walking mechanism the most according to claim 1, it is characterised in that: it is provided with use on described little leg mechanism
In realizing the roller of running on wheels pattern, this roller is arranged on bottom, shank top, idler wheel driving galvanic electricity machine individually control, work as machine
When device people is operated in foot formula pattern, the foot being installed on shank lower bottom end is less than the roller being installed on bottom, shank top, i.e.
Roller is unsettled, and foot lands, and when robot is operated in wheeled pattern, is installed on the roller of bottom, shank top less than installing
Unsettled in the foot of shank lower bottom end, i.e. foot, roller lands, and biped walking mechanism is come by the length changing little leg mechanism
Realize the switching of wheeled and sufficient formula pattern.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410446333.7A CN104369790B (en) | 2014-09-04 | 2014-09-04 | A kind of biped robot's walking mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410446333.7A CN104369790B (en) | 2014-09-04 | 2014-09-04 | A kind of biped robot's walking mechanism |
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| CN104369790A CN104369790A (en) | 2015-02-25 |
| CN104369790B true CN104369790B (en) | 2016-11-23 |
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| CN201410446333.7A Active CN104369790B (en) | 2014-09-04 | 2014-09-04 | A kind of biped robot's walking mechanism |
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| CN104369790A (en) | 2015-02-25 |
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