CN105501324B - The simple small inertia bionic leg of the arms robot Three Degree Of Freedom of fluid motor-driven - Google Patents
The simple small inertia bionic leg of the arms robot Three Degree Of Freedom of fluid motor-driven Download PDFInfo
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- CN105501324B CN105501324B CN201510938077.8A CN201510938077A CN105501324B CN 105501324 B CN105501324 B CN 105501324B CN 201510938077 A CN201510938077 A CN 201510938077A CN 105501324 B CN105501324 B CN 105501324B
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- hip joint
- knee joint
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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 invention belongs to equip with arms robotic technology field, and in particular to a kind of simple small inertia bionic leg of the arms robot Three Degree Of Freedom of fluid motor-driven, it includes：Hip joint X is to hydraulic motor, buttocks, Knee Joint Fluid pressure motor, hip joint Y-direction hydraulic motor, thigh, shank, knee joint drive link；The present invention possesses following beneficial effect：Simple in construction, two in three joints are directly driven by hydraulic motor, that is, realize the flexible motion of leg；Rotary inertia is small, and three hydraulic motors are concentrated on around buttocks；Joint angle can be determined using the coding disk on hydraulic motor；It is simple in construction on thigh and shank, number of parts can be reduced, increases intensity；Joint moment does not change with the change of joint angle, and output torque is steady；Hydraulic motor power density is high；Joint rotation angle can flexibly be set.
Description
Technical field
The invention belongs to equip with arms robotic technology field, and in particular to a kind of arms robot three of fluid motor-driven is certainly
By spending simple small inertia bionic leg.
Background technology
Irregular and uneven complicated landform environment makes wheeled robot and crawler type equip with arms the application of robot by
Limitation, reason are that the movement locus of wheeled and crawler type arms robot is the continuous rut of a rule.It is past in rugged topography
Toward containing rock, soil, the sand even barrier such as cliff and abrupt slope, the continuous path ten for supporting arms robot can be stablized
Divide limited.Compared to wheeled or crawler type arms robot, sufficient formula only needs discrete point to contact ground when equiping with arms robot motion,
It is stronger to the adaptability of complicated landform.In addition, the leg of sufficient formula arms robot has multiple frees degree, make the flexible of motion
Property is greatly enhanced, and it can be kept one's balance by the length and foot drop point for adjusting supporting leg, be not easy to tumble, and stability is more
It is high.Therefore legged type robot has broad application prospects.
Sufficient formula arms robot bionic leg joint is typically directly driven by drivers such as hydraulic cylinder or motors at present, by not
Motion with joint driver can realize faster response speed and more complicated end orbit, but have the following disadvantages：
1st, load of the driver in next joint as a upper joint driver, the response speed and operating efficiency of leg are had influence on；2、
If using motor as driver, power density is small；3rd, according to hydraulic cylinder or linear electric motors isoline driver, then joint is not
Different with the output torque under pivot angle, range of motion is difficult to change.4th, some are passed using linear actuator or linkage
The formation non-linear relation of its corner of the joint of graduating power and driver, adds amount of calculation.
The content of the invention
(1) technical problems to be solved
The technical problem to be solved in the present invention is：How to provide it is a kind of it is simple in construction, rotary inertia is small, joint output torque
Smoothly sufficient formula arms robot walking device, to overcome, existing sufficient formula arms robot bionic leg rotary inertia is big, joint is defeated
Go out the problem of torque is unstable and power density is small.
(2) technical scheme
In order to solve the above technical problems, a kind of arms robot Three Degree Of Freedom of fluid motor-driven of present invention offer is simple
Small inertia bionic leg, it is characterised in that it includes：Hip joint X closes to hydraulic motor 1, buttocks 2, Knee Joint Fluid pressure motor 3, hip
Save Y-direction hydraulic motor 4, thigh 5, shank 6, knee joint drive link 7；
Wherein, the joint of buttocks 2 and robot fuselage composition is referred to as hip joint X to the joint that buttocks 2 forms with thigh 5
Referred to as hip joint Y-direction, the joint that thigh 5 forms with shank 6 are referred to as knee joint；
Hip joint X is connected to hydraulic motor 1 by shaft coupling with buttocks 2, drive whole piece leg carry out hip joint X to pendulum
It is dynamic；
The hip joint Y-direction hydraulic motor 4 is fixed on buttocks 2, is connected by shaft coupling with thigh 5；The knee joint
Hydraulic motor 3 is fixed on buttocks 2, is connected by knee joint drive link 7 with shank 6；Wherein, the Knee Joint Fluid pressure motor 3
Hung down with the output shaft coaxial line of hip joint Y-direction hydraulic motor 4, its axis and with hip joint X to the output shaft axis of hydraulic motor 1
It is straight and intersecting；
Thigh 5 is be hinged with shank 6；Knee joint drive link 7 carries out eccentric be hinged with Knee Joint Fluid pressure motor 3；Knee joint passes
Lever 7 is be hinged with shank 6；
In the course of work, hip joint X is joined directly together to the output shaft of hydraulic motor 1 with buttocks 2, drives whole piece leg around x-axis
Rotation；Hip joint Y-direction hydraulic motor 4 is fixed on buttocks 2, and output shaft is joined directly together with thigh 5, drives thigh and shank around y
Axle rotates, and its rotating shaft is vertical with rotating shafts of the hip joint X to hydraulic motor 1 and intersects；Knee Joint Fluid pressure motor 3 and hip joint Y-direction
Hydraulic motor 4 is coaxial, is fixed on thigh 5, the upper end of knee joint drive link 7 is fixed on the one of the rotor of Knee Joint Fluid pressure motor 3
Side, it is frame with thigh 5, quadric chain is formd with Knee Joint Fluid pressure motor 3 and shank 5, so as to by knee joint hydraulic pressure horse
Power up to 3 is transferred to knee joint.
(3) beneficial effect
Compared with prior art, the present invention possesses following beneficial effect：
(1) simple in construction, two in three joints are directly driven by hydraulic motor, that is, realize the flexible fortune of leg
It is dynamic；
(2) rotary inertia is small, and three hydraulic motors are concentrated on around buttocks；
(3) joint angle can be determined using the coding disk on hydraulic motor；
(4) it is simple in construction on thigh and shank, number of parts can be reduced, increases intensity；
(5) joint moment does not change with the change of joint angle, and output torque is steady；
(6) hydraulic motor power density is high；
(7) joint rotation angle can flexibly be set.
Brief description of the drawings
Fig. 1 is technical solution of the present invention structural representation.
Embodiment
To make the purpose of the present invention, content and advantage clearer, with reference to the accompanying drawings and examples, to the present invention's
Embodiment is described in further detail.
To solve prior art problem, it is simple that the present invention provides a kind of arms robot Three Degree Of Freedom of fluid motor-driven
Small inertia bionic leg, as shown in Figure 1, it is characterised in that it includes：Hip joint X is to hydraulic motor 1, buttocks 2, knee joint hydraulic pressure
Motor 3, hip joint Y-direction hydraulic motor 4, thigh 5, shank 6, knee joint drive link 7；
Wherein, the joint of buttocks 2 and robot fuselage composition is referred to as hip joint X to the joint that buttocks 2 forms with thigh 5
Referred to as hip joint Y-direction, the joint that thigh 5 forms with shank 6 are referred to as knee joint；
Hip joint X is connected to hydraulic motor 1 by shaft coupling with buttocks 2, drive whole piece leg carry out hip joint X to pendulum
It is dynamic；
The hip joint Y-direction hydraulic motor 4 is fixed on buttocks 2, is connected by shaft coupling with thigh 5；The knee joint
Hydraulic motor 3 is fixed on buttocks 2, is connected by knee joint drive link 7 with shank 6；Wherein, the Knee Joint Fluid pressure motor 3
Hung down with the output shaft coaxial line of hip joint Y-direction hydraulic motor 4, its axis and with hip joint X to the output shaft axis of hydraulic motor 1
It is straight and intersecting；
Thigh 5 is be hinged with shank 6；Knee joint drive link 7 carries out eccentric be hinged with Knee Joint Fluid pressure motor 3；Knee joint passes
Lever 7 is be hinged with shank 6；
In the course of work, hip joint X is joined directly together to the output shaft of hydraulic motor 1 with buttocks 2, drives whole piece leg around x-axis
Rotation；Hip joint Y-direction hydraulic motor 4 is fixed on buttocks 2, and output shaft is joined directly together with thigh 5, drives thigh and shank around y
Axle rotates, and its rotating shaft is vertical with rotating shafts of the hip joint X to hydraulic motor 1 and intersects；Knee Joint Fluid pressure motor 3 and hip joint Y-direction
Hydraulic motor 4 is coaxial, is fixed on thigh 5, the upper end of knee joint drive link 7 is fixed on the one of the rotor of Knee Joint Fluid pressure motor 3
Side, it is frame with thigh 5, quadric chain is formd with Knee Joint Fluid pressure motor 3 and shank 5, so as to by knee joint hydraulic pressure horse
Power up to 3 is transferred to knee joint.
Embodiment 1
A kind of simple small inertia bionic leg of Three Degree Of Freedom using hydraulic motor as driver, its feature are provided in the present embodiment
It is：Including three hydraulic motors, bionic leg transmission mechanism, buttocks, thigh and shank, the rotary motion of hip joint both direction
Directly driven by two hydraulic motors, knee joint is driven by the 3rd hydraulic motor by connecting rod.
Three hydraulic motors control hip joint X to, hip joint Y-direction and knee joint respectively, be referred to as hip joint X to
Hydraulic motor, hip joint Y-direction hydraulic motor and Knee Joint Fluid pressure motor.
The hip joint X is fixed on fuselage to hydraulic motor, buttocks is connected, when hip joint X moves to hydraulic motor
Whole piece leg is driven to be X to rotation.
The hip joint Y-direction hydraulic motor is fixed on buttocks, connects thigh, and its rotating shaft is hung down with hip joint Y-direction hydraulic motor
Straight and intersecting drive thigh and shank when hip joint Y-direction hydraulic motor moves do Y-direction rotation.
The Knee Joint Fluid pressure motor is fixed on thigh and leans on buttocks side, coaxial with hip joint Y-direction hydraulic motor, passes through company
Linkage connects shank, drives shank to do Y-direction rotation when Knee Joint Fluid pressure motor moves.
Three hydraulic motors can be linked, and end is formed different tracks.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, some improvement and deformation can also be made, these are improved and deformation
Also it should be regarded as protection scope of the present invention.
Claims (1)
1. the simple small inertia bionic leg of the arms robot Three Degree Of Freedom of a kind of fluid motor-driven, it is characterised in that it includes：
Hip joint X to hydraulic motor (1), buttocks (2), Knee Joint Fluid pressure motor (3), hip joint Y-direction hydraulic motor (4), thigh (5),
Shank (6), knee joint drive link (7)；
Wherein, the joint of buttocks (2) and robot fuselage composition is referred to as hip joint X to the pass of buttocks (2) and thigh (5) composition
Section is referred to as hip joint Y-direction, and the joint of thigh (5) and shank (6) composition is referred to as knee joint；
Hip joint X is connected to hydraulic motor (1) by shaft coupling with buttocks (2), drive whole piece leg carry out hip joint X to pendulum
It is dynamic；
The hip joint Y-direction hydraulic motor (4) is fixed on buttocks (2), is connected by shaft coupling with thigh (5)；The knee closes
Section hydraulic motor (3) is fixed on buttocks (2), is connected by knee joint drive link (7) with shank (6)；Wherein, the knee joint
The output shaft coaxial line of hydraulic motor (3) and hip joint Y-direction hydraulic motor (4), its axis and with hip joint X to hydraulic motor
(1) output shaft axis is vertical and intersecting；
Thigh (5) is be hinged with shank (6)；Knee joint drive link (7) carries out eccentric be hinged with Knee Joint Fluid pressure motor (3)；Knee closes
It is be hinged with shank (6) to save drive link (7)；
In the course of work, hip joint X is joined directly together to the output shaft of hydraulic motor (1) with buttocks (2), drives whole piece leg around x-axis
Rotation；Hip joint Y-direction hydraulic motor (4) is fixed on buttocks (2), and output shaft is joined directly together with thigh (5), drives thigh and small
Leg rotates around y-axis, and its rotating shaft is vertical with rotating shafts of the hip joint X to hydraulic motor (1) and intersects；Knee Joint Fluid pressure motor (3) with
Hip joint Y-direction hydraulic motor (4) coaxially, is fixed on thigh (5), and the upper end of knee joint drive link (7) is fixed on Knee Joint Fluid
The side of pressure motor (3) rotor, with thigh (5) for frame, double leval jib is formd with Knee Joint Fluid pressure motor (3) and shank (5)
Mechanism, so as to which the power of Knee Joint Fluid pressure motor (3) is transferred into knee joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510938077.8A CN105501324B (en) | 2015-12-15 | 2015-12-15 | The simple small inertia bionic leg of the arms robot Three Degree Of Freedom of fluid motor-driven |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510938077.8A CN105501324B (en) | 2015-12-15 | 2015-12-15 | The simple small inertia bionic leg of the arms robot Three Degree Of Freedom of fluid motor-driven |
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| Publication Number | Publication Date |
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| CN105501324A CN105501324A (en) | 2016-04-20 |
| CN105501324B true CN105501324B (en) | 2018-02-13 |
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| CN108583723A (en) * | 2018-07-13 | 2018-09-28 | 长沙紫宸科技开发有限公司 | A kind of bionics mechanical legs with three joints of the autonomous hydraulic pressure distributed power of band |
| CN108839724A (en) * | 2018-07-13 | 2018-11-20 | 长沙紫宸科技开发有限公司 | A kind of multi-joint Form of Bionics Mechanical Legs of the autonomous hydraulic distributed power of band |
| CN108909874A (en) * | 2018-08-16 | 2018-11-30 | 西南科技大学 | A kind of hydraulic drive type heavy duty hexapod robot leg |
| EP3856381A4 (en) * | 2018-09-26 | 2022-08-17 | Ghost Robotics Corporation | Legged robot |
| CN109927015B (en) * | 2019-03-26 | 2021-03-26 | 北京交通大学 | Run at a high speed and jump imitative leopard robot with backbone and head and tail |
| CN110294043A (en) * | 2019-07-25 | 2019-10-01 | 长安大学 | A kind of serial-parallel mirror arm/leg mechanism for bio-robot forelimb mechanical system |
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| CN111409729A (en) * | 2020-03-16 | 2020-07-14 | 杭州博力液控科技有限公司 | Servo hydraulic drive robot |
| CN112009593A (en) * | 2020-09-16 | 2020-12-01 | 南京蔚蓝智能科技有限公司 | Leg assembly for foot type robot |
| CN112498517B (en) * | 2020-12-17 | 2021-11-16 | 江苏集萃复合材料装备研究所有限公司 | Three-degree-of-freedom robot leg structure |
| CN115230840A (en) * | 2021-04-23 | 2022-10-25 | 中国北方车辆研究所 | Bionic leg of four-joint foot type robot |
| CN113371095B (en) * | 2021-06-18 | 2022-11-29 | 哈尔滨工业大学（深圳） | Leg structure with joints rotating at any angle and multi-legged robot |
| CN114506400B (en) * | 2022-03-17 | 2022-11-29 | 中国人民解放军国防科技大学 | Bionic foot type robot based on centralized driving four-degree-of-freedom leg structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FI100098B (en) * | 1995-11-06 | 1997-09-30 | Plustech Oy | foot mechanism |
| CN202728395U (en) * | 2012-08-22 | 2013-02-13 | 中科宇博（北京）文化有限公司 | Mechanical joint and neck and tail structures of bionic mechanical dinosaur |
| CN204150141U (en) * | 2014-10-17 | 2015-02-11 | 四川伍贰捌自动化设备有限公司 | A kind of robot leg |
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