CN106585763B - A kind of biped robot with flexible ankle-joint - Google Patents
A kind of biped robot with flexible ankle-joint Download PDFInfo
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- CN106585763B CN106585763B CN201611217644.1A CN201611217644A CN106585763B CN 106585763 B CN106585763 B CN 106585763B CN 201611217644 A CN201611217644 A CN 201611217644A CN 106585763 B CN106585763 B CN 106585763B
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- shank
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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
Abstract
A kind of biped robot with flexible ankle-joint, it is related to a kind of biped robot, larger to ground bad adaptability and energy loss to solve existing biped robot, the relatively low problem of capability efficiency, it includes left leg, right leg and pelvis；Left leg and right leg respectively include thigh, shank, foot, hip joint, knee joint and ankle-joint；Left leg is connected with right leg by pelvis, and each hip joint includes hip joint motor, No.1 hip joint sprocket wheel, No. two hip joint sprocket wheels, hip joint chain and hip joint transmission shaft；Each knee joint includes knee joint motor, No.1 knee joint sprocket wheel, No. two knee joint sprocket wheels, knee joint chain, knee joint transmission shaft, shank connecting seat and two thigh bearing blocks；The link is fixedly connected on the foot connecting seat, and the foot connecting seat is mounted on the heel, and the shank is connect with two ankle-joint bearing blocks, and the invention belongs to robotic technology fields.
Description
Technical field
The present invention relates to a kind of biped robots, and in particular to a kind of biped robot with flexible ankle-joint belongs to
Anthropomorphic robot technical field.
Background technology
Since the sixties in last century, start anthropomorphic robot occur.Compared to other kinds of robot, apery machine
Man-based development is very swift and violent.Other than robotics, mechanics, biology, control are also covered to the research of anthropomorphic robot
The different subject such as science, even psychology has been increasingly becoming unique research field of a multi-crossed disciplines.With double feet walking
There is very high flexibility for a kind of anthropomorphic robot of main forms of motion, can adapt to different landform, be apery machine
An important branch in people field.Having more than the wheeled or caterpillar type robot of the landform of half at present in the world all can not be suitable
Profit reaches, and the mankind can lean on their both feet to go over each corner, so sufficient formula anthropomorphic robot is to complete nature ring
The optimal selection of border ground-based mission.The double feet walking movement of the mankind is a sufficiently complex cyclic process, needs all lower limb
The coordinated of muscle and part muscle of trunk could be moved steadily.The mankind can be in complicated, rugged natural ground environment
In efficiently walk, therefore the foot structure of the mankind and motion mode provide one very for the development of bipod walking robot
Good living nature references object.In bipod walking robot research field, researcher can generally be designed with reference to the mankind, because
There is presently no the comprehensive performances of a robot can surmount the mankind.Mankind's lower limb have enough flexibilities, can not only allow
People realizes smooth, labour-saving double feet walking, and can protect the joint of lower limb.Mankind's lower limb are flexible, energy saving, absorption impact
Feature has highly important reference for biped robot.
The present invention has developed a kind of biped robot comprising hip joint, knee joint and flexible ankle-joint, main in tradition
Being introduced in dynamic biped robot has flexible ankle-joint, and the elastic element in passive joint is designed to adjustable rigidity, not only may be used
To improve the utilization ratio of energy, and robot can be improved uneven ground can be adapted to the adaptability on ground
Environment, and there is lower energy loss and higher energy efficiency.
Invention content
The present invention is for, the capability efficiency larger to ground bad adaptability and energy loss that solve existing biped robot
Relatively low problem, and then a kind of biped robot with flexible ankle-joint is provided.
The present invention adopts the technical scheme that in order to solve the above problem：A kind of biped robot's packet with flexible ankle-joint
Include left leg, right leg and pelvis；Left leg and right leg respectively include thigh, shank, foot, hip joint, knee joint and ankle-joint；Left leg
It being connected by pelvis with right leg, pelvis is rotatablely connected by hip joint and thigh, and thigh is rotatablely connected by knee joint and shank,
Shank is rotatablely connected by ankle-joint and foot；
Each hip joint includes hip joint motor, No.1 hip joint sprocket wheel, No. two hip joint sprocket wheels, hip joint chain
With hip joint transmission shaft；The axial direction of the hip joint motor is horizontally disposed, and the shell of the hip joint motor is mounted on the bone
On the lower face of basin, the No.1 hip joint sprocket wheel, the hip joint transmission are fixed on the output shaft of the hip joint motor
Axis is rotatably installed on the lower face of the pelvis, and No. two hip joint sprocket wheels are fixed on the hip joint transmission shaft, described big
Leg is packed in the both ends of the hip joint transmission shaft, and the No.1 hip joint sprocket wheel is closed by hip joint chain and No. two hips
Pitch chain wheel connects；
Each knee joint includes knee joint motor, No.1 knee joint sprocket wheel, No. two knee joint sprocket wheels, knee joint chain
Item, knee joint transmission shaft, shank connecting seat and two thigh bearing blocks；The axial direction of the knee joint motor is horizontally disposed, described
The shell of knee joint motor is mounted on the lower end of the thigh, and the No.1 knee is fixed on the output shaft of the knee joint motor
Joint sprocket wheel, the knee joint transmission shaft are inserted on two thigh bearing blocks and can be around two thigh bearing block rotations
Turn, the thigh is connect with two thigh bearing blocks, and the shank connecting seat is mounted on the knee joint transmission shaft, institute
It states shank to connect with the shank connecting seat, the No.1 knee joint sprocket wheel passes through knee joint chain and No. two knee joint chains
Wheel connection；
Each foot includes heel, sole, foot driving mechanism and toes joint；The foot driving mechanism includes
Foot motor, foot belt wheel and transmission belt；The heel is rotatablely connected by the toes joint and the sole, the foot
The axial direction of the output shaft of motor is horizontally disposed, and the shell of the foot motor is mounted on the heel, the foot motor
The foot belt wheel is installed on output shaft；
Each ankle-joint includes position adjusting mechanism, stiffness tuning mechanism and transmission mechanism；The position adjusts machine
Structure includes power driving mechanism, link and two sets of linear movement devices；The transmission mechanism includes ankle-joint transmission shaft, foot company
Joint chair, two motion bars, ankle-joint belt wheel, two limited blocks and two ankle-joint bearing blocks；The stiffness tuning mechanism includes
Two elastic elements and two connecting rods；The link is fixedly connected on the foot connecting seat, the foot connecting seat
On the heel, the ankle-joint transmission shaft is fixedly mounted on the foot connecting seat, the foot connecting seat
Both sides are respectively arranged with a motion bar perpendicular to ankle-joint transmission shaft, one end rotational installation of two motion bars
On the ankle-joint transmission shaft；The both ends of the ankle-joint transmission shaft on the outside of two motion bars are respectively equipped with one
A ankle-joint bearing block, and the ankle-joint transmission shaft can be rotated relative to ankle-joint bearing block, the ankle-joint bearing block
Both sides on one end of the neighbouring motion bar limited block of the restricted motion bar rotation is fixedly mounted respectively, it is described
Shank is connect with two ankle-joint bearing blocks, and the end of the ankle-joint transmission shaft is equipped with the ankle-joint belt wheel, institute
Foot belt wheel is stated to connect with ankle-joint belt wheel by transmission belt；Two motion bars with the axle center of the ankle-joint transmission shaft at
Central symmetry；The top of two motion bars is respectively disposed with the connecting rod parallel with the motion bar, the work
The elastic element being fixedly connected with the two, described two connections are disposed between the other end of lever and one end of the connecting rod
Bar is detachably connected with the shank, and two sets of linear movement devices are slidably mounted on link, the ankle-joint transmission shaft
Axial direction it is vertical with the linear movement moving direction of device, two motion bars and two linear movement devices one are a pair of
It should arrange, the output end of the power-driven mechanism drives two sets of linear movements device on corresponding motion bar
Opposite frictional movement.
The beneficial effects of the invention are as follows：The present invention is apery class lower limb structure, and every leg of biped robot is closed comprising hip
Section, knee joint and ankle-joint, hip joint and knee joint are all made of active mode operation, are connected by pelvis between two legs,
Being introduced in traditional active biped robot has passive ankle-joint flexible, using the main type of drive passively mixed to robot
It is driven；Passive ankle-joint is based on lever principle, and the adjusting of rigidity is realized using the method for changing load active position, leads to
It crosses the movement of motor-driven gear rack and changes the position that load applies, to change rigidity；
The biped robot developed realizes the apery walking row of robot using the main type of drive passively mixed
It walks, passive joint is driven by elastic element, and when active joint drives passive joint movement, the elastic element of passive joint stores energy
Amount, while a cushioning effect is generated, when passive joint needs active movement, elastic element releases energy, and realizes for energy
The efficient utilization of amount, improves the energy efficiency of biped robot, and have lower energy loss.Ankle-joint is using flexible adjustable
The elastic element of rigidity makes biped robot can adapt to uneven ground environment.The joint is rigid in robot kinematics
Real-time on-line control can be achieved in degree so that robot motion's performance is improved.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is left leg structural schematic diagram；
Fig. 3 is that right leg structure is schematic diagram；
Fig. 4 is hip joint structure partial enlarged drawing；
Fig. 5 is knee joint structure partial enlarged view；
Fig. 6 is ankle-joint, shank and foot attachment structure schematic diagram；
Fig. 7 is ankle-joint overall structure diagram；
Fig. 8 is position adjusting mechanism sectional structure chart；
Fig. 9 is stiffness tuning mechanism and transmission mechanism attachment structure schematic diagram；
Figure 10 is transmission mechanism annexation figure.
Specific implementation mode
Technical solution to further illustrate the present invention below with reference to the accompanying drawings and specific embodiments.
Illustrate in conjunction with Fig. 1-Figure 10, a kind of biped robot with flexible ankle-joint it include left leg A, right leg B and bone
Basin C；Left leg A and right leg B respectively include thigh 4, shank 5, foot 6, hip joint 7, knee joint 8 and ankle-joint 9；Left leg A and the right side
Leg B is connected by pelvis C, and pelvis C is rotatablely connected by hip joint 7 and thigh 4, and thigh 4 is rotated by knee joint C and shank 5
Connection, shank 5 are rotatablely connected by ankle-joint 9 and foot 6；
Each hip joint 7 includes hip joint motor 71, No.1 hip joint sprocket wheel 72, No. two hip joint sprocket wheels 73, hips
Joint chain and hip joint transmission shaft 74；The axial direction of the hip joint motor 71 is horizontally disposed, outside the hip joint motor 71
Shell is fixed with the No.1 hip joint chain on the lower face of the pelvis C on the output shaft of the hip joint motor 71
Wheel 72, the hip joint transmission shaft 74 is rotatably installed on the lower face of the pelvis C, is fixedly mounted on the hip joint transmission shaft 74
There are No. two hip joint sprocket wheels 73, the thigh 4 to be packed in the both ends of the hip joint transmission shaft 74, the No.1 hip joint sprocket wheel
72 are connect by hip joint chain with No. two hip joint sprocket wheels 73；
Each knee joint 8 includes knee joint motor 81, No.1 knee joint sprocket wheel 82, No. two knee joint sprocket wheels 83, knees
Joint chain, knee joint transmission shaft 84, shank connecting seat 85 and two thigh bearing blocks 86；The axial direction of the knee joint motor 81
Horizontally disposed, the shell of the knee joint motor 81 is mounted on the lower end of the thigh 4, the output shaft of the knee joint motor 81
On be fixed with the No.1 knee joint sprocket wheel 82, the knee joint transmission shaft 84 is inserted on two thigh bearing blocks 86 simultaneously
It can be rotated around two thigh bearing blocks 86, the thigh 4 is connect with two thigh bearing blocks 86, the shank connection
Seat 85 is mounted on the knee joint transmission shaft 84, and the shank 5 is connect with the shank connecting seat 85, the No.1 knee joint
Sprocket wheel 82 is connect by knee joint chain with No. two knee joint sprocket wheels 83；
Each foot 6 includes heel 61, sole 62, foot driving mechanism and toes joint 63；The foot driving
Mechanism includes foot motor 64-1, foot belt wheel 64-2 and transmission belt；The heel 61 by the toes joint 63 with it is described
Sole 62 is rotatablely connected, and the axial direction of the output shaft of the foot motor 64-1 is horizontally disposed, the shell of the foot motor 64-1
On the heel 61, the foot belt wheel 64-2 is installed on the output shaft of the foot motor 64-1；
Each ankle-joint 9 includes position adjusting mechanism, stiffness tuning mechanism and transmission mechanism；The position adjusts machine
Structure includes power driving mechanism 11, link 12 and two sets of linear movement devices 13；The transmission mechanism includes ankle-joint transmission shaft
21,22, two motion bars 23 of foot connecting seat, 25, two limited blocks 24 of ankle-joint belt wheel and two ankle-joint bearing blocks 26；Institute
It includes two elastic elements 31 and two connecting rods 32 to state stiffness tuning mechanism；The link 12 is fixedly connected on the foot
On connecting seat 22, the foot connecting seat 22 is mounted on the heel 61, and the ankle-joint transmission shaft 21 is fixedly mounted on institute
It states on foot connecting seat 22, the both sides of the foot connecting seat 22 are respectively arranged with an institute perpendicular to ankle-joint transmission shaft 21
Motion bar 23 is stated, one end of two motion bars 23 is rotatably installed on the ankle-joint transmission shaft 21；Described in two
Respectively installation is there are one the ankle-joint bearing block 26 at the both ends of the ankle-joint transmission shaft 21 in the outside of motion bar 23, and the ankle
Joint transmission axis 21 can be rotated relative to ankle-joint bearing block 26, the neighbouring motion bar on the both sides of the ankle-joint bearing block 26
23 one end is fixedly mounted the limited block 24 that the restricted motion bar 23 rotates respectively, described in the shank 5 and two
Ankle-joint bearing block 26 connects, and the end of the ankle-joint transmission shaft 21 is equipped with the ankle-joint belt wheel 25, the foot strip
Wheel 64-2 is connect by transmission belt with ankle-joint belt wheel 25；Two motion bars 23 are with the axle center of the ankle-joint transmission shaft 21
It is in a center of symmetry；The top of two motion bars 23 is respectively disposed with the connecting rod parallel with the motion bar 23
32, the elastic element being fixedly connected with the two is disposed between the other end of the motion bar 23 and one end of the connecting rod 32
31, described two connecting rods 32 are detachably connected with the shank 5, and two sets of linear movement devices 13 are slidably mounted on link
On 12, the axial direction of the ankle-joint transmission shaft 21 is vertical with the linear movement moving direction of device 13, two motion bars
23 and two linear movement devices 13 correspond arrangement, the output end of the power-driven mechanism 11 drive described two sets directly
The opposite frictional movement on corresponding motion bar 23 of line shifter 13.
The toes joint 63 of present embodiment is hinge arrangement；Respectively four drivings of installation are electric for the left leg of biped robot and right leg
Machine, wherein drive 4 rotary motion of thigh, knee joint motor 81 that shank 5 is driven to move by hip joint motor 71, foot motor
64-1 drives foot 6 to move, and power driving mechanism 11 drives the stiffness variable for the position adjusting mechanism for being installed on ankle-joint flexible
It adjusts.The driver and controller of biped robot's electrical system are all mounted on pelvis C.
Specially：The hip joint structure of biped robot is as shown in Figure 2, Figure 3 and Figure 4.The shell of hip joint motor 71 with
And the bearing block of hip joint transmission shaft 74 is mounted on by screw on pelvis C；74 both ends of hip joint transmission shaft open up notch and with
Hip joint connector 75 is connected, then is mounted on thigh 4 by hip joint connector 75, with ensure hip joint transmission shaft 74 with it is big
It is not relatively rotated between leg 4；Pass through key connection, hip joint motor between No.1 hip joint sprocket wheel 72 and hip joint transmission shaft 74
71 movements drive No.1 hip joint sprocket wheel 72 to rotate, and drive No. two hip joint sprocket wheels 73 to rotate by hip joint chain drive, and two
Number hip joint sprocket wheel 73 drives hip joint transmission shaft 74 to rotate, and then thigh 4 is driven to be rotated, to realize pair
The driving of the thigh 4 of biped robot.
The knee joint structure of biped robot is as shown in Fig. 2, Fig. 3 and Fig. 5.Knee joint motor 81 is mounted on thigh 4；Knee
The thigh bearing block 86 of joint transmission axis 84 is mounted on by screw on thigh 4；Shank connecting seat 85 and knee joint transmission shaft 84
Between by key connection, shank connecting seat 85 be mounted on shank 5 shank connecting plate 87 on, shank connecting plate 87 is pacified by screw
On shank 5.It drives No.1 knee joint sprocket wheel 82 mounted thereto to move when knee joint motor 81 moves, passes through No.1
Knee joint chain drive drives No. two knee joint sprocket wheels 83 movement being mounted on knee joint transmission shaft 84, No. two knee joint sprocket wheels
83 with knee joint transmission shaft 84 by key connection, knee joint transmission shaft 84 follows it to do and rotates when No. two knee joint sprocket wheels 83 move
Movement drives shank 5 to rotate, to realize biped robot's by shank connecting seat 85 and shank connecting plate 87
The driving of shank 5.
Stiffness variable 9 structure of ankle-joint such as Fig. 6 to Figure 10 flexible of installation illustrates.Power driving mechanism 11 drives and it
Connected position adjusting mechanism movement, to drive the contact of linear movement device 13 and 23 joint of motion bar along motion bar 23
Linear movement, is equivalent to force position and is moved on motion bar, according to the fortune of lever principle force position under identical active force
Dynamic to produce different turning moments, the rotational stiffness for being equivalent to entire ankle-joint is changed, and realizes that variation rigidity is flexible
The purpose of ankle-joint active variable stiffness.Variation rigidity ankle-joint flexible is mounted on by ankle-joint bearing block 26 on shank 5；Foot
Motor 64-1 is in bulk on heel 61；Foot motor 64-1 drives the 64-2 transmissions of foot belt wheel, and ankle-joint is driven by transmission belt
Belt wheel 25 rotates, and to drive ankle-joint transmission shaft 21 to move, realizes the driving of biped robot's foot.It is described two
Connecting rod 32 is removably mounted at by the screw assembly in the strip hole that is threaded through on shank 5 on the shank 5.Ankle-joint passes
Moving axis 21 is equivalent to the fulcrum of lever, and motion bar 23 is equivalent to lever, and the contact of linear movement device 13 position is exactly on lever
The position that load applies, position of the elastic element 31 on lever is changeless.When contact is moved along motion bar 23
The position for being equivalent to power is moved along motion bar, the rigidity of linear stretch elastic element 31 be it is constant, it is whole to show as
The rotational stiffness in a joint changes with the movement of contact.From the foregoing, when we drive ankle-joint transmission shaft 21 to rotate
When the rigidity in joint can be made to change, to realize the purpose of design for actively adjusting joint stiffness.
If Fig. 5 illustrates, there is hair joint posture in shank 5 in order to prevent, and each knee joint further includes shank limited block
88, the shank limited block 88 is mounted on the upper end of the shank 5.Preferably, shank limited block 88 is mounted on shank connecting plate
It is used for limiting the limit rotation position of shank on 87, shank is avoided the posture of the twisting of joints occur.
In order to improve the reliability of power driving mechanism operational efficiency and the device that moves linearly, present embodiment uses driving
The kind of drive that motor and rack-and-pinion are combined, it is preferable that power driving mechanism 11 includes driving motor 11-1 and gear 11-
2, often set linear movement device 13 includes rack 13-1, sliding part 13-2 and contact bar 13-3, is set up in parallel on the link 12
There are two sliding rail 12-1；The ankle-joint transmission shaft 21 is vertically arranged with two sliding rail 12-1, and the sliding part 13-2 is slided
Dynamic to be mounted on the sliding rail 12-1, the rack 13-1 is connect with the sliding part 13-2, the end of the sliding part 13-2
It is connected with the contact bar 13-3 for contacting the motion bar 23, the axial direction of the driving motor 11-1 is vertically arranged, the driving electricity
The output end of machine 11-1 is connected with the gear 11-2, and the gear 11-2 is engaged with two rack 11-2.
So set, driving motor 11-1 driving gear 11-2 rotations, the tooth engaged with the both sides gear 11-2 to driving
13-1 is moved in a straight line in mutually opposite directions.Rack 13-1 is connect with sliding part 13-2, and the movement of rack 13-1 drives
Sliding part 13-2 prolongs sliding rail 12-1 and is servo-actuated, to realize the contact bar 13-3 being mounted on sliding part 13-2 along sliding rail 12-1
The linear motion in direction drives gear 11-2 and rack 13-1 movements to change the position that load applies by driving motor 11-1,
To change rigidity.
As Fig. 8 illustrates, it is preferable that link 12 further includes two sets of positioning devices, and the sliding rail 12-1 is cylindrical is oriented to
Bar, the sliding part 13-2 are linear bearing, and the linear bearing 13-2 is mounted on the cylindrical guide bars, described in two sets
Positioning device is arranged in a one-to-one correspondence with two sets of linear movement devices 13, and it includes upper plate 12-2, lower plate 12-3 often to cover the positioning device
With the plate 12-4 that is located by connecting；The upper plate 12-2 and the lower plate 12-3 spacing are arranged and are connect respectively with the link 12,
The rack 13-1 is arranged between the upper half plate 12-2 and the lower plate 12-3 and is supported on the lower plate 12-3, described
Rack 13-1 is connect by the plate 12-4 that is located by connecting with the linear bearing.So set, improving operation essence using linear bearing
Degree and reliability, positioning device realize the fixation to the device that moves linearly.
If Fig. 8 illustrates, in order to overcome driving motor to directly drive rigid motion, torsion problem is reduced, shaft coupling is added, with
The stability of operation is improved, position adjusting mechanism further includes shaft coupling 33；The output end of the driving motor 11-1 and the tooth
It is disposed with the shaft coupling 33 being connect with the two between wheel 11-2.So set, shaft coupling is to improve dynamic performance.Driving electricity
Machine 11-1 drives gear 11-2 rotations by shaft coupling 33, to drive the rack 13-1 engaged with the both sides gear 11-2 along each other
Opposite direction moves in a straight line.Rack 13-1 is connected by connecting plate 12-4 with linear bearing, the movement band of rack 13-1
Dynamic linear bearing prolongs the servo-actuated of cylindrical guide bars, is led along cylinder to realize the contact bar being mounted on linear bearing
To the linear motion in bar direction.As shown in Figure 7 and Figure 8, ankle-joint transmission shaft 21 is equivalent to the fulcrum of lever, and motion bar 23 is suitable
In lever, positions of the contact bar 13-3 on lever is exactly the position that load applies, and position of the helical spring on lever is solid
It is fixed constant.The position that power is equivalent to when contact bar 13-3 is moved along motion bar 23 is moved along motion bar 23, linearly
The rigidity of the helical spring of stretching is constant, and the rotational stiffness to show as entire joint becomes with the movement of contact bar
Change.From the foregoing, the rigidity in joint can be made to change when our driving motor 11-1 rotations, to realize actively
Adjust the purpose of design of joint stiffness.
Such as Fig. 7 and Fig. 9 explanations, it is preferable that elastic element 31 is helical spring.So set, cheap and easy to get, dismounting uses
It is convenient.The position that power is equivalent to when contact bar 13-3 is moved along motion bar 23 is moved along motion bar 23, linear stretch
The rigidity of helical spring be constant, the rotational stiffness to show as entire joint changes with the movement of contact.
If Fig. 9 illustrates, more being highlighted to ensure that motion bar plays the role of lever, each motion bar 23 is L-shaped,
The long-armed of the motion bar 23 is rotatably installed on the ankle-joint transmission shaft 21, neighbouring on the both sides of the foot connecting seat 22
Long-armed one end of the motion bar 23, which is separately installed with, limits the limited block 24 that the motion bar 23 rotates, the activity
The long-armed other end of bar 23 is connect with one end of the galianconism of the motion bar 23, the other end of the galianconism of the motion bar 23 with
The helical spring being fixedly connected with the two is disposed between one end of the connecting rod 32.So set, L-shaped motion bar plays
The effect for transmitting power, to ensure leverage.
If Figure 10 illustrates, in order to ensure that the joint of present embodiment is used for biped robot, robot ambulation movement is realized,
Foot connecting seat 22 includes connect base 22-1 and U-shaped foot connector 22-2；The connect base 22-1 is fixedly mounted on institute
It states on ankle-joint transmission shaft 21, the link 12 is fixedly connected on the connect base 22-1, the connect base 22-1
It is fixedly mounted in the U-shaped foot connector 22-2.So set, easy to use, robot is stable.
The present invention is disclosed as above with preferable case study on implementation, and however, it is not intended to limit the invention, any to be familiar with this profession
Technical staff, without departing from the scope of the present invention, when the structure and technology contents that can utilize the disclosure above are done
Go out a little change or is modified to the equivalence enforcement case of equivalent variations, but it is every without departing from technical solution of the present invention
Hold, any simple modification, equivalent change and modification done according to the technical essence of the invention to the above case study on implementation still belong to
Technical solution of the present invention range.
Claims (8)
1. a kind of biped robot with flexible ankle-joint, it includes left leg (A), right leg (B) and pelvis (C)；Left leg (A) and
Right leg (B) respectively includes thigh (4), shank (5), foot (6), hip joint (7), knee joint (8) and ankle-joint (9)；Left leg (A)
It is connected by pelvis (C) with right leg (B), pelvis (C) is rotatablely connected by hip joint (7) and thigh (4), and thigh (4) passes through knee
Joint (C) is rotatablely connected with shank (5), and shank (5) is rotatablely connected by ankle-joint (9) and foot (6)；
It is characterized in that：Each hip joint (7) includes hip joint motor (71), No.1 hip joint sprocket wheel (72), No. two hips
Joint sprocket wheel (73), hip joint chain and hip joint transmission shaft (74)；The axial direction of the hip joint motor (71) is horizontally disposed, institute
The shell for stating hip joint motor (71) is mounted on the lower face of the pelvis (C), the output shaft of the hip joint motor (71)
On be fixed with the No.1 hip joint sprocket wheel (72), the hip joint transmission shaft (74) is rotatably installed under the pelvis (C)
On end face, No. two hip joint sprocket wheels (73) are fixed on the hip joint transmission shaft (74), the thigh (4) is packed in the hip
The both ends of joint transmission axis (74), the No.1 hip joint sprocket wheel (72) pass through hip joint chain and No. two hip joint sprocket wheels
(73) it connects；
Each knee joint (8) includes knee joint motor (81), No.1 knee joint sprocket wheel (82), No. two knee joint sprocket wheels
(83), knee joint chain, knee joint transmission shaft (84), shank connecting seat (85) and two thigh bearing blocks (86)；The knee closes
The axial direction for saving motor (81) is horizontally disposed, and the shell of the knee joint motor (81) is mounted on the lower end of the thigh (4), described
The No.1 knee joint sprocket wheel (82), knee joint transmission shaft (84) inserting are fixed on the output shaft of knee joint motor (81)
On two thigh bearing blocks (86) and can around the two thigh bearing blocks (86) rotations, the thigh (4) with two
Thigh bearing block (86) connection, the shank connecting seat (85) is mounted on the knee joint transmission shaft (84), described small
Leg (5) is connect with the shank connecting seat (85), and the No.1 knee joint sprocket wheel (82) passes through knee joint chain and described No. two
Knee joint sprocket wheel (83) connects；
Each foot (6) includes heel (61), sole (62), foot driving mechanism and toes joint (63)；The foot
Driving mechanism includes foot motor (64-1), foot belt wheel (64-2) and transmission belt；The heel (61) is closed by the toes
It saves (63) to be rotatablely connected with the sole (62), the axial direction of the output shaft of the foot motor (64-1) is horizontally disposed, the foot
The shell of portion's motor (64-1) is mounted on the heel (61), is equipped on the output shaft of the foot motor (64-1) described
Foot belt wheel (64-2)；
Each ankle-joint (9) includes position adjusting mechanism, stiffness tuning mechanism and transmission mechanism；The position adjusting mechanism
Including power driving mechanism (11), link (12) and two sets of linear movement devices (13)；The transmission mechanism includes that ankle-joint passes
Moving axis (21), foot connecting seat (22), two motion bars (23), ankle-joint belt wheel (25), two limited blocks (24) and two ankles
Joint bearing block (26)；The stiffness tuning mechanism includes two elastic elements (31) and two connecting rods (32)；The connection
Frame (12) is fixedly connected on the foot connecting seat (22), and the foot connecting seat (22) is mounted on the heel (61),
The ankle-joint transmission shaft (21) is fixedly mounted on the foot connecting seat (22), the both sides point of the foot connecting seat (22)
It is not provided perpendicular to a motion bar (23) of ankle-joint transmission shaft (21), one end of two motion bars (23) turns
It is dynamic to be mounted on the ankle-joint transmission shaft (21)；Two of the transmission shaft (21) on the outside of two motion bars (23)
Holding each installation, there are one the ankle-joint bearing blocks (26), and the ankle-joint transmission shaft (21) can opposite ankle-joint bearing block
(26) it rotates, one end of the neighbouring motion bar (23) is fixedly mounted limited respectively on the both sides of the ankle-joint bearing block (26)
A limited block (24) of the motion bar (23) rotation is made, the shank (5) connects with two ankle-joint bearing blocks (26)
It connects, the end of the ankle-joint transmission shaft (21) is equipped with the ankle-joint belt wheel (25), and the foot belt wheel (64-2) passes through
Transmission belt is connect with ankle-joint belt wheel (25)；Two motion bars (23) are with the axle center of the ankle-joint transmission shaft (21) in
The heart is symmetrical；The top of two motion bars (23) is respectively disposed with the connecting rod parallel with the motion bar (23)
(32), the bullet being fixedly connected with the two is disposed between the other end of the motion bar (23) and one end of the connecting rod (32)
Property element (31), described two connecting rods (32) are detachably connected with the shank (5), and two sets of linear movement devices (13) are sliding
It is dynamic to be mounted on link (12), the moving direction of the axial direction of the ankle-joint transmission shaft (21) and the linear movement device (13)
Vertically, two motion bars (23) and two linear movement devices (13) correspond arrangement, the power-driven mechanism
(11) output end drives two sets of linear movement devices (13), and friction moves in opposite directions on corresponding motion bar (23)
It is dynamic.
2. a kind of biped robot with flexible ankle-joint according to claim 1, it is characterised in that：Each knee closes
Section further includes shank limited block (87), and the shank limited block (87) is mounted on the upper end of the shank (5).
3. a kind of biped robot with flexible ankle-joint according to claim 1 or claim 2, it is characterised in that：The electric power
Driving mechanism (11) includes driving motor (11-1) and gear (11-2), often set linear movement device (13) include rack (13-1),
Sliding part (13-2) and contact bar (13-3), are set up in parallel that there are two sliding rails (12-1) on the link (12)；The transmission
Axis (21) is vertically arranged with two sliding rails (12-1), and the sliding part (13-2) is slidably mounted on the sliding rail (12-1)
On, the rack (13-1) connect with the sliding part (13-2), and the end of the sliding part (13-2) is connected with described in contact
The axial direction of the contact bar (13-3) of motion bar (23), the driving motor (11-1) is vertically arranged, the driving motor (11-1)
Output end be connected with the gear (11-2), the gear (11-2) is engaged with two racks (11-2).
4. a kind of biped robot with flexible ankle-joint according to claim 3, it is characterised in that：The link
(12) further include two sets of positioning devices, the sliding rail (12-1) is cylindrical guide bars, and the sliding part (13-2) is linear axis
It holds, the linear bearing (13-2) is mounted on the cylindrical guide bars, two sets of positioning devices and two sets of linear movements
Device (13) is arranged in a one-to-one correspondence, and it includes upper plate (12-2), lower plate (12-3) and the plate (12- that is located by connecting often to cover the positioning device
4)；The upper plate (12-2) and the lower plate (12-3) spacing are arranged and are connect respectively with the link (12), the rack
(13-1) is arranged between the upper half plate (12-2) and the lower plate (12-3) and is supported in the lower plate (12-3), described
Rack (13-1) is connect with by the plate that is located by connecting (12-4) with the linear bearing.
5. a kind of biped robot with flexible ankle-joint according to claim 3, it is characterised in that：The position is adjusted
Mechanism further includes shaft coupling (33)；It is disposed between the output end and the gear (11-2) of the driving motor (11-1) and two
The shaft coupling (33) of person's connection.
6. a kind of biped robot with flexible ankle-joint according to claim 1,2,4 or 5, it is characterised in that：It is described
Elastic element (31) is helical spring.
7. a kind of biped robot with flexible ankle-joint according to claim 6, it is characterised in that：Each activity
Bar (23) is L-shaped, and the long-armed of the motion bar (23) is rotatably installed on the transmission shaft (21), the foot connecting seat (22)
Both sides on long-armed one end of the neighbouring motion bar (23) be separately installed with one of limitation motion bar (23) rotation
The long-armed other end of limited block (24), the motion bar (23) is connect with one end of the galianconism of the motion bar (23), described
The spiral being fixedly connected with the two is disposed between the other end of the galianconism of motion bar (23) and one end of the connecting rod (32)
Spring.
8. according to a kind of biped robot with flexible ankle-joint of claim 1,2,4,5 or 7, it is characterised in that：Institute
It includes connect base (22-1) and U-shaped foot connector (22-2) to state foot connecting seat (22)；The connect base (22-1) is solid
Dingan County is on the transmission shaft (21), and the link (12) is fixedly connected in the connect base (22-1), the company
It connects pedestal (22-1) to be fixedly mounted in the U-shaped foot connector (22-2), the U-shaped foot connector (22-2) is mounted on
On the heel (61).
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| CN201611217644.1A CN106585763B (en) | 2016-12-26 | 2016-12-26 | A kind of biped robot with flexible ankle-joint |
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| CN201611217644.1A CN106585763B (en) | 2016-12-26 | 2016-12-26 | A kind of biped robot with flexible ankle-joint |
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| CN106585763B true CN106585763B (en) | 2018-09-07 |
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| CN107128391B (en) * | 2017-05-04 | 2019-01-22 | 河海大学常州校区 | It is a kind of with the robot sole that can wind flippers |
| CN107963142A (en) * | 2017-12-22 | 2018-04-27 | 华南理工大学广州学院 | Clean the foot joint structure of climbing robot |
| CN108438083B (en) * | 2018-03-21 | 2021-08-24 | 吉林大学 | Biped robot with bionic tension-compression joint |
| CN108724243A (en) * | 2018-08-17 | 2018-11-02 | 深圳市丞辉威世智能科技有限公司 | Flexible bionic joint and robot |
| CN108974175B (en) * | 2018-08-18 | 2019-09-27 | 华中科技大学 | A kind of pelvic structures of biped robot |
| CN109178139A (en) * | 2018-11-19 | 2019-01-11 | 东莞深圳清华大学研究院创新中心 | A kind of Mini humanoid robot six degree of freedom leg structure of hip joint enhancing |
| CN109774811A (en) * | 2018-12-31 | 2019-05-21 | 南京工程学院 | A kind of small biped robot and its control method of brshless DC motor driving |
| CN110901788A (en) * | 2019-11-27 | 2020-03-24 | 佛山科学技术学院 | Biped mobile robot system with literacy ability |
| CN111846008A (en) * | 2020-07-30 | 2020-10-30 | 哈尔滨工业大学 | Biped robot with variable-rigidity ankle joint |
| CN111891254B (en) * | 2020-09-02 | 2023-12-15 | 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) | Four-legged robot and foot structure of foot robot |
| CN114013532A (en) * | 2021-12-09 | 2022-02-08 | 之江实验室 | Integrated ankle foot system for improving walking stability of biped robot |
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