CN106741282B - Robot leg that contains straight line joint - Google Patents
Robot leg that contains straight line joint Download PDFInfo
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- CN106741282B CN106741282B CN201611146913.XA CN201611146913A CN106741282B CN 106741282 B CN106741282 B CN 106741282B CN 201611146913 A CN201611146913 A CN 201611146913A CN 106741282 B CN106741282 B CN 106741282B
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- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 210000002414 leg Anatomy 0.000 abstract description 75
- 210000000629 knee joint Anatomy 0.000 abstract description 13
- 210000000689 upper leg Anatomy 0.000 abstract description 5
- 230000009471 action Effects 0.000 abstract description 4
- 244000309466 calf Species 0.000 abstract description 4
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000005452 bending Methods 0.000 abstract description 2
- 210000001624 hip Anatomy 0.000 description 8
- 210000001503 joint Anatomy 0.000 description 8
- 238000000034 method Methods 0.000 description 5
- 230000009467 reduction Effects 0.000 description 4
- 238000005265 energy consumption Methods 0.000 description 3
- 210000004394 hip joint Anatomy 0.000 description 3
- 210000003127 knee Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 230000001429 stepping effect Effects 0.000 description 2
- 241000282412 Homo Species 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
Classifications
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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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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
本发明公开了一种含有直线关节的机器人腿，包括腿部本体，所述腿部本体内配合设置直线关节，所述直线关节包括主动部和从动部，所述从动部通过连接件与横向旋转动力装置连接，所述主动部运作带动从动部上下直线运动进而使腿部本体上下移动抬腿，横向旋转动力装置运转带动腿部本体前后向摆动。本发明的机器人腿将大腿、膝关节、小腿的组合方式整合为一个完整的直线运动关节，从而通过腿部的直线运动来代替常用的旋转运动，避免了支撑腿的屈膝动作，同时该机器人腿具有机构简单、易于维护及负重能力强的特点。
The invention discloses a robot leg with a linear joint, which includes a leg body, and a linear joint is arranged in the leg body, and the linear joint includes an active part and a driven part, and the driven part is connected with a connecting part through a connecting piece. The horizontal rotation power device is connected, the operation of the active part drives the driven part to move up and down in a straight line, and then the leg body moves up and down to lift the leg, and the operation of the horizontal rotation power device drives the leg body to swing back and forth. The robot leg of the present invention integrates the combination of the thigh, knee joint, and calf into a complete linear motion joint, thereby replacing the commonly used rotational motion by the linear motion of the leg, avoiding the knee-bending action of the supporting leg, and at the same time, the robot leg It has the characteristics of simple mechanism, easy maintenance and strong load capacity.
Description
技术领域technical field
本发明涉及机器人技术领域，尤其涉及一种含有直线关节的机器人腿。The invention relates to the technical field of robots, in particular to a robot leg with linear joints.
背景技术Background technique
移动机器人的运动方式主要包括轮式、履带式、腿足式等，其中腿足式机器人在运动中只需要离散的落脚点而不需要连续的路径，因而较轮式和履带式机器人其具有更为优秀的灵活性和环境适应性。The movement modes of mobile robots mainly include wheeled, tracked, legged, etc. Among them, the legged robot only needs discrete footholds and does not need a continuous path in motion, so it has more advantages than wheeled and tracked robots. For excellent flexibility and environmental adaptability.
目前常见的腿足机器人有美国波士顿动力公司的双足机器人“petman”、“Atlas”以及四足机器人“BigDog”、“LS3”，法国Aldebaran Robotics公司的双足机器人“NAO”,意大利技术研究院的四足机器人“HyQ”,日本本田公司的双足机器人“ASIMO”等。上述机器人腿部往往采用“肘式”或“膝式”结构，即有明显的大腿、膝关节、小腿等部件，区别仅是膝关节朝向身体前方弯曲还是身体后方弯曲。中国专利文献CN1883994A公开了一种拟人双足机器人人工腿，该腿膝关节采用四连杆结构并依靠驱动电机带动膝关节旋转。中国专利文献CN103407514A公布了一种四足仿生机器人腿，该腿含有两个旋转关节。中国专利文献CN101229826A公开了一种机器人的下肢机构，其特点在于采用平行四连杆机构实现了机器人大小腿的机构设计。中国专利文献CN103448828A公布了一种四足仿生机器人腿机构，该机构包含有肩关节、膝关节等旋转关节。At present, the common legged robots include the biped robots "petman" and "Atlas" of Boston Dynamics in the United States, the quadruped robots "BigDog" and "LS3", the biped robots "NAO" of Aldebaran Robotics in France, and the Italian Institute of Technology. The four-legged robot "HyQ", the bipedal robot "ASIMO" of Honda, Japan, etc. The above-mentioned robot legs often adopt an "elbow" or "knee" structure, that is, there are obvious parts such as thighs, knee joints, and calves. The difference is only that the knee joints bend toward the front of the body or the back of the body. Chinese patent document CN1883994A discloses an artificial leg of an anthropomorphic biped robot. The knee joint of the leg adopts a four-link structure and relies on a driving motor to drive the knee joint to rotate. Chinese patent document CN103407514A discloses a quadruped bionic robot leg, which contains two rotating joints. Chinese patent document CN101229826A discloses a lower limb mechanism of a robot, which is characterized in that the mechanism design of the upper and lower legs of the robot is realized by using a parallel four-bar linkage mechanism. Chinese patent document CN103448828A discloses a quadruped bionic robot leg mechanism, which includes rotating joints such as shoulder joints and knee joints.
上述产品与发明所设计的机器人都模拟了人或动物的腿部结构，即有明显的大腿、膝关节、小腿，该种结构方式具有一定的仿生性，然而也导致了机器人在行走时支撑腿都有一定的屈膝动作，仿佛用扎马步或四足动物匍匐前进的方式行走，这种运动方式要求关节作动器需持续输出较大扭力来维持机体姿态，因而较行走时支撑腿靠腿部骨骼提供支撑力的直腿行走方式要耗费更大的能量。The robots designed by the above-mentioned products and inventions all simulate the leg structure of humans or animals, that is, there are obvious thighs, knee joints, and calves. All have a certain knee-bending movement, as if walking in a zama step or a quadruped crawling forward. This movement method requires the joint actuator to continuously output a large torque to maintain the body posture, so it is better than the supporting leg to lean on the leg when walking. The straight-leg walking method with the support provided by the internal bones consumes more energy.
发明内容Contents of the invention
本发明的目的是为克服上述现有技术的不足，提供一种含有直线关节的机器人腿，采用直线关取代由大腿、膝关节、小腿组成的旋转关节，具有机构简单，易于维护，能量消耗低及负重能力强的特点。The purpose of the present invention is to overcome the deficiencies of the above-mentioned prior art and provide a robot leg with linear joints, which adopts linear joints to replace the rotary joints composed of thighs, knee joints and calves, and has the advantages of simple mechanism, easy maintenance and low energy consumption. And the characteristics of strong load capacity.
为实现上述目的，本发明采用下述技术方案：To achieve the above object, the present invention adopts the following technical solutions:
一种含有直线关节的机器人腿，包括腿部本体，所述腿部本体内配合设置直线关节，所述直线关节包括主动部和从动部，所述从动部通过连接件与横向旋转动力装置连接，所述主动部运作带动从动部上下直线运动进而使腿部本体上下移动抬腿，横向旋转动力装置运转带动腿部本体前后向摆动。A robot leg with a linear joint, comprising a leg body, a linear joint is fitted inside the leg body, the linear joint includes an active part and a driven part, and the driven part is connected to a transverse rotation power device through a connecting piece connected, the operation of the active part drives the driven part to move up and down in a straight line so that the leg body moves up and down to lift the leg, and the operation of the lateral rotation power device drives the leg body to swing back and forth.
所述主动部为丝杠，所述从动部为带丝孔的滑块。The active part is a lead screw, and the driven part is a slide block with a thread hole.
优选的，所述滑块还通过直线轴承与直线导轨相配合，直线导轨与丝杠相互平行。Preferably, the slider is further matched with a linear guide rail through a linear bearing, and the linear guide rail and the lead screw are parallel to each other.
所述丝杠和直线导轨均固定于支撑架上，所述支撑架与腿部本体的外壳固定连接。Both the screw and the linear guide rail are fixed on the support frame, and the support frame is fixedly connected with the shell of the leg body.
优选的，所述直线导轨设置两条，两条直线导轨与丝杠相互配合呈等腰三角形。Preferably, two linear guide rails are provided, and the two linear guide rails cooperate with the lead screw to form an isosceles triangle.
或者，所述主动部为齿轮，所述从动部为齿条。Alternatively, the driving part is a gear, and the driven part is a rack.
或者，所述主动部为液压元件，所述从动部为滑座。Alternatively, the active part is a hydraulic element, and the driven part is a sliding seat.
所述腿部本体底部设置旋转关节，所述旋转关节与足部机构连接，控制足部机构俯仰角度。A rotary joint is provided at the bottom of the leg body, and the rotary joint is connected with the foot mechanism to control the pitch angle of the foot mechanism.
所述旋转关节包括横向设置的动力装置，动力装置通过腿足连接件与足部机构连接，动力装置带动腿足连接件前后摆动进而调整足部机构的俯仰角度。The rotary joint includes a horizontally arranged power device, the power device is connected with the foot mechanism through the leg-foot connector, and the power device drives the leg-foot connector to swing back and forth to adjust the pitch angle of the foot mechanism.
所述横向旋转动力装置通过连杆与纵向旋转动力装置连接，纵向旋转动力装置运转带动腿部本体侧向摆动。The horizontal rotation power device is connected with the longitudinal rotation power device through a connecting rod, and the operation of the longitudinal rotation power device drives the leg body to swing sideways.
本发明的有益效果为：The beneficial effects of the present invention are:
本发明的机器人腿将大腿、膝关节、小腿的组合方式整合为一个直线运动关节，从而将机器人机体高度调节由膝关节的旋转运动方式转变为腿部直线运动。采用膝关节旋转运动时机器人犹如以扎马步的形式行走，即便机器人站立时也要保持屈膝状态，从而导致机器人需持续输出较大做动力来维持机体姿态。而本发明直线关节运动方式则解决了采用膝关节旋转模式时弯膝行走的弊端，让机器人可实现犹如人行走时的腿部直立动作，从而减少了能量消耗。同时该机器人腿具有机构简单、易于维护及负重能力强的特点。The robot leg of the present invention integrates the combination of the thigh, the knee joint and the lower leg into a linear motion joint, thereby converting the height adjustment of the robot body from the rotary motion of the knee joint to the linear motion of the leg. When the knee joint is rotated, the robot seems to be walking in the form of a zama step. Even when the robot is standing, the knees must be kept in a bent state, which leads to the need for the robot to continuously output a large amount of power to maintain the body posture. However, the linear joint movement method of the present invention solves the disadvantages of walking with bent knees when the knee joint rotation mode is adopted, allowing the robot to realize the upright movement of the legs like a human walking, thereby reducing energy consumption. At the same time, the robot leg has the characteristics of simple mechanism, easy maintenance and strong load-bearing capacity.
本发明的机器人腿在腿部本体内部设置直线关节，在与机器人腰部连接时，机器人腰部不动，则由于直线关节主动部的带动，直线关节从动部上下移动使得腿部本体上下移动，进而实现抬腿动作，通过直线运动取代了现有机器人腿中的屈膝关节等，在驱动时更为省力，节省能量消耗，对于驱动的控制也更为简单可靠。The robot leg of the present invention is provided with linear joints inside the leg body. When connecting with the robot waist, the robot waist does not move, and the linear joint driven part moves up and down due to the drive of the linear joint active part, so that the leg body moves up and down. To realize the leg raising action, the knee joint in the existing robot leg is replaced by linear motion, which saves more effort and energy consumption during driving, and the control of driving is simpler and more reliable.
本发明中在腿部本体底部设置旋转关节，可以带动足部机构调整俯仰角度，进而实现了足部机构的迈步动作，在行走时在较小的抬升高度下就可以行走。In the present invention, a rotating joint is provided at the bottom of the leg body, which can drive the foot mechanism to adjust the pitch angle, and then realize the stepping action of the foot mechanism, and can walk at a relatively small lifting height during walking.
本发明中在横向旋转动力装置上连接纵向旋转动力装置，纵向旋转动力装置带动腿部本体侧向摆动，进而实现左右移动。In the present invention, the vertical rotation power device is connected to the horizontal rotation power device, and the longitudinal rotation power device drives the leg body to swing laterally, thereby realizing left and right movement.
附图说明Description of drawings
图1为本发明的机器人腿整体示意图；Fig. 1 is the overall schematic diagram of robot leg of the present invention;
图2为本发明提供的机器人腿拆分示意图；Fig. 2 is the split schematic diagram of robot leg provided by the present invention;
图中，1髋关节，2腿部机构，3足部机构，4外壳，5侧向旋转电机，6连杆，7前后向旋转电机，8连接件，9腿部直线关节滑块，10直线轴承，11减速电机，12支撑架，13直线导轨，14丝杠，15减速电机，16腿足连接件，17被动旋转关节，18足底结构件。In the figure, 1 hip joint, 2 leg mechanism, 3 foot mechanism, 4 casing, 5 lateral rotation motor, 6 connecting rod, 7 front and rear rotation motor, 8 connecting piece, 9 leg linear joint slider, 10 linear Bearing, 11 deceleration motor, 12 support frame, 13 linear guide rail, 14 lead screw, 15 deceleration motor, 16 leg-foot connector, 17 passive rotary joint, 18 sole structure.
具体实施方式Detailed ways
下面结合附图和实施例对本发明进一步说明。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
如图1所示，一种具有直线关节的机器人腿，包括髋关节1、腿部机构2和足部机构3。As shown in FIG. 1 , a robot leg with linear joints includes a hip joint 1 , a leg mechanism 2 and a foot mechanism 3 .
髋关节1用于连接机器人的腰部与腿部2，并通过两套减速电机带动腿部2做相对于身体前后方向及侧方向的摆动运动。腿部机构2包括腿部本体，腿部本体内配合设置直线关节，直线关节包括主动部和从动部，从动部通过连接件8与横向旋转动力装置(即前后向旋转电机7)连接，主动部运作带动从动部上下直线运动，前后向旋转电机7运转带动腿部本体前后向摆动。前后向旋转电机7与通过连杆6与纵向旋转动力装置(即侧向旋转电机5)连接，侧向旋转电机5运转带动腿部本体侧向摆动。其中侧向旋转电机5机体与机器人腰部1固连，其旋转轴通过连杆6与前后向旋转电机7机体相连。前后向旋转电机7的输出轴则通过连接件8与腿部直线关节滑块9相连。The hip joint 1 is used to connect the waist and the legs 2 of the robot, and drives the legs 2 to swing relative to the front, rear and side directions of the body through two sets of geared motors. The leg mechanism 2 includes a leg body, and a linear joint is arranged in the leg body. The linear joint includes a driving part and a driven part, and the driven part is connected with the lateral rotation power device (i.e., the front and rear rotation motor 7) through a connector 8. The operation of the active part drives the driven part to move linearly up and down, and the forward and backward rotation motor 7 drives the leg body to swing forward and backward. The front and rear rotating motor 7 is connected with the longitudinal rotating power device (ie, the lateral rotating motor 5) through the connecting rod 6, and the lateral rotating motor 5 drives the leg body to swing laterally. Wherein the lateral rotation motor 5 body is fixedly connected with the robot waist 1, and its rotating shaft is connected with the front and rear rotation motor 7 bodies by the connecting rod 6. The output shaft of the forward and backward rotation motor 7 is connected with the leg linear joint slide block 9 through the connecting piece 8 .
主动部可以为丝杠，从动部为带丝孔的滑块。The driving part can be a lead screw, and the driven part is a slide block with a thread hole.
或者，主动部可以为齿轮，从动部为齿条。Alternatively, the driving part may be a gear, and the driven part may be a rack.
或者，主动部可以为液压元件，从动部为滑座。Alternatively, the active part may be a hydraulic element, and the driven part may be a sliding seat.
本实施例中以丝杠和滑块为例进行描述，如图2所示，腿部机构2由调节机器人腿运动的直线关节与控制足部俯仰角度的旋转关节组成。In this embodiment, a lead screw and a slider are taken as examples for description. As shown in FIG. 2 , the leg mechanism 2 is composed of a linear joint for adjusting the motion of the robot leg and a rotary joint for controlling the pitch angle of the foot.
直线关节包含减速电机11、两根直线导轨13、直线轴承10、丝杠14、滑块9、支撑架12与外壳4，其中减速电机11、直线导轨13与丝杠14固定在支撑架12上。滑块9与直线轴承10固连，直线轴承10穿过直线导轨13，滑块9丝孔则与丝杠14配合。直线关节减速电机11输出轴与丝杠14相连，带动丝杠14做旋转运动。两根直线导轨13与丝杠14平行安装，其安装端面呈等腰三角形。支撑架12通过螺丝与外壳4相连。在减速电机11运转时，丝杠14带动滑块9上下移动，由滑块9通过前后向旋转电机7、连杆6、侧向旋转电机5与机器人腰部固定，由于机器人腿部重量更轻，该机器人腿与机器人腰部连接后，机器人腰部重量更大，机器人腰部不动，从而使得腿部本体上下移动实现抬腿动作。The linear joint includes a geared motor 11, two linear guide rails 13, a linear bearing 10, a lead screw 14, a slider 9, a support frame 12 and a housing 4, wherein the gear motor 11, linear guide rails 13 and lead screw 14 are fixed on the support frame 12 . The slide block 9 is fixedly connected with the linear bearing 10, the linear bearing 10 passes through the linear guide rail 13, and the thread hole of the slide block 9 cooperates with the lead screw 14. The output shaft of the linear joint reduction motor 11 is connected with the lead screw 14, and drives the lead screw 14 to rotate. Two linear guide rails 13 are installed in parallel with the leading screw 14, and their installation end faces are isosceles triangles. The support frame 12 is connected with the shell 4 by screws. When the reduction motor 11 is running, the lead screw 14 drives the slider 9 to move up and down, and the slider 9 is fixed to the waist of the robot through the front and rear rotation motor 7, the connecting rod 6, and the side rotation motor 5. Because the weight of the robot legs is lighter, After the robot legs are connected to the robot waist, the weight of the robot waist is greater, and the robot waist does not move, so that the leg body moves up and down to realize the leg lifting action.
控制足部俯仰角度的旋转关节包括横向设置的动力装置(即减速电机15)与腿足连接件16，减速电机15机体固定在外壳4上，其输出轴则与腿足连接件16相连。腿足连接件16是连接机器人腿部2与足部3的部件，其上端连接减速电机15，下端则与足部3相连。The rotary joint controlling the pitch angle of the foot comprises a horizontally arranged power unit (i.e. a geared motor 15) and a leg-foot connector 16. The geared motor 15 body is fixed on the shell 4, and its output shaft links to each other with the leg-foot connector 16. The leg-foot connector 16 is a part that connects the robot leg 2 and the foot 3 , its upper end is connected with the reduction motor 15 , and the lower end is connected with the foot 3 .
足部机构3由具有一定阻尼的被动旋转关节17与足底结构件18组成。The foot mechanism 3 is composed of a passive rotary joint 17 with certain damping and a sole structure 18 .
本发明机器人腿的运作过程为：The operation process of robot leg of the present invention is:
侧向旋转电机5运转，通过连杆6、前后向旋转电机7、连接件8传递到腿部机构2，带动腿部机构2相对于身体侧向摆动，完成机器人腿的左右移动；前后向旋转电机7运转，通过连接件8传递到腿部机构2，带动腿部机构2相对于身体前后向摆动，完成迈腿动作；减速电机15运转，通过腿足连接件16传递到足部机构3，调整足部机构3前后俯仰角度，模拟人足行走时的迈步动作；减速电机11运转，通过丝杠14传递给腿部直线关节滑块9，带动腿部直线关节滑块9上下运动，由于腰部不动，从而使得腿部本体实现上下移动完成抬腿动作。通过前后向旋转电机7、减速电机11、减速电机15的运转配合，实现腿部本体向前迈腿行走，通过侧向旋转电机5的运转，实现腿部本体左右移动。The lateral rotation motor 5 runs, and is transmitted to the leg mechanism 2 through the connecting rod 6, the front and rear rotation motor 7, and the connecting piece 8, which drives the leg mechanism 2 to swing sideways relative to the body to complete the left and right movement of the robot leg; the front and rear rotation The motor 7 is running and transmitted to the leg mechanism 2 through the connecting piece 8, which drives the leg mechanism 2 to swing back and forth relative to the body to complete the leg movement; Adjust the front and rear pitch angles of the foot mechanism 3 to simulate the stepping action of the human foot; the reduction motor 11 runs, and is transmitted to the leg linear joint slider 9 through the lead screw 14, driving the leg linear joint slider 9 to move up and down. Do not move, so that the leg body can move up and down to complete the leg raising action. Through the cooperation of the forward and backward rotating motor 7, the geared motor 11, and the geared motor 15, the leg body moves forward, and the leg body moves left and right through the operation of the lateral rotating motor 5.
上述虽然结合附图对本发明的具体实施方式进行了描述，但并非对本发明保护范围的限制，所属领域技术人员应该明白，在本发明的技术方案的基础上，本领域技术人员不需要付出创造性劳动即可做出的各种修改或变形仍在本发明的保护范围以内。Although the specific implementation of the present invention has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the present invention. Those skilled in the art should understand that on the basis of the technical solution of the present invention, those skilled in the art do not need to pay creative work Various modifications or variations that can be made are still within the protection scope of the present invention.
Claims (7)
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| CN116118893B (en) * | 2021-11-15 | 2024-09-10 | 腾讯科技（深圳）有限公司 | Robot |
| US20240182279A1 (en) * | 2022-12-06 | 2024-06-06 | FUJIFILM Irvine Scientific, Inc. | System and method for lifting and orienting a chamber |
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| CN104071250A (en) * | 2014-07-10 | 2014-10-01 | 武汉大学 | Modular ten-freedom-degree biped walking robot |
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