CN106863350B - Flexible driving hip joint for semi-passive biped robot - Google Patents

Flexible driving hip joint for semi-passive biped robot Download PDF

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Publication number
CN106863350B
CN106863350B CN201710265957.2A CN201710265957A CN106863350B CN 106863350 B CN106863350 B CN 106863350B CN 201710265957 A CN201710265957 A CN 201710265957A CN 106863350 B CN106863350 B CN 106863350B
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flexible driving
rod
steering engine
gear
piece
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CN106863350A (en
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钱志辉
周亮
任雷
武冀杰
杨茗茗
黎亦磊
任露泉
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Jilin University
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Jilin University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • B25J17/0258Two-dimensional joints

Abstract

The invention discloses a flexible driving hip joint for a semi-passive biped robot, which comprises an angular-plane parting mechanism and a hip joint flexible driving mechanism, wherein a hip support is fixed in the middle of a shaft through a positioning pin to form a frame main body part of the hip joint. The angular bisector mechanism comprises a first connecting piece, a first connecting rod, a second connecting rod and a sleeve, and is a connecting rod mechanism, simple in structure and reliable in operation. The flexible hip joint driving mechanisms are distributed in bilateral symmetry, power is provided by the right-side steering engine and the left-side steering engine, the right-side steering engine and the left-side steering engine always keep the same rotation size and opposite rotation directions during working, and gait of walking of double feet can be well simulated by combining the use of the angular bisector mechanism.

Description

Flexible driving hip joint for semi-passive biped robot
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a flexible driving hip joint for a semi-passive biped robot.
Background
The walking mode of the biped walking robot is closer to that of human, and the biped walking robot can adapt to the living environment of human (such as stairs in life) quickly, so that the biped walking robot can serve human better. Therefore, research work on the biped walking robot is widely performed worldwide.
In recent years, with the development of the principle of passive walking, more and more trainees have begun to develop semi-passive biped robots based on the principle, which have the characteristics of energy saving, natural walking, simple structure, and the like. Worldwide, research institutions such as the Cornell University (Cornell University) in the united states, Massachusetts Institute of Technology (Massachusetts Institute of Technology), Delft University of Technology (Technology) in the netherlands develop series of semi-passive biped robots, and all of the robots can achieve ideal walking.
However, analysis finds that an angular bisector mechanism (which reduces the degree of freedom of the whole machine to reduce the difficulty of control and simultaneously ensures that the trunk is constantly kept on an angular bisector of a lower limb) used by the existing semi-passive biped robot generally has the problems of too complex structure and poor working reliability, and the existing under-actuated biped robot mostly adopts rigid drive (such as direct drive by using a motor at a joint), so that the flexibility of transmission and motion of the robot is difficult to ensure in motion, larger rigid impact cannot be effectively coped with, the stability of walking is seriously influenced, and meanwhile, the rigid drive can also inhibit the natural mechanical characteristics of the joint, thereby influencing the walking naturalness of the robot. In recent years, researchers in this field have tried to drive an underactuated biped robot by using a flexible driving method of an artificial muscle (e.g., a pneumatic artificial muscle) due to various defects of a rigid driving method, but the flexible driving method has a large volume, a high weight and a low driving efficiency, and a flexible driving method using a high-efficiency motor in combination with a spring may be a preferable flexible driving method.
In view of the current research situation of the semi-passive biped robot, there is an urgent need for a flexible driving hip joint for the semi-passive biped robot, which integrates an angular bisector mechanism with simple structure and good reliability and high-efficiency, light and flexible driving.
Disclosure of Invention
The invention aims to solve the problems of complicated angle bisection mechanism and incomplete hip joint driving commonly existing in the existing semi-passive biped walking machine, and provides a flexible driving hip joint for a semi-passive biped robot.
The invention comprises an angular bisector mechanism and a hip joint flexible driving mechanism;
the angle bisector mechanism comprises a first connecting piece, a first connecting rod, a second connecting rod, a sleeve, a third connecting rod, a second connecting piece and the like. The hip support is fixed in the middle of the shaft through the positioning pin, the fourth pin shaft is fixed on the upper portion of the hip support in a threaded connection mode, and the middle of the second connecting rod is hinged to the fourth pin shaft to form a revolute pair. The pair of connecting rod connecting pieces are hinged at two ends of the first connecting rod to form a revolute pair. The first pin shaft is fixedly connected with the first connecting piece, and the first connecting rods which are symmetrically arranged are hinged with the first connecting piece. The upper end of the sleeve is fixedly connected with the first connecting rod in a threaded connection mode, the lower end of the sleeve and the upper end of the third connecting rod form a revolute pair, the third connecting rod is hinged with the second connecting piece through a second pin shaft, third pin shafts which are symmetrically distributed are fixed on the leg connecting pieces in a threaded connection mode, and the third pin shafts and the second connecting piece form a revolute pair; the angular bisector mechanism can realize the coupling of the movement of the leg connecting pieces on the two sides, and the hip support can be kept on the angular bisector of the movement of the leg connecting pieces on the two sides all the time under the condition of not increasing redundant degrees of freedom.
The hip joint flexible driving mechanisms are distributed in a bilateral symmetry mode, each hip joint flexible driving mechanism comprises a right first flexible driving component, a left first flexible driving component, a second flexible driving component, a right steering engine and a left steering engine, the right steering engines and the left steering engines are symmetrically arranged on two sides of the hip support through two pairs of socket head cap screws respectively, the right steering engines transmit power to the right first flexible driving components through a right first gear and a right second gear, and the left steering engines transmit power to the left first flexible driving components through the left first gear and the left second gear; the first flexible driving component and the first flexible driving component respectively pull tension springs through four first tension spring fixing pieces uniformly arranged on the inner side to drive four second tension spring fixing pieces fixedly connected on the second flexible driving component, so that the right-side steering engine and the left-side steering engine respectively drive leg connecting pieces flexibly, the leg connecting pieces are fixedly connected with the second flexible driving component, the right-side first flexible driving component and the left-side first flexible driving component respectively form a revolute pair through a pair of first bearings and a shaft, the symmetrically distributed second flexible driving components form a revolute pair through a pair of second bearings and the shaft, and the shaft sleeve and the bearing fixing nut are used for determining the relative positions of the first bearings and the second bearings.
The working process and principle of the invention are as follows:
in a specific working process, the rotation of the right steering engine and the rotation of the left steering engine always keep the same size and opposite directions, and the gait of walking of both feet can be well simulated by combining the use of an angular bisector mechanism. The part is driven in the simulation biological muscle, in the time of this part, with the extension spring integration in the circular structure such as the first flexible driving component in right side and the first flexible driving component in left side, makes whole mechanism simple, compact, has avoided the linear type flexible drive volume to occupy too big problem.
The invention has the beneficial effects that:
1. the invention innovatively designs the angle-level splitting mechanism widely applied to the under-actuated biped robot, and the design is a link mechanism, so that the structure is simple and compact, the connection is hinged, and the operation is stable and reliable.
2. The invention adopts a flexible driving mode, avoids the problems of large rigid impact, unnatural walking and the like caused by rigid driving, and simultaneously the flexible driving of the invention is integrated in a circular structure, is easy to combine with the traditional rotary driver (such as a steering engine), and has compact and reasonable structure.
Drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a partial cross-sectional view of fig. 2.
Fig. 4 is a left side view of fig. 2.
Wherein: 1-a hip support; 2-a first pin; 3-a first connecting piece; 4-a first link; 5-a second link; 6-a sleeve; 7-a third link; 8-a second pin shaft; 9-a second connector; 10-a third pin shaft; 11-a fourth pin; 12-a locating pin; 13-a leg connector; 14-socket head cap screw; 1501-right steering engine; 1502-left steering engine; 1601-right first gear; 1602-left first gear; 1701-right second gear; 1702-left second gear; 1801-right first flexible drive member; 1802-a left first flexible drive member; 19-axis; 20-a second flexible drive member; 21-a first bearing; 22-shaft sleeve; 23-bearing securing nuts; 24-a second bearing; 25-a first tension spring fixing member; 26-a tension spring; 27-second tension spring fixing member.
Detailed Description
Referring to fig. 1, fig. 2, fig. 3 and fig. 4, the present embodiment includes an angular bisector mechanism and a hip joint flexible driving mechanism;
the angular bisector mechanism comprises a first connecting piece 3, a first connecting rod 4, a second connecting rod 5, a sleeve 6, a third connecting rod 7 and a second connecting piece 9, the hip support 1 is fixed in the middle of a shaft 19 through a positioning pin 12, a fourth pin shaft 11 is fixed on the upper portion of the hip support 1 in a threaded connection mode, and the middle of the second connecting rod 5 is hinged with the fourth pin shaft 11 to form a revolute pair; the pair of connecting rod connecting pieces 3 are hinged at two ends of the first connecting rod 4 to form a revolute pair; the first pin shaft 2 is fixedly connected with the first connecting piece 3, and the first connecting rods 4 which are symmetrically arranged are hinged with the first connecting piece 3; the upper end of the sleeve 6 is fixedly connected with the first connecting rod 4 in a threaded connection mode, the lower end of the sleeve 6 and the upper end of the third connecting rod 7 form a revolute pair, the third connecting rod 7 is hinged with the second connecting piece 9 through a second pin shaft 8, third pin shafts 10 which are symmetrically distributed are fixed on the leg connecting piece 13 in a threaded connection mode, and the third pin shafts 10 and the second connecting piece 9 form a revolute pair; the angle bisector mechanism can realize the movement coupling of the leg connecting pieces 13 at two sides, and the hip support 1 is always kept on the angle bisector of the movement of the leg connecting pieces 13 at two sides under the condition of not increasing redundant freedom degree.
The hip joint flexible driving mechanisms are distributed in a bilaterally symmetrical mode and comprise a right first flexible driving member 1801, a left first flexible driving member 1802, a second flexible driving member 20, a right steering engine 1501 and a left steering engine 1502, wherein the right steering engine 1501 and the left steering engine 1502 are symmetrically arranged on two sides of the hip support 1 through two pairs of hexagon socket head cap screws 14 respectively, the right steering engine 1501 transmits power to the right first flexible driving member 1801 through a right first gear 1601 and a right second gear 1701, and the left steering engine 1502 transmits power to the left first flexible driving member 1802 through a left first gear 1602 and a left second gear 1702; the first flexible driving member 1801 and the first flexible driving member 1802 respectively pull the tension spring 26 through four first tension spring fixing pieces 25 uniformly arranged on the inner side to drive four second tension spring fixing pieces 27 fixedly connected to the second flexible driving member 20, so that the right steering engine 1501 and the left steering engine 1502 respectively flexibly drive the leg connecting pieces 13; the leg connecting piece 13 is fixedly connected with a second flexible driving member 20, the right first flexible driving member 1801 and the left first flexible driving member 1802 respectively form a rotating pair with the shaft 19 through a pair of first bearings 21, the symmetrically distributed second flexible driving members 20 form a rotating pair with the shaft 19 through a pair of second bearings 24, and a shaft sleeve 22 and a bearing fixing nut 23 are used for determining the relative positions of the first bearings 21 and the second bearings 24; the right steering engine 1501 and the left steering engine 1502 are the same steering engine, the right first gear 1601 and the left first gear 1602 are the same gear, the right second gear 1701 and the left second gear 1702 are the same gear, and the first flexible driving member 1801 and the first flexible driving member 1802 are the same structure.
In a specific working process, the rotation of the right steering engine 1501 and the rotation of the left steering engine 1502 always keep the same size and opposite directions, and the gait of walking with double feet can be well simulated by combining the use of an angular bisector mechanism. The part is used for simulating the driving of biological muscles, and meanwhile, the tension spring 26 is integrated in circular structures such as the right first flexible driving member 1801 and the left first flexible driving member 1802, so that the whole mechanism is simple and compact, and the problem that the linear flexible driving volume occupies too large is avoided.

Claims (1)

1. A flexible driving hip joint for a semi-passive biped robot, characterized in that: comprises an angular bisector mechanism and a hip joint flexible driving mechanism;
the angle bisector mechanism comprises a first connecting piece (3), a first connecting rod (4), a second connecting rod (5), a sleeve (6), a third connecting rod (7) and a second connecting piece (9); the hip support (1) is fixed in the middle of the shaft (19) through a positioning pin (12), a fourth pin shaft (11) is fixed on the upper part of the hip support (1) in a threaded connection mode, and the middle of the second connecting rod (5) is hinged with the fourth pin shaft (11) to form a revolute pair; the pair of connecting rod connecting pieces (3) are hinged at two ends of the first connecting rod (4) to form a revolute pair; the first pin shaft (2) is fixedly connected with the first connecting piece (3), and the first connecting rods (4) which are symmetrically arranged are hinged with the first connecting piece (3); the upper end of the sleeve (6) is fixedly connected with the first connecting rod (4) in a threaded connection mode, the lower end of the sleeve (6) and the upper end of the third connecting rod (7) form a revolute pair, the third connecting rod (7) is hinged with the second connecting piece (9) through a second pin shaft (8), third pin shafts (10) which are symmetrically distributed are fixed on the leg connecting piece (13) in a threaded connection mode, and the third pin shafts (10) and the second connecting piece (9) form a revolute pair; the angular bisector mechanism can realize the motion coupling of the leg connecting pieces (13) at two sides, and the hip bracket (1) is always kept on the angular bisector of the motion of the leg connecting pieces (13) at two sides under the condition of not increasing redundant freedom degree;
the hip joint flexible driving mechanisms are distributed in a bilateral symmetry mode and comprise a right first flexible driving member (1801), a left first flexible driving member (1802), a second flexible driving member (20), a right steering engine (1501) and a left steering engine (1502); the right steering engine (1501) and the left steering engine (1502) are symmetrically arranged on two sides of the hip support (1) through two pairs of hexagon socket head screws (14), the right steering engine (1501) transmits power to a right first flexible driving member (1801) through a right first gear (1601) and a right second gear (1701), and the left steering engine (1502) transmits power to a left first flexible driving member (1802) through a left first gear (1602) and a left second gear (1702); the first flexible driving member (1801) and the first flexible driving member (1802) respectively drive four second tension spring fixing parts (27) fixedly connected to the second flexible driving member (20) through four first tension spring fixing parts (25) which are uniformly arranged on the inner side to pull tension springs (26), so that the right steering gear (1501) and the left steering gear (1502) respectively drive the leg connecting pieces (13) flexibly; the leg connecting piece (13) is fixedly connected with a second flexible driving member (20), the right first flexible driving member (1801) and the left first flexible driving member (1802) respectively form a rotating pair with the shaft (19) through a pair of first bearings (21), the symmetrically distributed second flexible driving members (20) form a rotating pair with the shaft (19) through a pair of second bearings (24), and the shaft sleeve (22) and the bearing fixing nut (23) are used for determining the relative positions of the first bearings (21) and the second bearings (24);
the right steering engine (1501) and the left steering engine (1502) are the same, the right first gear (1601) and the left first gear (1602) are the same, the right second gear (1701) and the left second gear (1702) are the same, and the first flexible driving member (1801) and the first flexible driving member (1802) are the same in structure;
the tension spring (26) is integrated in a circular structure of the right first flexible driving member (1801) and the left first flexible driving member (1802).
CN201710265957.2A 2017-04-21 2017-04-21 Flexible driving hip joint for semi-passive biped robot Active CN106863350B (en)

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Citations (12)

* Cited by examiner, † Cited by third party
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US6478652B1 (en) * 1998-05-13 2002-11-12 Technische Universiteit Delft Two-legged body
CN101391417A (en) * 2008-11-03 2009-03-25 北京大学 Both feet humanoid robot based on passive movement mode
JP2011083884A (en) * 2009-10-19 2011-04-28 Yaskawa Electric Corp Variable rigidity mechanism and robot
JP2012016752A (en) * 2010-07-06 2012-01-26 Ihi Aerospace Co Ltd Link device of robot
CN204871275U (en) * 2015-06-09 2015-12-16 江苏科技大学 Mechanical structure of three -dimensional imitative people's bipod walking robot
CN105456004A (en) * 2015-12-28 2016-04-06 中国科学院自动化研究所 Exoskeleton type moving and walking rehabilitation training device and method
CN105599822A (en) * 2016-02-06 2016-05-25 武汉大学 Under-actuated biped walking robot based on flexible drivers
CN106182078A (en) * 2016-08-31 2016-12-07 中国科学院深圳先进技术研究院 The exoskeleton robot knee joint driven it is wound around based on line
CN106182071A (en) * 2016-08-05 2016-12-07 北京理工大学 Two degrees of freedom rotates flexible differential driving joint module
CN205852786U (en) * 2016-07-21 2017-01-04 吉林农业大学 Power-assisted machinery ESD
US9555846B1 (en) * 2015-03-20 2017-01-31 Google Inc. Pelvis structure for humanoid robot
CN206677988U (en) * 2017-04-21 2017-11-28 吉林大学 A kind of soft drive hip joint for semi-passive biped robot

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6478652B1 (en) * 1998-05-13 2002-11-12 Technische Universiteit Delft Two-legged body
CN101391417A (en) * 2008-11-03 2009-03-25 北京大学 Both feet humanoid robot based on passive movement mode
JP2011083884A (en) * 2009-10-19 2011-04-28 Yaskawa Electric Corp Variable rigidity mechanism and robot
JP2012016752A (en) * 2010-07-06 2012-01-26 Ihi Aerospace Co Ltd Link device of robot
US9555846B1 (en) * 2015-03-20 2017-01-31 Google Inc. Pelvis structure for humanoid robot
CN204871275U (en) * 2015-06-09 2015-12-16 江苏科技大学 Mechanical structure of three -dimensional imitative people's bipod walking robot
CN105456004A (en) * 2015-12-28 2016-04-06 中国科学院自动化研究所 Exoskeleton type moving and walking rehabilitation training device and method
CN105599822A (en) * 2016-02-06 2016-05-25 武汉大学 Under-actuated biped walking robot based on flexible drivers
CN205852786U (en) * 2016-07-21 2017-01-04 吉林农业大学 Power-assisted machinery ESD
CN106182071A (en) * 2016-08-05 2016-12-07 北京理工大学 Two degrees of freedom rotates flexible differential driving joint module
CN106182078A (en) * 2016-08-31 2016-12-07 中国科学院深圳先进技术研究院 The exoskeleton robot knee joint driven it is wound around based on line
CN206677988U (en) * 2017-04-21 2017-11-28 吉林大学 A kind of soft drive hip joint for semi-passive biped robot

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