CN107097213A - Robot lower limb - Google Patents

Robot lower limb Download PDF

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Publication number
CN107097213A
CN107097213A CN201710356190.4A CN201710356190A CN107097213A CN 107097213 A CN107097213 A CN 107097213A CN 201710356190 A CN201710356190 A CN 201710356190A CN 107097213 A CN107097213 A CN 107097213A
Authority
CN
China
Prior art keywords
knee
sway
robot
shaft
thigh
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710356190.4A
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Chinese (zh)
Inventor
钟鸣
卢贤资
马波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wachchi (beijing) Intelligent Technology Co Ltd
Original Assignee
Wachchi (beijing) Intelligent Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wachchi (beijing) Intelligent Technology Co Ltd filed Critical Wachchi (beijing) Intelligent Technology Co Ltd
Priority to CN201710356190.4A priority Critical patent/CN107097213A/en
Publication of CN107097213A publication Critical patent/CN107097213A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0009Constructional details, e.g. manipulator supports, bases
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/06Programme-controlled manipulators characterised by multi-articulated arms

Abstract

A kind of robot lower limb, with the hip joint being sequentially connected, thigh, knee drive division, shank, ankle-joint and support base:Hip joint has side-sway component and forward swing component, side-sway component has the side-sway output shaft being rotatably held on robot body, forward swing component has the forward swing output shaft being rotatably held on side-sway component, forward swing output shaft and side-sway output shaft are axially vertical, and forward swing output shaft is connected with thigh;Thigh is hinged with shank, and knee drive division is slidably held on thigh, and the one end of knee drive division away from hip joint is hinged with shank, for driving rotating against between thigh and shank;Ankle-joint is used to connect shank and support base, and support base has semi-cylindrical in configuration, and the circular arc side of semi-cylindrical in configuration is used to contact with ground.There is multi-joint and multiple degrees of freedom the invention provides one kind, the robot lower limb of complicated landform and stair activity is suitable for.

Description

Robot lower limb
Technical field
It is a kind of robot lower limb specifically the invention belongs to robotic technology field.
Background technology
With the fast development of robot technology, people are further added by for the functional requirement one of robot, are no longer satisfied with Traditional clumsy concept.For this reason, it may be necessary to which all parts of robot have the bionical performance of height, with the altitude simulation mankind or dynamic The multi-joint flexible motion of thing.
Wherein, robot lower limb is vital critical component in bio-robot, for realize robot it is each to It is mobile.Bio-robot, particularly quadruped robot, it is necessary to meet up-and-down surfaced road, stair activity etc. during applied to complex working condition Function.Herein, it is necessary to which robot lower limb has multi-joint and multivariant mechanical structure.
The content of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of robot lower limb, with multi-joint with it is how free The mechanical structure of degree, can be achieved the flexible motion of quadruped robot.
The purpose of the present invention is achieved through the following technical solutions:
A kind of robot lower limb, with the hip joint being sequentially connected, thigh, knee drive division, shank, ankle-joint and support bottom Seat:
The hip joint has side-sway component and forward swing component, and the side-sway component, which has, is rotatably held in robot Side-sway output shaft on body, the forward swing component has the forward swing output shaft being rotatably held on side-sway component, described Forward swing output shaft and the side-sway output shaft are axially vertical, and the forward swing output shaft is connected with the thigh;
The thigh is hinged with the shank, and the knee drive division is slidably held on thigh, the knee drive division One end away from the hip joint is hinged with the shank, for driving rotating against between the thigh and the shank;
The ankle-joint is used to connect the shank and the support base, and the support base has semi-cylindrical in configuration, The circular arc side of the semi-cylindrical in configuration is used to contact with ground.
As the improvement of above-mentioned technical proposal, the hip joint also has hip transmission group, the hip transmission group two ends The side-sway output shaft and the robot body are connected respectively, and the transmission group can revolve under the driving of the side-sway output shaft It is held on the robot body with turning, the forward swing component is on the transmission group.
As the further improvement of above-mentioned technical proposal, the hip transmission group includes hip gear frame, and the hip is passed Moving frame has to be set on the annular perisporium of the first wall, the second wall and connection first wall and second wall, the annular perisporium There are side-sway connection end and body connection end, the side-sway connection end is used to connect the side-sway output shaft, the body connection end It is rotatably held on the robot body.
As the further improvement of above-mentioned technical proposal, there is the side-sway output shaft side-sway for being used to drive it to rotate to drive Dynamic group, the side-sway driving group is outer rotor disc type motor;And/or the forward swing output shaft has for driving before its rotation Driving group is put, the forward swing output shaft is outer rotor disc type motor, and the transmission group is moved forward and backward along the robot body The both sides in direction are connected with the side-sway component, the robot body respectively, and the transmission group is along the robot body The both sides for moving left and right direction are connected with the forward swing driving group, the thigh respectively.
As the further improvement of above-mentioned technical proposal, the knee drive division include knee Slide Group, knee driving group with Knee drive link, the knee Slide Group is slidably held on the thigh, and the knee driving group has worm drive Axle passes through transmission nut and the cunning with the knee power source for driving the spiral shaft rotation, the spiral shaft Dynamic group connection, the spiral shaft realizes and is connected that the knee drive link two ends are divided with the transmission nut with worm drive It is not articulated with the Slide Group and the thigh.
As the further improvement of above-mentioned technical proposal, the knee Slide Group has knee sliding seat and is fixed on described Sliding block on knee sliding seat, the thigh be provided with linear guides, the knee sliding seat by the sliding block slidably Ground is held on the linear guides, and described knee sliding seat one end connects the transmission nut, and the other end is passed with the knee Lever is hinged.
As the further improvement of above-mentioned technical proposal, the thigh is the interior column structure for setting the first breakthrough part, described Knee sliding seat is the interior column structure for setting the second breakthrough part, and the knee sliding seat is slidably retained by the sliding block In first breakthrough part, the one end of the spiral shaft away from the knee power source is located in second breakthrough part, The one end of the spiral shaft away from the knee power source is free end.
As the further improvement of above-mentioned technical proposal, the shank has the first jointed shaft and the second hinge of parallel arrangement Spindle, first jointed shaft is used to be hinged the thigh, and second jointed shaft is used to be hinged the knee drive link, described First jointed shaft is respectively positioned on the shank close to one end of the thigh with second jointed shaft, and second jointed shaft is located at First jointed shaft is close to the side of the thigh.
As the further improvement of above-mentioned technical proposal, the ankle-joint is rotatably held in the support base, And with the drive division for being used to drive the support base rotation;
And/or the semi-cylindrical in configuration have on axial plane, the axial plane have foot opening, the foot opening with The two ends end face of the semi-cylindrical in configuration is intersecting into load side of the lateral openings with being connected the lateral openings at relative two Wall, the center of the foot opening is provided with rotary shaft hole, and the ankle-joint is rotatably held in the foot opening and institute State in rotary shaft hole, the side of the ankle-joint has the drive division, and the drive division is rotatably held in described lateral Opening and close to the load side wall.
As the further improvement of above-mentioned technical proposal, the rotary shaft hole has round platform pore structure, the round platform hole Big end is located at the rotary shaft hole close to one end of the ankle-joint;And/or the ankle-joint has ankle rotary shaft, the ankle rotation Rotating shaft has frustum cone structure, and the ankle rotary shaft is rotatably held in the rotary shaft hole.
The beneficial effects of the invention are as follows:
(1) hip joint has side-sway component and forward swing component, so that the free degree for moving left and right and moving forward and backward is obtained, it is real The side-sway and forward swing of existing robot lower limb, to imitate the lower extremity movement form of quadruped;
(2) there is thigh, knee drive division and shank, thigh is hinged with shank, and knee drive division is slidably held in thigh It is hinged above and with shank, thigh is driven relative to the rotary motion of shank by the slip of knee drive division, so as to realize thigh With the stretching, extension of shank, to imitate the lower limb extended conformation of quadruped;
(3) there is ankle-joint and support base, support base has semi-cylindrical in configuration and has round and smooth contact with ground, The ability for making support base that there is the circular arc side along semi-cylindrical in configuration to rotate, so as to adjust the support shape of support base in time State is there is provided splendid support effect, to adapt to the change of complicated landform;
(4) in summary, the robot lower limb that the present invention is provided has multi-joint and multivariant mechanical structure, can spirit The application scenario living moved in complicated landform and going up or down stairway.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be attached to what is used required in embodiment Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore is not construed as pair The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is the overall structure figure for the robot lower limb that the embodiment of the present invention 1 is provided;
Fig. 2 is the decomposition chart for the robot lower limb that the embodiment of the present invention 1 is provided;
Fig. 3 is the first schematic diagram of the hip joint for the robot lower limb that the embodiment of the present invention 1 is provided;
Fig. 4 is the second schematic diagram of the hip joint for the robot lower limb that the embodiment of the present invention 1 is provided;
Fig. 5 is the 3rd schematic diagram of the hip joint for the robot lower limb that the embodiment of the present invention 1 is provided;
Fig. 6 is the 4th schematic diagram of the hip joint for the robot lower limb that the embodiment of the present invention 1 is provided;
Fig. 7 is the 5th schematic diagram of the hip joint for the robot lower limb that the embodiment of the present invention 1 is provided;
Fig. 8 is the 6th schematic diagram of the hip joint for the robot lower limb that the embodiment of the present invention 1 is provided;
Fig. 9 is the overall structure diagram in the knee drive division portion for the robot lower limb that the embodiment of the present invention 1 is provided;
Figure 10 is the decomposition texture schematic diagram in the knee drive division portion for the robot lower limb that the embodiment of the present invention 1 is provided;
Figure 11 is the exploded structural representation in the knee drive division portion for the robot lower limb that the embodiment of the present invention 1 is provided;
Figure 12 is the structural representation of the thigh for the robot lower limb that the embodiment of the present invention 1 is provided;
Figure 13 is the structural representation of the knee drive division for the robot lower limb that the embodiment of the present invention 1 is provided;
Figure 14 is the half-sectional structural representation in the knee drive division portion for the robot lower limb that the embodiment of the present invention 1 is provided;
Figure 15 is the overall schematic of the ankle portion for the robot lower limb that the embodiment of the present invention 1 is provided;
Figure 16 is the decomposing schematic representation of the ankle portion for the robot lower limb that the embodiment of the present invention 1 is provided;
Figure 17 is the overall schematic of the ankle portion for the robot lower limb that the embodiment of the present invention 2 is provided;
Figure 18 is the first partial exploded view of the ankle portion for the robot lower limb that the embodiment of the present invention 2 is provided;
Figure 19 is the structural representation of the support base of the ankle portion for the robot lower limb that the embodiment of the present invention 2 is provided;
Figure 20 is the second partial exploded view of the ankle portion for the robot lower limb that the embodiment of the present invention 2 is provided;
Figure 21 is the 3rd partial exploded view of the ankle portion for the robot lower limb that the embodiment of the present invention 2 is provided;
Figure 22 is the axle geodesic structure signal of the rotation axle portion of the ankle portion for the robot lower limb that the embodiment of the present invention 2 is provided Figure;
Figure 23 is the sectional structure signal of the rotation axle portion of the ankle portion for the robot lower limb that the embodiment of the present invention 2 is provided Figure.
Main element symbol description:
10000- robot lower limbs, 1000- hip joints, 1100- side-sway components, 1110- side-sway output shafts, 1111- first Key, 1120- side-sway driving groups, 1121- side-sway pole wheels, 1122- side-sway stators, 1123- side-sway decelerators, 1130- side-sways Support, 1200- hip transmission groups, 1210- hip gear frames, 1211- hips the first wall of frame, 1212- hips the second wall of frame, 1213- rings Shape perisporium, 1220- side-sways connection end, the coupling holes of 1221- first, the keyways of 1222- first, 1230- bodies connection end, 1231- Two coupling holes, 1232- support shafts, the keyways of 1233- second, the keys of 1234- second, 1300- forward swing components, 1310- forward swing output shafts, 1320- forward swing driving groups, 1321- forward swing pole wheels, 1322- forward swing stators, 1323- forward swing decelerators, 1400- hip axles Hold, 2000- thighs, 2100- linear slide rails, the breakthrough parts of 2200- first, the inner surfaces of 2210- first, the inner surfaces of 2220- second, The linking arms of 2300- first, the linking arms of 2400- second, 3000- knee drive divisions, 3100- knee Slide Groups, 3110- knees are slided Seat, the breakthrough parts of 3111- second, 3112- knees the first wall of frame, 3113- knees the second wall of frame, 3120- sliding blocks, the jointed shafts of 3130- the 3rd, 3200- knee drive links, 3300- knee driving groups, 3310- spiral shafts, 3320- transmission nuts, 3330- knee power Source, 3340- buffer parts, 4000- shanks, the jointed shafts of 4100- first, the jointed shafts of 4200- second, 5000- ankle-joints, 5100- is small Leg connecting portion, 5200- rotation axle portions, 5210- positioning ends, 5211- drive divisions, 5220- rotary shafts, 5300- positioning shaft holes, The positioning shaft holes of 5310- first, the positioning shaft holes of 5320- second, 5400- taper roll bearings, 5500- needle roller thrust bearings, 5600- Bearing gland, 5700- bearing connecting portions, 6000- support bases, 6100- semi-cylindrical in configuration, 6110- axial planes, 6120- first End face, 6130- second end faces, 6140- circular arcs side, 6200- foot openings, 6210- lateral openings, 6300- load side walls, 6400- rotary shaft holes, 6500- locating shafts, the shaft parts of 6510- first, the shaft parts of 6520- second, 6600- support claws, 6700- bufferings Shell, 6800- shell pressing plates, 20000- bearing blocks.
Embodiment
For the ease of understanding the present invention, robot lower limb is described more fully below with reference to relevant drawings.It is attached The preferred embodiment of robot lower limb is given in figure.But, robot lower limb can be realized by many different forms, It is not limited to embodiment described herein.On the contrary, the purpose for providing these embodiments is to make the disclosure to robot lower limb Content is more thorough comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element Or can also have element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to To another element or it may be simultaneously present centering elements.On the contrary, when element be referred to as " directly existing " another element " on " when, In the absence of intermediary element.Term as used herein " vertically ", " level ", "left", "right" and similar statement are For illustrative purposes.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention The implication that technical staff is generally understood that is identical.It is intended merely to retouch in the term used in the description of robot lower limb herein State the purpose of specific embodiment, it is not intended that the limitation present invention.Term as used herein " and/or " including one or more The arbitrary and all combination of related Listed Items.
Embodiment 1
Fig. 1~2 are please referred to, robot lower limb 10000 has hip joint 1000, thigh 2000, the knee being sequentially connected Drive division 3000, shank 4000, ankle-joint 5000 and support base 6000.Details are as follows one by one for the structure of various pieces.
Fig. 3 and Fig. 4 are please referred to, hip joint 1000 includes side-sway component 1100, and side-sway component 1100 has side-sway defeated Shaft 1110 and the side-sway driving group 1120 for driving side-sway output shaft 1110 to rotate.Specifically, side-sway component 1100 is used for Realize the side-sway function of hip joint 1000.So-called side-sway, that is, swing of the robot four limbs along the lateral of body, be, for example, The forms of motion of left and right opening and closing.
Please refer to Fig. 5, it is preferable that side-sway driving group 1120 includes side-sway pole wheel 1121 and side-sway stator 1122.Wherein, side-sway pole wheel 1121 is along the circumferential direction annularly distributed in outside side-sway stator 1122, side-sway stator 1122 and machine Device people body is connected, and side-sway pole wheel 1121 is connected with side-sway output shaft 1110, side-sway pole wheel 1121 and side-sway stator 1122 composition disc type constructions.
Specifically, side-sway pole wheel 1121 can have various structures shape.In the present embodiment, side-sway pole wheel 1121 be preferably annular, and is made up of permanent magnet.Side-sway stator 1122 is held in inside the annulus of side-sway pole wheel 1121, With stator core and the magnet exciting coil on stator core, for producing rotating excitation field.In an exemplary embodiment In, stator core has is respectively equipped with Exciting Windings for Transverse Differential Protection on multiple multiple salient poles along its profile circle distribution, salient pole, when in excitation When being powered in winding, rotating excitation field will be produced.Under the field drives of side-sway stator 1122, side-sway pole wheel 1121 can occur Rotary motion, so as to drive the side-sway output shaft 1110 being attached to rotate.
Wherein, side-sway pole wheel 1121 is constructed with side-sway stator 1122 with disc type.Specifically, turn for side-sway magnetic pole For son 1121, compared to its radial dimension, the axial dimension very little of side-sway pole wheel 1121, and make side-sway pole wheel 1121 have both thick and thin shape, and are similar to disk.Because side-sway stator 1122 is generally in side-sway pole wheel 1121 Inside, and the two is constituted disc type construction.In a practical application, side-sway pole wheel 1121 and side-sway stator 1122 can be with Constitute outer rotor disc type motor structure.
Here, the axial dimension of side-sway driving group 1120 greatly compresses, with extremely frivolous structure, it is particularly suitable for use in The limited occasion of axial space.For example under the application scenario of quadruped robot, before and after side between the hip joint 1000 of arrangement, Become extremely compact due to the compression of axial dimension, it is convenient to arranged.Meanwhile, the axial direction knot of side-sway driving group 1120 Structure is extremely concentrated, and the gravity of hip joint 1000 is in preferably position, is obstructed the arm of force shorter and will not be produced larger obstruction The arm of force, further improves the activity flexibility of hip joint 1000 and robot lower limb 1000.
Further preferably, side-sway driving group 1120 also includes the side-sway decelerator 1123 for being used to realize rotating speed matching.Wherein, The input of side-sway decelerator 1123 is connected with side-sway pole wheel 1121, and output end and the side-sway of side-sway decelerator 1123 are exported Axle 1110 is connected.Here, side-sway decelerator 1123 can realize speed governing, and by the output speed of side-sway pole wheel 1121 adjust to Rotating speed needed for side-sway output shaft 1110, and moment of torsion is transmitted to side-sway output shaft 1110, turn the output of side-sway output shaft 1110 Speed is coincide with being actually needed more to match.In an exemplary embodiment, side-sway output shaft 1110 is side-sway decelerator 1123 output shaft.
Further preferably, side-sway driving group 1120 also includes being used for the side-sway support 1130 as support substrate, side-sway branch Frame 1130 has hollow cavity body structure, for accommodating side-sway pole wheel 1121, side-sway stator 1122 and side-sway decelerator 1123.Wherein, side-sway support 1130 is with side-sway pole wheel 1121, the housing of side-sway decelerator 1123, robot body It is fixedly connected, and side-sway pole wheel 1121 is rotatably held on side-sway support 1130 with side-sway output shaft 1110.
Fig. 3, Fig. 6~8 are please referred to, hip joint 1000 also includes hip transmission group 1200,1200 liang of hip transmission group End connects side-sway output shaft 1110 and robot body respectively, and hip transmission group 1200 can under the driving of side-sway output shaft 1110 Rotatably it is held on robot body.In other words, hip transmission group 1200 has what is rotated integrally with side-sway output shaft 1110 Kinetic characteristic, realizes the movement output of side-sway component 1100.
Preferably, hip transmission group 1200 includes hip gear frame 1210.Hip gear frame 1210 has the wall of hip frame first 1211st, the annular perisporium 1213 of the second wall of hip frame 1212 and the first wall of connection hip frame 1211 and the second wall of hip frame 1212, annular week Wall 1213 is provided with side-sway connection end 1220 and body connection end 1230, and side-sway connection end 1220 is used to connect side-sway output shaft 1110, body connection end 1230 is rotatably held on robot body.
In an exemplary embodiment, side-sway connection end 1220 is fixedly connected with side-sway output shaft 1110, and is had The kinetic characteristic rotated integrally.Body connection end 1230 can be connected with robot body by hip bearing 1400, and be realized With the motion connection rotated against.Side-sway connection end 1220 can be connected to body connection end 1230 by a variety of connected modes On hip gear frame 1210, such as it is threadedly coupled, is interference fitted, in this embodiment, it is preferred that, side-sway connection end 1220 and body Body connection end 1230 is integrally connected on hip gear frame 1210, to improve bonding strength.
Wherein, side-sway connection end 1220 has a variety of connected modes, such as side-sway connection end with side-sway output shaft 1110 1220 have power transmission shaft, and with shaft coupling connection power transmission shaft and side-sway output shaft 1110 etc..
In an exemplary embodiment, side-sway connection end 1220 has the first coupling hole 1221, the first coupling hole 1221 have on the first keyway 1222, side-sway output shaft 1110 with the first key 1111, the first keyway 1222 and the first key 1111 With key annexation.Specifically, under key annexation, side-sway output shaft 1110 is achieved week with side-sway connection end 1220 To fixation, and motion and torque are transmitted between.
Body connection end 1230 can also have a variety of support connected modes with robot body, in an exemplary implementation In example, body connection end 1230 has the second coupling hole 1231 and the support shaft 1232 in the second coupling hole 1231, machine People's body is provided with bearing block 20000, and support shaft 1232 is rotatably held in bearing block 20000 by hip bearing 1400 On.
Wherein, the second coupling hole 1231 has the second keyway 1233, and support shaft 1232 has the second key 1234, the second keyway 1233 and second key 1234 have key annexation.Under key annexation, body connection end 1230 is able to support shaft 1232 Realize it is circumferentially fixed, and between transmit motion and torque, the two have one motion characteristic.
Further preferably, the first coupling hole 1221 and the second coupling hole 1231 have coaxial relation, make hip transmission group 1200 Rotary motion input end is located on same axis with output end, that is, coaxial rotating, it is to avoid caused by different axle rotation Eccentric moment, it is ensured that the smooth rotation of hip transmission group 1200.
Meanwhile, side-sway output shaft 1110, side-sway connection end 1220, body connection end 1230 are with support shaft 1232 with coaxial Relation, makes motion be transmitted all the time along same straight line with torque, further improves transmission efficiency and precision.
It is another preferred, the first keyway 1222 and the coaxial arrangement of the second keyway 1233.Here, side-sway connection end 1220 and body The key connection of body connection end 1230 has coaxial relation, further strengthens the structural stability and bonding strength of key connection at two, And reduce assembly difficulty.
Hip joint 1000 also includes forward swing component 1300, and forward swing component 1300 is on hip transmission group 1200, for reality The swing of existing robot lower limb 10000.There is forward swing component 1300 forward swing output shaft 1310 to drive forward swing to export with being used for The forward swing driving group 1320 that axle 1310 rotates, forward swing output shaft 1310 and side-sway output shaft 1110 are axially vertical, forward swing output shaft 1310 are used to connect thigh 2000.Wherein, so-called swing, refers to hip joint 1000 and robot lower limb 10000 along machine The advance of people or the swing of direction of retreat, and realize the movable of robot.
Preferably, forward swing driving group 1320 includes forward swing pole wheel 1321 and forward swing stator 1322.Forward swing pole wheel 1321 are along the circumferential direction annularly distributed in outside forward swing stator 1322, specifically in the present embodiment, and forward swing stator 1322 is passed with hip Moving frame 1210 is fixedly connected, and forward swing pole wheel 1321 is connected with forward swing output shaft 1310, forward swing pole wheel 1321 and forward swing The composition disc type construction of stator 1322.
Specifically, forward swing pole wheel 1321 can have various structures shape.In the present embodiment, forward swing pole wheel 1321 be preferably annular, and is made up of permanent magnet.Forward swing stator 1322 is held in inside the annulus of forward swing pole wheel 1321, With stator core and the magnet exciting coil on stator core, for producing rotating excitation field.In an exemplary embodiment In, stator core has is respectively equipped with Exciting Windings for Transverse Differential Protection on multiple multiple salient poles along its profile circle distribution, salient pole, when in excitation When being powered in winding, rotating excitation field will be produced.Under the field drives of forward swing stator 1322, forward swing pole wheel 1321 can occur Rotary motion, so as to drive the forward swing output shaft 1310 being attached to rotate.
Wherein, forward swing pole wheel 1321 is constructed with forward swing stator 1322 with disc type.Specifically, turn for forward swing magnetic pole For son 1321, compared to its radial dimension, the axial dimension very little of forward swing pole wheel 1321, and make forward swing pole wheel 1321 have both thick and thin shape, and are similar to disk.Because forward swing stator 1322 is generally in forward swing pole wheel 1321 Inside, and the two is constituted disc type construction.
Here, the axial dimension of forward swing driving group 1320 is able to huge compression, and make forward swing component 1300 that there is frivolous spirit Motion structure living, is particularly suitable for use in the occasion of axially mounted limited space, further improves under hip joint 1000 and robot The flexibility of limb 10000 and compactedness.
During practical application, forward swing output shaft 1310 is used to be connected with thigh 2000.Under the driving of side-sway component 1100, hip Portion's transmission group 1200 drives the side-sway of forward swing component 1300, and forward swing component 1300 is driven under robot by forward swing output shaft 1310 The side-sway of limb 10000, so as to realize the lateral movement of robot or move left and right.Meanwhile, forward swing component 1300 passes through forward swing magnetic pole Rotor 1321 and to forward swing output shaft 1310 export power, forward swing output shaft 1310 driving robot lower limb 10000 realize before and after Swing, so as to realize the movable of robot.
To sum up, hip joint 1000 can realize the simulating sports of height, robot lower limb 10000 and robot is had more certainly By the flexible motion spent, compactedness is very notable with advantage of flexibility.
Further preferably, forward swing driving group 1320 also includes the forward swing decelerator 1323 for being used to realize rotating speed matching.Wherein, The input of forward swing decelerator 1323 is connected with forward swing pole wheel 1321, and output end and the forward swing of forward swing decelerator 1323 are exported Axle 1310 is connected.
Further preferably, in an exemplary embodiment, 1323 points of forward swing pole wheel 1321 and forward swing decelerator Occupy the both sides of side-sway component 1100.In other words, the driving-chain of the driving-chain of side-sway output shaft 1110 and forward swing output shaft 1310, in Criss-cross construction is formed on hip transmission group 1200, the structure of hip joint 1000 is further concentrated, position of centre of gravity more preferably, is tied Structure compactedness further optimizes with distribution of force.
Fig. 9~11 are please referred to, robot lower limb 10000 also has thigh 2000, knee drive division 3000 and shank 4000.Wherein, thigh 2000 is hinged with shank 4000, and knee drive division 3000 is slidably held on thigh 2000, knee driving The one end of portion 3000 away from hip joint 1000 is hinged with shank 4000, relative between thigh 2000 and shank 4000 for driving Rotation.
Preferably, there is the first linking arm 2300 and second positioned opposite to connect for one end of thigh 2000 close to shank 4000 Arm 2400 is connect, the first linking arm 2300 and the second linking arm 2400 are articulated with shank 4000 by same jointed shaft.Specifically, lead to The fastening of the first linking arm 2300 and the second linking arm 2400 is crossed, the attachment structure of shank 4000 and thigh 2000 is more reliable, And with more preferably structure stiffness.
Preferably, shank 4000 has the first jointed shaft 4100, and the first jointed shaft 4100 is used to be hinged thigh 2000.First The position of jointed shaft 4100 can be determined in response to being actually needed, in an exemplary embodiment, the first jointed shaft 4100 In shank 4000 close to one end of thigh 2000.
Figure 12~14 are please referred to, knee drive division 3000 has knee Slide Group 3100 and knee drive link 3200.Its In, knee Slide Group 3100 is slidably held in thigh 2000, and the two ends of knee drive link 3200 are hingedly connected to shank 4000 With knee Slide Group 3100, and make knee Slide Group 3100 relative to knee drive link 3200, knee drive link 3200 relative to Shank 4000 has spinfunction.The structure type of knee drive link 3200 is varied, wherein preferably, in the present embodiment In, using rigid rod type.
Preferably, knee Slide Group 3100 has knee sliding seat 3110 and the sliding block being fixed on knee sliding seat 3110 3120, thigh 2000 is provided with linear guides, and knee sliding seat 3110 is slidably held in and linearly led by sliding block 3120 On rail, knee sliding seat 3110 is hinged close to one end of shank 4000 with knee drive link 3200.
Knee sliding seat 3110 can have various structures construction with thigh 2000, and the arrangement form of the two is also different. Specifically, in the present embodiment, thigh 2000 is the interior column structure for setting the first breakthrough part 2200, and knee sliding seat 3110 is interior If the column structure of the second breakthrough part 3111, knee sliding seat 3110 is slidably held in the first insertion by sliding block 3120 Portion 2200.
In an exemplary embodiment, knee sliding seat 3110 is with having hollow out knot on the column structure of thigh 2000 Structure, ensures the structural strength of knee sliding seat 3110 and thigh 2000 while excess stock is removed, mitigates weight and improve Exercise performance.
Wherein, linear slide rail 2100 can use multiple structural forms, such as rolling guide, dovetail guide.Linear slide rail It can be sliding motion between 2100 and sliding block 3120, can also be rolling movement.
Preferably, shank 4000 also has the second jointed shaft 4200 for being used for being hinged knee drive link 3200, and second is hinged Axle 4200 is arranged in parallel with the first jointed shaft 4100, to ensure that it is flat that the direction of rotation of knee drive link 3200 and thigh 2000 has Row relation.The position of second jointed shaft 4200 can be in response to decision be actually needed, in an exemplary embodiment, and second is hinged Axle 4200 is located at shank 4000 close to one end of thigh 2000, to provide preferably rotational structure and compact structure size.Enter One step, in the present embodiment, knee Slide Group 3100 is hinged with knee drive link 3200 by the 3rd jointed shaft 3130.
Because knee Slide Group 3100 on thigh 2000 in linearly moving, that is, knee Slide Group 3100 and thigh 2000 it Between without relatively rotate.When knee Slide Group 3100 slidably oppresses knee drive link 3200, the second jointed shaft 4200 with 3rd jointed shaft 3130 distinguishes stress.If shank 4000 is remained stationary as, stress will be hinged knee drive link 3200 around second simultaneously Axle 4200 rotates, and then drives knee Slide Group 3100 to be rotated around the 3rd jointed shaft 3130.Due to knee Slide Group 3100 and greatly The annexation of leg 2000, thigh 2000 synchronously rotates around the first jointed shaft 4100, so as to realize thigh 2000 relative to small The rotation opening and closing of leg 4000.
Further preferably, the second jointed shaft 4200 is located at the first jointed shaft 4100 close to the side of thigh 2000.In other words, Compare the first jointed shaft 4100, the second jointed shaft 4200 closer to shank 4000 close to one end of thigh 2000 end. Under this structure, the drive mechanism of knee drive link 3200 is even more ideal, it is to avoid there is rotation dead angle or mechanism repels each other.
In an exemplary embodiment, knee drive link 3200 is located at the first linking arm 2300 and the second linking arm Between 2400.Further, the first linking arm 2300 is symmetrical on knee drive link 3200 with the second linking arm 2400, makes The drive mechanism of thigh 2000 and knee drive link 3200 is more reliable.
Knee drive division 3000 also has knee driving group 3300, and knee driving group 3300 has spiral shaft 3310 with using The knee power source 3330 rotated in driving spiral shaft 3310, spiral shaft 3310 passes through transmission nut 3320 and knee Slide Group 3100 is connected, and spiral shaft 3310 is realized with worm drive with transmission nut 3320 and is connected.
Specifically, the outer surface of spiral shaft 3310 has helicla flute, and transmission nut 3320 is provided with helicla flute Through hole, can occur spiral rotating motion and realize worm drive between spiral shaft 3310 and transmission nut 3320.
In an exemplary embodiment, spiral shaft 3310 only has rotatory power, and is driven by worm drive Dynamic transmission nut 3320.Transmission nut 3320 is connected on knee Slide Group 3100, more specifically, and transmission nut 3320 is connected In the one end of knee sliding seat 3110 away from shank 4000, rotary freedom is lost by the constraint of knee Slide Group 3100, It is only capable of realizing linear movement, so that the power of knee power source 3330 is transmitted into knee Slide Group 3100.With reference to foregoing shank 4000th, change of the thigh 2000 with knee drive link 3200 in the case where knee Slide Group 3100 is linearly mobile, it is known that knee driving group 3300 driving effects played.
In an exemplary embodiment, rolling element is additionally provided between spiral shaft 3310 and transmission nut 3320, Usually, rolling element is ball, so that forming ball screw assembly, between spiral shaft 3310 and transmission nut 3320, is had Less frictional force and accurate transmission.
Wherein, knee power source 3330 can be the parts knot of the exportable original driving force such as motor, hydraulic motor Configuration formula.
In this embodiment, it is preferred that, the one end of spiral shaft 3310 away from knee power source 3330 is passed through positioned at second In logical portion 3111.
Further preferably, the one end of spiral shaft 3310 away from knee power source 3330 is free end.In a demonstration Property embodiment in, the central shaft of spiral shaft 3310 and knee sliding seat 3110 has coaxial relation.And then, worm drive The central shaft of the breakthrough part 3111 of axle 3310 and second has coaxial relation.
Specifically, the one end of spiral shaft 3310 is fixedly connected on the output shaft of knee power source 3330, for example, spiral Power transmission shaft 3310 can be connected on the output shaft of motor by shaft coupling.Spiral shaft 3310 is away from knee power source 3330 one end is hanging and turns into free end in free state, and the load of spiral shaft 3310 will be by located at spiral shaft 3310 bearing close to the one end of knee power source 3330 is born.
Wherein, knee power source 3330 can be the numerous embodiments such as motor, hydraulic motor.In the present embodiment, Preferably, knee power source 3330, to obtain preferably axial space compactedness, enters one using the form of outer rotor disc type motor Step improves the gravity centre distribution of robot lower limb 10000.
Under such configuration, on the one hand, the mounting structure of spiral shaft 3310 is simplified, it is to avoid material is excessive and causes Structure it is too fat to move, the reduction of matching relationship contributes to reduction assembling complexity and technological requirement, cost-effective;On the other hand, Knee sliding seat 3110 and the central shaft of spiral shaft 3310 have coaxial or close to coaxial relation, eliminate or reduce eccentric Torque, improves the structural strength and service life between knee sliding seat 3110 and spiral shaft 3310.
In addition, the relation coaxial or substantially co-axial with spiral shaft 3310 of knee sliding seat 3110, also beneficial to compression The radial dimension of thigh 2000, makes the structure of thigh 2000 further compact.
The position of linear slide rail 2100 can be, for example, away from or close to spiral shaft 3310 depending on being actually needed. In one exemplary embodiment, linear slide rail 2100 is located at the one end of thigh 2000 away from spiral shaft 3310.Further It is preferred that, sliding block 3120 is located at the one end of sliding seat 3130 away from the 3rd jointed shaft 3130, to improve structural strength.
In an exemplary embodiment, knee driving group 3300 also has buffer part 3340, for preventing knee from sliding Dynamic seat 3110 overshoots and causes structure to be destroyed.Specifically, buffer part 3340 and the distance of transmission nut 3320 are less than sliding block 3120 Range on linear slide rail 2100.
During practical application, when being moved when knee sliding seat 3110 along the direction close to knee power source 3330, transmission nut 3320, which will take the lead in, contacts buffer part 3340, and now the 3rd jointed shaft 3130 does not come in contact with spiral shaft 3310, so as to keep away Exempt from overshoot collision.
Wherein, the structure of buffer part 3340 can take various forms with material.In the application of a reality, buffer part 3340 can be made of rubber or polyurethane material.
Preferably, sliding block 3120 is located at the one end of knee sliding seat 3110 away from spiral shaft 3310, and positioned at knee On sliding seat 3110 on the outer surface of two relative walls, the first breakthrough part 2200 is respectively equipped with linear slide rail on relative two sides 2100。
Specifically, knee sliding seat 3110 at least has relative the first wall of knee frame 3112 and the second wall of knee frame 3113, knee The outer surface of the first wall of frame 3112 and the second wall of knee frame 3113 is respectively equipped with sliding block 3120.Correspondingly, the second wall of knee frame 3113 First breakthrough part 2200 also has relative the first inner surface 2210 and the second inner surface 2220, the first inner surface 2210 and second Linear slide rail 2100 is respectively equipped with inner surface 2220, for the first wall of knee frame 3112 and the sliding block 3120 of the second wall of knee frame 3113 Slide.
In an exemplary embodiment, the first wall of knee frame 3112 and knee frame the second wall 3113, the first inner surface 2210 Direction with the second inner surface 2220 along the glide direction perpendicular to knee sliding seat 3110 and it is positioned opposite respectively, with preferably Load is born, motor driving force and the glide direction of knee sliding seat 3110 is consistent, it is ensured that motion is smooth and raising is held Loading capability.
Fig. 1, Figure 15~16 are please referred to, robot lower limb 10000 also has ankle-joint 5000 and support base 6000. Ankle-joint 5000 is used to connect shank 4000 and support base 6000, and support base 6000 has semi-cylindrical in configuration, semicolumn knot The circular arc side 6140 of structure 6100 is used to contact with ground.
Wherein, ankle-joint 5000 has shank connecting portion 5100 and bearing connecting portion 5700, and shank connecting portion 5100 is used for Shank 4000 is connected, bearing connecting portion is used to connect support base 6000.
Support base 6000 has semi-cylindrical in configuration 6100.Specifically, semi-cylindrical in configuration 6100, refer to by plane semicircle edge The column of its plane normal direction extension scanning.Semi-cylindrical in configuration 6100 has axial plane 6110, first end face 6120, second End face 6130 and circular arc side 6140, wherein, axial plane 6110 refers to what the diameter of a circle of plane half extended along plane normal direction Plane, circular arc side 6140 is used to contact with ground.
Preferably, the circular arc side 6140 of semi-cylindrical in configuration 6100 has multiple support claws 6600, supports claw 6600 To be formed in circular arc side 6140 through removing material.Specifically, in the present embodiment, it is distributed with multigroup along circular arc side 6140 Support claw portion 6600.Further, multigroup support claw 6600 is uniformly distributed along circular arc side 6140.In one group of support claw 6600 In, each claw is axially formed along semi-cylindrical in configuration 6100 through removing material.
Preferably, the two ends end face of semi-cylindrical in configuration 6100 is provided with the shell pressing plate 6800 for compressing.
Embodiment 2
The present embodiment is a kind of improvement made on the basis of embodiment 1, and its difference is that the present embodiment uses a kind of ankle Joint 5000 and the rotational structure of support base 6000.Specifically, ankle-joint 5000 is rotatably held in support base 6000 On, and with the drive division 5211 for being used to drive support base 6000 to rotate.
Figure 17~23 are please referred to, wherein, support base 6000 has semi-cylindrical in configuration 6100.Specifically, semicolumn Structure 6100, refers to the column for extending scanning along its plane normal direction by plane semicircle.Semi-cylindrical in configuration 6100 has axle Plane 6110, first end face 6120, second end face 6130 and circular arc side 6140, wherein, axial plane 6110 refers to plane semicircle The plane that extends along plane normal direction of diameter, circular arc side 6140 is used to contact with ground.
There is foot opening 6200, foot opening 6200 can be a variety of knots on the axial plane 6110 of semi-cylindrical in configuration 6100 Configuration formula, in the present embodiment, foot opening 6200 are preferably circular hole.In another embodiment, foot opening 6200 may be used also To be the other shapes such as round platform hole.
Foot opening 6200 intersects with the two ends end face of semi-cylindrical in configuration 6100 into lateral openings 6210 at relative two Load side wall 6300 with being connected lateral openings 6210.Specifically, lateral openings 6210 are located at first end face 6120 and the respectively On biend 6130, and connected via the load side wall 6300 positioned at separation both sides.That is, the circumferential of foot opening 6200 Shape is broken at lateral openings 6210, without full circumferences.
The center of foot opening 6200 is provided with rotary shaft hole 6400.Specifically, foot opening 6200 and rotary shaft hole 6400 form a shoulder hole structure, and with coaxial relation.Foot opening 6200 and the junction of rotary shaft hole 6400 have one Step plane, available for realizing planar support.
Rotary shaft hole 6400 can have multiple hole planform, to adapt to different use environments.In the present embodiment, it is excellent Selection of land, rotary shaft hole 6400 has round platform pore structure, and the big end of round platform hole is located at rotary shaft hole 6400 close to ankle-joint 5000 One end.
Specifically, round platform pore structure refers to, the hole wall of rotary shaft hole 6400 has truncated conical shape.Wherein, round platform refer to One plane parallel to circular cone bottom surface removes truncated cone, the part between the bottom surface and section that are intercepted.In round platform hole two ends, hole The larger one end in footpath is big end, and the less one end in aperture is small end.In other words, rotary shaft hole 6400 is from foot opening 6200 to circle Arc side 6140 and the characteristic continuously successively decreased with aperture.
Preferably, the center of rotary shaft hole 6400 has locating shaft 6500, the axially position for realizing revolving part.Tool Body, the bottom of the spin shaft hole 6400 of locating shaft 6500 and stretch out, and there is coaxial relation with rotary shaft hole 6400, from And in the annular cavernous structure of formation in rotary shaft hole 6400.
Preferably, locating shaft 6500 is two grades of multi-diameter shafts with the first shaft part 6510 and the second shaft part 6520.Wherein, Two shaft parts 6520 are located at the first shaft part 6510, and the diameter of axle of the second shaft part 6520 is less than the first shaft part 6510, with two grades of multi-diameter shafts Structure and improve the connection convenience between hole axle, and make locating shaft 6500 that there is preferably structural strength.
The position relationship of first shaft part 6510 and the second shaft part 6520 is according to decision is actually needed, in the present embodiment, preferably Ground, the first shaft part 6510 and the second shaft part 6520 have coaxial relation, realize coaxial rotation and avoid the structure of eccentric moment from breaking It is bad.
Preferably, the circular arc side 6140 of semi-cylindrical in configuration 6100 has multiple support claws 6600, supports claw 6600 To be formed in circular arc side 6140 through removing material.
Specifically, in the present embodiment, three groups of support claws 6600 are distributed with along circular arc side 6140.In one group of support claw In portion 6600, it is distributed, and can has identical or not along the axially direction parallel to semi-cylindrical in configuration 6100 between each claw Same width dimensions.Further, each claw in circular arc side 6140 on, through along semi-cylindrical in configuration 6100 axially or radially and Material is removed, so as to form the space structure with gap.
Further preferably, the circular arc side 6140 of semi-cylindrical in configuration 6100 is additionally provided with for wrapping up the slow of support claw 6600 Shell 6700 is rushed, side of the bumper housings 6700 away from support claw 6600 is curved surfaces, the close support of bumper housings 6700 The side of claw 6600 has the engaging portion for being used for fastening with support claw 6600.
Specifically, the curved surfaces of bumper housings 6700 are regular flat surface, can be also surface-treated through frosted etc., with suitable Answer different use occasions.Engaging portion and the structure of support claw 6600 are adapted, and the two fastening tightly reliably connects into one Binding structure.The material of bumper housings 6700 can be a variety of, and e.g. rubber, wear-resisting silica gel etc. have buffering and enabling capabilities Material type.Thus, bumper housings 6700 provide good protection and buffering for support claw 6600, improve support base 6000 Service life.
Further, the two ends end face of semi-cylindrical in configuration 6100 is provided with the shell pressing plate for being used for compressing bumper housings 6700 6800。
Support base 6000 is connected with shank 4000 by ankle-joint 5000.Specifically, ankle-joint 5000 is rotatably protected It is held in foot opening 6200 and in rotary shaft hole 6400, the side of ankle-joint 5000, which has, is used to drive support base 6000 to rotate Drive division 5211, drive division 5211 is rotatably held in lateral openings 6210 and close to load side wall 6300.
Specifically, the one end of ankle-joint 5000 connection shank 4000, the other end is rotatably held in support base 6000. Drive division 5211 can be the bulge-structure stretched out from the side of ankle-joint 5000, can be with load side wall in rotary course 6300 occur Mechanical Contact.
When side-sway occurs for shank 4000, ankle-joint 5000 is driven by it and synchronous rotary.Drive division 5211 is with ankle-joint 5000 rotation and rotate, and move closer to load side wall 6300.When drive division 5211 and load side wall 6300 come in contact, Drive division 5211 applies active force to load side wall 6300, and the support base 6000 where making load side wall 6300 occurs immediately Rotation, so as to realize the side-sway turning function of support base 6000.
In an exemplary embodiment, the size of drive division 5211 is less than the A/F of lateral openings 6210, makes Drive division 5211 is rotatably held in lateral openings 6210 and rotates freely space with certain.Here, ankle-joint 5000 There is certain space that rotates freely relative to support base 6000, ankle-joint 5000 has adjustable rotary freedom, carried For the rotation adjustment space between ankle-joint 5000 and support base 6000, make support base 6000 more flexible.
Preferably, ankle-joint 5000 includes shank connecting portion 5100 and the rotation axle portion on shank connecting portion 5100 5200.Shank connecting portion 5100 is used to connect shank 4000, and ankle-joint 5000 is had the motion shape synchronous with shank 4000 State.The center of rotation axle portion 5200 has positioning shaft hole 5300, and rotation axle portion 5200 is rotatably held in rotary shaft hole In 6400.
Further preferably, rotation axle portion 5200 has the positioning end 5210 and rotary shaft 5220 of integrally connected.So-called one Connection, refers to there is the kinetic characteristic of one between positioning end 5210 and rotary shaft 5220, its type of attachment can be detachable Be fixedly connected or non-removable be integrally formed or welding structure.
Wherein, positioning end 5210 is used to connect shank connecting portion 5100, and with drive division 5211, positioning end 5210 can revolve It is held in foot opening 6200 with turning.Specifically, in an exemplary embodiment, positioning end 5210 has discoid knot Structure, has drive division 5211 at positioned opposite two from its circumference side.
Rotary shaft 5220 is rotatably held in rotary shaft hole 6400, can have a variety of axle construction forms, and with rotation The structure type matching of axis hole 6400.In this embodiment, it is preferred that, rotary shaft 5220 has frustum cone structure, with matching rotation The round platform pore structure of axis hole 6400.Further, in an exemplary embodiment, rotary shaft hole 6400 and rotary shaft 5220 Between have gap value be not more than 2mm gap coordinate, rotary motion therebetween is more smoothed out.
Further preferably, positioning shaft hole 5300 includes the first positioning shaft hole 5310 and the second positioning shaft hole for keeping connection 5320.In the present embodiment, between the first positioning shaft hole 5310 and the second positioning shaft hole 5320 and provided with dividing plate, dividing plate is provided with Through hole for connecting the first positioning shaft hole 5310 and the second positioning shaft hole 5320, and through hole is available for locating shaft 6500 to pass through And be piercing in the second positioning shaft hole 5320.
Wherein, the first positioning shaft hole 5310 is in rotary shaft 5220, and is provided with loading bearing.Loading bearing can be many Type, it is preferable that loading bearing is taper roll bearing 5400.Specifically in the present embodiment, because locating shaft 6500 has First shaft part 6510 and the second shaft part 6520, are provided with taper roll bearing between the first shaft part 6510 and positioning shaft hole 5300 5400, obtain more preferably supporting effect to match the structure of locating shaft 6500.
Wherein, taper roll bearing 5400 belongs to divergence type bearing, and the inside and outside circle of bearing is respectively provided with tapered raceway, more The frustum cone structure for rotary shaft 5220 of fitting.In other words, the rotary shaft 5220 with frustum cone structure, axially has taper knot along it Structure, and there is more preferably fiting effect with taper roll bearing 5400.The taper of rotary shaft 5220 can depending on being actually needed, In one exemplary embodiment, rotary shaft 5220 and the round platform hole taper of rotary shaft hole 6400 are approached or are consistent.
Second positioning shaft hole 5320 is provided with loading bearing in positioning end 5210.Herein, it is preferable that loading bearing For needle roller thrust bearing 5500.Wherein, needle roller thrust bearing 5500 has thrust function, can bear axial load, and using rolling Pin can further compress radial dimension as rolling element, make structure more compact.
Specifically in the present embodiment, needle roller thrust bearing 5500 is located between the second shaft part 6520 and positioning shaft hole 5300. Further, the one end of needle roller thrust bearing 5500 away from support base 6000, which is provided with, is used to compress needle roller thrust bearing 5500 Bearing gland 5600.Bearing gland 5600 is used for axial compression needle roller thrust bearing 5500, prevents needle roller thrust bearing 5500 from sending out Raw axial float.
More specifically, locating shaft 6500 is provided with along its axial threaded connection hole, bearing gland 5600 is provided with countersunk head Hole, threaded fastener through counter sink and lock onto in threaded connection hole, make bearing gland 5600, needle roller thrust bearing 5500 with The axial restraint of locating shaft 6500.
In all examples being illustrated and described herein, any occurrence should be construed as merely exemplary, without It is that therefore, other examples of exemplary embodiment can have different values as limitation.
It should be noted that:Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi It is defined in individual accompanying drawing, then it further need not be defined and explained in subsequent accompanying drawing.
Embodiment described above only expresses the several embodiments of the present invention, and it describes more specific and detailed, but simultaneously Therefore limitation of the scope of the invention can not be interpreted as.It should be pointed out that for the person of ordinary skill of the art, Without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection model of the present invention Enclose.Therefore, protection scope of the present invention should be determined by the appended claims.

Claims (10)

1. a kind of robot lower limb, it is characterised in that closed with the hip joint being sequentially connected, thigh, knee drive division, shank, ankle Section and support base:
The hip joint has side-sway component and forward swing component, and the side-sway component, which has, is rotatably held in robot body On side-sway output shaft, the forward swing component, which has, is rotatably held in forward swing output shaft on side-sway component, the forward swing Output shaft and the side-sway output shaft are axially vertical, and the forward swing output shaft is connected with the thigh;
The thigh is hinged with the shank, and the knee drive division is slidably held on thigh, and the knee drive division is remote One end of the hip joint is hinged with the shank, for driving rotating against between the thigh and the shank;
The ankle-joint is used to connect the shank and the support base, and the support base has semi-cylindrical in configuration, described The circular arc side of semi-cylindrical in configuration is used to contact with ground.
2. robot lower limb according to claim 1, it is characterised in that the hip joint also has hip transmission group, institute State hip transmission group two ends and connect the side-sway output shaft and the robot body respectively, the transmission group is defeated in the side-sway It is rotatably held under the driving of shaft on the robot body, the forward swing component is on the transmission group.
3. robot lower limb according to claim 2, it is characterised in that the hip transmission group includes hip gear frame, The hip gear frame has the first wall, the second wall and connection first wall and the annular perisporium of second wall, the ring Shape perisporium is provided with side-sway connection end and body connection end, and the side-sway connection end is used to connect the side-sway output shaft, described Body connection end is rotatably held on the robot body.
4. robot lower limb according to claim 2, it is characterised in that the side-sway output shaft, which has, to be used to drive it to revolve The side-sway driving group turned, the side-sway driving group is outer rotor disc type motor;And/or the forward swing output shaft has for driving Its forward swing driving group rotated, the forward swing output shaft is outer rotor disc type motor, and the transmission group is along the robot body The both sides in movable direction be connected respectively with the side-sway component, the robot body, the transmission group is along the machine The both sides for moving left and right direction of device people's body are connected with the forward swing driving group, the thigh respectively.
5. robot lower limb according to claim 1, it is characterised in that the knee drive division includes knee Slide Group, knee Portion's driving group and knee drive link, the knee Slide Group are slidably held on the thigh, the knee driving group tool There are spiral shaft and the knee power source for driving the spiral shaft rotation, the spiral shaft is by being driven spiral shell Female to be connected with the Slide Group, the spiral shaft is realized with worm drive with the transmission nut and is connected, and the knee is passed Lever two ends are hingedly connected on the Slide Group and the thigh.
6. robot lower limb according to claim 5, it is characterised in that the knee Slide Group have knee sliding seat with The sliding block on the knee sliding seat is fixed on, the thigh is provided with linear guides, and the knee sliding seat passes through the cunning Block and be slidably held on the linear guides, described knee sliding seat one end connects the transmission nut, the other end with The knee drive link is hinged.
7. robot lower limb according to claim 6, it is characterised in that the thigh is the interior column for setting the first breakthrough part Structure, the knee sliding seat is the interior column structure for setting the second breakthrough part, and the knee sliding seat can by the sliding block First breakthrough part is slidably held in, the one end of the spiral shaft away from the knee power source is located at described second In breakthrough part, the one end of the spiral shaft away from the knee power source is free end.
8. robot lower limb according to claim 5, it is characterised in that the shank has the first of parallel arrangement to be hinged Axle and the second jointed shaft, first jointed shaft are used to be hinged the thigh, and second jointed shaft is used to be hinged the knee Drive link, first jointed shaft and second jointed shaft are respectively positioned on the shank close to one end of the thigh, and described the Two jointed shafts are located at first jointed shaft close to the side of the thigh.
9. robot lower limb according to claim 1, it is characterised in that the ankle-joint is rotatably held in the branch Support on base, and with the drive division for being used to drive the support base rotation;
And/or the semi-cylindrical in configuration have on axial plane, the axial plane have foot opening, the foot opening with it is described The two ends end face of semi-cylindrical in configuration is intersecting into load side wall of the lateral openings with being connected the lateral openings, institute at relative two The center for stating foot opening is provided with rotary shaft hole, and the ankle-joint is rotatably held in the foot opening and the rotation In axis hole, the side of the ankle-joint has a drive division, the drive division be rotatably held in the lateral openings and Close to the load side wall.
10. robot lower limb according to claim 9, it is characterised in that the rotary shaft hole has round platform pore structure, institute The big end for stating round platform hole is located at the rotary shaft hole close to one end of the ankle-joint;And/or the ankle-joint has ankle rotation Axle, the ankle rotary shaft has frustum cone structure, and the ankle rotary shaft is rotatably held in the rotary shaft hole.
CN201710356190.4A 2017-05-19 2017-05-19 Robot lower limb Pending CN107097213A (en)

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CN109465805A (en) * 2017-09-07 2019-03-15 克诺有限公司 Transmission device and robot
CN109969284A (en) * 2017-12-28 2019-07-05 沈阳新松机器人自动化股份有限公司 Hybrid mechanical leg organization and biped robot
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WO2018209763A1 (en) * 2017-05-19 2018-11-22 沃奇(北京)智能科技有限公司 Robotic lower limb
CN109465805A (en) * 2017-09-07 2019-03-15 克诺有限公司 Transmission device and robot
CN109969284A (en) * 2017-12-28 2019-07-05 沈阳新松机器人自动化股份有限公司 Hybrid mechanical leg organization and biped robot
CN108572553A (en) * 2018-05-16 2018-09-25 清华大学深圳研究生院 A kind of movement closed loop control method of quadruped robot
WO2019218805A1 (en) * 2018-05-16 2019-11-21 清华大学深圳研究生院 Motion closed-loop control method for quadruped robot
CN108572553B (en) * 2018-05-16 2020-06-23 清华大学深圳研究生院 Motion closed-loop control method of quadruped robot
CN110884588A (en) * 2019-12-23 2020-03-17 中国科学院空间应用工程与技术中心 Quadruped robot platform based on serial mechanical legs

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