CN107128397A - Robot leg sole running gear - Google Patents
Robot leg sole running gear Download PDFInfo
- Publication number
- CN107128397A CN107128397A CN201710398942.3A CN201710398942A CN107128397A CN 107128397 A CN107128397 A CN 107128397A CN 201710398942 A CN201710398942 A CN 201710398942A CN 107128397 A CN107128397 A CN 107128397A
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- China
- Prior art keywords
- sole
- running gear
- robot leg
- bearing block
- shank
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- 230000007246 mechanism Effects 0.000 claims abstract description 80
- 230000033001 locomotion Effects 0.000 claims abstract description 30
- 210000002683 foot Anatomy 0.000 claims abstract description 27
- 210000001037 metacarpus Anatomy 0.000 claims abstract description 21
- 210000003423 ankle Anatomy 0.000 claims abstract description 20
- 230000009471 action Effects 0.000 claims abstract description 14
- 230000002153 concerted effect Effects 0.000 claims abstract description 4
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 239000007787 solid Substances 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 11
- 230000000694 effects Effects 0.000 description 9
- 230000007812 deficiency Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- 210000003141 lower extremity Anatomy 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 210000003108 foot joint Anatomy 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 239000007795 chemical reaction product Substances 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 231100000614 poison Toxicity 0.000 description 1
- 230000007096 poisonous effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Classifications
-
- 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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot leg sole running gear, including shank drive device and sole running gear；Shank drive device includes shin support panel and two groups of shank drive mechanisms；Two groups of shank drive mechanisms are fixedly connected on shin support panel both sides；Sole running gear includes Sole mechanism and ankle motion mechanism；Sole mechanism includes front foot metacarpus, sole portion and rear foot heel from one end to the other end；Connected between sole portion and front foot metacarpus by the first flexible hinge；Connected between sole portion and rear foot heel by the second flexible hinge；Ankle motion mechanism includes ball pivot and Hooke's hinge；Two groups of shank drive mechanisms are used to make a concerted effort to drive to drive Sole mechanism to realize rotation wobbling action by pin joint of ankle motion mechanism.The robot leg sole running gear that the present invention is provided, it has, and skimulated motion action is various, and simulated performance is strong, highly reliable, reasonable in design and all many technical advantages such as practical.
Description
Technical field
The present invention relates to robotic equipment technical field, more particularly to a kind of robot leg sole running gear.
Background technology
It is well known that robot is the automatic installations for performing work.Its task is assistance or substitution human work
Work, for example produce industry, construction industry, or dangerous work.As the improvement of people's living standards, our daily life
Also increasingly us are helped to complete a few thing by robot, for example：The robot of job shop, the machine for performing task of taking photo by plane
Device people and anthropomorphic robot of simulation human body compound action etc.；
Anthropomorphic robot plays for industrial intelligent process and weighed very much as one of high-end product of industry manufacture field
The effect wanted.
Anthropomorphic robot has a wide range of applications field, and it can not only be carried out generation under the adverse circumstances such as poisonous, dust
People's operation, and in medical field, can also assist a physician and be performed the operation, while helping the effective rehabilitation of handicapped patients, in addition
It is also of common occurrence in the field such as amusement and manual service.Anthropomorphic robot has advantage as is evident below compared to other robot：
Relatively wheeled or caterpillar mobile robot first, double feet walking anthropomorphic robot has more flexible locomitivity, Neng Goushi
Various complicated ground environments are answered, go beyond obstacle ability with stronger；And relatively common robot, anthropomorphic robot is with more
Intellectuality, can be better achieved interactive capability.
Traditional anthropomorphic robot its there is technical deficiency, traditional anthropomorphic robot's one in human foot joint mimics
As all there was only simple sole structure, it, which can not be realized, simulates the torsion that complexity is realized in similar human foot joint in three dimensions
The action such as turn, freely turn to, thus traditional anthropomorphic robot its technology still had in terms of human foot partial simulation lack
Fall into；
Therefore, the above-mentioned technological deficiency for how overcoming traditional anthropomorphic robot is the skill that those skilled in the art are badly in need of solving
Art problem.
The content of the invention
It is an object of the invention to provide a kind of robot leg sole running gear, to solve the above problems.
In order to achieve the above object, the technical proposal of the invention is realized in this way：
The invention provides a kind of robot leg sole running gear, including shank drive device and sole walking dress
Put；
Wherein, the shank drive device includes shin support panel and two groups of shank drive mechanisms；Shank described in two groups drives
Motivation structure is fixedly connected on the shin support panel both sides；
Wherein, the sole running gear includes Sole mechanism and ankle motion mechanism；The Sole mechanism is from one end
Include front foot metacarpus, sole portion and rear foot heel to the other end；And the sole portion is planar structure；The front foot metacarpus with
The connection end in the sole portion is planar structure, and the other end of the remote connection end of the front foot metacarpus is arc surface structure；Institute
It is planar structure to state rear foot heel and the connection end in the sole portion, and the other end of the remote connection end of the rear foot heel is
Arc surface structure；And connected between the sole portion and the front foot metacarpus by the first flexible hinge；The sole portion and institute
State between rear foot heel and to be connected by the second flexible hinge；
The ankle motion mechanism includes ball pivot and Hooke's hinge；Wherein, the bottom of shank drive mechanism described in two groups leads to
The ball pivot is crossed to be respectively hinged in the sole portion；And the shin support panel is cut with scissors by the Hooke's hinge and the sole portion
Connect；Shank drive mechanism described in two groups, which is used to making a concerted effort to drive, drives the Sole mechanism using the ankle motion mechanism to be hinged
Point, which is realized, rotates wobbling action.
It is preferred that, can embodiment as one kind；The shank drive mechanism is included along the shin support panel from upper
And under the linear drive motor of order arrangement, electric machine support, shaft coupling, fixed end bearing block, feed screw nut, push rod, axle successively
Bearing, support end bearing block and ball-screw, fixed connecting rod；
Wherein, the electric machine support is fixedly connected on shin support panel；The linear drive motor is fixedly connected on electricity
Machine support, and ball screw turns are driven by shaft coupling；Pacify in the fixed end bearing block and the support end bearing block
Equipped with bearing；The two ends of the ball-screw are respectively protruding into the bearing in the fixed end bearing block and the support end bearing block
Endoporus is simultaneously rotatably assorted；The ball-screw coordinates with the feed screw nut constitutes ball-screw kinematic pair；The one of the push rod
End is fixedly connected on the feed screw nut, and the other end of the push rod is stretched into be slidably matched in the bearing block, and passes through institute
Fixed connecting rod is stated to be connected with the sole running gear；
The head end of the fixed connecting rod is fixedly connected with the push rod, and the tail end of the fixed connecting rod and the sole row
Walking apparatus is fixedly connected.
It is preferred that, can embodiment as one kind；It is provided with the bearing block for leading that the push rod is slidably matched
Xiang Kong.
It is preferred that, can embodiment as one kind；The push rod is specially the institute on cylindrical push rod, and the bearing block
Pilot hole is stated for cylindrical hole；The external diameter of the internal diameter of the cylindrical hole of the bearing block and the push rod is adapted.
It is preferred that, can embodiment as one kind；The linear drive motor is specially servomotor.
It is preferred that, can embodiment as one kind；Engraved structure is provided with the surface of the shin support panel.
It is preferred that, can embodiment as one kind；The engraved structure is waist-shaped hole；And the institute on the shin support panel
The arragement direction for stating waist-shaped hole is set along the shin support panel bearing of trend.
It is preferred that, can embodiment as one kind；The two ends of the fixed connecting rod of the shank drive mechanism bottom lead to
The ball pivot is crossed to be connected between push rod and the sole portion.
It is preferred that, can embodiment as one kind；It is soft that the largest deformation amount of first flexible hinge is more than described second
The largest deformation amount of property hinge.
It is preferred that, can embodiment as one kind；Both sides pair of two groups of shank drive mechanisms along the shin support panel
Claim to set.
Compared with prior art, this have the advantage that：
A kind of robot leg sole running gear that the present invention is provided, analyzes robot leg provided in an embodiment of the present invention
The primary structural configurations of portion's sole running gear are understood：
Above-mentioned robot leg sole running gear is mainly made up of the structure such as shank drive device and sole running gear；
In concrete structure, the shank drive device includes shin support panel and two groups of shank drive mechanisms；Two groups of institutes
State shank drive mechanism and be fixedly connected on the shin support panel both sides；
The sole running gear includes Sole mechanism and ankle motion mechanism；The Sole mechanism is from one end to another
End includes front foot metacarpus, sole portion and rear foot heel；And the sole portion is planar structure；The front foot metacarpus and the pin
The connection end of plate portion is planar structure, and the other end of the remote connection end of the front foot metacarpus is arc surface structure；The rear foot
The connection end in heel and the sole portion is planar structure, and the other end of the remote connection end of the rear foot heel is arc surface
Structure；And connected between the sole portion and the front foot metacarpus by the first flexible hinge；The sole portion and the rear foot
Connected between heel by the second flexible hinge；Shank drive mechanism described in two groups drives the pin by ankle motion mechanism
Slap mechanism for implementing 3 D auto go to action.
Wherein, shank drive mechanism is the PTO for driving sole running gear rotational motion, shank driving machine
It is two groups to structure, is respectively fixedly connected with shin support panel both sides；Cut with scissors respectively by ball pivot the bottom of two groups of shank drive mechanisms
It is connected in sole portion and (forms two pin joints)；And shin support panel is hinged by Hooke's hinge and sole portion and (forms the 3rd
Individual pin joint)；What two groups of shank drive mechanisms coordinated ankle motion mechanism simultaneously is hinged effect, is driven by three point articulated modes
It is dynamic to drive Sole mechanism to realize rotation wobbling action.So, it can be completed pair by robot leg sole running gear
Human body lower limbs skimulated motion is acted.
To sum up, the robot leg sole running gear that the present invention is provided, it compensate for conventional serial robot and biography
The technical deficiency of system parallel robot, has taken into account both technical advantages.There is skimulated motion to act various, simulated performance for it
By force, it is highly reliable, reasonable in design and all many technical advantages such as practical.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The accompanying drawing used required in embodiment or description of the prior art is briefly described, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the general assembly structural representation of robot leg sole running gear provided in an embodiment of the present invention；
Fig. 2 shows for the partial structurtes of the top half in robot leg sole running gear provided in an embodiment of the present invention
It is intended to；
Fig. 3 shows for the partial structurtes of the latter half in robot leg sole running gear provided in an embodiment of the present invention
It is intended to；
Fig. 4 shows for the structure of the shank drive mechanism in robot leg sole running gear provided in an embodiment of the present invention
It is intended to；
Fig. 5 be robot leg sole running gear provided in an embodiment of the present invention in Sole mechanism structural representation
Figure；
Label：
100- shank drive devices；110- shin support panels；120- shank drive mechanisms；1201- linear drive motors；
1202- electric machine supports；1203- shaft couplings；1204- fixes end bearing block；1205- feed screw nuts；1206- push rods；1207- bearings
Seat；1208- supports end bearing block；1209- ball-screws；1210- fixes connecting rod；
200- sole running gears；210- Sole mechanisms；2101- front foot metacarpus；2102- soles portion；2103- rear heels
Portion；The flexible hinges of 2104- first；The flexible hinges of 2105- second；220- ankle motions mechanism；2201- ball pivots；2202- Hookes
Hinge.
Embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that described implementation
Example is a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify description, rather than indicate or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that indicating or implying relative importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
The present invention is described in further detail below by specific embodiment and with reference to accompanying drawing.
Referring to Fig. 1, Fig. 2 and Fig. 3, a kind of robot leg sole running gear provided in an embodiment of the present invention, including
Shank drive device 100 and sole running gear 200；
The shank drive device 100 includes shin support panel 110 and two groups of shank drive mechanisms 120；It is small described in two groups
Leg drive mechanism 120 is fixedly connected on the both sides of shin support panel 110；
Wherein, Fig. 5 is see also, the sole running gear 200 includes Sole mechanism 210 and ankle motion mechanism 220；
The Sole mechanism 210 includes front foot metacarpus 2101, sole portion 2102 and rear foot heel 2103 from one end to the other end；And institute
Sole portion 2102 is stated for planar structure；The connection end in the front foot metacarpus 2101 and the sole portion 2102 is planar structure, institute
The other end for stating the remote connection end of front foot metacarpus 2101 is arc surface structure；The rear foot heel 2103 and the sole portion
2102 connection end is planar structure, and the other end of the remote connection end of the rear foot heel 2103 is arc surface structure；And
Connected between the sole portion 2102 and the front foot metacarpus 2101 by the first flexible hinge 2104；The sole portion 2102 with
Connected between the rear foot heel 2103 by the second flexible hinge 2105；In sole running gear structure；Two groups of shanks drive
Both sides of the motivation structure along the shin support panel are symmetrical arranged.
The ankle motion mechanism 220 includes ball pivot 2201 and Hooke's hinge 2202；Wherein, shank driving machine described in two groups
The bottom of structure is respectively hinged in the sole portion by the ball pivot 2201；And the shin support panel passes through the Hooke's hinge
2202 are hinged with the sole portion；Shank drive mechanism 120 described in two groups be used to making a concerted effort to drive drive the Sole mechanism 210 with
The ankle motion mechanism 220 is that pin joint realizes rotation wobbling action.It should be noted that needing explanation on Hooke's hinge
, Hooke's hinge is the combination for two revolute pairs that axis passes through same point, and the hinge allows component to have two relative rotations
The free degree.Because it has, two independent angle ranges are larger, gap is small；The Hooke's hinge can be very good to adapt to be arranged on the present invention
On the primary structure for the robot leg sole running gear that embodiment is provided.
The primary structure for analyzing robot leg sole running gear provided in an embodiment of the present invention is understood：
Above-mentioned robot leg sole running gear mainly employs the configuration of serial mechanism and parallel institution combination；It is small
Leg drive mechanism is the PTO for driving sole running gear rotational motion, and it is two groups to shank drive mechanism, respectively
It is fixedly connected on shin support panel both sides；The bottom of two groups of shank drive mechanisms is respectively hinged in sole portion (i.e. by ball pivot
Form two pin joints)；And shin support panel is hinged by Hooke's hinge and sole portion and (forms the 3rd pin joint)；It is two groups small
What leg drive mechanism coordinated ankle motion mechanism simultaneously is hinged effect, and drive Sole mechanism reality is driven by three point articulated modes
Now rotate wobbling action.So, it can be completed to human body lower limbs skimulated motion by robot leg sole running gear
Action.
To sum up, the robot leg sole running gear that the present invention is provided, it compensate for conventional serial robot and biography
The technical deficiency of system parallel robot, has taken into account both technical advantages.There is skimulated motion to act various, simulated performance for it
By force, it is highly reliable, reasonable in design and all many technical advantages such as practical.
Below to the concrete structure and particular technique of robot leg sole running gear provided in an embodiment of the present invention
Effect, which is done, to be described in detail：
In shank driving device structure；Fig. 4 is see also, the shank drive mechanism 120 is included along the shank branch
The fagging linear drive motor 1201 that order is arranged successively from top to bottom, electric machine support 1202, shaft coupling 1203, fixed end bearing
Seat 1204, feed screw nut 1205, push rod 1206, bearing block 1207, support end bearing block 1208 and ball-screw 1209, fixed company
Bar 1210；
Wherein, the electric machine support 1202 is fixedly connected on shin support panel；The linear drive motor 1201 is fixed
Electric machine support 1202 is connected to, and drives ball-screw 1209 to rotate by shaft coupling 1203；The fixed end bearing block 1204
Bearing is mounted on in the support end bearing block 1208；The two ends of the ball-screw 1209 are respectively protruding into the fixation
The brearing bore of end bearing block 1204 and the support end bearing block 1208 is simultaneously rotatably assorted；The ball-screw 1209 with it is described
Feed screw nut 1205, which coordinates, constitutes ball-screw kinematic pair；One end of the push rod 1206 is fixedly connected on the feed screw nut
On 1205, the other end of the push rod 1206 is stretched into be slidably matched in the bearing block 1207, and passes through the fixed connecting rod
1210 are connected with the sole running gear；
The head end of the fixed connecting rod 1210 is fixedly connected with the push rod 1206, and the tail end of the fixed connecting rod 1210
It is fixedly connected with the sole running gear.In ankle motion mechanism structure；The shank drive mechanism bottom it is described
The two ends of fixed connecting rod 1210 are connected between push rod and the sole portion by the ball pivot.
In shank driving device structure；It is provided with what is be slidably matched for the push rod 1206 on the bearing block 1207
Pilot hole.
The push rod 1206 is specially cylindrical push rod, and the pilot hole on the bearing block 1207 is logical for cylinder
Hole；The external diameter of the internal diameter of the cylindrical hole of the bearing block 1207 and the push rod 1206 is adapted.
It should be noted that it will be apparent that be provided with pilot hole on above-mentioned bearing block 1207, and the pilot hole preferably uses circle
Cylindricality through hole.While the preferably cylindrical push rod of push rod 1206, so when push rod 1206 is slidably matched on bearing block 1207
Using the guarantee reciprocating stability of push rod 1206.
In shank driving device structure；The linear drive motor 1201 is specially servomotor.
It should be noted that above-mentioned linear drive motor 1201 can select the motor using multiple structural forms, such as
Common electric machine, servomotor and stepper motor；But in the technical scheme of the present embodiment, linear drive motor 1201 is preferred
Use servomotor.The selection of servomotor also especially suitable linear drive motor 1201；Because servomotor cost is low, structure
Simply, detent torque is big, speed-regulating range width, controls easy, it is necessary to safeguard, but safeguards inconvenient (changing carbon brush), produces electromagnetism dry
Disturb, environment is required.Therefore it can be used for the general industry to cost sensitivity and civilian occasion.
In shank driving device structure；Engraved structure is provided with the surface of the shin support panel 110.
The engraved structure is waist-shaped hole；And the arragement direction of the waist-shaped hole on the shin support panel is along described
Shin support panel bearing of trend is set.
It should be noted that being provided with engraved structure on the surface of shin support panel, above-mentioned design has prominent technology
Effect；One side engraved structure can be conducive to maintaining the balance of shin support panel stress, and another aspect engraved structure can have
Mitigate weight beneficial to shin support panel, reduce the load that driving structure is exported to it.
In sole running gear structure；It is flexible that the largest deformation amount of first flexible hinge 2104 is more than described second
The largest deformation amount of hinge 2105.
It should be noted that devising front foot metacarpus, sole portion and rear foot heel in Sole mechanism, and use flexible hinge
Chain is connected, and can admirably achieve the effect for slowing down ground shock power；At the same time it is preferably to simulate human foot part
Posture, can be some larger by the design of the largest deformation amount of the first flexible hinge 2104, second flexible hinge 2105
Largest deformation amount can be with more relatively small, because the Curved variable of front foot metacarpus is more than the bending of rear heel during human body walking
Deformation quantity；Such simulation effect is more notable and true to nature.
Robot leg sole running gear provided in an embodiment of the present invention has the technical advantage of following aspect：
First, robot leg sole running gear provided in an embodiment of the present invention, it is mainly by shank drive device and pin
The structures such as running gear are slapped to constitute；In concrete structure, shank drive mechanism is driven by ankle motion mechanism described in two groups
The Sole mechanism implements 3 D auto go to action.Shank drive mechanism is the power for driving sole running gear rotational motion
Output device, it is two groups to shank drive mechanism, is respectively fixedly connected with shin support panel both sides；Two groups of shank drive mechanisms
Bottom is respectively hinged in sole portion by ball pivot and (forms two pin joints)；And shin support panel passes through Hooke's hinge and sole
Portion is hinged and (forms the 3rd pin joint)；What two groups of shank drive mechanisms coordinated ankle motion mechanism simultaneously is hinged effect,
Drive drive Sole mechanism to realize by three point articulated modes and rotate wobbling action.So, robot leg sole is passed through
Running gear can complete to act human body lower limbs skimulated motion.
To sum up, the robot leg sole running gear that the present invention is provided, its lightweight construction, transmission control are simple, outer
See and functionally all reach well the effect of simulation human body foot traffic；Therefore, the robot leg sole that the present invention is provided
Running gear, it has, and skimulated motion action is various, and simulated performance is strong, highly reliable, reasonable in design and practical etc.
All many technical advantages.
Many significant technical advantages based on more than, the robot leg sole running gear that the present invention is provided will be brought
Good market prospects and economic benefit.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. a kind of robot leg sole running gear, it is characterised in that including shank drive device and sole running gear；
Wherein, the shank drive device includes shin support panel and two groups of shank drive mechanisms；Shank driving machine described in two groups
Structure is fixedly connected on the shin support panel both sides；
Wherein, the sole running gear includes Sole mechanism and ankle motion mechanism；The Sole mechanism is from one end to another
One end includes front foot metacarpus, sole portion and rear foot heel；And the sole portion is planar structure；The front foot metacarpus with it is described
The connection end in sole portion is planar structure, and the other end of the remote connection end of the front foot metacarpus is arc surface structure；After described
The connection end in heel portion and the sole portion is planar structure, and the other end of the remote connection end of the rear foot heel is circular arc
Face structure；And connected between the sole portion and the front foot metacarpus by the first flexible hinge；The sole portion with it is described after
Connected between heel portion by the second flexible hinge；
The ankle motion mechanism includes ball pivot and Hooke's hinge；Wherein, the bottom of shank drive mechanism described in two groups passes through institute
Ball pivot is stated to be respectively hinged in the sole portion；And the shin support panel is hinged by the Hooke's hinge with the sole portion；
Shank drive mechanism described in two groups is used to make a concerted effort to drive to drive the Sole mechanism using the ankle motion mechanism as pin joint
Realize and rotate wobbling action.
2. robot leg sole running gear as claimed in claim 1, it is characterised in that
The shank drive mechanism include along the shin support panel from top to bottom successively order arrangement linear drive motor,
Electric machine support, shaft coupling, fixed end bearing block, feed screw nut, push rod, bearing block, support end bearing block and ball-screw, fixation
Connecting rod；
Wherein, the electric machine support is fixedly connected on shin support panel；The linear drive motor is fixedly connected on motor branch
Frame, and ball screw turns are driven by shaft coupling；It is mounted in the fixed end bearing block and the support end bearing block
Bearing；The two ends of the ball-screw are respectively protruding into the brearing bore in the fixed end bearing block and the support end bearing block
And be rotatably assorted；The ball-screw coordinates with the feed screw nut constitutes ball-screw kinematic pair；One end of the push rod is consolidated
Surely it is connected on the feed screw nut, the other end of the push rod is stretched into be slidably matched in the bearing block, and by described solid
Determine connecting rod to be connected with the sole running gear；
The head end of the fixed connecting rod is fixedly connected with the push rod, and the tail end of the fixed connecting rod is filled with sole walking
Put and be fixedly connected.
3. robot leg sole running gear as claimed in claim 2, it is characterised in that
The pilot hole being slidably matched for the push rod is provided with the bearing block.
4. robot leg sole running gear as claimed in claim 3, it is characterised in that
The pilot hole that the push rod is specially on cylindrical push rod, and the bearing block is cylindrical hole；The bearing
The internal diameter of the cylindrical hole of seat is adapted with the external diameter of the push rod.
5. robot leg sole running gear as claimed in claim 2, it is characterised in that
The linear drive motor is specially servomotor.
6. robot leg sole running gear as claimed in claim 1, it is characterised in that
Engraved structure is provided with the surface of the shin support panel.
7. robot leg sole running gear as claimed in claim 6, it is characterised in that
The engraved structure is waist-shaped hole；And the arragement direction of the waist-shaped hole on the shin support panel is along the shank
Supporting plate bearing of trend is set.
8. robot leg sole running gear as claimed in claim 2, it is characterised in that
The two ends of the fixed connecting rod of the shank drive mechanism bottom are connected to push rod and institute by the ball pivot
State between sole portion.
9. robot leg sole running gear as claimed in claim 1, it is characterised in that
The largest deformation amount of first flexible hinge is more than the largest deformation amount of second flexible hinge.
10. robot leg sole running gear as claimed in claim 1, it is characterised in that
Both sides of two groups of shank drive mechanisms along the shin support panel are symmetrical arranged.
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| CN108974172A (en) * | 2018-06-07 | 2018-12-11 | 长安大学 | A kind of quadruped robot hind leg system ankle-joint and sole |
| CN109224301A (en) * | 2018-11-05 | 2019-01-18 | 长春大学 | Trans-skull magnetic stimulating device and method with accurate positioning and automatic tracking function |
| CN110104090A (en) * | 2019-05-16 | 2019-08-09 | 深圳市优必选科技有限公司 | Legged robot |
| CN110301998A (en) * | 2019-07-23 | 2019-10-08 | 杭州众康假肢矫形器有限公司 | It is a kind of suitable for X-shaped leg or the ankle-foot orthosis of O shape leg |
| CN110962959A (en) * | 2019-12-24 | 2020-04-07 | 深圳市行者机器人技术有限公司 | Robot and mechanical leg thereof |
| CN111098951A (en) * | 2019-12-30 | 2020-05-05 | 深圳市优必选科技股份有限公司 | Humanoid robot and leg structure thereof |
| CN111300475A (en) * | 2020-03-17 | 2020-06-19 | 北京理工大学 | High-energy-efficiency joint structure of high-dynamic robot |
| CN113443043A (en) * | 2021-07-16 | 2021-09-28 | 浙江大学 | Foot structure of biped robot adaptable to uneven road surface |
| US11485028B2 (en) | 2019-05-16 | 2022-11-01 | Ubtech Robotics Corp Ltd | Linear joint and legged robot having the same |
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| CN110962959B (en) * | 2019-12-24 | 2022-03-08 | 深圳市行者机器人技术有限公司 | Robot and mechanical leg thereof |
| CN110962959A (en) * | 2019-12-24 | 2020-04-07 | 深圳市行者机器人技术有限公司 | Robot and mechanical leg thereof |
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| WO2021184516A1 (en) * | 2020-03-17 | 2021-09-23 | 北京理工大学 | Energy-efficient joint structure of high-dynamic robot |
| CN111300475B (en) * | 2020-03-17 | 2021-03-16 | 北京理工大学 | High-energy-efficiency joint structure of high-dynamic robot |
| CN113443043A (en) * | 2021-07-16 | 2021-09-28 | 浙江大学 | Foot structure of biped robot adaptable to uneven road surface |
| CN113443043B (en) * | 2021-07-16 | 2022-05-17 | 浙江大学 | Foot structure of biped robot adaptable to uneven road surface |
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