CN107128398A - Two leg walking robot's multi-joint leg structure - Google Patents
Two leg walking robot's multi-joint leg structure Download PDFInfo
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- CN107128398A CN107128398A CN201710429571.0A CN201710429571A CN107128398A CN 107128398 A CN107128398 A CN 107128398A CN 201710429571 A CN201710429571 A CN 201710429571A CN 107128398 A CN107128398 A CN 107128398A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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Abstract
A kind of two leg walking robot's multi-joint leg structure, including sole motion, ankle arthrosis motion, leg articulation mechanism, toe joint is hinged by axle with sole, shank hypozygal support is hinged by axle with inner support, inner support is hinged with ankle arthrosis supporting plate, the sole motion can control toe joint to lift toe movement around with the axle that sole is hinged, and realize lift toe movement；Ankle arthrosis motion can control the sole to put pin motion to the left or to the right, can also control sole forward or move forward and backward, and realizing robot sole joint being capable of multiple free degree motion；Leg articulation mechanism can control the joint of shank to lift leg motion clockwise or counterclockwise, shank can also be controlled around thigh rotary motion simultaneously, realize robot leg joint can multiple frees degree lift leg biped walking movements, the biped of anthropomorphic robot is walked and have more flexibility.
Description
Technical field
The present invention relates to robotic technology field, more specifically to a kind of two leg walking robot's multi-joint leg
Structure.
Background technology
Intelligent robot gradually entered into huge numbers of families in recent years, and in the market occurs in that various robots, machine
Although the ratio of people's development is very fast, it is relatively slow that the biped robot of multi-joint starts to walk, and development speed is slower, and in the market lacks many
The two leg walking robot in joint, due to multi-joint two leg walking robot, a variety of services can be completed in the family, such as clear
Sweep, entertain, nurse, the thing such as house security, human buddy will be turned into, change human life style, therefore the biped of multi-joint
Walking robot is liked by most people.
But in existing robot, the movable joint multiple degrees of freedom of robot is always the problem of research and development institution, robot
Multi-joint free degree movement difficulty it is big, it is complicated to become the difficulty of more Corporation R ＆ D multi-joint two leg walking robot
Topic.
The content of the invention
In order to overcome the problem that the leg multi-joint free degree movement difficulty of existing robot is big, the invention provides one kind
The robot leg structure of the multi-joint free degree, two leg walking robot's multi-joint leg structure can realize that robot is similar
The multiple free degree lift leg biped walking movements in leg of people, make the biped of anthropomorphic robot walk and have more flexibility, can be more preferable
Serve daily life.
The technical scheme that technical problem solved by the invention is used is：A kind of two leg walking robot's multi-joint leg
Structure, including sole motion, ankle arthrosis motion, leg articulation mechanism, toe plate pass through toe joint axle
It is hinged with sole, shank hypozygal support is hinged by connecting shaft with inner support, and inner support is hinged with ankle arthrosis supporting plate, pin
Plate movement mechanism can control toe plate to lift toe movement around the toe joint axle being hinged with sole；Ankle arthrosis is moved
Mechanism can control the sole to put pin motion to the left or to the right, can also control sole forward or move forward and backward；Leg joint
Motion can control the joint of shank to lift leg motion clockwise or counterclockwise, while shank can also be controlled to be revolved around thigh
Transhipment is dynamic.
The sole motion includes the motor, drive connecting rod, kinematic link, toe plate and toe hypozygal
Axle；Further, the motor is arranged on sole and is connected, and motor is connected with each other with drive connecting rod, actively
Connecting rod is connected with each other with kinematic link, and kinematic link is connected with each other with toe plate, and toe plate is cut with scissors by toe joint axle and sole
Connect；Described motor, which is rotated, just drives drive connecting rod to rotate, and drive connecting rod, which is rotated, just drives kinematic link to rotate, and transmission connects
Bar, which is rotated, just drives toe plate to be moved around toe joint axle, realizes toe elevation movements.
Two pieces of ankle arthrosis supporting plates are designed with the sole, any one block of ankle support plate is mounted with arc
Straight-tooth teeth, the arc straight-tooth teeth can be intermeshed with straight-tooth gear, and straight-tooth gear can drive arc straight-tooth when rotating
Teeth are rotated；
Further, the ankle arthrosis supporting plate is designed with axis hole, and ankle arthrosis supporting plate passes through in connecting shaft and inner support
The bearing connection in face, drives straight-tooth gear to rotate to drive the arc straight-tooth tooth interfixed with sole when motor is rotated
Tooth, and then drive sole to be swung to the left or to the right around connecting shaft.
The ankle arthrosis motion includes the ankle-joint motor, inner support, shank hypozygal support and tooth
Wheel；Further, the shank hypozygal support is hinged by axle with inner support, and drive is provided with inside shank hypozygal support
Dynamic motor, motor is connected with straight-tooth gear, and straight-tooth gear is intermeshed with fan-shaped straight-tooth gear, the fan-shaped straight-tooth gear
It is connected with inner support：
Further, the shank hypozygal support can be connected with shank, when the inner support is fixed, motor
Rotate and just drive straight-tooth gear to be rotated clockwise or counterclockwise around the engagement of fan-shaped straight-tooth gear, so as to drive shank hypozygal branch
Frame is rotated around jointed shaft.
Motor is installed inside the inner support, motor is connected with straight-tooth gear, the straight-tooth gear and arc
Shape straight-tooth teeth are intermeshed, and motor, which is rotated, can drive arc straight-tooth teeth using bearing as axis rotation, and then are driven
Sole is rotated clockwise or counterclockwise around the axle center of bearing.
The leg articulation mechanism includes the hypozygal fixed plate, driving machine, disc straight-tooth gear, straight-tooth tooth
Fixing axle is designed with inside wheel and upper joint fixed plate, the hypozygal fixed plate, fixing axle can be with disc straight-tooth gear
The bearing connection at center, disc straight-tooth gear can be around the axle center of fixing axle clockwise or counterclockwise.
The hypozygal fixed plate is provided with motor, and motor is connected with straight-tooth gear, straight-tooth gear and disk
Shape straight-tooth gear is intermeshed, and straight-tooth gear, which is rotated, can drive disc straight-tooth gear to rotate.
The upper surface of the disc straight-tooth gear is designed with connecting bracket, and the connecting bracket is consolidated by axle and upper joint
Fixed board is hinged, and is mounted with fan-shaped straight-tooth gear in connecting bracket lateral surface, fan-shaped straight-tooth gear installed in upper joint with consolidating
Straight-tooth gear intermeshing on the motor of fixed board, motor, which is rotated, can drive upper joint fixed plate to rotate.
The upper joint fixed plate can be installed into the inside of thigh and thigh is connected, the hypozygal fixed plate energy
It is connected inside the upper joint for being enough installed into shank with shank；Further, the control system of the motor and robot
System, control each motor work that control system can be independent.
The beneficial effects of the invention are as follows, a kind of two leg walking robot's multi-joint leg structure, including sole motion,
Ankle arthrosis motion, leg articulation mechanism, toe plate are hinged by axle with sole, and shank hypozygal support passes through axle
Be hinged with inner support, inner support is hinged with ankle arthrosis supporting plate, the sole motion can control toe plate around with
The axle lift toe movement that sole is hinged, realizes lift toe movement, prevents from walking haltingly and falling during robot ambulation；Ankle is closed
Section motion can control the sole to put pin motion to the left or to the right, can also control sole forward or move forward and backward, real
Xian Liao robots sole joint being capable of multiple free degree motions；Leg articulation mechanism can control the joint of shank clockwise
Or lift leg motion counterclockwise, while shank can also be controlled around thigh rotary motion, realize the joint energy of robot leg
More than enough free degree motion, what control system can be independent controls the work order of each motion, the biped vehicle with walking machine
Device people's multi-joint leg structure can realize that the multiple free degree lift leg biped walking movements in leg of similar people are capable of in robot, make
The biped walking of anthropomorphic robot has more flexibility.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is leg stereogram
Fig. 2 is the explosive view of leg stereogram
Fig. 3 is sole motion view
Fig. 4 is ankle motion mechanism view
Fig. 5 is leg articulation mechanism view
Fig. 6 is the explosive view details A views of leg stereogram
In figure：1. sole motion, 2. ankle arthrosis motions, 3. shanks, 4. leg articulation mechanisms, 5. is big
Leg, 12. toe plates, 13. kinematic links, 14. toe joint axles, 15. drive connecting rods, 16. motors, 17. arcs
Straight-tooth teeth, 18. ankle arthrosis supporting plates, 19. connecting shafts, 20. ankle-joint motors, 21. straight-tooth gears, 22. fans
Shape straight-tooth gear, 23. straight-tooth gears, 24. motors, 25. shank hypozygal supports, 26. inner supports, 27. bearings,
40. hypozygal fixed plate, 41. straight-tooth gears, 42. motors, 43. disc straight-tooth gears, 44. connecting brackets,
45. upper joint fixed plate, 46. motors, 47. straight-tooth gears, 48. fan-shaped straight-tooth gears, 49. fixing axles.
Embodiment
In Fig. 1, Fig. 2, embodiment illustrated in fig. 3, toe plate 12 is hinged by toe joint axle 14 and sole, shank ShiShimonoseki
Section support 26 is hinged by connecting shaft with inner support 25, and inner support 25 is hinged with ankle arthrosis supporting plate 18, the motor
16 are connected on sole, and motor 16 is connected with each other with drive connecting rod 15, drive connecting rod 15 and kinematic link 13
It is connected with each other, kinematic link 13 is connected with each other with toe plate 12, described motor 16, which is rotated, just drives drive connecting rod to rotate
15, drive connecting rod 15, which is rotated, just drives kinematic link 13 to rotate, and kinematic link 13, which is rotated, just drives toe plate 12 to be closed around toe
Nodal axisn 14 is moved, and realizes the elevation movements of toe plate 12, and the toe of innovation raises function and assists 5 tiptoes to lift, prevent from walking haltingly and
Fall.
Two pieces of ankle arthrosis supporting plates 18 are designed with sole, ankle arthrosis supporting plate 18 is designed with axis hole, ankle arthrosis
Supporting plate 18 is connected by connecting shaft 19 with the bearing 27 of the inside of inner support 26, and any one block of ankle support plate 18, which is installed, to be fixed
There are arc straight-tooth teeth 17, the arc straight-tooth teeth 17 can be intermeshed with straight-tooth gear 21, when straight-tooth gear 21 is rotated
The tooth of arc straight-tooth tooth 17 can be driven to rotate；
Ankle arthrosis motion 2 can control the sole put to the left or to the right pin motion, can also control sole forward or
Move forward and backward, realizing robot sole joint being capable of multiple free degree motion；Leg articulation mechanism 4 can control shank
Leg motion is lifted in 3 joint clockwise or counterclockwise, while shank 3 can also be controlled around thigh rotary motion, realizes machine
The joint of people leg being capable of multiple free degree motions.
In the embodiment shown in fig. 4, the ankle arthrosis motion 2 includes the ankle-joint motor 20, interior branch
Frame 26, shank hypozygal support 25 and gear, shank hypozygal support 25 is hinged by axle with inner support 26, in shank hypozygal
The inside of support 25 is provided with motor 24, and motor 24 is connected with straight-tooth gear 23, straight-tooth gear 23 and fan-shaped straight-tooth tooth
Wheel 22 is intermeshed, and fan-shaped straight-tooth gear 22 is connected with inner support 26, and shank hypozygal support 25 can be connected with shank 3
It is fixed.When the inner support 26 is fixed, motor 24, which is rotated, just drives straight-tooth gear 23 to be nibbled around fan-shaped straight-tooth gear 22
Conjunction is rotated clockwise or counterclockwise, so as to drive shank hypozygal support 25 to be rotated around jointed shaft.
The inside of inner support 26 is provided with motor 20, and motor 20 is connected with straight-tooth gear 21, the straight-tooth
Gear 21 is intermeshed with arc straight-tooth teeth 17, and motor 20, which is rotated, can drive the arc straight-tooth teeth 17 to be with bearing 27
Axis rotation, and then driven sole to be rotated clockwise or counterclockwise around the axle center of bearing 27, realize sole raises fortune
It is dynamic.
In Fig. 5, embodiment illustrated in fig. 6, leg articulation mechanism 4 includes the hypozygal fixed plate 40, driving machine, circle
Dish type straight-tooth gear 43, straight-tooth gear and upper joint fixed plate 45, the inside of hypozygal fixed plate 40 are designed with fixing axle 49,
Fixing axle 49 can be connected with the bearing at the center of disc straight-tooth gear 43, and disc straight-tooth gear 43 can be around fixing axle
Axle center is clockwise or counterclockwise.
The hypozygal fixed plate 40 is provided with motor 42, and motor 42 is connected with straight-tooth gear 41, straight-tooth tooth
Wheel 41 is intermeshed with disc straight-tooth gear 43, and straight-tooth gear 41, which is rotated, can drive the wheel rotation of disc straight-tooth tooth 43；
The upper surface of disc straight-tooth gear 43 is designed with connecting bracket 44, and the connecting bracket 44 is fixed by axle with upper joint
Plate 45 is hinged, and fan-shaped straight-tooth gear 48 is mounted with the lateral surface of connecting bracket 44, and fan-shaped straight-tooth gear 48 is upper with being arranged on
Straight-tooth gear 47 on the motor 46 of arthrodesis plate 45 is intermeshed, and motor 46, which is rotated, can drive upper joint to consolidate
Fixed board 45 is rotated, and upper joint fixed plate 45 can be installed into the inside of thigh 5 and thigh 5 is connected, hypozygal fixed plate 40
It is connected inside the upper joint that shank 2 can be installed into shank 2.The control system of the motor and robot, control
System processed can be independent the work of control each motor.
Two leg walking robot's multi-joint leg structure can realize the multiple free degree lifts in the leg of the similar people of robot
Leg biped walking movement, makes the biped of anthropomorphic robot walk and has more flexibility.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the embodiments described above, and described in above-mentioned embodiment and specification is to say
Bright principle of the invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, this
A little changes and improvements all fall within the protetion scope of the claimed invention, and claimed scope of the invention is by appended claim
Book and its equivalent thereof.
Claims (10)
1. a kind of two leg walking robot's multi-joint leg structure, including sole motion（1）, ankle arthrosis motion
（2）, leg articulation mechanism（4）, it is characterised in that：Toe plate（12）Pass through toe joint axle（14）It is hinged with sole, it is small
Leg hypozygal support（25）Pass through connecting shaft（19）With inner support（26）It is hinged, inner support（26）With ankle arthrosis supporting plate（18）
It is hinged, sole motion can control toe plate（12）Around the toe joint axle being hinged with sole（14）Foot-up toe is transported
It is dynamic, ankle arthrosis motion（2）Can control the sole put to the left or to the right pin motion, can also control sole forward or
Move forward and backward；Leg articulation mechanism（4）The joint of shank can be controlled to lift leg motion clockwise or counterclockwise, while also may be used
To control shank around thigh rotary motion.
2. two leg walking robot's multi-joint leg structure according to claim 1, it is characterised in that：The sole fitness machine
Structure（1）Including the motor（16）, drive connecting rod（15）, kinematic link（13）, toe plate（12）, toe joint axle
（14）, the motor（16）It is connected on sole, motor（16）With drive connecting rod（15）It is connected with each other,
Drive connecting rod（15）With kinematic link（13）It is connected with each other, kinematic link（13）With toe plate（12）It is connected with each other, toe plate
（12）Pass through toe joint axle（14）It is hinged with sole.
3. two leg walking robot's multi-joint leg structure according to claim 2, it is characterised in that：Designed on the sole
There are two pieces of ankle arthrosis supporting plates（18）, any one block of ankle support plate（18）It is mounted with arc straight-tooth teeth（17）,
The arc straight-tooth teeth（17）Can be with straight-tooth gear（21）Intermeshing, straight-tooth gear（21）Arc can be driven straight during rotation
Tooth teeth（17）Rotate；The ankle arthrosis supporting plate（18）It is designed with axis hole, ankle arthrosis supporting plate（18）Pass through connecting shaft
（19）With inner support（26）The bearing of the inside（27）Connection.
4. two leg walking robot's multi-joint leg structure according to claim 1, it is characterised in that：The ankle arthrosis fortune
Motivation structure includes the ankle-joint motor（20）, inner support（26）, shank hypozygal support（25）And gear, the shank
Hypozygal support（25）Pass through axle and inner support（26）It is hinged, in shank hypozygal support（25）The inside is provided with motor
（24）, motor（24）With straight-tooth gear（23）Connection, straight-tooth gear（23）With fan-shaped straight-tooth gear（22）Intermeshing, institute
State fan-shaped straight-tooth gear（22）With inner support（26）It is connected.
5. two leg walking robot's multi-joint leg structure according to claim 4, it is characterised in that：The shank hypozygal
Support（25）Can be with shank（3）It is connected, the inner support（26）When fixed, motor（24）Rotate and just drive straight-tooth
Gear（23）Around fan-shaped straight-tooth gear（22）Engagement is rotated clockwise or counterclockwise, so as to drive shank hypozygal support（25）
Rotated around jointed shaft.
6. two leg walking robot's multi-joint leg structure according to claim 3, it is characterised in that：The inner support（26）
The inside is provided with motor（20）, motor（20）With straight-tooth gear（21）Connection, the straight-tooth gear（21）With arc
Straight-tooth teeth（17）Intermeshing, motor（20）Rotation can drive arc straight-tooth teeth（17）With bearing（27）For axle center
Rotate, and then driven sole around bearing（27）Axle center rotate clockwise or counterclockwise.
7. two leg walking robot's multi-joint leg structure according to claim 1, it is characterised in that：The leg joint fortune
Motivation structure includes the hypozygal fixed plate（40）, driving machine, disc straight-tooth gear（43）, straight-tooth gear and upper joint fix
Plate（45）, the hypozygal fixed plate（40）The inside is designed with fixing axle（49）, fixing axle（49）Can be with disc straight-tooth tooth
Wheel（43）The bearing connection at center, disc straight-tooth gear（43）Can be around fixing axle（49）Axle center clockwise or counterclockwise
Rotation.
8. two leg walking robot's multi-joint leg structure according to claim 7, it is characterised in that：The hypozygal is fixed
Plate（40）Motor is installed（42）, motor（42）With straight-tooth gear（41）Connection, straight-tooth gear（41）With disc
Straight-tooth gear（43）Intermeshing, straight-tooth gear（41）Rotation can drive disc straight-tooth gear（43）Rotate.
9. two leg walking robot's multi-joint leg structure according to claim 8, it is characterised in that：The disc straight-tooth
Gear（43）Upper surface be designed with connecting bracket（44）, the connecting bracket（44）Pass through axle and upper joint fixed plate（45）Hinge
Connect, in connecting bracket（44）Lateral surface is mounted with fan-shaped straight-tooth gear（22）, fan-shaped straight-tooth gear（22）With installed in upper
Arthrodesis plate（45）Motor（46）On straight-tooth gear（47）Intermeshing, motor（46）Rotation can drive
Upper joint fixed plate（45）Rotate.
10. two leg walking robot's multi-joint leg structure according to claim 7, it is characterised in that：The upper joint is consolidated
Fixed board（45）Thigh can be installed into（5）The inside and thigh（5）It is connected, the hypozygal fixed plate（40）It can install
Enter shank（3）Upper joint inside and shank（3）It is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710429571.0A CN107128398B (en) | 2017-06-09 | 2017-06-09 | Multi-joint leg structure of biped walking robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710429571.0A CN107128398B (en) | 2017-06-09 | 2017-06-09 | Multi-joint leg structure of biped walking robot |
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| CN107128398A true CN107128398A (en) | 2017-09-05 |
| CN107128398B CN107128398B (en) | 2022-05-17 |
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ID=59734441
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710429571.0A Active CN107128398B (en) | 2017-06-09 | 2017-06-09 | Multi-joint leg structure of biped walking robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107963142A (en) * | 2017-12-22 | 2018-04-27 | 华南理工大学广州学院 | Clean the foot joint structure of climbing robot |
| CN108974172A (en) * | 2018-06-07 | 2018-12-11 | 长安大学 | A kind of quadruped robot hind leg system ankle-joint and sole |
| CN109484510A (en) * | 2018-12-14 | 2019-03-19 | 深圳市行者机器人技术有限公司 | A kind of robot running gear |
| CN109625119A (en) * | 2019-02-21 | 2019-04-16 | 北京钢铁侠科技有限公司 | It is a kind of to put sufficient peace and convert lower limb structure completely |
| CN111301549A (en) * | 2019-11-28 | 2020-06-19 | 江汉大学 | Biped robot structure and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107963142A (en) * | 2017-12-22 | 2018-04-27 | 华南理工大学广州学院 | Clean the foot joint structure of climbing robot |
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| CN109625119A (en) * | 2019-02-21 | 2019-04-16 | 北京钢铁侠科技有限公司 | It is a kind of to put sufficient peace and convert lower limb structure completely |
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| CN111301549A (en) * | 2019-11-28 | 2020-06-19 | 江汉大学 | Biped robot structure and control method thereof |
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|---|---|
| CN107128398B (en) | 2022-05-17 |
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