CN107128398B - Multi-joint leg structure of biped walking robot - Google Patents
Multi-joint leg structure of biped walking robot Download PDFInfo
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- CN107128398B CN107128398B CN201710429571.0A CN201710429571A CN107128398B CN 107128398 B CN107128398 B CN 107128398B CN 201710429571 A CN201710429571 A CN 201710429571A CN 107128398 B CN107128398 B CN 107128398B
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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
Abstract
A multi-joint leg structure of a biped walking robot comprises a foot plate movement mechanism, an ankle joint movement mechanism and a leg joint movement mechanism, wherein a toe joint is hinged with a foot plate through a shaft, a lower joint support of a calf is hinged with an inner support through a shaft, the inner support is hinged with an ankle joint support plate, and the foot plate movement mechanism can control the toe joint to lift the toe around a shaft mutually hinged with the foot plate so as to realize the toe lifting movement; the ankle joint movement mechanism can control the foot plate to swing leftwards or rightwards and also can control the foot plate to move forwards or backwards, so that the foot plate joint of the robot can move in multiple degrees of freedom; the leg joint motion mechanism can control the joint of the shank to lift the leg clockwise or anticlockwise, and can control the shank to rotate around the thigh, so that the joint of the leg of the robot can lift the legs and feet with multiple degrees of freedom to walk, and the feet of the humanoid robot can walk more flexibly.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a multi-joint leg structure of a biped walking robot.
Background
In recent years, intelligent robots gradually enter thousands of households, various robots appear in the market, although the robots develop faster, multi-joint biped robots start slower, the development speed is slower, multi-joint biped robots are lacking in the market, and due to the multi-joint biped robots, various services can be completed in families, such as cleaning, entertainment, nursing, family security and the like, the robots become human partners and change the life style of human, so that the multi-joint biped robots are popular with most people.
However, in the existing robot, the multiple degrees of freedom of the moving joints of the robot are always a difficult problem of researching and developing mechanisms, and the robot has high difficulty in moving with multiple degrees of freedom of the joints and a complex structure, so that the problem of researching and developing the multi-joint biped walking robot by more enterprises is solved.
Disclosure of Invention
In order to overcome the problem that the leg multi-joint degree of freedom motion of the existing robot is difficult to move, the invention provides the robot leg structure with the multi-joint degree of freedom.
The technical scheme adopted by the technical problem solved by the invention is as follows: a multi-joint leg structure of a biped walking robot comprises a foot plate moving mechanism, an ankle joint moving mechanism and a leg joint moving mechanism, wherein an inner support, a lower leg joint support, an ankle joint driving motor, toe plates, a foot plate and an upper joint fixing plate are hinged to the foot plate through toe joint shafts; the leg joint motion mechanism can control the joint of shank to lift the leg clockwise/anticlockwise and move, also can control shank round thigh rotary motion simultaneously, leg joint motion mechanism includes lower joint fixed plate, lower joint fixed plate driver, disc straight-tooth gear, straight-tooth gear and last joint fixed plate, and lower joint fixed plate inside design has the fixed axle, and the fixed axle can be connected with the bearing at disc straight-tooth gear center, and disc straight-tooth gear can be round the axle center clockwise or the anticlockwise rotation of fixed axle.
The foot plate movement mechanism comprises a toe driving motor, a driving connecting rod, a transmission connecting rod, a toe plate and a toe lower joint shaft; furthermore, the toe driving motor is installed on the foot plate and fixedly connected with the foot plate, the toe driving motor is connected with the driving connecting rod, the driving connecting rod is connected with the transmission connecting rod, the transmission connecting rod is connected with the toe plate, and the toe plate is hinged with the foot plate through the toe joint shaft; the toe driving motor rotates to drive the driving connecting rod to rotate, the driving connecting rod rotates to drive the transmission connecting rod to rotate, and the transmission connecting rod rotates to drive the toe board to move around the toe joint shaft, so that the toe lifting movement is realized.
Two ankle joint supporting plates are designed on the foot plate, and arc-shaped straight tooth teeth are fixedly arranged on any ankle joint supporting plate and can be meshed with the straight tooth gear, and the arc-shaped straight tooth teeth can be driven to rotate when the straight tooth gear rotates; furthermore, ankle joint backup pad design has the shaft hole, and ankle joint backup pad passes through the connecting axle to be connected with the bearing of inner support the inside, thereby drives straight-tooth gear rotation when ankle joint driving motor rotates and drives the arc straight-tooth with sole reciprocal anchorage, and then drives the sole and swing left or right round the connecting axle.
The ankle joint movement mechanism comprises an ankle joint driving motor, an inner support, a lower leg joint support and a gear; furthermore, the lower leg joint support is hinged to the inner support through a shaft, a driving motor is installed inside the lower leg joint support, the driving motor is connected with a straight-tooth gear, the straight-tooth gear is meshed with a fan-shaped straight-tooth gear, and the fan-shaped straight-tooth gear is fixedly connected with the inner support: furthermore, the lower joint support of the shank can be fixedly connected with the shank, and when the inner support is fixed, the driving motor rotates to drive the straight-tooth gear to rotate clockwise or anticlockwise around the meshing of the fan-shaped straight-tooth gear, so that the lower joint support of the shank is driven to rotate around the hinged shaft.
The utility model discloses a bearing, including inner support, straight-tooth gear, bearing, drive motor, driving motor, straight-tooth gear and arc straight-tooth intermeshing, drive motor rotates and can drive arc straight-tooth and use the bearing to rotate as the axle center, and then has driven the sole clockwise or anticlockwise rotation round the axle center of bearing.
The lower joint fixing plate is provided with a lower joint fixing plate driving motor, the lower joint fixing plate driving motor is connected with a straight-tooth gear, the straight-tooth gear is meshed with a disc-shaped straight-tooth gear, and the disc-shaped straight-tooth gear can be driven to rotate by the rotation of the straight-tooth gear.
The upper end face of the disc-shaped straight-tooth gear is provided with a connecting support, the connecting support is hinged to the upper joint fixing plate through a shaft, a fan-shaped straight-tooth gear is fixedly mounted on the outer side face of the connecting support, the fan-shaped straight-tooth gear is meshed with a straight-tooth gear mounted on a driving motor of the upper joint fixing plate, and the upper joint fixing plate driving motor rotates to drive the upper joint fixing plate to rotate.
The upper joint fixing plate can be arranged in the upper thigh to be connected and fixed with the thigh, and the lower joint fixing plate can be arranged in the upper joint of the shank to be connected and fixed with the shank; furthermore, the driving motors and a control system of the robot can independently control each driving motor to work.
The invention has the advantages that the multi-joint leg structure of the biped walking robot comprises a foot plate movement mechanism, an ankle joint movement mechanism and a leg joint movement mechanism, wherein a toe plate is hinged with the foot plate through a shaft, a joint support under the lower leg is hinged with an inner support through a shaft, the inner support is hinged with an ankle joint support plate, the foot plate movement mechanism can control the toe plate to move around a shaft hinged with the foot plate, so that the toe-lifting movement is realized, and the teeter and falling of the robot during walking are prevented; the ankle joint movement mechanism can control the foot plate to swing leftwards or rightwards and also can control the foot plate to move forwards or backwards, so that the foot plate joint of the robot can move in multiple degrees of freedom; the leg joint motion mechanism can control the joint of the shank to lift the leg clockwise or anticlockwise, and can control the shank to rotate around the thigh, so that the joint of the leg of the robot can move in multiple degrees of freedom, a control system can independently control the working instruction of each motion mechanism, the multi-joint leg structure of the biped walking robot can realize the multi-degree-of-freedom leg lifting biped walking motion of the leg of the robot similar to a human, and the biped walking of the humanoid robot has more flexibility.
Description of the drawingsthe invention will be further described with reference to the following drawings and examples.
FIG. 1 is a perspective view of a leg
FIG. 2 is an exploded perspective view of a leg
FIG. 3 is a view of the foot plate movement mechanism
FIG. 4 is an ankle joint movement mechanism view
FIG. 5 is a view of a leg articulation mechanism
Figure 6 is an exploded detail a view of a leg perspective
In the figure: 1. a foot plate moving mechanism, 2, an ankle joint moving mechanism, 3, a lower leg, 4, a leg joint moving mechanism, 5, a thigh, 12, a toe plate, 13, a transmission connecting rod, 14, a toe joint shaft, 15, a driving connecting rod, 16, a toe driving motor, 17, arc-shaped straight tooth teeth, 18, an ankle joint supporting plate, 19, a connecting shaft, 20, an ankle joint driving motor, 21, a straight tooth gear, 22, a fan-shaped straight tooth gear, 23, a straight tooth gear, 24, a lower leg joint support driving motor, 25, a lower leg joint support, 26, an inner support, 27, a bearing, 40, a lower joint fixing plate, 41, a straight tooth gear, 42, a lower joint fixing plate driving motor, 43, a disc-shaped straight tooth gear, 44, a connecting support, 45, an upper joint fixing plate, 46, an upper joint fixing plate driving motor, 47. the straight-tooth gear 48, the sector straight-tooth gear 49 and the fixed shaft are fixed.
Detailed Description
In the embodiment shown in fig. 1, 2 and 3, the toe plate 12 is hinged to the toe plate through the toe joint shaft 14, the lower leg joint support 26 is hinged to the inner support 25 through the connecting shaft, the inner support 25 is hinged to the ankle joint support plate 18, the toe driving motor 16 is fixedly mounted on the toe plate, the toe driving motor 16 is fixedly connected to the toe plate, the toe driving motor 15 is connected to the driving link 15, the driving link 15 is connected to the driving link 13, the driving link 13 is connected to the toe plate 12, the toe driving motor 16 rotates to drive the driving link 15 to rotate, the driving link 15 rotates to drive the driving link 13, the driving link 13 rotates to drive the toe plate 12 to move around the toe joint shaft 14, so that the toe plate 12 can be lifted, and the innovative toe lifting function can assist 5 toes to lift and prevent stumbling and falling.
Two ankle joint supporting plates 18 are designed on the foot plate, the ankle joint supporting plates 18 are provided with shaft holes, the ankle joint supporting plates 18 are connected with a bearing 27 in the inner support 26 through a connecting shaft 19, an arc-shaped straight tooth 17 is fixedly arranged on any ankle joint supporting plate 18, the arc-shaped straight tooth 17 can be meshed with the straight tooth gear 21, and the arc-shaped straight tooth 17 can be driven to rotate when the straight tooth gear 21 rotates; the ankle joint movement mechanism 2 can control the foot plate to swing leftwards or rightwards and also can control the foot plate to move forwards or backwards, so that the foot plate joint of the robot can move in multiple degrees of freedom; the leg joint motion mechanism 4 can control the joint of the lower leg 3 to lift the leg clockwise or anticlockwise, and can control the lower leg 3 to rotate around the thigh, so that the joint of the leg of the robot can move in multiple degrees of freedom.
In the embodiment shown in fig. 4, the ankle joint movement mechanism 2 includes the ankle joint driving motor 20, an inner support 26, a lower leg joint support 25 and a gear, the lower leg joint support 25 is hinged to the inner support 26 through a shaft, a lower leg joint support driving motor 24 is installed inside the lower leg joint support 25, the lower leg joint support driving motor 24 is connected to a spur gear 23, the spur gear 23 is meshed with a fan-shaped spur gear 22, the fan-shaped spur gear 22 is fixedly connected to the inner support 26, and the lower leg joint support 25 can be fixedly connected to the lower leg 3. When the inner support 26 is fixed, the lower leg joint support driving motor 24 rotates to drive the straight-tooth gear 23 to rotate clockwise or anticlockwise around the fan-shaped straight-tooth gear 22 in a meshed mode, and therefore the lower leg joint support 25 is driven to rotate around the hinged shaft.
Ankle joint driving motor 20 is installed to inner support 26 the inside, and ankle joint driving motor 20 is connected with straight-tooth gear 21, straight-tooth gear 21 and arc straight-tooth 17 intermeshing, ankle joint driving motor 20 rotate can drive arc straight-tooth 17 and use bearing 27 as the axle center and rotate, and then has driven the sole clockwise or anticlockwise rotation round the axle center of bearing 27, has realized the motion of raising of sole.
In the embodiment shown in fig. 5 and 6, the leg joint movement mechanism 4 includes the lower joint fixing plate 40, a lower joint fixing plate driving motor 42, a disc-shaped straight-tooth gear 43, a straight-tooth gear and an upper joint fixing plate 45, a fixing shaft 49 is designed in the lower joint fixing plate 40, the fixing shaft 49 can be connected with a bearing at the center of the disc-shaped straight-tooth gear 43, and the disc-shaped straight-tooth gear 43 can rotate clockwise or counterclockwise around the axis of the fixing shaft.
The lower joint fixing plate 40 is provided with a lower joint fixing plate driving motor 42, the lower joint fixing plate driving motor 42 is connected with a straight-tooth gear 41, the straight-tooth gear 41 is meshed with a disc-shaped straight-tooth gear 43, and the disc-shaped straight-tooth gear 43 can be driven to rotate by the rotation of the straight-tooth gear 41; disc straight-tooth gear 43's up end design has linking bridge 44, linking bridge 44 is articulated with last joint fixing plate 45 through the axle, be fixed with fan-shaped straight-tooth gear 48 at linking bridge 44 lateral surface installation, fan-shaped straight-tooth gear 48 and the straight-tooth gear 47 intermeshing who installs on the last joint fixing plate driving motor 46 of last joint fixing plate 45, last joint fixing plate driving motor 46 rotates and can drives last joint fixing plate 45 and rotate, it is fixed with thigh 5 to go up the inside that joint fixing plate 45 can install into thigh 5, lower joint fixing plate 40 can install into the last joint the inside of shank 2 and be connected with shank 2 fixedly. And each driving motor and the control system of the robot can independently control each driving motor to work.
The multi-joint leg structure of the biped walking robot can realize multi-degree-of-freedom leg lifting biped walking motion of the robot similar to the legs of a human, so that the biped walking of the humanoid robot has more flexibility.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined by the appended claims and their equivalents.
Claims (9)
1. The utility model provides a biped walking robot multi-joint leg structure, includes sole motion (1), ankle joint motion (2), shank joint motion (4), inner support (26), joint support (25) under the shank, ankle joint driving motor (20), toe board (12), sole, upper joint fixed plate (45), its characterized in that: the toe board (12) is hinged with the foot board through a toe joint shaft (14), the lower joint support (25) of the lower leg is hinged with an inner support (26) through a connecting shaft (19), the inner support (26) is hinged with an ankle joint support plate (18), the foot board movement mechanism can control the toe board (12) to lift the toe around the toe joint shaft (14) mutually hinged with the foot board, and the ankle joint movement mechanism (2) can control the foot board to swing leftwards/rightwards and also control the foot board to move forwards/backwards; leg joint motion mechanism (4) can control the joint of shank and lift the leg motion clockwise/anticlockwise, also can control the shank simultaneously around thigh rotary motion, leg joint motion mechanism (4) include lower joint fixed plate (40), lower joint fixed plate driving motor (42), disc straight-tooth gear (43), third straight-tooth gear (41) and last joint fixed plate (45), lower joint fixed plate (40) the inside design has fixed axle (49), fixed axle (49) can be connected with the bearing at disc straight-tooth gear (43) center, disc straight-tooth gear (43) can be around the axle center clockwise or anticlockwise rotation of fixed axle (49).
2. The multi-articulated leg structure of the biped walking robot according to claim 1, wherein: the toe board movement mechanism (1) comprises a toe driving motor (16), a driving connecting rod (15), a transmission connecting rod (13), toe boards (12) and toe joint shafts (14), the toe driving motor (16) is installed on the toe board and fixedly connected, the toe driving motor (16) is connected with the driving connecting rod (15), the driving connecting rod (15) is connected with the transmission connecting rod (13), the transmission connecting rod (13) is connected with the toe boards (12), and the toe boards (12) are hinged to the toe board through the toe joint shafts (14).
3. The multi-articulated leg structure of the biped walking robot according to claim 2, wherein: two ankle joint support plates (18) are designed on the foot plate, arc-shaped straight tooth teeth (17) are fixedly arranged on any ankle joint support plate (18), the arc-shaped straight tooth teeth (17) can be meshed with a first straight tooth gear (21), and the arc-shaped straight tooth teeth (17) can be driven to rotate when the first straight tooth gear (21) rotates; the ankle joint support plate (18) is provided with a shaft hole, and the ankle joint support plate (18) is connected with a bearing (27) in the inner support (26) through a connecting shaft (19).
4. The multi-articulated leg structure of the biped walking robot according to claim 1, wherein: the ankle joint movement mechanism comprises an ankle joint driving motor (20), an inner support (26), a lower leg joint support (25) and gears, the lower leg joint support (25) is hinged to the inner support (26) through a shaft, a lower leg joint support driving motor (24) is installed inside the lower leg joint support (25), the lower leg joint support driving motor (24) is connected with a second straight-tooth gear (23), the second straight-tooth gear (23) is meshed with a fan-shaped straight-tooth gear (22), and the fan-shaped straight-tooth gear (22) is fixedly connected with the inner support (26).
5. The multi-articulated leg structure of the biped walking robot according to claim 4, wherein: the lower joint support (25) of the shank can be fixedly connected with the shank (3), when the inner support (26) is fixed, the lower joint support driving motor (24) of the shank rotates to drive the second straight-tooth gear (23) to rotate clockwise/anticlockwise around the fan-shaped straight-tooth gear (22) in a meshed mode, and the lower joint support (25) of the shank is driven to rotate around the hinged shaft.
6. The multi-articulated leg structure of the biped walking robot according to claim 3, wherein: ankle joint driving motor (20) are installed to inner support (26) the inside, and ankle joint driving motor (20) are connected with first straight-tooth gear (21), and first straight-tooth gear (21) and arc straight-tooth (17) intermeshing, and ankle joint driving motor (20) rotate and can drive arc straight-tooth (17) and use bearing (27) to rotate as the axle center, have driven the sole clockwise/anticlockwise rotation around the axle center of bearing (27).
7. The multi-articulated leg structure of the biped walking robot according to claim 1, wherein: lower joint fixed plate driving motor (42) is installed to lower joint fixed plate (40), and lower joint fixed plate driving motor (42) is connected with third straight-tooth gear (41), and third straight-tooth gear (41) and disc straight-tooth gear (43) intermeshing, third straight-tooth gear (41) rotate can drive disc straight-tooth gear (43) and rotate.
8. The multi-articulated leg structure of the biped walking robot according to claim 7, wherein: the upper end face of the disc-shaped straight-tooth gear (43) is designed with a connecting support (44), the connecting support (44) is hinged to an upper joint fixing plate (45) through a shaft, a fan-shaped straight-tooth gear (22) is fixedly arranged on the outer side face of the connecting support (44), the fan-shaped straight-tooth gear (22) is meshed with a fourth straight-tooth gear (47) arranged on an upper joint fixing plate driving motor (46) of the upper joint fixing plate (45), and the upper joint fixing plate driving motor (46) rotates to drive the upper joint fixing plate (45) to rotate.
9. The multi-articulated leg structure of the biped walking robot according to claim 7, wherein: the upper joint fixing plate (45) can be installed in the upper joint of the thigh (5) to be connected and fixed with the thigh (5), and the lower joint fixing plate (40) can be installed in the upper joint of the shank (3) to be connected and fixed with the shank (3).
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| CN201710429571.0A CN107128398B (en) | 2017-06-09 | 2017-06-09 | Multi-joint leg structure of biped walking robot |
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| CN201710429571.0A CN107128398B (en) | 2017-06-09 | 2017-06-09 | Multi-joint leg structure of biped walking robot |
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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 |
| CN108974172B (en) * | 2018-06-07 | 2023-05-02 | 长安大学 | Ankle joint and sole of hind limb system of four-foot robot |
| 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 |
| CN109625119B (en) * | 2019-02-21 | 2023-12-19 | 北京钢铁侠科技有限公司 | Convertible low limbs structure of some foot and flat foot |
| CN111301549B (en) * | 2019-11-28 | 2021-03-23 | 江汉大学 | Biped robot structure and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5349277A (en) * | 1992-03-12 | 1994-09-20 | Honda Giken Kogyo Kabushiki Kaisha | Control system for legged mobile robot |
| CN101428657B (en) * | 2008-12-16 | 2011-02-02 | 吉林大学 | Propel mechanism of underactuated biped walk robot |
| CN102582714B (en) * | 2012-01-31 | 2013-08-07 | 山东大学 | Hydraulic-drive lower-limb mechanism with load bearing capability of biped robot |
| CN203020441U (en) * | 2013-01-17 | 2013-06-26 | 常州先进制造技术研究所 | Quasi-man robot foot |
| CN106737820B (en) * | 2017-01-11 | 2023-03-14 | 中国科学院合肥物质科学研究院 | Toe movable type robot foot structure |
| CN206984164U (en) * | 2017-06-09 | 2018-02-09 | 黄国彬 | Two leg walking robot's multi-joint leg structure |
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