CN108556957A - A kind of collapsible legs portion mechanism for can be changed the unmanned ground moving system of born of the same parents - Google Patents
A kind of collapsible legs portion mechanism for can be changed the unmanned ground moving system of born of the same parents Download PDFInfo
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- CN108556957A CN108556957A CN201810579743.7A CN201810579743A CN108556957A CN 108556957 A CN108556957 A CN 108556957A CN 201810579743 A CN201810579743 A CN 201810579743A CN 108556957 A CN108556957 A CN 108556957A
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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
Abstract
The invention discloses a kind of collapsible legs portion mechanisms for can be changed the unmanned ground moving system of born of the same parents, including hip joint mechanism, knee-joint mechanism, ankle-joint mechanism and car bottom plate.Car bottom plate is fixedly connected on the vehicle frame of the unmanned ground moving system of variable born of the same parents.The hip joint mechanism includes upper rotating mechanism, middle rotating mechanism and lower rotating mechanism, and the ankle-joint mechanism includes ankle luffing mechanism and ankle side-swing mechanism.Upper rotating mechanism, middle rotating mechanism, lower rotating mechanism, knee-joint mechanism, ankle luffing mechanism and ankle side-swing mechanism are all provided with there are one driving motor, when this six driving motor linkages, leg member realizes the rotation of the three degree of freedom in the direction Z1, X1, Y1 respectively；Small leg member realizes the rotation of the directions Y2 one degree of freedom；Sole realizes the rotation of two degree of freedom in the direction X3, Y3 respectively.The present invention can be changed the unmanned ground moving system of born of the same parents by harmonic reduction step motor control and realize that the various ways such as turning and climbing advance under complex road condition.
Description
Technical field
The present invention relates to the variable born of the same parents unmanned ground moving systems technology field for switching reconstruct between automobile state and class people's state,
Specifically, it is related to a kind of collapsible legs portion mechanism for can be changed the unmanned ground moving system of born of the same parents.
Background technology
Variable born of the same parents' ground moving system, be it is a kind of being in research frontier and technologically advanced mobile carrier, structure
Deformable reconstruct is to be adapted to different tracks.When being easy to current flat road surface, it is automobile which, which can be changed born of the same parents,
State fast running, when road is difficult to current non-flat forms road surface (for example field, step, gully etc.), which can be changed born of the same parents
The walking that strides is carried out for class people state, to improve the passability of road.
It is found by being retrieved to existing technical literature, the prior art has the characteristics that：The unmanned ground of existing variable born of the same parents
Face mobile system leg mechanism design is all the leg mechanism using similar polypody (four-footed, six foots, eight foots etc.) reptile；Generally
Biped robot in leg mechanism using six motors come drive control with realize the six-freedom degree of leg mechanism movement and
Leg mechanism uses the deceleration mode that synchronous belt slows down.However, in the prior art can be changed the unmanned ground moving system of born of the same parents because
For the leg mechanism of no class people state, thus do not realize the movement of the leg of class people's state, and before and after wheel-leg switching, it is whole
A unmanned ground moving system shape and centroid position all do not change excessively, are that part becomes born of the same parents, do not realize automobile state and class
Global change born of the same parents reconstruct between people's state；Although the leg mechanism of general biped robot can realize six degree of freedom and stride walking
Movement, but the folding and expanding reconstruct deformation of wide-angle is can not achieve, it can not be applied in the unmanned ground moving system of variable born of the same parents
Realize that the reconstruct between automobile state and class people's state deforms；In addition, simultaneously because the position reason that motor and deceleration mechanism are placed
And make leg mechanism complex, while the rotational angle of each rotating mechanism can also be very limited.In addition, compared to coming
It says, the ways of deceleration reliability that synchronous belt slows down is not high.When leg mechanism needs to fold, synchronous belt is also possible to become slack, no
It can be driven well.
Therefore, the unmanned ground moving system leg mechanism problem to be solved of existing variable born of the same parents has：
(1) it is directed to leg mechanism and carries out six degree of freedom structure design to meet the movement of the leg mechanism of class people's state；
(2) the deceleration scheme for reasonably selecting driving motor, to solve the problems, such as that deceleration reliability is not high；
(3) motor and deceleration mechanism position are rationally placed to solve the complicated of leg mechanism and become born of the same parents' process
Not with other component interference problems；
(4) structure design of the folding and expanding of leg structure wide-angle.
Invention content
Four problems solved, this hair are needed for the existing variable unmanned ground moving system leg mechanism current condition of born of the same parents
It is bright that a kind of leg mechanism for can be changed the unmanned ground moving system of born of the same parents is provided.Specific technical solution is as follows：
A kind of collapsible legs portion mechanism for can be changed the unmanned ground moving system of born of the same parents, including hip joint mechanism 1, knee joint
Mechanism 2, ankle-joint mechanism 3 and car bottom plate 4, the car bottom plate 4 are fixedly connected on the vehicle frame of the unmanned ground moving system of variable born of the same parents
On.
The hip joint mechanism 1 includes upper rotating mechanism 11, middle rotating mechanism 12 and lower rotating mechanism 13.The upper rotation
Mechanism 11 includes first motor 111, connecting elements 112 and hip joint connecting plate 113, and the first motor 111 is connected to underbody
The upside of plate 4, the hip joint connecting plate 113 export axis connection, and hip joint by connecting elements 112 and first motor 111
Connecting plate 113 is located at the downside of car bottom plate 4.
113 inside of the hip joint connecting plate connects cross sleeve 14,14 orthogonal two positions of the cross sleeve
It sets and is separately connected middle rotating mechanism 12 and lower rotating mechanism 13, the middle rotating mechanism 12 includes the second motor 121 and middle row
Star gear reduction 122.The lower rotating mechanism 13 includes third motor 131 and lower planetary gear deceleration mechanism 133, described
The upper end of leg member 15 is connected on lower rotating mechanism 13.First motor 111 drives hip joint connecting plate 113 to surround Z1 shaft rotations
It is dynamic.Second motor 121 drives leg member 15 dynamic around X1 shaft rotations by middle planetary gear reducing mechanism 122.Third motor 131
Drive leg member 15 dynamic around Y1 shaft rotations by lower planetary gear deceleration mechanism 133.
The lower end of the leg member 15 connects knee-joint mechanism 2, and the knee-joint mechanism 2 includes the 4th motor 21, knee
Planetary gear reducing mechanism 22 and small leg member 24, the 4th motor 21 drive shank by knee planetary gear reducing mechanism 22
Component 24 is dynamic around Y2 shaft rotations.The lower end connection ankle-joint mechanism 3 of small leg member 24.
The ankle-joint mechanism 3 includes ankle luffing mechanism 31 and ankle side-swing mechanism 32, and the ankle side-swing mechanism 31 includes the
Five motors 311, ankle planetary gear reducing mechanism 313 and ankle-joint plate 316, the ankle-joint plate 316 are two pieces parallel vertical
The U-board of plate and the combination of one block of level board, the 6th motor 321 on ankle side-swing mechanism 32 is installed in the level board upside, described
The output shaft of 6th motor 321 connects sole 323, and the 5th motor 311 is driven by ankle planetary gear reducing mechanism 313
Ankle-joint plate 316 is dynamic around Y3 shaft rotations.6th motor 321 drives sole 323 dynamic around X3 shaft rotations.
When first motor 111, the second motor 121, third motor 131, the 4th motor 21, the 5th motor 311 and the 6th electricity
When machine 321 links, leg member 15 realizes the rotation of the three degree of freedom in the direction Z1, X1, Y1 respectively.Small leg member 24 realizes Y2
The rotation of direction one degree of freedom.Sole 323 realizes the rotation of two degree of freedom in the direction X3, Y3 respectively.And leg member
15, small leg member 24 can realize the folding from vertical direction to horizontal direction.
The technical solution further limited is as follows：
The connecting elements 112 includes electric motor end cap 1121, first shaft coupling 1122, transmission shaft 1123 and first bearing
1124, the output flange of the top connection first motor 111 of the electric motor end cap 1121, the output shaft of first motor 111 connects
Connect one end of first shaft coupling 1122, the upper end of the other end connection transmission shaft 1123 of first shaft coupling 1122, transmission shaft 1123
Lower end be set with first bearing 1124, the bearing hole in the outer circle and car bottom plate 4 of first bearing 1124 matches.Transmission shaft 1123
Lower end be additionally provided with keyway, flat key 1127 is installed on the keyway, is transmitted and is turned round to hip joint connecting plate 113 by flat key 1127
Square.The lower section of keyway is equipped with threaded journal, and threaded journal passes through the upper connecting hole 1131 of hip joint connecting plate 113, uses locking screw
Hip joint connecting plate 113 is locked on transmission shaft 1123 by mother 1125 and flat shim 1126.
The hip joint connecting plate 113 is the U-bend plate that Open Side Down, and upper cross plate is equipped with upper connecting hole 1131, side
Riser is equipped with left connecting hole 1132, and the both sides of left connecting hole 1132 are respectively equipped with a planetary gear shaft hole 1134, the other side
Riser is equipped with right connecting hole 1333.
The leg member 15 includes thigh connecting plate 151, thigh left risers 152 and thigh right risers 153, the thigh
Thigh connecting plate 151 is connected between left risers 152 and thigh right risers 153.
The centre of the cross sleeve 14 is equipped with intermediate square hole 143, and the X1 axis directions are equipped with the second motor cabinet 141 and determine
Position shaft end plate 145, and the second motor cabinet 141 and locating shaft end plate 145 are located at the both sides of intermediate square hole 143, position shaft end
The outside of plate 145 is equipped with positioning hubcap 1451.The Y1 axis directions are equipped with third motor cabinet 142 and bearing block end plate 144, and
Third motor cabinet 142 and bearing block end plate 144 are located at the both sides of intermediate square hole 143.
The output flange of second motor 121 is mounted on the second motor cabinet 141, the output shaft of the second motor 121
The outside of the driving gear of planetary gear reducing mechanism 122 in upper connection, middle planetary gear reducing mechanism 122 connects sealing plate
123 and first seal cover board 124, middle planetary gear reducing mechanism 122, two planetary gears of middle planetary gear reducing mechanism 122
Axis is respectively inserted in planetary gear shaft hole 1134.One end of connection locating shaft 125 in the centre bore of the positioning hubcap 1451,
The other end of locating shaft 125 is inserted in right connecting hole 1333.
The output flange of the third motor 131 is mounted on third motor cabinet 142, the output shaft of third motor 131
The driving gear of upper connection lower planetary gear deceleration mechanism 133, two planet wheel spindles difference of lower planetary gear deceleration mechanism 133
It is inserted in 142 corresponding hole of third motor cabinet, there are one second bearing 132, the second bearings for dress on third motor cabinet 142
132 endoporus coordinate with seam allowance on the inside of 153 upper end of thigh right risers, and it is right that lower planetary gear deceleration mechanism 133 is mounted on thigh
In 153 upper end hole of riser, the second end cover 134 is installed in the outside of lower planetary gear deceleration mechanism 133.The bearing block end plate
3rd bearing 135 is installed, 135 endoporus of 3rd bearing coordinates with the seam allowance on the inside of 152 upper end of thigh left risers in 144.
The small leg member 24 includes shank connecting plate 241, shank left risers 242 and shank right risers 243, the shank
Shank connecting plate 241 is connected between left risers 242 and shank right risers 243.
The lower end inside of the thigh right risers 153 connects the 4th motor 21, and knee is connected on the output shaft of the 4th motor 21
Two planet wheel spindles of the driving gear of planetary gear reducing mechanism 22, knee planetary gear reducing mechanism 22 are respectively inserted in the thigh right side
The lower end outside of riser 153, installs fourth bearing 23 in the lower end outside hole of thigh right risers 153,23 endoporus of fourth bearing with
Seam allowance cooperation on the inside of 243 upper end of shank right risers, knee planetary gear reducing mechanism 22 are mounted on 243 upper end hole of shank right risers
It is interior, 22 outside installation knee end cover 25 of knee planetary gear reducing mechanism.Pacify in the lower end outside hole of the thigh left risers 152
5th bearing 26 is filled, endoporus and the seam allowance on the inside of 242 upper end of shank left risers of the 5th bearing 26 coordinate.
The ankle luffing mechanism 31 further includes the 5th motor cabinet 312,6th bearing 314 and 7th bearing 315, and the ankle closes
It saves and connects the 5th motor cabinet 312 on the right vertical plate of plate 316, the output flange of the 5th motor 311 is mounted on the 5th motor
312 inside of seat, the driving gear of the output axis connection ankle planetary gear reducing mechanism 313 of the 5th motor 311, ankle planetary gear reduction
Two planet wheel spindles of fast mechanism 313 are respectively inserted in the corresponding hole in 312 outside of the 5th motor cabinet.243 lower end of shank right risers
6th bearing 314 is installed, 314 endoporus of 6th bearing and 312 outside seam allowance of the 5th motor cabinet coordinate in inboard aperture.The ankle-joint
Seam allowance on the left side vertical plate of plate 316 and 315 inner hole of 7th bearing, the outer circle and shank of the 7th bearing 315 are left
242 lower end inside hole of riser coordinates.
The ankle side-swing mechanism 32 further includes right-angle connecting plate 322, and the right-angle connecting plate 322 is equipped with second shaft coupling
3221, the output axis connection of the second shaft coupling 3221 and the 6th motor 321.Ankle-joint plate 316 is equipped with back side panel 3161,
Axis pin 324 is connected on the back side panel 3161, the axis pin 324 is connected with 323 rear side riser of sole, and sole 323 can enclose
It is rotated around axis pin 324.
The first motor 111, the second motor 121, third motor 131, the 4th motor 21, the 5th motor 311 and the 6th
Motor 321 is harmonic reduction stepper motor, model PK543-H50, power 33.6W, input voltage direct current 24V, input
Electric current 1.4A, output rotating speed are 0~35rpm, and it is 5Nm, instantaneous torque 11Nm to allow torque.
The method have the benefit that：
The present invention is directed to deficiencies of the prior art, provides a kind of for can be changed the unmanned ground moving system of born of the same parents
Collapsible legs portion mechanism.The leg mechanism includes Three Degree Of Freedom hip joint, the knee joint of single-degree-of-freedom and double freedom
Ankle-joint.The movement in each joint of leg mechanism is carried out jointly by harmonic reduction stepper motor or with planetary gear reducing mechanism
Driving.
(1) when hip joint mechanism of the present invention does yaw motion, upper rotating mechanism is rotated by 360 ° around Z1 axis, middle rotating mechanism
Cross sleeve can be driven around 45 ° of the rotation counterclockwise of X1 axis, rotate clockwise 45 °.When hip joint mechanism does pitching movement, backspin
Rotation mechanism can drive leg member to rotate counterclockwise 80 ° around Y1 axis, rotate clockwise 105 °.Knee-joint mechanism can drive shank
Component rotates clockwise 165 ° around 100 ° of the rotation counterclockwise of Y2 axis.When pitching movement is done by ankle-joint mechanism, ankle side-swing mechanism encloses
Around 30 ° of the rotation counterclockwise of Y3 axis, 30 °, when side-sway movement is done by ankle-joint mechanism are rotated clockwise, ankle longitudinal direction mechanism is inverse around X3 axis
Hour hands rotate 30 °, rotate clockwise 30 °.
(2) harmonic reduction stepper motor and planetary gear reducing mechanism, and harmonic reduction stepping electricity are used in terms of deceleration
The axis of machine and the axis collinear of planetary gear reducing mechanism, the ways of deceleration and arrangement had both made leg mechanism structure tight
It gathers, while improving the reliability of deceleration mechanism deceleration again, it is also ensured that the folding and expanding of leg mechanism moves.
(3) when the unmanned ground moving system of variable born of the same parents need to be moved with wheel posture, in the leg mechanism, hip closes
Section mechanism meeting nature is included in thigh parts, and thigh parts can also fold in lower leg component naturally, and leg mechanism is in system
Middle volume is by 0.0222m3It is reduced to 0.0091m3, 41% or so of volume when only accounting for standing state, and entire pin components are also all rolled over
It is received in the body of the ground moving system.
(4) when the unmanned ground moving system of variable born of the same parents need to be walked with class people's state, the sole of leg mechanism can be first
It lands, then leg mechanism is launched into stand-type.The unmanned ground moving system of born of the same parents is can be changed by harmonic reduction step motor control
Realize that a variety of type of drive such as walking, turning, climbing are advanced on slope, under the complex road conditions such as ladder.
Description of the drawings
Fig. 1 is schematic structural view of the invention.
Fig. 2 is hip joint mechanism schematic diagram of the present invention.
Fig. 3 is rotating mechanism schematic diagram in the present invention.
Fig. 4 is connecting elements structural schematic diagram of the present invention.
Fig. 5 is rotating mechanism structural schematic diagram in the present invention.
Fig. 6 is cross sleeve structural schematic diagram of the present invention.
Fig. 7 is rotating mechanism structural schematic diagram under the present invention.
Fig. 8 is knee-joint mechanism schematic diagram of the present invention.
Fig. 9 is ankle-joint structural scheme of mechanism of the present invention.
Figure 10 is ankle luffing mechanism schematic diagram of the present invention.
Figure 11 is ankle side-swing mechanism schematic diagram of the present invention.
Figure 12 is leg member of the present invention and small leg member completely folded state schematic diagram.
Figure 13 is the side-sway of hip joint of the present invention and the pitch attitude schematic diagram of pitching, kneed pitching and ankle-joint.
Figure 14 is the pitch attitude schematic diagram of the pitching of hip joint of the present invention, kneed pitching and ankle-joint.
Figure 15 is that deflection and pitching, kneed pitching and the pitching of ankle-joint and the side-sway state of hip joint of the present invention are shown
It is intended to
Serial number in figure：Hip joint mechanism 1, upper rotating mechanism 11, first motor 111, connecting elements 112, electric motor end cap
1121, first shaft coupling 1122, transmission shaft 1123, first bearing 1124, locking nut 1125, flat shim 1126, flat key 1127,
Hip joint connecting plate 113, upper connecting hole 1131, left connecting hole 1132, right connecting hole 1333, planetary gear shaft hole 1134, middle rotation
Rotation mechanism 12, the second motor 121, middle planetary gear reducing mechanism 122, sealing plate 123, the first seal cover board 124, locating shaft
125, lower rotating mechanism 13, third motor 131, second bearing 132, lower planetary gear deceleration mechanism 133, the second end cover
134,3rd bearing 135, cross sleeve 14, the second motor cabinet 141, third motor cabinet 142, intermediate square hole 143, bearing block end plate
144, locating shaft end plate 145, positioning hubcap 1451, leg member 15, thigh connecting plate 151, thigh left risers 152, thigh
Right risers 153, knee-joint mechanism 2, the 4th motor 21, knee planetary gear reducing mechanism 22, fourth bearing 23, small leg member 24,
Shank connecting plate 241, shank left risers 242, shank right risers 243, knee end cover 25,5th bearing 26, ankle-joint mechanism
3, ankle luffing mechanism 31, the 5th motor 311, the 5th motor cabinet 312, ankle planetary gear reducing mechanism 313,6th bearing 314,
Seven bearings 315, ankle-joint plate 316, back side panel 3161, ankle side-swing mechanism 32, the 6th motor 321, right-angle connecting plate 322, second
Shaft coupling 3221, sole 323, axis pin 324, car bottom plate 4.
Specific implementation mode
Below in conjunction with the accompanying drawings, by embodiment, the invention will be further described.
In the description of technical solution of the present invention, it should be noted that for the noun of locality, upper and lower if any term, forward and backward,
The indicating positions such as left and right, vertical, horizontal, bottom and position relationship be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for the narration present invention and simplify description, do not indicate or imply the indicated device or element must have a particular orientation,
It is constructed and is operated with particular orientation, the specific protection domain that should not be construed as limiting the invention.In addition, if any term first,
Two are used for description purposes only, and are not understood to indicate or imply relative importance or implicitly indicate the quantity of technical characteristic.
Embodiment one
Referring to Fig. 1, a kind of collapsible legs portion mechanism for can be changed the unmanned ground moving system of born of the same parents, including hip joint mechanism
1, knee-joint mechanism 2, ankle-joint mechanism 3 and car bottom plate 4, the car bottom plate 4 are fixedly connected on the unmanned ground moving system of variable born of the same parents
On the vehicle frame of system.
Referring to Fig. 2~Fig. 6, the hip joint mechanism 1 includes upper rotating mechanism 11, middle rotating mechanism 12, lower rotating mechanism
13, cross sleeve 14 and leg member 15；The upper rotating mechanism 11 includes first motor 111, connecting elements 112 and hip joint
Connecting plate 113；The first motor 111 is connected to the upside of car bottom plate 4；The hip joint connecting plate 113 passes through connecting elements
112 and first motor 111 export axis connection, and hip joint connecting plate 113 is located at the downside of car bottom plate 4.
The connecting elements 112 includes electric motor end cap 1121, first shaft coupling 1122, transmission shaft 1123 and first bearing
1124, the output flange of the top connection first motor 111 of the electric motor end cap 1121, the output shaft of first motor 111 connects
Connect one end of first shaft coupling 1122, the upper end of the other end connection transmission shaft 1123 of first shaft coupling 1122, transmission shaft 1123
Lower end be set with first bearing 1124, the bearing hole in the outer circle and car bottom plate 4 of first bearing 1124 matches；Transmission shaft 1123
Lower end be additionally provided with keyway, flat key 1127 is installed on the keyway, is transmitted and is turned round to hip joint connecting plate 113 by flat key 1127
Square.The lower section of keyway is equipped with threaded journal, and threaded journal passes through the upper connecting hole 1131 of hip joint connecting plate 113, uses locking screw
Hip joint connecting plate 113 is locked on transmission shaft 1123 by mother 1125 and flat shim 1126.
The hip joint connecting plate 113 is the U-bend plate that Open Side Down, and upper cross plate is equipped with upper connecting hole 1131, side
Riser is equipped with left connecting hole 1132, and the both sides of left connecting hole 1132 are respectively equipped with a planetary gear shaft hole 1134, the other side
Riser is equipped with right connecting hole 1333.
The leg member 15 includes thigh connecting plate 151, thigh left risers 152 and thigh right risers 153, the thigh
Thigh connecting plate 151 is connected between left risers 152 and thigh right risers 153.
The centre of the cross sleeve 14 is equipped with intermediate square hole 143, and the X1 axis directions are equipped with the second motor cabinet 141 and determine
Position shaft end plate 145, and the second motor cabinet 141 and locating shaft end plate 145 are located at the both sides of intermediate square hole 143, position shaft end
The outside of plate 145 is equipped with positioning hubcap 1451.The Y1 axis directions are equipped with third motor cabinet 142 and bearing end plate 144, and the
Three motor cabinets 142 and bearing end plate 144 are located at the both sides of intermediate square hole 143.
Referring to Fig. 7, the output flange of the third motor 131 is mounted on third motor cabinet 142, third motor 131
Output shaft on connection lower planetary gear deceleration mechanism 133 driving gear, two planets of lower planetary gear deceleration mechanism 133
Wheel shaft is respectively inserted in 142 corresponding hole of third motor cabinet, and dress is there are one second bearing 132 on third motor cabinet 142, and described the
Two bearings, 132 endoporus coordinates with seam allowance on the inside of 153 upper end of thigh right risers, and lower planetary gear deceleration mechanism 133 is mounted on
In 153 upper end hole of thigh right risers, the second end cover 134 is installed in the outside of lower planetary gear deceleration mechanism 133.The bearing
3rd bearing 135 is installed, 135 endoporus of 3rd bearing coordinates with the seam allowance on the inside of 152 upper end of thigh left risers in end plate 144.Institute
It includes shank connecting plate 241, shank left risers 242 and shank right risers 243, the shank left risers 242 to state small leg member 24
Shank connecting plate 241 is connected between shank right risers 243.
Referring to Fig. 8, the lower end inside of the thigh right risers 153 connects the 4th motor 21, the output shaft of the 4th motor 21
The driving gear of upper connection knee planetary gear reducing mechanism 22, two planet wheel spindles of knee planetary gear reducing mechanism 22 are inserted respectively
Fourth bearing 23, fourth bearing are installed in the lower end outside of thigh right risers 153, the lower end outside hole of thigh right risers 153
23 endoporus coordinate with seam allowance on the inside of 243 upper end of shank right risers, and knee planetary gear reducing mechanism 22 is mounted on shank right risers 243
In upper end hole, 22 outside installation knee end cover 25 of knee planetary gear reducing mechanism.The lower end outside of the thigh left risers 152
5th bearing 26 is installed, endoporus and the seam allowance on the inside of 242 upper end of shank left risers of the 5th bearing 26 coordinate in hole.
Referring to Fig. 9~Figure 11, the ankle-joint mechanism 3 includes ankle side-swing mechanism 31 and ankle longitudinal direction mechanism 32.The ankle side
Swinging mechanism 31 further includes the 5th motor cabinet 312,6th bearing 314 and 7th bearing 315, and the right side of the ankle-joint plate 316 is perpendicular
The 5th motor cabinet 312 is connected in straight panel, the output flange of the 5th motor 311 is mounted on 312 inside of the 5th motor cabinet, the 5th electricity
The driving gear of the output axis connection ankle planetary gear reducing mechanism 313 of machine 311, two of ankle planetary gear reducing mechanism 313
Planet wheel spindle is respectively inserted in the corresponding hole in 312 outside of the 5th motor cabinet.The 6th is installed in 243 lower end inside hole of shank right risers
Bearing 314,314 endoporus of 6th bearing and 312 outside seam allowance of the 5th motor cabinet coordinate.The left side vertical of the ankle-joint plate 316
Seam allowance on plate and 315 inner hole of 7th bearing, outer circle and 242 lower end inside of shank left risers of the 7th bearing 315
Hole coordinates.
The ankle longitudinal direction mechanism 32 further includes right-angle connecting plate 322, and the right-angle connecting plate 322 is equipped with second shaft coupling
3221, the output axis connection of the second shaft coupling 3221 and the 6th motor 321.Ankle-joint plate 316 is equipped with back side panel 3161,
Axis pin 324 is connected on the back side panel 3161, the axis pin 324 is connected with 323 rear side riser of sole, and sole 323 can enclose
It is rotated around axis pin 324.
Referring to Figure 12, leg member 15, small leg member 24 can be realized to be folded from vertical direction to horizontal direction.
Referring to Figure 13~Figure 15, when first motor 111, the second motor 121, third motor 131, the 4th motor the 21, the 5th
When motor 311 and the 6th motor 321 link, leg member 15 realizes the rotation of the three degree of freedom in the direction Z1, X1, Y1 respectively.
Small leg member 24 realizes the rotation of the directions Y2 one degree of freedom.Sole 323 realizes two degree of freedom in the direction X3, Y3 respectively
Rotation.
When hip joint mechanism 1 of the present invention does yaw motion, upper rotating mechanism 11 is rotated by 360 ° around Z1 axis, middle rotating mechanism
12 can drive cross sleeve 14 around 45 ° of the rotation counterclockwise of X1 axis, rotate clockwise 45 °.Hip joint mechanism 1 does pitching movement
When, lower rotating mechanism 13 can drive leg member 15 to rotate counterclockwise 80 ° around Y1 axis, rotate clockwise 105 °.Knee joint machine
Structure 2 can drive small leg member 24 around 100 ° of the rotation counterclockwise of Y2 axis, rotate clockwise 165 °.Pitching fortune is done by ankle-joint mechanism 3
When dynamic, ankle side-swing mechanism 31 rotates clockwise 30 °, when side-sway movement is done by ankle-joint mechanism 3 around 30 ° of the rotation counterclockwise of Y3 axis,
Ankle longitudinal direction mechanism 32 rotates clockwise 30 ° around 30 ° of the rotation counterclockwise of X3 axis.
The above content is not to be made any form of restriction to structure, the shape of the present invention.Every skill according to the present invention
Art essence still falls within technical solution of the present invention to any simple modification, equivalent change and modification made by above example
In range.
Claims (9)
1. a kind of collapsible legs portion mechanism for can be changed the unmanned ground moving system of born of the same parents, it is characterised in that：Including hip joint machine
Structure (1), knee-joint mechanism (2), ankle-joint mechanism (3) and car bottom plate (4), the car bottom plate (4) be fixedly connected on variable born of the same parents without
On the vehicle frame of people's ground moving system；
The hip joint mechanism (1) includes upper rotating mechanism (11), middle rotating mechanism (12) and lower rotating mechanism (13)；On described
Rotating mechanism (11) includes first motor (111), connecting elements (112) and hip joint connecting plate (113), the first motor
(111) it is connected to the upside of car bottom plate (4), the hip joint connecting plate (113) passes through connecting elements (112) and first motor
(111) axis connection is exported, and hip joint connecting plate (113) is located at the downside of car bottom plate (4)；
Connection cross sleeve (14), orthogonal two of the cross sleeve (14) on the inside of the hip joint connecting plate (113)
Middle rotating mechanism (12) and lower rotating mechanism (13) are separately connected on position, the middle rotating mechanism (12) includes the second motor
(121) and middle planetary gear reducing mechanism (122)；The lower rotating mechanism (13) includes third motor (131) and lower planet tooth
Deceleration mechanism (133) is taken turns, the upper end of leg member (15) is connected on the lower rotating mechanism (13)；First motor (111) drives
Hip joint connecting plate (113) is dynamic around Z1 shaft rotations；Second motor (121) is driven big by middle planetary gear reducing mechanism (122)
Leg member (15) is dynamic around X1 shaft rotations；Third motor (131) drives leg member by lower planetary gear deceleration mechanism (133)
(15) it is dynamic that Y1 shaft rotations are surrounded；
The lower end connection knee-joint mechanism (2) of the leg member (15), the knee-joint mechanism (2) include the 4th motor
(21), knee planetary gear reducing mechanism (22) and small leg member (24), the 4th motor (21) pass through knee planetary gear speed-reduction
Mechanism (22) drives small leg member (24) dynamic around Y2 shaft rotations；The lower end connection ankle-joint mechanism (3) of small leg member (24)；It is described
Ankle-joint mechanism (3) includes ankle luffing mechanism (31) and ankle side-swing mechanism (32), and the ankle luffing mechanism (31) includes the 5th electricity
Machine (311), ankle planetary gear reducing mechanism (313) and ankle-joint plate (316), the ankle-joint plate (316) are two pieces parallel
The 6th motor on ankle side-swing mechanism (32) is installed in the U-board of vertical plate and the combination of one block of level board, the level board upside
(321), the output shaft connection sole (323) of the 6th motor (321), the 5th motor (311) pass through ankle planet tooth
Taking turns deceleration mechanism (313) drives ankle-joint plate (316) dynamic around Y3 shaft rotations；6th motor (321) drives sole (323)
It is dynamic around X3 shaft rotations；
When first motor (111), the second motor (121), third motor (131), the 4th motor (21), the 5th motor (311) and
When 6th motor (321) links, leg member (15) realizes the rotation of the three degree of freedom in the direction Z1, X1, Y1 respectively；Shank structure
Part (24) realizes the rotation of the directions Y2 one degree of freedom；Sole (323) realizes turning for two degree of freedom in the direction X3, Y3 respectively
It is dynamic；And leg member (15), small leg member (24) can realize the folding from vertical direction to horizontal direction.
2. a kind of collapsible legs portion mechanism for can be changed the unmanned ground moving system of born of the same parents according to claim 1, special
Sign is：The connecting elements (112) includes electric motor end cap (1121), first shaft coupling (1122), transmission shaft (1123) and
One bearing (1124), the output flange of the top connection first motor (111) of the electric motor end cap (1121), first motor
(111) other end of one end of output axis connection first shaft coupling (1122), first shaft coupling (1122) connects transmission shaft
(1123) upper end, the lower end suit first bearing (1124) of transmission shaft (1123), the outer circle and underbody of first bearing (1124)
Bearing hole on plate (4) matches；The lower end of transmission shaft (1123) is additionally provided with keyway, and flat key (1127) is installed on the keyway,
By flat key (1127) torque is transmitted to hip joint connecting plate (113)；The lower section of keyway is equipped with threaded journal, and threaded journal passes through
The upper connecting hole (1131) of hip joint connecting plate (113) connects hip joint with locking nut (1125) with flat shim (1126)
Plate (113) is locked on transmission shaft (1123).
3. a kind of collapsible legs portion mechanism for can be changed the unmanned ground moving system of born of the same parents according to claim 2, special
Sign is：The hip joint connecting plate (113) is the U-bend plate that Open Side Down, and upper cross plate is equipped with upper connecting hole (1131), one
Side riser is equipped with left connecting hole (1132), and the both sides of left connecting hole (1132) are respectively equipped with a planetary gear shaft hole
(1134), other side riser is equipped with right connecting hole (1333).
4. a kind of collapsible legs portion mechanism for can be changed the unmanned ground moving system of born of the same parents according to claim 3, special
Sign is：The leg member (15) includes thigh connecting plate (151), thigh left risers (152) and thigh right risers (153),
Thigh connecting plate (151) is connected between the thigh left risers (152) and thigh right risers (153).
5. a kind of collapsible legs portion mechanism for can be changed the unmanned ground moving system of born of the same parents according to claim 4, special
Sign is：The centre of the cross sleeve (14) is equipped with intermediate square hole (143), and the X1 axis directions are equipped with the second motor cabinet
(141) and locating shaft end plate (145), and the second motor cabinet (141) and locating shaft end plate (145) are located at intermediate square hole
(143) outside of both sides, locating shaft end plate (145) is equipped with positioning hubcap (1451)；The Y1 axis directions are equipped with third electricity
Engine base (142) and bearing block end plate (144), and third motor cabinet (142) and bearing block end plate (144) are located at intermediate square hole
(143) both sides；
The output flange of second motor (121) is mounted on the second motor cabinet (141), the output of the second motor (121)
The outside connection of the driving gear of planetary gear reducing mechanism (122) in being connected on axis, middle planetary gear reducing mechanism (122) is close
Sealing plate (123) and the first seal cover board (124), middle planetary gear reducing mechanism (122), middle planetary gear reducing mechanism (122)
Two planet wheel spindles be respectively inserted in planetary gear shaft hole (1134)；Connection in the centre bore of the positioning hubcap (1451)
The other end of one end of locating shaft (125), locating shaft (125) is inserted in right connecting hole (1333)；
The output flange of the third motor (131) is mounted on third motor cabinet (142), the output of third motor (131)
The driving gear of lower planetary gear deceleration mechanism (133), two planetary gears of lower planetary gear deceleration mechanism (133) are connected on axis
Axis is respectively inserted in the corresponding hole of third motor cabinet (142), and there are one second bearing (132), institutes for dress on third motor cabinet (142)
It states second bearing (132) endoporus with seam allowance on the inside of thigh right risers (153) upper end to coordinate, lower planetary gear deceleration mechanism
(133) it is mounted in thigh right risers (153) upper end hole, the second sealing of outside installation of lower planetary gear deceleration mechanism (133)
End cap (134)；Installation 3rd bearing (135) in the bearing block end plate (144), 3rd bearing (135) endoporus are vertical with a thigh left side
Seam allowance cooperation on the inside of plate (152) upper end.
6. a kind of collapsible legs portion mechanism for can be changed the unmanned ground moving system of born of the same parents according to claim 4, special
Sign is：The small leg member (24) includes shank connecting plate (241), shank left risers (242) and shank right risers (243),
Shank connecting plate (241) is connected between the shank left risers (242) and shank right risers (243)；
The lower end inside of the thigh right risers (153) connects the 4th motor (21), is connected on the output shaft of the 4th motor (21)
Two planet wheel spindles of the driving gear of knee planetary gear reducing mechanism (22), knee planetary gear reducing mechanism (22) are respectively inserted in
The lower end outside of thigh right risers (153), installation fourth bearing (23) in the lower end outside hole of thigh right risers (153), the 4th
Bearing (23) endoporus coordinates with seam allowance on the inside of shank right risers (243) upper end, and knee planetary gear reducing mechanism (22) is mounted on small
In leg right risers (243) upper end hole, installation knee end cover (25) on the outside of knee planetary gear reducing mechanism (22)；The thigh is left
5th bearing (26), endoporus and the shank left risers of the 5th bearing (26) are installed in the lower end outside hole of riser (152)
(242) seam allowance cooperation on the inside of upper end.
7. a kind of collapsible legs portion mechanism for can be changed the unmanned ground moving system of born of the same parents according to claim 6, special
Sign is：The ankle luffing mechanism (31) further includes the 5th motor cabinet (312), 6th bearing (314) and 7th bearing (315),
The 5th motor cabinet (312), the output flange of the 5th motor (311) are connected on the right vertical plate of the ankle-joint plate (316)
On the inside of the 5th motor cabinet (312), the output axis connection ankle planetary gear reducing mechanism (313) of the 5th motor (311)
Driving gear, two planet wheel spindles of ankle planetary gear reducing mechanism (313), which are respectively inserted on the outside of the 5th motor cabinet (312), to be corresponded to
Hole in；6th bearing (314), 6th bearing (314) endoporus and the 5th electricity are installed in shank right risers (243) lower end inside hole
Seam allowance cooperation on the outside of engine base (312)；Seam allowance and 7th bearing (315) on the left side vertical plate of the ankle-joint plate (316) is interior
Hole coordinates, and outer circle and shank left risers (242) lower end inside hole of the 7th bearing (315) coordinate.
8. a kind of collapsible legs portion mechanism for can be changed the unmanned ground moving system of born of the same parents according to claim 1, special
Sign is：The ankle side-swing mechanism (32) further includes right-angle connecting plate (322), and the right-angle connecting plate (322) is equipped with second
Shaft coupling (3221), the output axis connection of the second shaft coupling (3221) and the 6th motor (321)；On ankle-joint plate (316)
Equipped with back side panel (3161), axis pin (324) is connected on the back side panel (3161), after the axis pin (324) and sole (323)
Cant board connects, and sole (323) can surround axis pin (324) and rotate.
9. a kind of collapsible legs portion mechanism for can be changed the unmanned ground moving system of born of the same parents according to claim 1, special
Sign is：The first motor (111), the second motor (121), third motor (131), the 4th motor (21), the 5th motor
(311) and the 6th motor (321) is harmonic reduction stepper motor, model PK543-H50, power 33.6W, input voltage
Direct current 24V, input current 1.4A, output rotating speed are 0~35rpm, and it is 5Nm, instantaneous torque 11Nm to allow torque.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810579743.7A CN108556957B (en) | 2018-06-07 | 2018-06-07 | Foldable leg mechanism for changeable cell unmanned ground moving system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810579743.7A CN108556957B (en) | 2018-06-07 | 2018-06-07 | Foldable leg mechanism for changeable cell unmanned ground moving system |
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| CN108556957A true CN108556957A (en) | 2018-09-21 |
| CN108556957B CN108556957B (en) | 2020-09-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810579743.7A Active CN108556957B (en) | 2018-06-07 | 2018-06-07 | Foldable leg mechanism for changeable cell unmanned ground moving system |
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| CN109178139A (en) * | 2018-11-19 | 2019-01-11 | 东莞深圳清华大学研究院创新中心 | A kind of Mini humanoid robot six degree of freedom leg structure of hip joint enhancing |
| CN110328654A (en) * | 2019-07-17 | 2019-10-15 | 军事科学院系统工程研究院军需工程技术研究所 | Passive type knee joint force aid system and method |
| CN110696940A (en) * | 2019-11-21 | 2020-01-17 | 上海交通大学 | Omnidirectional wheel foot type robot |
| CN110949562A (en) * | 2019-11-29 | 2020-04-03 | 深圳市优必选科技股份有限公司 | Running gear and robot |
| CN110949564A (en) * | 2019-12-19 | 2020-04-03 | 南京涵铭置智能科技有限公司 | Robot shock attenuation machinery is sufficient |
| CN112208669A (en) * | 2020-10-30 | 2021-01-12 | 深圳市优必选科技股份有限公司 | Leg structure and humanoid robot |
| CN112407088A (en) * | 2020-11-23 | 2021-02-26 | 武汉理工大学 | Integrated walking steering drive axle |
| CN112720405A (en) * | 2020-12-04 | 2021-04-30 | 北京理工大学 | Humanoid robot and multi-rotation-freedom-degree ankle joint thereof |
| CN113459153A (en) * | 2021-07-06 | 2021-10-01 | 杭州国辰机器人科技有限公司 | Three-degree-of-freedom motion joint assembly |
| CN113911231A (en) * | 2021-11-26 | 2022-01-11 | 合肥工业大学 | Wheel-leg combined type unmanned metamorphic vehicle |
| CN113911230A (en) * | 2021-11-26 | 2022-01-11 | 合肥工业大学 | Folding wheel mechanism for foot mechanism of unmanned metamorphic vehicle and foot mechanism |
| CN113928441A (en) * | 2021-11-26 | 2022-01-14 | 合肥工业大学 | Unmanned metamorphic vehicle with folding legs and deformable vehicle body |
| CN114056450A (en) * | 2021-11-26 | 2022-02-18 | 合肥工业大学 | Wheel-foot type folding leg for unmanned metamorphic vehicle |
| CN114435505A (en) * | 2021-12-21 | 2022-05-06 | 之江实验室 | Flexible foot of robot |
| CN114750851A (en) * | 2021-07-12 | 2022-07-15 | 智能移动机器人(中山)研究院 | Steering engine-based four-six-foot robot with variable structure and traveling method thereof |
| CN114919675A (en) * | 2022-06-09 | 2022-08-19 | 北京理工大学 | Wheel-foot conversion mechanism and control method thereof |
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| CN110696940A (en) * | 2019-11-21 | 2020-01-17 | 上海交通大学 | Omnidirectional wheel foot type robot |
| CN110696940B (en) * | 2019-11-21 | 2021-08-27 | 上海交通大学 | Omnidirectional wheel foot type robot |
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| CN112407088B (en) * | 2020-11-23 | 2021-12-17 | 武汉理工大学 | Integrated walking steering drive axle |
| CN112407088A (en) * | 2020-11-23 | 2021-02-26 | 武汉理工大学 | Integrated walking steering drive axle |
| CN112720405A (en) * | 2020-12-04 | 2021-04-30 | 北京理工大学 | Humanoid robot and multi-rotation-freedom-degree ankle joint thereof |
| CN112720405B (en) * | 2020-12-04 | 2023-12-08 | 北京理工大学 | Humanoid robot and ankle joint with multiple rotational degrees of freedom |
| CN113459153A (en) * | 2021-07-06 | 2021-10-01 | 杭州国辰机器人科技有限公司 | Three-degree-of-freedom motion joint assembly |
| CN114750851A (en) * | 2021-07-12 | 2022-07-15 | 智能移动机器人(中山)研究院 | Steering engine-based four-six-foot robot with variable structure and traveling method thereof |
| CN114056450A (en) * | 2021-11-26 | 2022-02-18 | 合肥工业大学 | Wheel-foot type folding leg for unmanned metamorphic vehicle |
| CN113928441A (en) * | 2021-11-26 | 2022-01-14 | 合肥工业大学 | Unmanned metamorphic vehicle with folding legs and deformable vehicle body |
| CN113911230A (en) * | 2021-11-26 | 2022-01-11 | 合肥工业大学 | Folding wheel mechanism for foot mechanism of unmanned metamorphic vehicle and foot mechanism |
| CN113928441B (en) * | 2021-11-26 | 2022-09-30 | 合肥工业大学 | Unmanned metamorphic vehicle with folding legs and deformable vehicle body |
| CN113911230B (en) * | 2021-11-26 | 2022-12-02 | 合肥工业大学 | Folding wheel mechanism for foot mechanism of unmanned metamorphic vehicle and foot mechanism |
| CN113911231B (en) * | 2021-11-26 | 2022-12-06 | 合肥工业大学 | Wheel-leg combined type unmanned metamorphic vehicle |
| CN113911231A (en) * | 2021-11-26 | 2022-01-11 | 合肥工业大学 | Wheel-leg combined type unmanned metamorphic vehicle |
| CN114435505A (en) * | 2021-12-21 | 2022-05-06 | 之江实验室 | Flexible foot of robot |
| CN114919675A (en) * | 2022-06-09 | 2022-08-19 | 北京理工大学 | Wheel-foot conversion mechanism and control method thereof |
| CN114919675B (en) * | 2022-06-09 | 2023-03-31 | 北京理工大学 | Wheel-foot conversion mechanism and control method thereof |
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