CN108791563A - A kind of legged type robot list leg device and legged type robot - Google Patents
A kind of legged type robot list leg device and legged type robot Download PDFInfo
- Publication number
- CN108791563A CN108791563A CN201810614931.9A CN201810614931A CN108791563A CN 108791563 A CN108791563 A CN 108791563A CN 201810614931 A CN201810614931 A CN 201810614931A CN 108791563 A CN108791563 A CN 108791563A
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- Prior art keywords
- hip
- component
- driving mechanism
- connecting rod
- connector
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Classifications
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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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of legged type robot list leg device and robots, and for solving the problems, such as existing legged type robot list leg structure, there are complicated, of high cost comprising hip component, thigh parts and lower leg component；Hip component connects hip driving mechanism by hip connector and forms hip joint；Hip component is connected by the first revolute pair with thigh parts and forms hip joint；Thigh parts are connect by the second revolute pair with lower leg component and form knee joint；Hip component is connected by hip leg connector with thigh parts；Hip component is driven by hip driving mechanism so that thigh parts turn about the X axis；Thigh parts are driven by crotch's driving mechanism, are rotated around Y-axis；Knee driving mechanism in thigh parts is connect with lower leg component by shank connector；Lower leg component is driven by knee driving mechanism, is rotated around Y-axis；It is ball-screw driving unit that hip driving mechanism, crotch's driving mechanism are identical with knee driving mechanism structure.
Description
Technical field
The invention belongs to the technical field of robot, it is related to a kind of legged type robot list leg device and legged type robot.
Background technology
Currently, the walking mechanism of land walking robot includes mainly wheeled, crawler type and sufficient formula.Legged type robot and wheel
Formula and the maximum of caterpillar type robot are the difference lies in that it connects with the contact performance on ground for noncontinuity in the process of walking
It touches, so legged type robot has good environmental suitability, can walk under complicated orographic condition, can be widely applied to
Military and civilian and entertainment field.The leg structure of legged type robot is the important component part of robot, to the fortune of legged type robot
It is dynamic to play very important effect.
Existing legged type robot has hydraulic-driven, electric drive, pneumatic actuation etc..Hydraulic-driven needs complicated hydraulic pressure system
System, pneumatic actuation have the characteristics that action is unsmooth rambunctious, and electric drive mostly uses special motor and exports larger torque to sufficient formula
Robot is driven.Notification number is a kind of entitled compound changes that elasticity foot is combined with wheel type motion mechanism of CN103287523B
It is referred in the patent of shape mobile robot in such a way that ball-screw drives, but its structure is more complicated.
To sum up, existing legged type robot list leg structure there is a problem of complicated, of high cost, therefore, it is necessary to there is an urgent need for
A kind of legged type robot list leg structure simple in structure, at low cost.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of legged type robot list leg device and sufficient formula machines
Device people, for solving the problems, such as existing legged type robot list leg structure, there are complicated, of high cost.The legged type robot list leg
Device is a kind of efficient legged type robot leg structure, the load that smaller drive force can be used larger.
For achieving the above object, the present invention provides technical solution it is as follows：
On the one hand, the present invention provides a kind of legged type robot list leg devices, including hip component, thigh parts and calf
Part；The hip component connects hip driving mechanism by hip connector and forms hip joint；The hip component and thigh parts are logical
The first revolute pair is crossed to connect and form hip joint；The thigh parts are connect by the second revolute pair with lower leg component and form knee
Joint；
The hip component is driven by hip driving mechanism so that hip joint turns about the X axis；Crotch in the hip component drives
Motivation structure is connect with thigh parts by hip leg connector；
The thigh parts are driven by crotch's driving mechanism so that hip joint is rotated around Y-axis；Knee in thigh parts drives
Motivation structure is connect with lower leg component by shank connector；
The lower leg component is driven by knee driving mechanism so that knee joint is rotated around Y-axis；
It is that ball-screw driving is single that the hip driving mechanism, crotch's driving mechanism are identical with knee driving mechanism structure
Member.
Beneficial effects of the present invention：The present invention uses modular mentality of designing, hip driving mechanism, crotch's driving mechanism
It is arranged in hip component, the knee driving mechanism is arranged in thigh parts, and hip driving mechanism, crotch's driving mechanism
Identical with knee driving mechanism structure includes ball-screw driving unit, while being turned motor by the effect of ball-screw
What square was converted into hip leg connector and shank connector pushes away (drawing) power, and the configuration of the present invention is simple, part reusability are high, at low cost.
Further, the ball-screw driving unit includes：
Motor, first bearing external member, second bearing external member, synchronous pulley, ball screw, feed screw nut, feed screw nut are led
Bar；
Wherein, the synchronous pulley includes synchronous belt, the first synchronizing wheel and the second synchronizing wheel；
The first bearing external member includes first bearing seat, the first through hole in first bearing seat, the second through-hole, Yi Ji
The angular contact ball bearing being arranged in two through-holes；The second bearing external member includes second bearing seat, the third in second bearing seat
The angular contact ball bearing being arranged in through-hole and third through-hole；
The motor output shaft is coaxially connected through the first through hole of first bearing external member with the first synchronizing wheel；The ball
One end of lead screw is coaxially connected through the second through-hole of first bearing external member with the second synchronizing wheel, and the other end, which runs through, is fixed on second
In second through-hole of bearing external member；
The feed screw nut is set on the ball screw and feed screw nut guide rod, feed screw nut guide rod both ends point
It is not fixed in the first bearing seat and second bearing seat, connecting rod connector, the connecting rod is installed on the feed screw nut
The side of connector is integrated with feed screw nut locking, and pin hole is equipped with below the connecting rod connector.
Advantageous effect using above-mentioned further scheme is：There is single angular contact ball bearing branch at ball-screw both ends
Support.Motor drives ball-screw to be rotated by synchronous belt, and after ball screw turns, nut on leading screw is led due to optical axis
Its rotary freedom of rod lock, so it can only be moved in a straight line, when driver control motor does positive and negative rotation campaign, nut
Just linear motion back and forth is done on motor, to drive connecting rod connector to move together, and toothed belt transmission then allows entire system
System has certain buffer capacity.
Further, the hip connector includes third connecting rod, the 5th pin pair and the 6th pin pair；The hip connector
One end of third connecting rod is connect by the 5th pin pair with the pin hole below connecting rod connector, and the other end of the third connecting rod is logical
The 6th pin pair is crossed to connect with hip component；The hip leg connector includes first connecting rod, the first pin pair and the second pin pair；Institute
The one end for stating first connecting rod is connect by the first pin pair with the pin hole below connecting rod connector, and the other end passes through the second pin pair
It is connect with thigh parts；The shank connector includes second connecting rod, third pin pair and the 4th pin pair；The second connecting rod
One end connect with the pin hole below connecting rod connector by third pin pair, the other end passes through that the 4th pin is secondary and lower leg component
Connection.
Advantageous effect using above-mentioned further scheme is：All joints are all attached using pin pair, feed screw nut
On devise connecting rod connector, the side of connecting rod connector and feed screw nut locking are integrated, and have pin below connecting rod connector
Hole, and connect by pin pair one end of connecting rod, the other end of connecting rod are connected to the thigh, small of needs action also by pin pair
Leg or thigh, hip joint.When motor pushing feed screw nut moves back and forth, feed screw nut drives the movement of connecting rod connector, into
And thigh parts, lower leg component, hip joint is driven to rotate about center i.e. hip joint or motion of knee joint.
Second aspect, the present invention also provides a kind of legged type robot, legged type robot list leg device described above.
Description of the drawings
Fig. 1 is single leg device structure overall schematic of the invention；
Fig. 2 is ball-screw driving unit schematic diagram of the present invention.
In figure：1- hips driving mechanism, 2- crotch driving mechanism, 3- knees driving mechanism, the first revolute pairs of 4-, 5- second
Revolute pair, 6- second connecting rods, the 4th pins of 7- pair, 8- thirds pin pair, the second pins of 9- pair, 10- first connecting rods, 11- first
Pin pair, 12- hip components, 13- thigh parts, 14- lower leg components, 15- third connecting rods, the 5th pins of 16- pair, 17- first axles
Bearing, 18- angular contact ball bearings, 19- ball screws, 20- feed screw nuts, 21- feed screw nuts guide rod, 22- second bearing seats,
23- connecting rods connector, 24- pin holes, 25- motors, 26- synchronous pulleys.
Specific implementation mode
The specific implementation mode of the present invention is described below in conjunction with the accompanying drawings, preferably so as to those skilled in the art
Understand the present invention.Requiring particular attention is that in the following description, when known function and the detailed description of design perhaps
When can desalinate the main contents of the present invention, these descriptions will be ignored herein.
As shown in Figure 1, the present invention provides a kind of legged type robot list leg device, including hip component 12, thigh parts 13 with
Lower leg component 14；The hip component 12 connects hip driving mechanism 1 by hip connector and forms hip joint；The hip component 12
It is connected by the first revolute pair 4 with thigh parts 13 and forms hip joint；The thigh parts 13 and lower leg component 14 pass through the
Two revolute pairs 5 connect and form knee joint.Wherein hip joint is the degree of freedom rotated around X-axis；Hip joint is to be rotated freely around Y-axis
Degree；Knee joint is the degree of freedom rotated around Y-axis；
The hip component 12 is driven by hip driving mechanism 1 so that hip joint turns about the X axis；In the hip component 12
Crotch's driving mechanism 2 is connect with thigh parts 13 by hip leg connector；
The thigh parts 13 are driven by crotch's driving mechanism 2 so that hip joint is rotated around Y-axis；In thigh parts 13
Knee driving mechanism 3 is connect with lower leg component 14 by shank connector；
The lower leg component 14 is driven by knee driving mechanism 3 so that knee joint is rotated around Y-axis；
It is that ball-screw driving is single that the hip driving mechanism, crotch's driving mechanism are identical with knee driving mechanism structure
Member.
As shown in Fig. 2, ball-screw driving unit includes：
Motor 25, first bearing external member, second bearing external member, synchronous pulley 16, ball screw 19, feed screw nut 20, silk
Thick stick nut guide rod 21；
Wherein, synchronous pulley 16 includes synchronous belt, the first synchronizing wheel and the second synchronizing wheel；
First bearing external member includes first bearing seat 17, the first through hole in first bearing seat 17, the second through-hole, Yi Ji
The angular contact ball bearing 18 being arranged in two through-holes, second bearing external member include second bearing seat 22, the in second bearing seat 22
The angular contact ball bearing 18 being arranged in three through-holes and third through-hole；
25 output shaft of motor is coaxially connected through the first through hole of first bearing external member with the first synchronizing wheel；Ball screw 19
One end be coaxially connected with the second synchronizing wheel through the second through-hole of first bearing external member；The other end of ball screw 19 is through solid
It is scheduled in the third through-hole of second bearing external member；
Feed screw nut 20 is set on the ball screw 19 and feed screw nut guide rod 21,21 liang of the feed screw nut guide rod
End is separately fixed in the first bearing seat 17 and second bearing seat 22.Connecting rod connector is installed on the feed screw nut 20
23, side and the locking of feed screw nut 20 of the connecting rod connector 23 are integrated, and 23 lower section of the connecting rod connector is equipped with pin hole
24。
Ball screw driving unit of the present invention can greatly increase the torque of motor output, reduce the present invention
Demand to Motor torque.
Although the ball-screw structure of driving unit that each driving mechanism includes in the present invention is identical, ball-screw is driven
Each component sizes are set according to specific requirements in moving cell, not necessarily identical.
The hip connector includes that third connecting rod 15, the 5th pin pair 16 and the 6th pin are secondary (being not drawn into figure)；It is described
One end of the third connecting rod 15 of hip connector is connect by the 5th pin pair 16 with the pin hole below connecting rod connector 23, and described the
The other end of three-link 15 is connect by the 6th pin pair with hip component 12；The hip leg connector includes first connecting rod 10,
One pin pair 11 and the second pin pair 9；One end of the first connecting rod 10 of the hip leg connector is by the first pin pair 11 and even
The other end of the pin hole connection of 23 lower section of joint element for bar, the first connecting rod 10 is connected by the second pin pair 9 with thigh parts 13
It connects；The shank connector includes second connecting rod 6, third pin pair 3 and the 4th pin pair 7；The second of the shank connector
One end of connecting rod 6 is connect by third pin pair with the pin hole of 23 lower section of connecting rod connector, and the other end of the second connecting rod 6 is logical
The 4th pin pair 7 is crossed to connect with lower leg component 14.
The specific work process of list leg device of the present invention is as follows：
When quadruped robot straight line moving, thigh parts 13 are driven to be rotated around the first revolute pair 4 by crotch's driving mechanism 2,
Lower leg component 14 is driven to be rotated around the second revolute pair 5 by knee driving mechanism 3, the resultant motion of two rotational motions makes single leg foot
End forms a track for being similar to semiellipse, to drive robot ambulation.
When quadruped robot is turned, entire thigh parts 13 are driven to be rotated around the X-axis of hip joint by hip driving mechanism 1,
To realize displacement of the robot in X-direction, turning is realized.
In addition, the present invention provides a kind of legged type robot, it is based on above-mentioned legged type robot list leg device.
Although the illustrative specific implementation mode of the present invention is described above, in order to the technology of the art
Personnel understand the present invention, it should be apparent that the present invention is not limited to the range of specific implementation mode, to the common skill of the art
For art personnel, if various change the attached claims limit and determine the spirit and scope of the present invention in, these
Variation is it will be apparent that all utilize the innovation and creation of present inventive concept in the row of protection.
Claims (4)
1. a kind of legged type robot list leg device, which is characterized in that including hip component, thigh parts and lower leg component；The hip
Component connects hip driving mechanism by hip connector and forms hip joint；The hip component and thigh parts pass through the first rotation
Pair connects and forms hip joint；The thigh parts are connect by the second revolute pair with lower leg component and form knee joint；
The hip component is driven by hip driving mechanism so that hip joint turns about the X axis；Crotch's driving machine in the hip component
Structure is connect with thigh parts by hip leg connector；
The thigh parts are driven by crotch's driving mechanism so that hip joint is rotated around Y-axis；Knee driving machine in thigh parts
Structure is connect with lower leg component by shank connector；
The lower leg component is driven by knee driving mechanism so that knee joint is rotated around Y-axis；
It is ball-screw driving unit that the hip driving mechanism, crotch's driving mechanism are identical with knee driving mechanism structure.
2. legged type robot list leg device according to claim 1, which is characterized in that the ball-screw driving unit packet
It includes：
Motor, first bearing external member, second bearing external member, synchronous pulley, ball screw, feed screw nut, feed screw nut guide rod；
Wherein, the synchronous pulley includes synchronous belt, the first synchronizing wheel and the second synchronizing wheel；
The first bearing external member includes that first bearing seat, the first through hole in first bearing seat, the second through-hole and second are logical
The angular contact ball bearing being arranged in hole；The second bearing external member include second bearing seat, the third through-hole in second bearing seat,
And the angular contact ball bearing being arranged in third through-hole；
The motor output shaft is coaxially connected through the first through hole of first bearing external member with the first synchronizing wheel；The ball screw
One end be coaxially connected with the second synchronizing wheel through the second through-hole of first bearing external member, the other end, which runs through, is fixed on second bearing
In the third through-hole of external member；
The feed screw nut is set on the ball screw and feed screw nut guide rod, and feed screw nut guide rod both ends are solid respectively
It is scheduled in the first bearing seat and second bearing seat, connecting rod connector, the connecting rod connection is installed on the feed screw nut
The side of part is integrated with feed screw nut locking, and pin hole is equipped with below the connecting rod connector.
3. legged type robot list leg device according to claim 2, which is characterized in that the hip connector includes that third connects
Bar, the 5th pin pair and the 6th pin pair；One end of the third connecting rod of the hip connector is connected by the 5th pin pair and connecting rod
Pin hole connection below fitting, the other end of the third connecting rod are connect by the 6th pin pair with hip component；The hip leg connects
Fitting includes first connecting rod, the first pin pair and the second pin pair；One end of the first connecting rod passes through the first pin pair and company
Pin hole connection below joint element for bar, the other end are connect by the second pin pair with thigh parts；The shank connector includes
Second connecting rod, third pin pair and the 4th pin pair；One end of the second connecting rod passes through third pin pair and connecting rod connector
The pin hole of lower section connects, and the other end is connect by the 4th pin pair with lower leg component.
4. a kind of legged type robot, which is characterized in that including legged type robot list leg as claimed in any one of claims 1-3
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810614931.9A CN108791563A (en) | 2018-06-14 | 2018-06-14 | A kind of legged type robot list leg device and legged type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810614931.9A CN108791563A (en) | 2018-06-14 | 2018-06-14 | A kind of legged type robot list leg device and legged type robot |
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| Publication Number | Publication Date |
|---|---|
| CN108791563A true CN108791563A (en) | 2018-11-13 |
Family
ID=64086188
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810614931.9A Pending CN108791563A (en) | 2018-06-14 | 2018-06-14 | A kind of legged type robot list leg device and legged type robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109693726A (en) * | 2018-11-27 | 2019-04-30 | 西北工业大学 | A kind of Form of Bionics Mechanical Legs joint transmission means |
| CN110406612A (en) * | 2019-08-19 | 2019-11-05 | 上海交通大学 | Robot leg structure and robot |
| CN110667724A (en) * | 2019-11-11 | 2020-01-10 | 路邦科技授权有限公司 | All-terrain mobile robot |
| CN111038614A (en) * | 2019-12-30 | 2020-04-21 | 深圳市优必选科技股份有限公司 | Robot and leg structure thereof |
| CN111038613A (en) * | 2019-12-30 | 2020-04-21 | 广东省智能制造研究所 | Single-leg mechanism and leg-foot type robot |
| CN111591371A (en) * | 2020-05-27 | 2020-08-28 | 贵州航天天马机电科技有限公司 | Single-leg mechanism of four-footed bionic robot |
| CN112141236A (en) * | 2020-09-25 | 2020-12-29 | 昆明理工大学 | Take shock-absorbing function's sufficient formula robot shank system of wheel |
| CN112319209A (en) * | 2020-11-18 | 2021-02-05 | 内蒙古第一机械集团股份有限公司 | Driving device suitable for leg joint movement of robot |
| CN112389562A (en) * | 2020-11-23 | 2021-02-23 | 武汉理工大学 | Middle leg and foot mechanism and wheel-foot type robot thereof |
| WO2021162851A1 (en) * | 2020-02-13 | 2021-08-19 | Boston Dynamics, Inc. | Non-planar linear actuator |
| CN114603579A (en) * | 2022-04-19 | 2022-06-10 | 贵州工程应用技术学院 | Four-foot bionic fire-fighting robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109693726A (en) * | 2018-11-27 | 2019-04-30 | 西北工业大学 | A kind of Form of Bionics Mechanical Legs joint transmission means |
| CN110406612A (en) * | 2019-08-19 | 2019-11-05 | 上海交通大学 | Robot leg structure and robot |
| CN110667724A (en) * | 2019-11-11 | 2020-01-10 | 路邦科技授权有限公司 | All-terrain mobile robot |
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| CN111038614A (en) * | 2019-12-30 | 2020-04-21 | 深圳市优必选科技股份有限公司 | Robot and leg structure thereof |
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| CN111038613B (en) * | 2019-12-30 | 2024-01-30 | 广东省智能制造研究所 | Single leg mechanism and leg foot type robot |
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| WO2021162851A1 (en) * | 2020-02-13 | 2021-08-19 | Boston Dynamics, Inc. | Non-planar linear actuator |
| US11752645B2 (en) | 2020-02-13 | 2023-09-12 | Boston Dynamics, Inc. | Non-planar linear actuator |
| CN111591371A (en) * | 2020-05-27 | 2020-08-28 | 贵州航天天马机电科技有限公司 | Single-leg mechanism of four-footed bionic robot |
| CN112141236A (en) * | 2020-09-25 | 2020-12-29 | 昆明理工大学 | Take shock-absorbing function's sufficient formula robot shank system of wheel |
| CN112319209A (en) * | 2020-11-18 | 2021-02-05 | 内蒙古第一机械集团股份有限公司 | Driving device suitable for leg joint movement of robot |
| CN112389562A (en) * | 2020-11-23 | 2021-02-23 | 武汉理工大学 | Middle leg and foot mechanism and wheel-foot type robot thereof |
| CN114603579A (en) * | 2022-04-19 | 2022-06-10 | 贵州工程应用技术学院 | Four-foot bionic fire-fighting robot |
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Application publication date: 20181113 |