CN108974172A - A kind of quadruped robot hind leg system ankle-joint and sole - Google Patents
A kind of quadruped robot hind leg system ankle-joint and sole Download PDFInfo
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- CN108974172A CN108974172A CN201810579008.6A CN201810579008A CN108974172A CN 108974172 A CN108974172 A CN 108974172A CN 201810579008 A CN201810579008 A CN 201810579008A CN 108974172 A CN108974172 A CN 108974172A
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- sole
- ankle
- joint
- support frame
- connecting rod
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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 quadruped robot hind leg system ankle-joint and soles, and including the ankle-joint and sole being rotatably connected, ankle-joint includes support plate, support frame, support frame, screw rod transmission unit and ankle-joint control unit；Screw rod transmission unit upper end is fixed on support frame top, two connecting pins of screw rod transmission unit lower end pass through the left and right ends of two first connecting rod hinged support plates, by the left and right ends of two second connecting rod hinged support framves, to realize pitching movement and the flip-flop movement of control support plate；Sole includes heel, arch of foot, sole control unit and toe.The present invention can effectively improve legged mobile robot to the adaptability and anti-interference ability of complicated landform, the reliability of enhancing and ground face contact, improve robot walking stability under irregular terrain profiles environment, expand the interaction capabilities of robot sole and environment, and the mechanical complexity of sole is correspondingly reduced, improve the control precision of ankle-joint and sole.
Description
Technical field
The invention belongs to robot fields, and in particular to a kind of quadruped robot hind leg system ankle-joint and sole.
Background technique
At this stage, robot is broadly divided into wheeled robot, caterpillar type robot and leg foot formula machine according to move mode
People, a persistent goal of research are the locomitivities for enhancing mobile system.Although caterpillar type robot and wheeled robot
It is more safe and efficient, reliable in energy efficiency and control mode, but face complicated landform environment when, Conventional drum robot
Stability and ground connection performance greatly reduce, although and caterpillar type robot can suitably reduce the requirement to landform and environment,
But the disadvantages of that there is also flexibilities simultaneously is poor, control precision is low, maintenance cost is high.However, leg legged type robot then can be good
It solves the above problems, every leg can be realized different movements, and by the coordination of each leg, by the movement of robot
Track is changed into discrete by continuous state, by robot distribution of force on robot sole and the discrete point of ground face contact, because
This, it is dry that leg legged type robot can adapt to wider landform, the interaction capabilities of more sensitive machine human and environment and the anti-external world
It is stronger to disturb ability.And it improves, optimize or even designs the structure of completely new leg legged type robot ankle-joint and sole, improve sole
Control mode is then to improve the important channel of robot walking stability and control precision under complicated landform environment.
Summary of the invention
It is for the defects in the prior art and insufficient, the present invention provides a kind of quadruped robot hind leg system ankle-joint with
Sole overcomes existing robot sole and environmental interaction ability is poor, ankle-joint is low with the control precision of sole defect.
In order to achieve the above objectives, the invention adopts the following technical scheme:
A kind of quadruped robot hind leg system ankle-joint and sole, including ankle-joint and sole, sole upper end are rotatably pacified
Fill the ankle-joint；
The ankle-joint include the support plate being connect with sole, the support frame being rotatably connected with support plate rear and front end,
Support frame, screw rod transmission unit and the ankle-joint control list for controlling ankle-joint being rotatably connected with support frame left and right ends
Member；Screw rod transmission unit upper end is fixed on support frame top, and two connecting pins of screw rod transmission unit lower end pass through two
The left and right ends of first connecting rod hinged support plate, by the left and right ends of two second connecting rod hinged support framves, to realize control
The pitching movement of support plate processed and flip-flop movement；
The sole includes the heel connecting with ankle-joint, the arch of foot of inclination laying, the sole control set on arch of foot upper surface
Unit processed and toe positioned at arch of foot end；The both ends of the arch of foot are connect with the top of heel and toe respectively by torsional spring,
Torsional spring is able to achieve the relative rotation between arch of foot and heel, toe, and heel bottom surface and toe is enable to connect as supporting point and ground
Touching.
The present invention also has following technical characteristic:
Optionally, the ankle-joint control unit includes control box and sensor；Control box installation on the support frame, control
Box issues corresponding control instruction so that ankle-joint executes corresponding operating for receiving, handling the sensor information on ankle-joint；
The screw rod transmission unit includes sequentially connected connecting pin, screw rod, self-locking mainshaft nut mechanism, electricity from bottom to up
Machine, the screw rod motion guide rail coaxial with screw rod and connecting support；
Described screw rod one end is achieved a fixed connection by screw thread and connecting pin, the screw rod other end and configuration motor output
Self-locking mainshaft nut mechanism on axis is connected, and realizes by motor output power, drives self-locking mainshaft nut mechanism to rotate, and then band
Dynamic screw rod moves up and down, and passes through the incremental encoder and digital Hall sensor detection motor turn in ankle-joint control unit
Dynamic angle, the positive and negative rotation for controlling motor, realize up and down motion and the flip-flop movement of ankle-joint；
The screw rod is inducted into screw rod motion guide rail after engaging with self-locking mainshaft nut mechanism, screw rod motion guide rail upper end
Hinged with connecting support, connecting support is fixed on support frame top；The self-locking mainshaft nut mechanism connects the motor, described
Motor is the linear brushless DC motor with retarder, is equipped with the connector for connecting counterweight vibration damper bar on motor top, matches
Certain lateral force is provided so that it stablizes fortune when weight vibration damper bar is used for screw rod transmission unit motion for first connecting rod and second connecting rod
It moves and alleviates influence of the system vibration to quadruped robot ontology.
Optionally, the connecting pin of the screw rod transmission unit, screw rod, self-locking mainshaft nut mechanism, motor and screw rod movement
Guide rail is two of parallel side-by-side setting, and two screw rod motion guide rail upper ends are hinged with the same connecting support, connection branch
Seat is fixed on support frame top.
Optionally, the support plate rear and front end is equipped with rotatable first support shaft, sets in the left and right ends of support plate
There is rotatable second support shaft, the limit hole of perforation is offered in the second support shaft, support plate lower end is connected equipped with sole
Part；
Support frame as described above is that Y-shaped structure, the upper end of support frame are leg connection ring, the friendship of the Y-shaped structure of support frame
Second connecting rod articulation piece there are two being set at left and right sides of point position.
Optionally, the support frame is square structure, and support plate is mounted on the front and back two of support frame by the first support shaft
On side, the first support shaft is fixedly connected by being interference fitted with the connecting hole on the side of front and back two of support frame；The support
Two ends below frame are connected on the side of left and right two of support frame by stand connection, and stand connection is adopted with support frame
It is fixedly connected with bolt, support frame can be rotated relative to support frame and stand connection.
Optionally, the first connecting rod upper and lower ends are equipped with mounting hole, and the lower end mounting hole of first connecting rod is covered second
Support shaft is outer and realizes interconnection by connecting rod shaft, and connecting rod shaft passes through limit hole and by interference fit and first
Connecting rod achieves a fixed connection；
The second connecting rod is H-shaped structure, and the upper end of second connecting rod passes through the second connecting rod of connecting rod shaft and support frame
Articulation piece is hinged；
The connecting pin of the upper end of the first connecting rod, the lower end of second connecting rod and screw rod transmission unit lower end is connected by connecting rod
Spindle is hinged.
Optionally, the sole control unit is fixedly connected by screw with arch of foot, sole control unit and arch of foot it is upper
Rubber material is nested between surface to protect sole control unit not by the interference of external environment；
It is equipped with arch of foot absolute encoder in the installation site of torsional spring, is turned for detecting arch of foot and heel, the opposite of toe
Dynamic angle, and the signal that will test is transmitted to sole control unit；And then for control and the optimisation strategy of whole system provide according to
According to judging that sole current state provides state parameter for sole control unit；
Displacement sensor and diaphragm type pressure sensor are equipped with below the heel, to measure heel at a distance from ground
And the non-coplanar force distribution of foot of robot；
The toe portion is provided with diaphragm type pressure sensor and acceleration transducer, to obtain foot of robot
Non-coplanar force distribution and robot forward speed.
Optionally, elastic hawser is equipped between heel and the end of arch of foot, elastic hawser can guarantee that sole part is met
Still keep the good the moving stability contacted to guarantee quadruped robot ontology and static state steady with ground when to complicated landform
It is qualitative.
Optionally, it is equipped with the ankle-joint connector that sole and ankle-joint can be rotatably connected in the upper end of heel, makes two
Person has the deflection freedom degree of certain angle, to alleviate influence when robot encounters collision or interference to robot stabilization.
Optionally, the ankle-joint connector is rotatably connected with sole connector.
Optionally, the left and right ends of the first connecting rod and support plate can be connected using ball-and-socket hinge device to realize first
Connecting rod and support plate do flip-flop movement around the first support shaft.
Compared with prior art, the present invention beneficial has the technical effect that
Quadruped robot hind leg system ankle-joint and sole provided by the invention can effectively improve legged mobile robot to multiple
The adaptability and anti-interference ability of miscellaneous landform, the reliability of enhancing and ground face contact improve robot in irregular terrain profiles ring
Walking stability under border, expands the interaction capabilities of robot sole and environment, and correspondingly reduces the mechanical complexity of sole, mentions
The high control precision of ankle-joint and sole.
Quadruped robot hind leg system ankle-joint and sole provided by the invention, ankle portion, by support plate and first
Connecting rod is attached by connecting rod shaft, and first connecting rod is able to drive inner supporting body and makes rotating motion, and greatly reduces machine
Structure complexity improves robot motion's stationarity, and robot anklebone is made to have certain flexibility；Using symmetrical two
A double leval jib realizes pitching movement and the flip-flop movement of ankle-joint, and kinetic stability is high and easily controllable；Using self-locking screw rod master
Axis nut body provides power for two four-bar mechanisms, in ankle when stable state, screw rod transmission unit it is self-locking
Function can guarantee the action stability of robot, and the sound of system can be improved when robot switchs to move state by stable state
Between seasonable, and screw rod transmission unit is connect with support frame using articulated manner, therefore it can be rotated relative to support frame, greatly
Width increases system flexibility and kinetic stability of the robot when encountering extraneous shock or complicated landform.
It is connected between the heel and arch of foot of sole part, arch of foot and left and right toe using torsional spring, and sets up separately in foot palm part and set
It is a large amount of for obtaining the sensor of robot and terrain environment, be not only able to reduce the complexity of sole some mechanical mechanism
Degree improves robot and integrally controls precision, moreover it is possible to mitigate sole part total quality, reduce control system difficulty；In addition, in foot
With being provided with elastic hawser between arch of foot, elastic rope exterior is coated by the good material of elastoplasticity, and heel is set
Influence of vibration when elastic good rubber material contacts to earth for reducing sole to robot body, and elastic hawser are set
Also ensure sole still can have with ground when encountering raised barrier it is good contact, to ensure the dynamic of robot entirety
Stability and static stability.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is integrally-built side view of the invention.
Fig. 3 is the overall structure diagram of ankle-joint of the invention.
Fig. 4 is the structural schematic diagram of support plate of the invention.
Fig. 5 is the structural schematic diagram of support frame of the invention.
Fig. 6 is the structural schematic diagram of first connecting rod of the invention.
Fig. 7 is the structural schematic diagram of second connecting rod of the invention.
Fig. 8 is the overall structure diagram of the embodiment of the present invention 2.
Fig. 9 is the overall structure diagram of the embodiment of the present invention 2.
Figure 10 is the overall structure diagram of six-degree-of-freedom parallel connection mechanism of the invention.
Figure 11 is driving motor structural schematic diagram of the invention.
Figure 12 is driving motor structural schematic diagram of the invention.
Figure 13 is driving motor fixed plate structure schematic diagram of the invention.
Figure 14 is driving motor supporting plate structure schematic diagram of the invention.
Figure 15 is lower limb structure schematic diagram of the invention.
Each label indicates in figure are as follows: 1- lower limb, 2- trunk；
10- ankle-joint, 20- sole, the leg 30-, 40- six-degree-of-freedom parallel connection mechanism, 50- driving unit；
11- support plate, 12- support frame, 13- support frame, 14- screw rod transmission unit, 15- ankle-joint control unit, 16-
One connecting rod, 17- second connecting rod；
The first support shaft of 111-, the second support shaft of 112-, 113- limit hole, 114- sole connector；
The leg 131- connection ring, 132- second connecting rod articulation piece, 133- stand connection；
The connecting pin 141-, 142- screw rod, the self-locking mainshaft nut mechanism of 143-, 144- motor, 145- screw rod motion guide rail,
146- connecting support, 147- counterweight vibration damper bar；
151- controls box；
161- mounting hole；
21- heel, 22- arch of foot, 23- sole control unit, 24- toe, 25- elasticity hawser；
211- ankle-joint connector；
41- moving platform, 42- silent flatform, 43- rod piece, 44- connecting rod, 45- flake flexural pivot；
411- rod piece motor, 421- rod piece articulation piece；
51- driving motor, 52- driving motor fixed plate, 53- driving motor support plate.
Specific embodiment
Below in conjunction with Figure of description, detailed description of the preferred embodiments.It should be understood that this
Locate described specific embodiment to be merely to illustrate and explain the present invention, be not intended to restrict the invention.
Embodiment 1:
The present embodiment provides a kind of quadruped robot hind leg system ankle-joint and soles, as shown in Figures 1 to 7, including ankle
Joint 10 and sole 20, the rotatably mounted ankle-joint 10 in 20 upper end of sole.
Ankle-joint 10 includes the support plate 11 connecting with sole 20 and the support that 11 rear and front end of support plate is rotatably connected
Frame 12, the support frame 13 being rotatably connected with 12 left and right ends of support frame, screw rod transmission unit 14 and for controlling ankle-joint 10
Ankle-joint control unit 15；14 upper end of screw rod transmission unit is fixed on 13 top of support frame, under screw rod transmission unit 14
Two connecting pins 141 at end pass through the left and right ends of two 16 hinged support plates 11 of first connecting rod, pass through two second connecting rods 17
The left and right ends of hinged support frame 13, to realize pitching movement and the flip-flop movement of support plate 11；Ankle portion will support
Plate and first connecting rod are attached by connecting rod shaft, and first connecting rod is able to drive inner supporting body and makes rotating motion, significantly
Mechanical complications are reduced, robot motion's stationarity is improved, make robot anklebone that there is certain flexibility；Using left and right
Symmetrical two double leval jibs realize pitching movement and the flip-flop movement of ankle-joint, and kinetic stability is high and easily controllable；Using certainly
It locks screw rod mainshaft nut mechanism and provides power for two four-bar mechanisms, in ankle when stable state, screw rod transmission list
The self-locking function of member can guarantee the action stability of robot, and being capable of the raising when robot is switched to move state by stable state
The response time of system, and screw rod transmission unit is connect with support frame using articulated manner, therefore it can be relative to support
Frame rotation is added significantly to system flexibility and kinetic stability of the robot when encountering extraneous shock or complicated landform.
Sole 20 includes the heel 21 connecting with ankle-joint 10, the arch of foot 22 of inclination laying, set on 22 upper surface of arch of foot
Sole control unit 23 and toe 24 positioned at 22 end of arch of foot；The both ends of the arch of foot 22 by torsional spring respectively with heel 21
Top and toe 24 connect, and torsional spring is able to achieve the relative rotation between arch of foot 22 and heel 21, toe 24, make 21 bottom surface of heel and
Toe 24 can be as supporting point and ground face contact.Torsional spring is used between the heel and arch of foot of sole part, arch of foot and left and right toe
Connection, and it is provided with a large amount of sensor for being used to obtain robot and terrain environment in foot palm part point, it is not only able to reduce foot
The complexity of some mechanical mechanism is slapped, robot is improved and integrally controls precision, moreover it is possible to mitigate sole part total quality, reduce control
System difficulty processed；In addition, being provided with elastic hawser between heel and arch of foot, elastic rope exterior is by the good material of elastoplasticity
Cladding, and heel is provided with vibration when the good rubber material of elasticity contacts to earth for reducing sole to robot body
Influence, and elastic hawser also ensure sole still can have with ground when encountering raised barrier it is good contact, with
Ensure the dynamic stability and static stability of robot entirety.
Through the above technical solutions, quadruped robot hind leg system ankle-joint provided by the invention and sole, it can be effective
Legged mobile robot is improved to the adaptability and anti-interference ability of complicated landform, the reliability of enhancing and ground face contact improves machine
Device people walking stability under irregular terrain profiles environment, expands the interaction capabilities of robot sole and environment, and correspondingly reduces
The mechanical complexity of sole improves the control precision of ankle-joint and sole.
In the present embodiment, ankle-joint control unit 15 includes control box 151 and sensor；Control box 151 is mounted on support
On frame 13, control box 151 issues corresponding control instruction so that ankle for receiving, handling the sensor information on ankle-joint 10
Joint 10 executes corresponding operating.
Screw rod transmission unit 14 includes sequentially connected connecting pin 141, screw rod 142, self-locking mainshaft nut machine from bottom to up
Structure 143, motor 144, the screw rod motion guide rail 145 coaxial with screw rod 142 and connecting support 146；Connecting pin in the present embodiment
141 be inverted U-shaped, 142 one end of screw rod by achieving a fixed connection at the top of screw thread and connecting pin 141,142 other end of screw rod and
The self-locking mainshaft nut mechanism 143 configured on the output shaft of motor 144 is connected, and realizes by motor output power, drives self-locking
Mainshaft nut mechanism 143 rotates, and then screw rod 142 is driven to move up and down, and is compiled by the increment in ankle-joint control unit 15
Code device and digital Hall sensor detection 144 rotational angle of motor, the positive and negative rotation for controlling motor 144, realize ankle-joint 10
Up and down motion and flip-flop movement；Screw rod 142 is inducted into screw rod motion guide rail 145 after engaging with self-locking mainshaft nut mechanism 143,
145 upper end of screw rod motion guide rail and connecting support 146 are hinged, and connecting support 146 is fixed on 13 top of support frame；The self-locking master
Axis nut body 143 connects the motor 144, and the motor 144 is the linear brushless DC motor with retarder, in motor
144 tops are equipped with the connector for connecting counterweight vibration damper bar 147, and counterweight vibration damper bar 147 is moved for screw rod transmission unit 14
When for first connecting rod 16 and second connecting rod 17 provide certain lateral force so as to its stable motion and alleviate system vibration to four-footed machine
The influence of device human body.
In the present embodiment, the connecting pin 141 of screw rod transmission unit 14, screw rod 142, self-locking mainshaft nut mechanism 143, electricity
Machine 144 and screw rod motion guide rail 145 be parallel side-by-side setting two, two 145 upper ends of screw rod motion guide rail with it is same
A connecting support 146 is hinged, and connecting support 146 is fixed on 13 top of support frame.When two motors 144 receive ankle-joint control list
Member 15 issue rotating Vortex signals after, self-locking mainshaft nut mechanism 143 will push screw rod 142 so that drive first connecting rod 16,
Second connecting rod 17, support frame 12, support plate 11 do the pitching movement of certain angle around support frame 13；When two motors 144 receive
After the counter rotating signal that ankle-joint control unit 15 issues, self-locking mainshaft nut mechanism 143 will push screw rod 142 and then drive
First connecting rod 16, second connecting rod 17, support frame 12, support plate 11 do the flip-flop movement of certain angle around the first support shaft 111, into
And keep the kinetic stability of robot entirety.
In the present embodiment, 11 rear and front end of support plate is equipped with rotatable first support shaft 111, in the left and right of support plate 11
Both ends are equipped with rotatable second support shaft 112, and the limit hole 113 of perforation, support plate 11 are offered in the second support shaft 112
Lower end is equipped with sole connector 114；Preferably, through hole is equipped in support plate 11, to mitigate the weight of ankle-joint；Support
Frame 13 is that Y-shaped structure, the upper end of support frame 13 are leg connection ring 131, and the intersection position of the Y-shaped structure of support frame 13 is left
Right two sides are set there are two second connecting rod articulation piece 132.
Specifically, support frame 12 is square structure, before support plate 11 is mounted on support frame 12 by the first support shaft 111
Afterwards on two sides, the first support shaft 111 is fixedly connected by being interference fitted with the connecting hole on the side of front and back two of support frame 12；
Two ends of 13 lower section of support frame as described above are connected on the side of left and right two of support frame 12 by stand connection 133, bracket
Connector 133 is bolted and fixed with support frame 13, and support frame 12 can relative to support frame 13 and stand connection 133
Rotation.
Specifically, 16 upper and lower ends of first connecting rod are equipped with mounting hole 161,161 sets of the lower end mounting hole of first connecting rod 16
It is realized outside the second support shaft 112 and by connecting rod shaft and is connected with each other, connecting rod shaft passes through limit hole 113 and passed through
It is full of cooperation and 161 inner wall of lower end mounting hole of first connecting rod 16 achieves a fixed connection；Second connecting rod 17 is H-shaped structure, and second connects
The upper end hinge splint of bar 17 is hinged by the second connecting rod articulation piece 132 of connecting rod shaft and support frame 13；First connecting rod 16
The mounting hole 161 of upper end, second connecting rod 17 lower end handover clamping plate and 14 lower end of screw rod transmission unit connecting pin U-shaped
Hinge splint by connecting rod shaft it is hinged, wherein the mounting hole 161 of the upper end of first connecting rod 16 is located at screw rod transmission unit
Between the hinge splint of the U-shaped of the connecting pin of 14 lower ends, the hinge splint position of the U-shaped of the connecting pin of 14 lower end of screw rod transmission unit
Between the handover clamping plate of the lower end of second connecting rod 17, to realize the hinged of three components.
In the present embodiment, sole control unit 23 is fixedly connected by screw with arch of foot 22, sole control unit 23 and
Rubber material is nested between the upper surface of arch of foot 22 to protect sole control unit 23 not by the interference of external environment；In torsional spring
Installation site be equipped with arch of foot absolute encoder, for detecting the relative rotation angle of arch of foot 22 and heel 21, toe 24, and
The signal that will test is transmitted to sole control unit 23；And then foundation is provided for the control and optimisation strategy of whole system, it is foot
Palm control unit 23 judges that 20 current state of sole provides state parameter；Displacement sensor and diaphragm type pressure are equipped with below heel 21
Force snesor, to measure heel 21 at a distance from ground and the non-coplanar force of foot of robot distribution；The setting of 24 position of toe
There are diaphragm type pressure sensor and acceleration transducer, the non-coplanar force to obtain foot of robot is distributed and robot advances
Speed.Specifically, in the present embodiment, there are two toe 24 is set, respectively left foot toe and right crus of diaphragm toe improve the stabilization of sole 20
Property and flexibility.
Preferably, elastic hawser 25 is equipped between heel 21 and the end of arch of foot 22, elastic hawser 25 can guarantee foot
It slaps and still keeps the good mobile stabilization contacted to guarantee quadruped robot ontology when 20 parts encounter complicated landform with ground
Property and static stability.
Specifically, being equipped with the ankle-joint connector that can be rotatably connected sole 20 and ankle-joint 10 in the upper end of heel 21
211, so that the two is had the deflection freedom degree of certain angle, to alleviate when robot encounters collision or interference to robot stabilization
It influences.
More specifically, ankle-joint connector 211 is rotatably connected with sole connector 114.
In other embodiments, first connecting rod 16 and the left and right ends of support plate 11 can be connect using ball-and-socket hinge device to
Realize that first connecting rod 16 and support plate 11 do flip-flop movement around the first support shaft 111.
Embodiment 2:
The present embodiment provides a kind of multiple degrees of freedom four-leg bionic robots, as shown in Fig. 1 to Figure 15, including trunk 2 and four
A lower limb 1, four lower limb 1 symmetrically are distributed in the quadrangle of 2 lower section of trunk, and the structure of four lower limb 1 is identical；Institute
State four driving units 50 that trunk 2 includes six-degree-of-freedom parallel connection mechanism 40 and moves for respectively driving each lower limb 1；It is described
Two driving units 50, the fixed another two driving unit 50 of the other end are fixed in one end of six-degree-of-freedom parallel connection mechanism 40；
The six-degree-of-freedom parallel connection mechanism 40 includes moving platform 41 and silent flatform 42 arranged in parallel, in moving platform 41
There are six rod piece motors 411 for upper fixation, and it is flat for that will move that six rods 43 are connected between rod piece motor 411 and silent flatform 42
Platform and silent flatform connect；Six rods 43 can independent telescope and can freely swing around tie point to coordination simultaneously with
It realizes corresponding actions in three-dimensional space, improves movenent performance and the flexibility of robot；
The lower limb include leg 30, ankle-joint 10 and sole 20；30 upper end of leg is fixedly connected with driving unit 50, leg
30 lower ends are rotatably connected the upper end of the ankle-joint 10；The lower end of ankle-joint 10 is rotatably connected the upper end of the sole 20；
Ankle-joint 10 and sole 20 in the present embodiment is using the quadruped robot hind leg system ankle-joint and sole in embodiment 1.
Through the above technical solutions, multiple degrees of freedom four-leg bionic provided in this embodiment robot, can effectively improve leg
Adaptability and anti-interference ability of the formula robot to complicated landform, the reliability of enhancing and ground face contact, raising robot exist
Walking stability under irregular terrain profiles environment, expands the interaction capabilities of robot sole and environment, and correspondingly reduces sole
Mechanical complexity improves the control precision of ankle-joint and sole.
In the present embodiment, six 411 two, rod piece motor are distributed on moving platform 41 for one group by even circumferential, quiet
Three groups of rod piece articulation pieces 421 are distributed with by even circumferential on platform 42, there are two every group of rod piece articulation pieces 421；
Every group of rod piece motor 411 is shifted to install with rod piece articulation piece 421, in rod piece motor 411 and apart from nearest rod piece
The rod piece 43 is hinged between articulation piece 421, to pass through six mobilizable bars between moving platform 41 and silent flatform 42
The multifreedom motion of the realization six-degree-of-freedom parallel connection mechanism 40 of part 43.
Specifically, rod piece 43 and rod piece articulation piece 421 are hinged；Connecting rod is equipped between the rod piece 43 and rod piece motor 411
44,44 one end of connecting rod is rotatably connected with rod piece motor 411, and the other end and rod piece 43 of connecting rod 44 are connected by flake flexural pivot 45
It connects；
Rod piece 43 can do spatial movement, connecting rod 44 can do circumference rotation around rod piece motor 411 under the cooperation of flake flexural pivot 45
Turn, under the action of connecting rod 44 and flake flexural pivot 45, the spatial movement of rod piece 43 increases；Wherein flake flexural pivot 45 makes six degree of freedom
The space of platform substantially increases, and improves movenent performance and the flexibility of complete machine.
In the present embodiment, driving unit 50 includes driving motor 51, and 51 lower end of driving motor is fixedly connected with the leg
30 upper end；One end of driving motor 51 is fixed on 42 outside of moving platform 41 or silent flatform, and the other end of driving motor 51 is fixed
There is vertical driving motor fixed plate 52, lateral driving motor support plate 53 be connected in 52 lower end of driving motor fixed plate,
Driving motor support plate 53 is located at the lower section of driving motor 51, and the end vertical connection silent flatform 42 of driving motor support plate 53 or
The outside of moving platform 41；The driving motor fixed plate 52 and driving motor support plate 53 are T-shaped structure.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical solution of the present invention
Monotropic type, these simple variants all belong to the scope of protection of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the present invention to it is various can
No further explanation will be given for the combination of energy.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should also be regarded as the disclosure of the present invention.
Claims (10)
1. a kind of quadruped robot hind leg system ankle-joint and sole, including ankle-joint (10) and sole (20), which is characterized in that
The rotatably mounted ankle-joint (10) in sole (20) upper end；
The ankle-joint (10) includes the support plate (11) connecting with sole (20), rotatably connects with support plate (11) rear and front end
The support frame (12) that connects, the support frame (13) being rotatably connected with support frame (12) left and right ends, screw rod transmission unit (14) and
For controlling the ankle-joint control unit (15) of ankle-joint (10)；
Screw rod transmission unit (14) upper end is fixed on support frame (13) top, two companies of screw rod transmission unit (14) lower end
End (141) are connect to cut with scissors by the left and right ends of two first connecting rod (16) hinged support plates (11), by two second connecting rods (17)
The left and right ends for connecing support frame (13), to realize pitching movement and the flip-flop movement of control support plate (11)；
The sole (20) includes the heel (21) connecting with ankle-joint (10), the arch of foot (22) of inclination laying, is set to arch of foot
(22) the sole control unit (23) of upper surface and the toe (24) positioned at arch of foot (22) end；
The both ends of the arch of foot (22) are connect with the top of heel (21) and toe (24) respectively by torsional spring, and torsional spring is able to achieve foot
Bend the relative rotation between (22) and heel (21), toe (24), makes heel (21) bottom surface and toe (24) that supporting point can be used as
With ground face contact.
2. quadruped robot hind leg system ankle-joint as described in claim 1 and sole, which is characterized in that the ankle-joint control
Unit (15) processed includes control box (151) and sensor；Control box (151) is mounted on support frame (13), and control box (151) is used
Sensor information in reception, processing ankle-joint (10), and corresponding control instruction is issued so that ankle-joint (10) executes accordingly
Operation；
The screw rod transmission unit (14) includes sequentially connected connecting pin (141), screw rod (142), self-locking main shaft from bottom to up
Nut body (143), motor (144), the screw rod motion guide rail (145) coaxial with screw rod (142) and connecting support (146)；
Described screw rod (142) one end is achieved a fixed connection by screw thread with connecting pin (141), screw rod (142) other end and configuration
Self-locking mainshaft nut mechanism (143) on the output shaft of motor (144) is connected, and realizes by motor output power, drives self-locking
Mainshaft nut mechanism (143) rotation, and then drive screw rod (142) to move up and down, and by ankle-joint control unit (15)
The positive and negative rotation of incremental encoder and digital Hall sensor detection motor (144) rotational angle, control motor (144), is realized
The up and down motion of ankle-joint (10) and flip-flop movement；
The screw rod (142) is inducted into screw rod motion guide rail (145) after engaging with self-locking mainshaft nut mechanism (143), screw rod
Hingedly, connecting support (146) is fixed on support frame (13) top for motion guide rail (145) upper end and connecting support (146)；It is described from
It locks mainshaft nut mechanism (143) and connects the motor (144), the motor (144) is the linear brushless DC electricity with retarder
Machine is equipped with the connector for connecting counterweight vibration damper bar (147) on motor (144) top, and counterweight vibration damper bar (147) is used for screw rod
Gear unit (14) move when for first connecting rod (16) and second connecting rod (17) offer certain lateral force so that its stable motion simultaneously
Alleviate influence of the system vibration to quadruped robot ontology.
3. quadruped robot hind leg system ankle-joint as described in claim 1 and sole, which is characterized in that the support plate
(11) rear and front end is equipped with rotatable first support shaft (111), is equipped with rotatable the in the left and right ends of support plate (11)
Two support shafts (112), offer the limit hole (113) of perforation on the second support shaft (112), and support plate (11) lower end is equipped with foot
It slaps connector (114)；
Support frame as described above (13) is that Y-shaped structure, the upper end of support frame (13) are leg connection ring (131), support frame (13)
There are two being set at left and right sides of the intersection position of Y-shaped structure second connecting rod articulation piece (132).
4. quadruped robot hind leg system ankle-joint as claimed in claim 3 and sole, which is characterized in that the support frame
It (12) is square structure, support plate (11) is mounted on the side of front and back two of support frame (12) by the first support shaft (111), the
One support shaft (111) is fixedly connected by being interference fitted with the connecting hole on the side of front and back two of support frame (12)；The support
Two ends below frame (13) are connected on the side of left and right two of support frame (12) by stand connection (133), and bracket connects
Fitting (133) is bolted and fixed with support frame (13), and support frame (12) is relative to support frame (13) and stand connection
(133) it can rotate.
5. quadruped robot hind leg system ankle-joint as claimed in claim 3 and sole, which is characterized in that the first connecting rod
(16) upper and lower ends are equipped with mounting hole (161), and the lower end mounting hole (161) of first connecting rod (16) is covered in the second support shaft
(112) outside and by connecting rod shaft realize be connected with each other, connecting rod shaft pass through limit hole (113) and by interference fit with
First connecting rod (16) achieves a fixed connection；
The second connecting rod (17) is H-shaped structure, and the upper end of second connecting rod (17) passes through connecting rod shaft and support frame (13)
Second connecting rod articulation piece (132) is hinged；
The connecting pin of the upper end of the first connecting rod (16), the lower end of second connecting rod (17) and screw rod transmission unit (14) lower end is logical
It is hinged to cross connecting rod shaft.
6. quadruped robot hind leg system ankle-joint as described in claim 1 and sole, which is characterized in that the sole control
Unit (23) is fixedly connected by screw with arch of foot (22), nested between sole control unit (23) and the upper surface of arch of foot (22)
There is rubber material to protect sole control unit (23) not by the interference of external environment；
It is equipped with arch of foot absolute encoder in the installation site of torsional spring, for detecting arch of foot (22) and heel (21), toe (24)
Relative rotation angle, and the signal that will test is transmitted to sole control unit (23)；And then for whole system control with it is excellent
Change strategy and foundation is provided, judges that sole (20) current state provides state parameter for sole control unit (23)；
Displacement sensor and diaphragm type pressure sensor are equipped with below the heel (21), to measure heel (21) and ground
The distribution of the non-coplanar force of distance and foot of robot；
Toe (24) position is provided with diaphragm type pressure sensor and acceleration transducer, to obtain foot of robot
Non-coplanar force distribution and robot forward speed.
7. quadruped robot hind leg system ankle-joint as described in claim 1 and sole, which is characterized in that heel (21) with
Elastic hawser (25) is equipped between the end of arch of foot (22), elastic hawser (25) can guarantee that sole (20) partially encounters intricately
Still the good the moving stability and static stability contacted to guarantee quadruped robot ontology is kept when shape with ground.
8. quadruped robot hind leg system ankle-joint as described in claim 1 and sole, which is characterized in that in heel (21)
Upper end is equipped with the ankle-joint connector (211) that can be rotatably connected sole (20) and ankle-joint (10), and the two is made to have certain angle
The deflection freedom degree of degree, to alleviate influence when robot encounters collision or interference to robot stabilization.
9. quadruped robot hind leg system ankle-joint and sole as described in claim 3 and 8, which is characterized in that the ankle closes
Section connector (211) is rotatably connected with sole connector (114).
10. quadruped robot hind leg system ankle-joint as claimed in claim 3 and sole, which is characterized in that described first connects
Bar (16) can be connect using ball-and-socket hinge device to realize first connecting rod (16) and support plate with the left and right ends of support plate (11)
(11) flip-flop movement is done around the first support shaft (111).
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| CN201810579008.6A CN108974172B (en) | 2018-06-07 | 2018-06-07 | Ankle joint and sole of hind limb system of four-foot robot |
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| CN201810579008.6A CN108974172B (en) | 2018-06-07 | 2018-06-07 | Ankle joint and sole of hind limb system of four-foot robot |
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| CN114734470A (en) * | 2022-03-16 | 2022-07-12 | 燕山大学 | Multi-form transformation claw foot mechanism |
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