CN109466652B - Multi-degree-of-freedom trunk mechanism suitable for biped robot - Google Patents
Multi-degree-of-freedom trunk mechanism suitable for biped robot Download PDFInfo
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- CN109466652B CN109466652B CN201811258888.3A CN201811258888A CN109466652B CN 109466652 B CN109466652 B CN 109466652B CN 201811258888 A CN201811258888 A CN 201811258888A CN 109466652 B CN109466652 B CN 109466652B
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- 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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Abstract
The invention belongs to the technical field related to a robot body structure, and discloses a multi-degree-of-freedom trunk mechanism suitable for a biped robot, which comprises an upper half part, a pelvis and hip joint assembly and two hip joint pitch direction driving assemblies, wherein the pelvis and the hip joint assembly are connected to the upper half part; two hip pitch steering drive assemblies connected to the pelvis and hip joint assembly; the upper half part and the hip joint pitch direction driving component are driven by an oil cylinder, and the pelvis and the hip joint component are driven by a motor; the upper half part realizes the forward pitch and backward pitch, the left and right rolling and the movement in the vertical direction of the robot through three oil cylinders; the pelvis and hip joint assembly and the hip joint pitch direction driving assembly are matched to realize the movement of the pelvis and the hip joint of the robot in the yaw direction, the roll direction and the pitch direction. The invention improves the space utilization rate, has simple structure and better motion performance.
Description
Technical Field
The invention belongs to the technical field related to robot body structures, and particularly relates to a multi-degree-of-freedom trunk mechanism suitable for a biped robot.
Background
The biped robot is used as a highly integrated complex system, and relates to numerous disciplines such as mechanics, bionics, artificial intelligence, geometric methods and the like. In recent years, researchers and scientific research institutions at home and abroad have conducted a great deal of research on biped robots. However, in the design of the trunk structure of the present biped robot, most of the biped robots only design three degrees of freedom at the hip joint, so that the difficulty is increased for controlling the robot in the process of stable walking, the moving space of the robot is reduced, and the present biped robot is either a pure hydraulic type driving robot or a pure motor type driving robot, so that the driving advantages of the two driving modes at each joint are not fully utilized.
In the walking process of a person, three degrees of freedom at the hip joint are important, but the degrees of freedom of other parts of the trunk have irreplaceable functions, the pelvis and the waist joint are key parts for bearing the upper part, the pelvis and the waist joint have the functions of adjusting the fluctuation of the gravity center of the body and bearing the trunk and the arms of the upper limbs, and the stability of the weight-bearing movement of the system and the flexibility of arbitrary grabbing of the upper limbs can be ensured. For example, some research institutions adopt hip joints to realize pitching and rolling motions of biped robots, but the structure of the mechanism is complex, the mass is too large, and the improvement of the motion performance of the robot is not facilitated. In addition, in the walking movement process, the gravity center can generate different degrees of fluctuation in the upper direction, the lower direction, the left direction and the right direction, the single-rolling freedom degree of the hip joint can reversely adjust the fluctuation in the horizontal direction, and the fluctuation in the vertical direction needs the telescopic movement of the spine to adjust. Accordingly, there is a need in the art to develop a multi-degree-of-freedom trunk mechanism with good mobility and suitable for a biped robot.
Disclosure of Invention
Aiming at the defects or improvement requirements in the prior art, the invention provides a multi-degree-of-freedom trunk mechanism suitable for a biped robot, which is researched and designed based on the working characteristics of the existing biped robot and has better moving performance. The multi-degree-of-freedom trunk mechanism realizes four motions of pitching, rolling, twisting and vertical moving of the trunk mechanism and motions of the pelvis and hip joints in all directions through an improved structure, so that the motion performance of the biped robot is improved, the working efficiency is improved, and man-machine cooperation and multi-stage cooperative operation can be better realized. In addition, the multi-degree-of-freedom trunk mechanism can meet a complex gait curve in the robot walking process and meet the performance requirement of the robot walking in the center of an unstructured environment.
In order to achieve the above object, the present invention provides a multi-degree-of-freedom trunk mechanism suitable for a biped robot, the trunk mechanism comprising an upper half, a pelvis and hip joint assembly and two hip joint pitch direction driving assemblies, the pelvis and hip joint assembly being connected to the upper half; two said hip pitch drive assemblies connected to said pelvis and hip joint assembly;
the upper half part and the hip joint pitch direction driving assembly are driven by an oil cylinder, and the pelvis and the hip joint assembly are driven by a motor; the upper half part realizes the forward pitch and backward pitch, the left and right rolling and the movement in the vertical direction of the biped robot through three oil cylinders; the pelvis and hip joint assembly is matched with the hip joint pitch direction driving assembly to realize the movement of the pelvis and the hip joint of the biped robot in the yaw direction, the roll direction and the pitch direction.
Furthermore, the upper half part comprises a chest shell, a first servo oil cylinder, three cross shafts, a first connecting plate and two second servo oil cylinders, wherein a through groove is formed in the chest shell and used for accommodating the first connecting plate; one of the three cross shafts is arranged at one end of the first connecting plate, and the other two cross shafts are arranged at the other end of the first connecting plate; the two cross shafts positioned at the same end of the first connecting plate are arranged at intervals and are respectively connected to the two second servo oil cylinders, and the first servo oil cylinder is connected to the other cross shaft.
Further, the hydraulic rods of the two second servo oil cylinders are respectively and rotatably connected to the chest shell; the first servo oil cylinder is connected to the chest shell; the first servo oil cylinder and the second servo oil cylinder are respectively positioned at the front part and the rear part of the chest shell.
Further, the movement stroke of the first servo oil cylinder is 40 mm; and the movement stroke of the second servo oil cylinder is 60 mm.
Further, the pelvis and hip joint assembly comprises a pelvis yaw direction driving module, a pelvis roll direction driving module, two hip joint yaw direction driving modules, two hip joint roll direction driving modules, a pelvis large plate and a pelvis swinging piece, wherein the pelvis yaw direction driving module is connected to the middle part of the first connecting plate, and a shell of the pelvis yaw direction driving module is fixedly connected to the middle part of the pelvis swinging plate; the flange plate of the pelvis roll direction driving module is connected to one end of the pelvis swinging plate, and the shell of the pelvis roll direction driving module is connected to the pelvis large plate; the two hip joint yaw direction driving modules are arranged on the pelvis large plate and are respectively connected to the two hip joint roll direction driving modules.
Furthermore, the pelvis large plate is basically rectangular and is provided with two round holes and a square hole; the pelvis swinging plate is basically n-shaped, one end of the pelvis swinging plate penetrates through the square hole and then is movably connected to the pelvis large plate, and the other end of the pelvis swinging plate is connected to the pelvis roll direction driving module; the hip joint yaw direction driving module penetrates through the round hole and then is connected to the hip joint roll direction driving module.
Furthermore, the pelvis yaw direction driving module, the pelvis roll direction driving module and the hip joint roll direction driving module are similar to the hip joint yaw direction driving module in structure and have the same driving principle.
Further, hip joint roll direction drive module passes through coupling assembling and connects in hip joint raw direction drive module, coupling assembling includes hip joint roll direction swinging member, hip joint roll direction swinging member connects the ring flange of hip joint roll direction drive module with hip joint pitch direction drive assembly, just hip joint roll direction swinging member by the ring flange drive of hip joint roll direction drive module.
Furthermore, hip joint yaw direction drive module includes motor element, connect in motor element's input shaft, connect in the harmonic reduction gear of input shaft and connect in the pelvis ring flange of harmonic reduction gear, the pelvis ring flange connect in hip joint roll direction drive module, hip joint yaw direction drive module will move through the pelvis ring flange and export for hip joint roll direction drive module.
Further, the driver of the hip joint pitch direction driving assembly is a third servo oil cylinder, and the third servo oil cylinder is used for converting the linear motion of the third servo oil cylinder into rotary motion, so that the hip joint is driven to move in the pitch direction.
Generally, compared with the prior art, the multi-degree-of-freedom trunk mechanism suitable for the biped robot, provided by the invention, has the following beneficial effects:
1. the upper half part and the hip joint pitch direction driving assembly are driven by an oil cylinder, and the pelvis and the hip joint assembly are driven by a motor, so that the space utilization rate and the flexibility of the biped robot are improved, the performance requirement in the walking process of the robot is met, and the structure is compact.
2. The upper half part realizes the forward pitch and backward pitch, the left and right rolling and the movement in the vertical direction of the biped robot through three oil cylinders; the pelvis and the hip joint assembly are matched with the hip joint pitch direction driving assembly to realize the motion of the pelvis and the hip joint of the biped robot in the yaw direction, the roll direction and the pitch direction, so that the motion performance of the biped robot is improved, the work efficiency is improved, the man-machine cooperation and the multi-stage cooperative operation can be better realized, and the complicated gait curve can be met.
3. The movement stroke of the first servo oil cylinder is 40 mm; the motion stroke of second servo cylinder is 60mm, so under the condition of guaranteeing to satisfy the undulant requirement of the focus of robot, improved compact structure nature and harmony, the flexibility is higher, and the practicality is stronger.
4. Lie in two of the same end of first connecting plate the cross axle interval sets up, and both connect respectively in two second servo cylinder, first servo cylinder connects in another the cross axle, first servo cylinder reaches second servo cylinder cooperatees and has realized first half preceding pitch backward (pitch) and control the removal of (vertical) direction of rolling and waist joint about and, simple structure, the quality is less, and the degree of freedom is adjusted simply.
Drawings
Fig. 1 is a schematic structural diagram of a multi-degree-of-freedom trunk mechanism suitable for a biped robot provided by the invention.
Fig. 2 is a schematic view of another angle of the multi-degree of freedom torso mechanism of fig. 1 suitable for use in a bipedal robot.
Fig. 3 is a schematic diagram showing degrees of freedom of each joint of the body mechanism of multiple degrees of freedom applied to the bipedal robot in fig. 1.
Fig. 4 is a schematic diagram of the movement of the multi-degree-of-freedom trunk mechanism in the waist pitch direction applied to the biped robot in fig. 1.
Fig. 5 is a schematic diagram of the upper half of the multi-degree of freedom torso mechanism of fig. 1 suitable for use in a bipedal robot.
Fig. 6 is a schematic view of another angle of the upper half of the multi-degree of freedom torso mechanism suitable for use in the bipedal robot of fig. 5.
Fig. 7 is a schematic structural view of pelvis and hip joints of the multi-degree-of-freedom trunk mechanism applied to the biped robot in fig. 1.
Fig. 8 is a schematic view of the pelvis and hip joint of fig. 7 at an angle.
Fig. 9 is a schematic view of the pelvis and hip joint of fig. 7 taken at another angle.
Fig. 10 is a partial schematic view of the pelvis and hip joint of fig. 7.
Fig. 11 is a partial schematic view of the hip pitch directional drive assembly of the multi-degree of freedom torso mechanism suitable for use in the bipedal robot of fig. 1.
Fig. 12 is a schematic structural view of a hip joint pitch direction driving assembly of the multi-degree-of-freedom trunk mechanism suitable for the biped robot in fig. 1.
Fig. 13A is a front schematic view of the hip joint yaw direction driving module of the multi-degree-of-freedom torso mechanism suitable for the biped robot in fig. 1.
Fig. 13B is a side schematic view of the hip joint yaw direction driving module of the multi-degree-of-freedom torso mechanism suitable for the biped robot in fig. 1.
Fig. 14 is a schematic sectional view of the hip joint yaw direction drive module of fig. 13A taken along the direction a-a.
Fig. 15 is a schematic structural view of a pelvic yaw direction driving module of the multi-degree-of-freedom torso mechanism for the biped robot in fig. 1.
Fig. 16 is a schematic structural diagram of a pelvic roll direction driving module of the multi-degree-of-freedom torso mechanism suitable for the bipedal robot in fig. 1.
Fig. 17 is a schematic structural view of a hip joint roll direction driving module of the multi-degree-of-freedom trunk mechanism applicable to the biped robot in fig. 1.
Fig. 18 is a schematic structural view of a pelvis large plate of the multi-degree-of-freedom trunk mechanism suitable for the biped robot in fig. 1.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein: 1-a thorax housing, 2-a first servo cylinder, 3-a cross shaft, 4-a first connecting plate, 5-a second servo cylinder, 6-a pelvic yaw drive module, 7-a pelvic roll drive module, 8-a hip yaw drive module, 81-a motor assembly, 82-a first deep groove ball bearing, 83-a motor retainer ring, 84-an input shaft, 85-a second encoder assembly, 86-a pelvic flange, 87-a harmonic reducer, 88-a housing, 89-a four-point contact ball bearing, 9-a hip roll drive module, 10-a pelvic large plate, 11-a pelvic oscillating plate, 12-a first connecting piece, 13-a first cross roller bearing, 14-a first shaft, 15-a connecting plate, 16-a first outer retainer ring, 17-a first inner retainer ring, 18-a hip joint roll direction swinging member, 19-a hip joint yaw direction rotating member, 20-a second outer retainer ring, 21-an encoder support member, 22-a second crossed roller bearing, 23-a second inner retainer ring, 24-a connecting encoder shaft, 25-a second deep groove ball bearing, 26-a first encoder assembly, 27-a second shaft, 28-a second connecting member, 29-a rack, 30-a third connecting member, 31-a third servo cylinder, 32-a linear displacement sensor, 33-a first fixing member, 34-a second fixing member, 35-a first plate member, 36-a third shaft, 37-an elastic member, 38-a second plate member, 39-a sliding block, 40-a gear, 41-a guide rail, 42-a second synchronous pulley, 43-synchronous belt, 44-first synchronous pulley, 45-third plate.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, fig. 2, fig. 3 and fig. 4, the multi-degree-of-freedom body mechanism suitable for the biped robot provided by the present invention is characterized in that the movements of the upper half of the multi-degree-of-freedom body mechanism in the pitch direction, the roll direction and the vertical direction are respectively realized by the movements of the two hydraulic cylinders at the back and the hydraulic cylinder at the front; the freedom degrees of the pelvis in the yaw direction and the roll direction of the trunk mechanism with multiple degrees of freedom are respectively realized by a pelvis yaw direction driving module and a pelvis roll direction driving module; the three degrees of freedom of the hip joints of the multi-degree-of-freedom trunk mechanism, namely yaw, roll and pitch, are respectively realized by a hip joint yaw direction driving module, a hip joint roll direction driving module and a driving assembly at the upper part of the trunk. So the hip joint pitch direction of the multi-degree of freedom trunk mechanism is driven by a hydraulic cylinder, the movement of the upper half part of the multi-degree of freedom trunk mechanism is driven by the hydraulic cylinder, and other joint movements of the multi-degree of freedom trunk mechanism are driven by a motor, so that the space utilization rate of the biped robot can be effectively improved, and the performance requirement of the robot in the walking process is met.
The trunk mechanism with multiple degrees of freedom comprises an upper half part, a pelvis and hip joint assembly and two hip joint pitch direction driving assemblies, wherein the pelvis and the hip joint assembly are connected to the upper half part; the two hip pitch direction drive assemblies are connected to the pelvis and the hip joint assembly respectively. The hip joints of the upper half part and the trunk mechanism with multiple degrees of freedom are respectively driven by a hydraulic cylinder, and the pelvis of the trunk mechanism with multiple degrees of freedom is driven by a motor. The upper half part adopts three hydraulic cylinders to realize the movement in the pitch direction, the roll direction and the vertical direction.
Referring to fig. 5 and 6, the upper half includes a chest housing 1, a first servo cylinder 2, three cross shafts 3, a first connecting plate 4, and two second servo cylinders 5, and the chest housing 1 is formed with a through groove for accommodating the first connecting plate 4, the three cross shafts 3, and the first servo cylinder 2. In this embodiment, the through-groove penetrates the chest housing 1. The first connecting plate 4 is arranged along the length direction of the through groove, one of the three cross shafts 3 is arranged at one end of the first connecting plate 4, and the other two cross shafts 3 are arranged at the other end of the first connecting plate 4. Two of the cross shafts 3 at the same end of the first connecting plate 4 are arranged at intervals, the two cross shafts are respectively connected to the two second servo oil cylinders 5, and hydraulic rods of the two second servo oil cylinders 5 are respectively and rotatably connected to the chest shell 1. The first servo oil cylinder 2 is connected to the cross shaft 3 and located at the front part of the chest shell 1, and the two second servo oil cylinders 5 are located at the rear part of the chest shell 1.
In the present embodiment, the cross shaft 3 is an IKO cross shaft; the movement stroke of the first servo oil cylinder 2 is 40 mm; the movement stroke of the second servo oil cylinder 5 is 60 mm. The movement of the upper half part in the pitch direction, the roll direction and the vertical direction is realized by the matching of the first servo oil cylinder 2 and the second servo oil cylinder 5. In the actual walking process of the robot, the moving angles of the robot in the pitch direction and the roll direction are smaller, so that hydraulic parallel driving is adopted, and the first servo oil cylinder 2 and the second servo oil cylinder 5 are used as main supporting members. When the length that the hydraulic stem of first servo cylinder 2 stretches out keeps unchangeable, two second servo cylinder 5 rises simultaneously, descends or rises one and falls to realize respectively the preceding pitch of first half and roll these two kinds of motions. When the first servo cylinder 2 and the second servo cylinder 5 are simultaneously raised or lowered, the vertical movement of the waist joint of the trunk mechanism having multiple degrees of freedom can be realized. In addition, research and research show that when a person with the height of 180cm walks at a constant speed, the fluctuation range of the gravity center of the person in a vertical plane is approximately 30-40 mm, and the fluctuation range of the gravity center of the biped robot is also required according to the principle of bionics, so that the upper half part is driven by a small-stroke servo oil cylinder.
Referring to fig. 7, 8, 9 and 10, the pelvis and hip joint assembly connects the upper half and the hip joint pitch direction driving assembly, and includes a pelvis yaw direction driving module 6, a pelvis roll direction driving module 7, two hip joint yaw direction driving modules 8, two hip joint roll direction driving modules 9, a pelvis large plate 10, a pelvis swinging member 11 and a first connecting member 12.
Referring to fig. 15, 16, 17 and 18, the pelvis large plate 10 is substantially rectangular, and is provided with two circular holes and a square hole, the two circular holes are arranged at intervals, and the square hole is located between the two circular holes. The round hole is used for accommodating part of the hip joint yaw direction driving module 8; the square hole is used for one end of the pelvis swinging plate 11 to pass through. In this embodiment, the pelvis swinging plate 11 is substantially n-shaped, one end of which passes through the square hole and is movably connected to the pelvis large plate 10, and the other end of which is connected to the pelvis roll direction driving module 7. The pelvis yaw direction driving module 6 is connected to the middle of the first connecting plate 4, and the housing thereof is fixedly connected to the middle of the pelvis swinging plate 11, which is driven by a motor, so as to realize the movement of the pelvis in the yaw direction. The flange of the pelvic roll direction drive module 7 is connected to one end of the pelvic pendulum plate 11, and its housing is connected to the pelvic floor plate 10 via the first connection element 12. The pelvis yaw direction driving module 6 and the pelvis roll direction driving module 7 are respectively positioned on two opposite sides of the pelvis large plate 10.
In this embodiment, a connecting plate 15 is fixedly connected to the surface of the pelvis large plate 10 away from the pelvis raw direction driving module 6, one end of a first shaft 14 is connected to the connecting plate 15, the other end is connected to a first cross roller bearing 13, and the first cross roller bearing 13 is mounted on one end of the pelvis swinging plate 11 away from the pelvis roll direction driving module 7. The first inner retainer ring 17 of the first crossed roller bearing 13 is fitted to the first shaft 14, the first outer retainer ring 16 of the first crossed roller bearing 13 is attached to the pelvic swing plate 11, and the first inner retainer ring 17 is attached to the first shaft 14, thus preventing axial movement of the first crossed roller bearing 13. In the present embodiment, the center axis of the circular arc surface of the pelvic roll direction drive module 7 coincides with the center axis of the first shaft 14. The flange of the pelvis roll direction drive module 7 is driven by a motor, and the pelvis swinging plate 11 moves along with the flange of the pelvis roll direction drive module 7, and simultaneously rotates around the first shaft 14 through the first crossed roller bearing 13, so that the movement of the pelvis in the roll direction is generated.
The two hip joint yaw direction driving modules 8 respectively penetrate through the two circular holes and then are connected to the two hip joint roll direction driving modules 9, and the two hip joint roll direction driving modules are driven by a motor to realize the rotation of the hip joint in the yaw direction. In the present embodiment, the pelvis yaw direction driving module 6, the pelvis roll direction driving module 7, and the hip joint roll direction driving module 9 are all similar in structure to the hip joint yaw direction driving module 8, and the driving principle is the same, except that the hip joint roll direction driving module 9 is not provided with an encoder component.
Referring to fig. 13A, 13B and 14, the hip joint yaw direction driving module 8 includes a motor assembly 81, a first deep groove ball bearing 82, a motor retainer 83, an input shaft 84, a second encoder assembly 85, a pelvis flange 86, a harmonic reducer 87, a housing 88 and a four-point contact ball bearing 89, wherein the motor assembly 81 is disposed in one end of the housing 88, the harmonic reducer 87 is disposed in the middle of the housing 88, and the four-point contact ball bearing 89 is disposed in the other end of the housing 88. The first deep groove ball bearing 82 is disposed within the housing 88 between the harmonic reducer 87 and the motor assembly 81. One end of the input shaft 84 is connected to the motor assembly 81, and the other end of the input shaft passes through the first deep groove ball bearing 82 and then is connected to the harmonic reducer 87. The motor retainer 83 is connected to the end of the input shaft 84 remote from the harmonic reducer 87 and is used to prevent axial movement of the motor rotor. The second encoder assembly 85 is connected to the motor assembly 81. One end of the pelvis flange 86 passes through the four-point contact ball bearing 89 and is connected to the harmonic reducer 87. The first deep groove ball bearing 82 and the four-point ball contact ball bearing 89 serve as supports for the input shaft 84 and the pelvic flange 86, respectively.
The motor assembly 81 acts as a prime mover, which transmits motion to the harmonic reducer 87 via the input shaft 84, and the pelvic flange 86 outputs the motion to the hip roll direction drive module 9. The second encoder assembly 85 is used for measuring the rotation speed of the motor assembly 81 in real time, and further calculating to obtain the rotation speed of the pelvis flange plate 86.
The hip joint roll direction driving module 9 is connected to the hip joint yaw direction driving module 8 through a connecting assembly, and the connecting assembly includes a hip joint roll direction swinging member 18, a hip joint yaw direction rotating member 19 connected to the pelvis flange plate 86, a second outer retainer ring 20, an encoder support member 21, a second cross roller bearing 22, a second inner retainer ring 23, a connecting encoder shaft 24, a second deep groove ball bearing 25, and a first encoder assembly 26.
The hip joint yaw direction rotating member 19 is substantially L-shaped, and one end thereof is connected to the hip joint roll direction driving module 9, and the other end thereof is connected to the encoder support 21. The pelvic flange 86 is attached to the middle of the hip joint yaw direction rotating member 19. The hip joint roll direction oscillating piece 18 is connected to a flange of the hip joint roll direction driving module 9, the hip joint roll direction driving module 9 drives the hip joint roll direction oscillating piece 18, and the hip joint roll direction oscillating piece 18 is connected to the hip joint pitch direction driving component. The deep groove ball bearing 25 is embedded in the encoder support 21 and is sleeved on the encoder shaft 24. The second cross roller bearing 22 is provided on the hip joint yaw direction rotating member 19, the second retainer ring 20 of the second cross roller bearing 22 is connected to the hip joint yaw direction rotating member 19, the second inner retainer ring 23 thereof is connected to one end of the connection encoder shaft 24, and the other end of the connection encoder shaft 24 is provided on the second deep groove ball bearing 25. The head of the first encoder assembly 26 is connected to the connecting encoder shaft 24 and its read head is connected to the encoder support 21. The rotation of the motor of the hip joint roll direction driving module 9 is output through the flange plate thereof, so that the rotation of the hip joint in the roll direction is generated.
Referring to fig. 11 and 12, the two hip joint pitch direction driving assemblies have the same structure, and each hip joint pitch direction driving assembly includes a second shaft 27, a second connecting member 28, a rack 29, a third connecting member 30, a third servo cylinder 31, a linear displacement sensor 32, a first fixing member 33, a second fixing member 34, a first plate 35, a third shaft 36, an elastic member 37, a second plate 38, a slider 39, a gear 40, a guide rail 41, a second synchronous pulley 42, a synchronous belt 43, a first synchronous pulley 44, and a third plate 45.
The second plate 38 and the third plate 45 are disposed at an interval, and both sides of the first plate 35 are connected to the second plate 38 and the third plate 45. The first fixing member 33 and the elastic element 37 are fixed at one end of the first plate 35 and located between the second plate 38 and the third plate 45. The third servo cylinder 31 is fixed on the elastic element 37, and the first fixing member 33 is used for supporting and positioning the third servo cylinder 31. In the present embodiment, the movement stroke of the third servo cylinder 31 is 130 mm. The two second fixing pieces 34 are arranged on the first plate 35 at intervals, and the second fixing pieces 34 are sleeved on the third servo oil cylinder 31. The linear displacement sensor 32 is fixedly connected to the second fixing member 34, and one end thereof is connected to the hydraulic rod of the third servo cylinder 31 through the third connecting member 30. One end of the rack 29 is connected to the hydraulic rod of the third servo cylinder 31 through the second link 28. In the present embodiment, the rack 29, the third servo cylinder 31, and the linear displacement sensor 32 are parallel to each other; the third servo cylinder 31 is located between the rack 29 and the linear displacement sensor 32. The sliding block 39 is fixedly connected to one side of the rack 29, the guide rail 41 is fixed on the second plate 38, and the sliding block 39 is slidably disposed on the guide rail 41 and can slide along the guide rail 41. The gear 40 is engaged with the rack 29, which is keyed to the third shaft 36. Two ends of the third shaft 36 are respectively disposed on the second plate 38 and the third plate 45, and the gear 40 is located between the second plate 38 and the third plate 45. In the present embodiment, the third shaft 36 is provided at a distance from the second shaft 27, and the second shaft 27 is connected to the hip joint roll direction swinging member 18. The first synchronous pulley 44 is connected to the third shaft 36 with an interference fit therebetween. The first synchronous pulley 44 is connected to the second synchronous pulley 42 through the synchronous belt 43, and the synchronous belt 43 is sleeved on the first synchronous pulley 44 and the second synchronous pulley 42. The second synchronous pulley 42 and the gear 40 are respectively located on two opposite sides of the second plate 38. The second timing pulley 42 is provided on one end of the second shaft 27, which forms an interference fit with the second shaft 27. The second shaft 27 and the third shaft 36 are both rotatable relative to the second plate 38.
The multi-degree-of-freedom body mechanism suitable for the biped robot is characterized in that the upper half part of the multi-degree-of-freedom body mechanism and the hip joint pitch direction driving assembly are driven by the oil cylinders, and the other joints are driven by the motors by analyzing the structure and the movement characteristics of the biped robot, so that the advantages of two drivers are fully utilized, the space utilization rate is improved, and the performance requirements of the biped robot in the walking process are met.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. The utility model provides a multi freedom truck mechanism suitable for biped robot which characterized in that:
the multi-degree-of-freedom torso mechanism comprises an upper half, a pelvis and hip joint assembly and two hip joint pitch direction driving assemblies, wherein the pelvis and the hip joint assembly are connected to the upper half; two said hip pitch drive assemblies connected to said pelvis and hip joint assembly;
the upper half part and the hip joint pitch direction driving assembly are driven by an oil cylinder, and the pelvis and the hip joint assembly are driven by a motor; the upper half part realizes the forward pitch and backward pitch, the left and right rolling and the movement in the vertical direction of the biped robot through three oil cylinders; the pelvis and hip joint assembly is matched with the hip joint pitch direction driving assembly to realize the movement of the pelvis and the hip joint of the biped robot in the yaw direction, the roll direction and the pitch direction;
the upper half part comprises a chest shell, a first servo oil cylinder, three cross shafts, a first connecting plate and two second servo oil cylinders, wherein a through groove is formed in the chest shell and used for accommodating the first connecting plate; one of the three cross shafts is arranged at one end of the first connecting plate, and the other two cross shafts are arranged at the other end of the first connecting plate; the two cross shafts positioned at the same end of the first connecting plate are arranged at intervals and are respectively connected with the two second servo oil cylinders, and the first servo oil cylinder is connected with the other cross shaft; hydraulic rods of the two second servo oil cylinders are respectively and rotatably connected to the chest shell; the first servo oil cylinder is connected to the chest shell; the first servo oil cylinder and the second servo oil cylinder are respectively positioned at the front part and the rear part of the chest shell.
2. The multi-degree-of-freedom torso mechanism of claim 1, adapted for use with a biped robot, wherein: the movement stroke of the first servo oil cylinder is 40 mm; and the movement stroke of the second servo oil cylinder is 60 mm.
3. The multi-degree-of-freedom torso mechanism for a biped robot as claimed in any one of claims 1-2, wherein: the pelvis and hip joint assembly comprises a pelvis yaw direction driving module, a pelvis roll direction driving module, two hip joint yaw direction driving modules, two hip joint roll direction driving modules, a pelvis large plate and a pelvis swinging piece, wherein the pelvis yaw direction driving module is connected to the middle part of the first connecting plate, and the shell of the pelvis yaw direction driving module is fixedly connected to the middle part of the pelvis swinging plate; the flange plate of the pelvis roll direction driving module is connected to one end of the pelvis swinging plate, and the shell of the pelvis roll direction driving module is connected to the pelvis large plate; the two hip joint yaw direction driving modules are arranged on the pelvis large plate and are respectively connected to the two hip joint roll direction driving modules.
4. The multi-degree-of-freedom torso mechanism of claim 3, wherein: the pelvis large plate is basically rectangular and is provided with two round holes and a square hole; the pelvis swinging plate is basically n-shaped, one end of the pelvis swinging plate penetrates through the square hole and then is movably connected to the pelvis large plate, and the other end of the pelvis swinging plate is connected to the pelvis roll direction driving module; the hip joint yaw direction driving module penetrates through the round hole and then is connected to the hip joint roll direction driving module.
5. The multi-degree-of-freedom torso mechanism of claim 3, wherein: the pelvis yaw direction driving module, the pelvis roll direction driving module and the hip joint roll direction driving module are similar to the hip joint yaw direction driving module in structure and have the same driving principle.
6. The multi-degree-of-freedom torso mechanism of claim 3, wherein: hip joint roll direction drive module pass through coupling assembling connect in hip joint yaw direction drive module, coupling assembling includes hip joint roll direction swinging member, hip joint roll direction swinging member connects hip joint roll direction drive module's ring flange with hip joint pitch direction drive assembly, just hip joint roll direction swinging member by hip joint roll direction drive module's ring flange drive.
7. The multi-degree-of-freedom torso mechanism for a biped robot as claimed in any one of claims 1-2, wherein: the hip joint yaw direction driving module comprises a motor assembly, an input shaft connected to the motor assembly, a harmonic reducer connected to the input shaft, and a pelvis flange connected to the harmonic reducer, wherein the pelvis flange is connected to the hip joint roll direction driving module, and the hip joint yaw direction driving module outputs motion to the hip joint roll direction driving module through the pelvis flange.
8. The multi-degree-of-freedom torso mechanism for a biped robot as claimed in any one of claims 1-2, wherein: the driver of the hip joint pitch direction driving assembly is a third servo oil cylinder, and linear motion of the third servo oil cylinder is converted into rotary motion, so that the hip joint is driven to move in the pitch direction.
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| CN110288896B (en) * | 2019-06-03 | 2021-06-25 | 南京玖玖教育科技有限公司 | Dynamic reconfigurable four-degree-of-freedom motion test bed |
| CN110696940B (en) * | 2019-11-21 | 2021-08-27 | 上海交通大学 | Omnidirectional wheel foot type robot |
| CN111688838B (en) * | 2020-06-18 | 2021-04-09 | 敬科(深圳)机器人科技有限公司 | Biped robot lower limb structure based on modular joints |
| CN113134841B (en) * | 2021-04-08 | 2022-05-17 | 北京理工大学 | Humanoid robot based on joint-crossing cooperative driving |
| CN116803832A (en) * | 2023-08-23 | 2023-09-26 | 深圳逐际动力科技有限公司 | Leg structure, bipedal robot, humanoid robot, robot |
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