CN109501882B - Leg joint driving mechanism of foot-type walking robot - Google Patents
Leg joint driving mechanism of foot-type walking robot Download PDFInfo
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- CN109501882B CN109501882B CN201811501644.3A CN201811501644A CN109501882B CN 109501882 B CN109501882 B CN 109501882B CN 201811501644 A CN201811501644 A CN 201811501644A CN 109501882 B CN109501882 B CN 109501882B
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- flexible shaft
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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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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a leg joint driving mechanism of a foot-type walking robot, which is characterized in that: the device mainly comprises a left pull arm (1), a left motor (3), a push-pull flexible shaft I (4), a flexible shaft support I (5), a machine body frame (6), a flexible shaft support II (7), a flexible shaft core shaft I (8), thighs (9), middle leg joints (10), middle legs (11), a push-pull flexible shaft II (12), a flexible shaft support III (13), a lower leg (14), a flexible shaft core shaft II (15), a lower leg joint (16), a right pull arm (17), a right motor (19) and a flexible shaft support IV (20); according to the invention, the motor is fixed on the machine body frame, the driving moment generated by the motor is transmitted to the middle leg joint and the lower leg joint through the push-pull flexible shaft and drives the middle leg and the lower leg to rotate, so that the problem that the joint driving motor is coaxial with the joint shaft is avoided, the structure is simple, the axial space of the leg joint is saved, and the stability of the walking leg structure is improved.
Description
Technical Field
The invention belongs to the technical field of bionic robots, and particularly relates to a leg joint driving mechanism of a foot-type walking robot.
Background
At present, the driving modes of the walking leg joints of the multi-foot walking robot mainly comprise two driving modes of a swinging hydraulic cylinder and a motor. For the motor driving mode, the motor shaft and the joint shaft are required to be coaxial, and the motor is arranged in the axial direction of the leg joint, so that the axial dimension of the leg joint of the robot is increased, and in some cases, the motor cannot be installed in the axial direction of the leg joint due to the limitation of the space position and the dimension of the leg of the robot.
Disclosure of Invention
The invention provides a leg joint driving mechanism of a foot-type walking robot, which aims to solve the technical problems that: the problem that a joint driving motor cannot be coaxially installed with a leg joint shaft when the space position and the size of the leg of the robot are limited is solved.
In order to solve the technical problems, the invention provides a leg joint driving mechanism of a foot-type walking robot, which is characterized in that: the device mainly comprises a left pull arm 1, a left motor 3, a push-pull flexible shaft I4, a flexible shaft bracket I5, a machine body frame 6, a flexible shaft bracket II 7, a flexible shaft mandrel I8, a thigh 9, a middle leg joint 10, a middle leg 11, a push-pull flexible shaft II 12, a flexible shaft bracket III 13, a shank 14, a flexible shaft mandrel II 15, a shank joint 16, a right pull arm 17, a right motor 19 and a flexible shaft bracket IV 20; a group of left motors 3 and a first flexible shaft support 5 are fixed on the left side of a machine body frame 6, an output shaft of each left motor 3 is fixedly connected with a left pull arm 1, a second flexible shaft support 7 is fixed on a thigh 9, the thigh 9 and a middle leg 11 are rotatably connected through a middle leg joint 10, one end of a first push-pull flexible shaft 4 is fixed on the first flexible shaft support 5, the other end of the first flexible shaft is fixed on the second flexible shaft support 7, one end of a first flexible shaft core shaft 8 is fixed on the left pull arm 1, the other end of the first flexible shaft core shaft passes through the first push-pull flexible shaft 4 and is fixed on the middle leg joint 10, and power output by the left motor 3 is transmitted to the middle leg joint 10 through the first flexible shaft core shaft 8 in the first push-pull flexible shaft 4 so as to drive the middle leg 11 to move; the right motor 19 and the flexible shaft bracket IV 20 are respectively fixed at different positions on the right side of the machine body frame 6, an output shaft of the right motor 19 is fixedly connected with the right pull arm 17, the flexible shaft bracket III 13 is fixed on a connecting shaft of the middle leg 11 and the lower leg 14, the lower leg joint 16 is connected with the lower end of the lower leg 14 through a shaft, one end of the push-pull flexible shaft II 12 is fixed on the flexible shaft bracket IV 20, the other end of the push-pull flexible shaft II 12 is fixed on the flexible shaft bracket III 13, one end of the flexible shaft II 15 is fixed on the right pull arm 17, the other end of the flexible shaft II 15 passes through the flexible shaft II 15 to be fixed on the lower leg joint 16, and power output by the right motor 19 is transmitted to the lower leg joint 16 through the flexible shaft II 15 to drive the lower leg 14 to move.
The beneficial effects are that: the middle leg joint and the lower leg joint of the walking leg adopt a driving structure of a motor and a push-pull flexible shaft, the motor is fixed on a machine body frame, and driving moment generated by the motor is transmitted to the middle leg joint and the lower leg joint through the push-pull flexible shaft and drives the middle leg and the lower leg to rotate. The structure moves the joint driving motor onto the machine body frame skillfully, so that the problem that the joint driving motor is coaxial with the joint shaft is avoided, the structure is simple, the axial space of the leg joint is saved, and the stability of the walking leg structure is improved.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Detailed Description
To make the objects, contents and advantages of the present invention more apparent, the following detailed description of the specific embodiments of the present invention will be given.
The invention provides a leg joint driving mechanism of a foot-type walking robot, which mainly comprises a left pull arm 1, a left motor bracket 2, a left motor 3, a push-pull flexible shaft I4, a flexible shaft bracket I5, a machine frame 6, a flexible shaft bracket II 7, a flexible shaft mandrel I8, a thigh 9, a middle leg joint 10, a middle leg 11, a push-pull flexible shaft II 12, a flexible shaft bracket III 13, a shank 14, a flexible shaft mandrel II 15, a shank joint 16, a right pull arm 17, a right motor bracket 18, a right motor 19 and a flexible shaft bracket IV 20;
a group of left motor brackets 2 and a flexible shaft bracket I5 are fixed at different positions on the left side of a machine body frame 6, a left motor 3 is fixedly connected with one left motor bracket 2 through bolts, an output shaft of the left motor 3 is connected with one left pull arm 1 through a key, a flexible shaft bracket II 7 is fixed on a thigh 9 through bolts, the thigh 9 and a middle leg 11 are rotatably connected through a middle leg joint 10, one end of a push-pull flexible shaft I4 is fixed on the flexible shaft bracket I5, the other end of the push-pull flexible shaft I4 is fixed on the flexible shaft bracket II 7, one end of a core shaft I8 is fixed on the left pull arm 1, the other end of the core shaft I passes through the push-pull flexible shaft I4 to be fixed on the middle leg joint 10, and power output by the left motor 3 is transmitted to the middle leg joint 10 through the flexible shaft core shaft I8 inside the push-pull flexible shaft I4 so as to drive the middle leg 11 to move.
Similarly, a right motor bracket 18 and a flexible shaft bracket four 20 are respectively fixed at different positions on the right side of the machine body frame 6, a right motor 19 is fixedly connected with the right motor bracket 18 through bolts, an output shaft of the right motor 19 is connected with a right pull arm 17 through keys, a flexible shaft bracket three 13 is fixed on a connecting shaft of the middle leg 11 and the lower leg 14, a lower leg joint 16 is connected with the lower end of the lower leg 14 through a shaft, one end of a push-pull flexible shaft two 12 is fixed on the flexible shaft bracket four 20, the other end of the push-pull flexible shaft two 12 is fixed on the flexible shaft bracket three 13, one end of a flexible shaft core shaft two 15 is fixed on the right pull arm 17, the other end of the flexible shaft core shaft two 15 is fixed on the lower leg joint 16, and power output by the right motor 19 is transmitted to the lower leg joint 16 through the flexible shaft core shaft two 15 in the push-pull flexible shaft two 12 so as to drive the lower leg 14 to move.
The middle part of the machine body frame 6 is also provided with a motor, and an output shaft of the motor is fixedly connected with the upper end of the thigh to drive the thigh to rotate.
The middle leg joint and the shank joint adopt a driving structure of a motor and a push-pull flexible shaft, the motor is fixed on a machine body frame, and driving moment generated by the motor is transmitted to the middle leg joint and the shank joint through the push-pull flexible shaft and drives the middle leg and the shank to rotate.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (3)
1. The utility model provides a shank joint actuating mechanism of foot formula walking robot which characterized in that: the device mainly comprises a left pull arm (1), a left motor (3), a push-pull flexible shaft I (4), a flexible shaft support I (5), a machine body frame (6), a flexible shaft support II (7), a flexible shaft core shaft I (8), thighs (9), middle leg joints (10), middle legs (11), a push-pull flexible shaft II (12), a flexible shaft support III (13), a lower leg (14), a flexible shaft core shaft II (15), a lower leg joint (16), a right pull arm (17), a right motor (19) and a flexible shaft support IV (20); a group of left motors (3) and a first flexible shaft support (5) are fixed on the left side of a machine body frame (6), an output shaft of each left motor (3) is fixedly connected with one left pull arm (1), a second flexible shaft support (7) is fixed on a thigh (9), the thigh (9) and a middle leg (11) are rotationally connected through a middle leg joint (10), one end of a first push-pull flexible shaft (4) is fixed on the first flexible shaft support (5), the other end of the first push-pull flexible shaft is fixed on the second flexible shaft support (7), one end of the first flexible shaft (8) is fixed on the left pull arm (1), the other end of the first flexible shaft passes through the first push-pull flexible shaft (4) to be fixed on the middle leg joint (10), and power output by the left motor (3) is transmitted to the middle leg joint (10) through the first flexible shaft mandrel (8) inside the first push-pull flexible shaft (4) to drive the middle leg (11) to move; a right motor (19) and a flexible shaft support IV (20) are respectively fixed at different positions on the right side of the machine body frame (6), an output shaft of the right motor (19) is fixedly connected with a right pull arm (17), a flexible shaft support III (13) is fixed on a connecting shaft of a middle leg (11) and a lower leg (14), a lower leg joint (16) is connected with the lower end of the lower leg (14) through a shaft, one end of a push-pull flexible shaft II (12) is fixed on the flexible shaft support IV (20), the other end of the push-pull flexible shaft II (12) is fixed on the flexible shaft support III (13), one end of a flexible shaft core shaft II (15) is fixed on the right pull arm (17), the other end of the flexible shaft core shaft II (15) penetrates through the flexible shaft core shaft II (15) to be fixed on the lower leg joint (16), and power output by the right motor (19) is transmitted to the lower leg joint (16) through the flexible shaft core shaft II (15) so as to drive the lower leg (14) to move.
2. The leg joint driving mechanism of a foot-type walking robot according to claim 1, wherein: the left motor and the right motor are respectively fixed on the machine body frame (6) through motor brackets.
3. The leg joint driving mechanism of a foot-type walking robot according to claim 1, wherein: the middle part of the machine body frame (6) is also provided with a motor, and an output shaft of the motor is fixedly connected with the upper end of the thigh to drive the thigh to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811501644.3A CN109501882B (en) | 2018-12-10 | 2018-12-10 | Leg joint driving mechanism of foot-type walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811501644.3A CN109501882B (en) | 2018-12-10 | 2018-12-10 | Leg joint driving mechanism of foot-type walking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109501882A CN109501882A (en) | 2019-03-22 |
| CN109501882B true CN109501882B (en) | 2023-10-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811501644.3A Active CN109501882B (en) | 2018-12-10 | 2018-12-10 | Leg joint driving mechanism of foot-type walking robot |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008080833A (en) * | 2006-09-25 | 2008-04-10 | Kyushu Institute Of Technology | Lifting device for stairs |
| WO2008126152A1 (en) * | 2007-04-04 | 2008-10-23 | Ssd Company Limited | Robot, its joint mechanism, and method of controlling the joint mechanism |
| CN103612681A (en) * | 2013-11-23 | 2014-03-05 | 华中科技大学 | Bionic mechanical leg |
| CN203793468U (en) * | 2014-04-24 | 2014-08-27 | 中北大学 | All-terrain level carrying robot |
| CN104149871A (en) * | 2014-07-17 | 2014-11-19 | 华中科技大学 | Bionic quadruped robot with energy storage effect |
| CN105292298A (en) * | 2015-12-04 | 2016-02-03 | 哈尔滨工业大学 | Three-section machine body type hexapod robot with transportation function and operation function fused |
-
2018
- 2018-12-10 CN CN201811501644.3A patent/CN109501882B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008080833A (en) * | 2006-09-25 | 2008-04-10 | Kyushu Institute Of Technology | Lifting device for stairs |
| WO2008126152A1 (en) * | 2007-04-04 | 2008-10-23 | Ssd Company Limited | Robot, its joint mechanism, and method of controlling the joint mechanism |
| CN103612681A (en) * | 2013-11-23 | 2014-03-05 | 华中科技大学 | Bionic mechanical leg |
| CN203793468U (en) * | 2014-04-24 | 2014-08-27 | 中北大学 | All-terrain level carrying robot |
| CN104149871A (en) * | 2014-07-17 | 2014-11-19 | 华中科技大学 | Bionic quadruped robot with energy storage effect |
| CN105292298A (en) * | 2015-12-04 | 2016-02-03 | 哈尔滨工业大学 | Three-section machine body type hexapod robot with transportation function and operation function fused |
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| CN109501882A (en) | 2019-03-22 |
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