CN109969284A - Hybrid mechanical leg organization and biped robot - Google Patents
Hybrid mechanical leg organization and biped robot Download PDFInfo
- Publication number
- CN109969284A CN109969284A CN201711459921.4A CN201711459921A CN109969284A CN 109969284 A CN109969284 A CN 109969284A CN 201711459921 A CN201711459921 A CN 201711459921A CN 109969284 A CN109969284 A CN 109969284A
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- joint
- ankle
- shank
- thigh
- mechanical leg
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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)
Abstract
The present invention relates to a kind of hybrid mechanical leg organizations, including sole, ankle-joint, shank, knee joint, thigh, hip joint and trunk；The sole is used to provide a posture and position constant platform for pedipulator；The ankle-joint is for connecting the sole and shank, the knee joint is for connecting the shank and the thigh, the hip joint is for connecting the thigh and the trunk, the ankle-joint uses parallel connection type joint structure, the shank is equipped with the first electric putter and the second electric putter for driving the ankle-joint, first electric putter and the second electric putter are connected in parallel, and the hip joint uses the drive form of cross integral joint.Hybrid mechanical leg organization provided by the invention, structure is more compact, improves the response speed that shank and thigh are swung.
Description
Technical field
The invention belongs to biped robot's field of structural design, relate generally to a kind of series and parallel combined pedipulator of compact
Mechanism.The invention further relates to a kind of biped robots.
Background technique
The driving method in traditional anthropomorphic robot leg joint is motor, synchronous belt adds harmonic speed reducer, transmission link
It is more, the whole efficiency of system is reduced, in addition, using the connection type that jackscrew is fixed between synchronous belt and transmission shaft, although
The connection type of this form has shown good reliability in the application of industrial robot, but biped robot this
Under conditions of the load of class periodic shock, reliability is unable to satisfy requirement, needs regular maintenance to ensure that joint connects
It will not loosen.
In addition, leg mechanism of robot generallys use tandem type joint structure, each motor can be with each pass of independent control
Section, but the ankle in tandem type joint needs that a driving motor and retarder are installed at the sole of robot, are led
It causes robot that can have a biggish sole of weight, influences Robotic Dynamic responding ability；Although parallel connection type joint structure can
The motor of ankle is placed in shank position, mitigate the weight of sole with this, improve the responding ability of pedipulator end,
However, the hip region of pedipulator is difficult to form the ball joint of standard, lead to the anthropomorphic robot of parallel connection type joint structure
It controls complex.
Summary of the invention
For above-mentioned problems of the prior art, the purpose of the present invention is to provide a kind of joint lightweight and tools
There is the hybrid mechanical leg organization compared with high response speed.
To achieve the above object, the invention adopts the following technical scheme:
The present invention provides a kind of hybrid mechanical leg organizations, including sole, ankle-joint, shank, knee joint, thigh, hip
Joint and trunk；The sole, for providing a posture and position constant platform for pedipulator；The ankle-joint is for connecting institute
Sole and shank are stated, the knee joint is for connecting the shank and the thigh, and the hip joint is for connecting the thigh
With the trunk, the ankle-joint uses parallel connection type joint structure, and the shank is equipped with for driving the ankle-joint
One electric putter and the second electric putter, first electric putter and the second electric putter are connected in parallel.
Preferably, one end of first electric putter and the second electric putter is fixedly connected with the shank, and the other end passes through
Ball type connectors are connect with the ankle-joint.
Preferably, the ankle-joint is universal joint, and one end of the universal joint is fixedly connected with the sole, the other end and
The shank is fixedly connected.
Preferably, the knee joint is single-DOF-joint, and one end of the single-DOF-joint is connect with the thigh,
The other end of the single-DOF-joint is connect with the shank.
Preferably, the knee joint uses the driving method of integral joint, realizes the kneed single-degree-of-freedom
Pitching movement.
Preferably, the hip joint is ball joint structure, connects the trunk and the thigh.
Preferably, the hip joint includes cross integral joint, wherein one end of integral joint and the trunk
It is connected.
Preferably, the integral joint includes motor and retarder, and the motor and the retarder are solid by flange
It is fixed.
Preferably, Driver Card is installed, the Driver Card is for ankle-joint described in drive control, institute at the thigh
State knee joint and the hip joint.
The present invention also provides a kind of biped robots, including hybrid mechanical leg organization as described above.
The beneficial effects of the present invention are: hybrid mechanical leg organization provided by the invention is using integral joint and ties
The driving method combined in series and parallel is closed, driving method in parallel is used in the ankle of robot, is pacified by shank position
The electric putter of dress carries out poor journey driving to ankle-joint, can not have to complete the drive in universal joint joint in the case where motor at sole
It is dynamic, the weight of sole is reduced, improves response speed, while be closer to the center of gravity at shank position at knee joint, is improved
The response speed that shank is swung.In addition, using the driving method of integral joint at hip joint, apery is on the one hand omitted
The commonly used synchronous pulley of robot leg realizes compact type lightization design, the center of gravity at thigh position is enabled to be more nearly
At hip joint, the response speed that thigh is swung is improved, the ball joint structure of standard is on the other hand realized, standard can be used
Arithmetic of inverse kinematics, facilitate control.
Detailed description of the invention
Fig. 1 is the front view of mechanical leg organization of the present invention；
Fig. 2 is the right view of mechanical leg organization of the present invention.
Wherein:
1, sole 2, ankle-joint
3, shank 4, knee joint
5, thigh 6, hip joint
7, trunk 8, integral joint A
9, integral joint B 10, integral joint C
11, the first electric putter 12, the second electric putter
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing and specific implementation
Example, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only to explain this hair
It is bright, but not to limit the present invention.
The present invention provides a kind of hybrid mechanical leg organizations, including sole, ankle-joint, shank, knee joint, thigh, hip
Joint and trunk.
Sole is located at the end of pedipulator, when sole completely with ground face contact after, for providing a posture for pedipulator
With the constant platform in position.
Ankle-joint uses parallel connection type joint structure for connecting sole and shank, ankle-joint, it is preferred that ankle-joint is universal
Section, one end of universal joint are fixedly connected with sole, and the other end is fixedly connected with shank.
Shank is equipped with the first electric putter and the second electric putter for driving ankle-joint, and the first electric putter and the second electricity push away
Bar is connected in parallel.
Specifically, one end of the first electric putter and the second electric putter is fixedly connected with shank, the other end is connected by ball-type
Device is connect with ankle-joint.
For knee joint for connecting shank and thigh, knee joint is single-DOF-joint, one end of single-DOF-joint and big
Leg connection, the other end of single-DOF-joint are connect with shank.
Preferably, knee joint uses the driving method of integral joint, realizes the pitching movement of kneed single-degree-of-freedom.
Driver Card is installed, Driver Card is used for drive control ankle-joint, knee joint and hip joint at thigh.
Hip joint, specifically, hip joint is ball joint structure, connects trunk and thigh for connecting thigh and trunk.
In one preferred embodiment, hip joint includes a cross integral joint, wherein integral joint
One end be connected with trunk.
Preferably, integral joint includes motor and retarder, and motor and retarder are fixed by flange.
The present invention also provides a kind of biped robots, including hybrid mechanical leg organization as described above.
This patent realizes a kind of series and parallel combined mechanical leg organization of compact, in parallel using electric putter in ankle
Driving method, realize and the universal of the pitching and rolling for realizing ankle-joint in the case where driving motor be not installed on pedipulator sole
Section control, mitigates the end weight of pedipulator with this, improves response speed；Knee joint uses the driving method of integral joint,
Common synchronous pulley link in pedipulator is eliminated, realizes the pitching movement of kneed single-degree-of-freedom；Hip joint is equally adopted
With the driving method of integral joint, including a cross integral joint, compact design is realized, another integration
Joint one end is connected with trunk, and output shaft is connected with joint, three axis be mutually perpendicular to and converge and a bit, realize the ball of hip joint
Compact and the lightweight in joint may be implemented in type joint structure, this hip joint design, it is ensured that the center of gravity at thigh position is close
In hip joint, the response speed in thigh swing process is improved, makes that there is lesser interference between each rotary freedom, and
Guarantee that each rotary shaft is mutually perpendicular to, and gives the ball joint for a little forming standard, the control being beneficial in biped walking
System.
Illustrate the specific structure of the mechanical leg organization in the present invention below by specific embodiment.
It please refers to shown in Fig. 1 and Fig. 2, a kind of series and parallel combined mechanical leg organization 30, including sole 1, ankle-joint 2 are small
Leg 3, knee joint 4, thigh 5, hip joint 6 and trunk 7 are constituted.
Sole 1 is the end of pedipulator, sole 1 completely with ground face contact after, provide a posture and position for pedipulator 30
Set constant platform.1 center of sole and one end of ankle-joint 2 are mutually fixed.
Ankle-joint 2 is the joint for connecting sole and shank, specifically, articulated manner of the ankle-joint 2 using universal joint, one end
Fixed with sole 1, the other end and shank 3 are fixed, realize the pitching between sole 1 and shank 3 and roll the movement of freedom degree, and
Limit the movement of other freedom degrees.
Shank 3 is equipped with the first electric putter 11 and the second electric putter 12 of driving ankle-joint 2, and those skilled in the art know
Know, electric putter is also known as electric pushrod, in general, mainly be made of mechanisms such as motor push rod and control devices, be it is a kind of will be electric
The rotary motion of motivation is changed into the power-driven gear of the straight reciprocating motion of push rod.Therefore, tool of the present invention to electric putter
Body structure is not particularly limited, and the electric putter structure that those skilled in the art can be known is included within the scope of the present invention.
First electric putter 11 and the second electric putter 12 are connected in parallel.One end of first electric putter 11 and the second electric putter 12 with
Shank is fixed, and the other end is connected by ball type connectors with ankle-joint 2, is pushed away by the first electric putter 11 and the second electricity in parallel
The control while difference that bar 12 exports length may be implemented to 2 pitch freedom of ankle-joint and roll freedom degree.
Specifically, when the first electric putter 11 is consistent with the direction of motion of the second electric putter 12, such as simultaneously to far from ground
Direction movement, at this point, make ankle-joint 2 have pitch freedom.
Specifically, when the direction of motion of the first electric putter 11 and the second electric putter 12 is opposite, such as the first electric putter 11 to
Direction far from ground moves, when the second electric putter 12 is moved to the direction on remote close ground, at this point, ankle-joint 2 is made to have rolling
Dynamic freedom degree.
Knee joint 4 is a single-DOF-joint, and 4 one end of knee joint is connected with 5 position of thigh, the other end and shank 3
Position is connected
Knee joint 4 is by being mounted on driving of the kneed integral joint C10 realization to knee joint 4, knee joint 4
Rotation can complete the flexible of robot leg.
Thigh 5 is used to install the Driver Card of ankle-joint 2, knee joint 4 and hip joint 6 pitching and roll freedom degree, real
Now to the drive control in these joints.
Hip joint 6 is the ball joint of a standard, connects the trunk 7 and thigh 5 of robot, three rotations of hip joint 6
The axis of shaft is mutually perpendicular to and gives a bit, realizes pitching and the cross in joint in the form of integral joint at hip joint 6
Roll freedom degree.
Specifically, hip joint 6 is ball joint structure, hip joint 6 is single freely by cross integral joint A8 and one
It spends integral joint B9 to constitute, wherein cross integral joint A8 controls pitching, roll double freedom, integral joint B9
Control deflection freedom degree, wherein integral joint B9 is connected with trunk 7.
Preferably, integral joint A8 and integral joint B9 includes motor and retarder, and motor and retarder pass through method
Blue mounting means is connected with joint, forms a kind of joint form of compact, meets the movement eyeball of hip joint 6, guarantees
Pedipulator 30 has bigger rolling range.
Trunk 7 is attached with hip joint 6 by the integral joint B9 of control deflection freedom degree, integral joint B9 mono-
End is fixed with trunk, and other end B9 is fixed with hip joint, for making what robot can be convenient turn.
The present invention provides a kind of series and parallel combined pedipulator structure of compact, in conjunction with tandem type joint structure with it is in parallel
The advantage of type joint structure respectively uses parallel connection type joint structure in ankle, joint drive electric putter is mounted on shank
Place, the sole that robot is controlled in such a way that poor journey drives realize the universal joint joint structure rolled with pitch freedom, can
So that the sole position of pedipulator does not dispose motor, the lightweight of moving end is realized, improve response speed.
Hip joint and knee joint use the drive form of integral joint, save the intermediate link of synchronous pulley, improve and close
Reliability is saved, is fixed between motor and retarder using form of flanges, the fixation relative to traditional biped robot's jackscrew
Mode, the connection type in this paper technology is more reliability and durability, and knee joint and hip joint, can be with by way of integral joint
It preferably realizes joint light-weight design, also ensures that the center of gravity at thigh position close to hip joint, improves sound when thigh is swung
Answer speed.In addition, hip joint forms the ball joint of compact design, it is ensured that do not occur with other freedom of motion dry
It relates to, forms the ball joint of standard, guarantee the simplicity of the computation of inverse- kinematics.
The above described specific embodiments of the present invention are not intended to limit the scope of the present invention..Any basis
Any other various changes and modifications made by technical concept of the invention should be included in the guarantor of the claims in the present invention
It protects in range.
Claims (10)
1. a kind of hybrid mechanical leg organization, including sole, ankle-joint, shank, knee joint, thigh, hip joint and trunk；It is described
Sole, for providing a posture and position constant platform for pedipulator；The ankle-joint is for connecting the sole and shank, institute
Knee joint is stated for connecting the shank and the thigh, the hip joint is special for connecting the thigh and the trunk
Sign is,
The ankle-joint uses parallel connection type joint structure, and the shank is equipped with the first electric putter for driving the ankle-joint
With the second electric putter, first electric putter and the second electric putter are connected in parallel.
2. hybrid mechanical leg organization according to claim 1, which is characterized in that first electric putter and the second electricity push away
One end of bar is fixedly connected with the shank, and the other end is connect by ball type connectors with the ankle-joint.
3. hybrid mechanical leg organization according to claim 1, which is characterized in that the ankle-joint is universal joint, described
One end of universal joint is fixedly connected with the sole, and the other end is fixedly connected with the shank.
4. hybrid mechanical leg organization according to claim 1, which is characterized in that the knee joint is single-degree-of-freedom pass
Section, one end of the single-DOF-joint are connect with the thigh, and the other end of the single-DOF-joint and the shank connect
It connects.
5. hybrid mechanical leg organization according to claim 5, which is characterized in that the knee joint uses integral joint
Driving method, realize the pitching movement of the kneed single-degree-of-freedom.
6. hybrid mechanical leg organization according to claim 1, which is characterized in that the hip joint is ball joint knot
Structure connects the trunk and the thigh.
7. hybrid mechanical leg organization according to claim 6, which is characterized in that the hip joint includes cross one
Change joint, wherein one end of integral joint is connected with the trunk.
8. hybrid mechanical leg organization according to claim 7, which is characterized in that the integral joint include motor and
Retarder, the motor and the retarder are fixed by flange.
9. hybrid mechanical leg organization according to claim 1, which is characterized in that be equipped with driving plate at the thigh
Card, the Driver Card is for ankle-joint, the knee joint and the hip joint described in drive control.
10. a kind of biped robot, including the hybrid mechanical leg organization as described in any one of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711459921.4A CN109969284A (en) | 2017-12-28 | 2017-12-28 | Hybrid mechanical leg organization and biped robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711459921.4A CN109969284A (en) | 2017-12-28 | 2017-12-28 | Hybrid mechanical leg organization and biped robot |
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| CN109969284A true CN109969284A (en) | 2019-07-05 |
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ID=67074657
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| CN201711459921.4A Pending CN109969284A (en) | 2017-12-28 | 2017-12-28 | Hybrid mechanical leg organization and biped robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110181541A (en) * | 2019-05-15 | 2019-08-30 | 浙江大学 | A kind of biped Pao Tiao robot rotating direction control method |
| CN111017064A (en) * | 2020-01-21 | 2020-04-17 | 福州大学 | Motor-driven double-foot lower limb walking structure and working method thereof |
| CN112758210A (en) * | 2021-01-18 | 2021-05-07 | 杭州太希智能科技有限公司 | Multifunctional quadruped robot |
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| CN106539663A (en) * | 2015-09-17 | 2017-03-29 | 山东经典医疗器械科技有限公司 | Healing robot hip joint width adjustable mechanical lower limb |
| CN106741277A (en) * | 2015-11-20 | 2017-05-31 | 沈阳新松机器人自动化股份有限公司 | A kind of hybrid mechanical leg organization |
| CN107097213A (en) * | 2017-05-19 | 2017-08-29 | 沃奇（北京）智能科技有限公司 | Robot lower limb |
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2017
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Patent Citations (6)
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| US5252901A (en) * | 1990-11-30 | 1993-10-12 | Honda Giken Kogyo Kabushiki Kaisha | System for controlling locomotion of legged walking robot |
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| CN106539663A (en) * | 2015-09-17 | 2017-03-29 | 山东经典医疗器械科技有限公司 | Healing robot hip joint width adjustable mechanical lower limb |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110181541A (en) * | 2019-05-15 | 2019-08-30 | 浙江大学 | A kind of biped Pao Tiao robot rotating direction control method |
| CN111017064A (en) * | 2020-01-21 | 2020-04-17 | 福州大学 | Motor-driven double-foot lower limb walking structure and working method thereof |
| CN112758210A (en) * | 2021-01-18 | 2021-05-07 | 杭州太希智能科技有限公司 | Multifunctional quadruped robot |
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Application publication date: 20190705 |