CN110091935A - Three Degree Of Freedom leg joint and method based on differential gear train - Google Patents
Three Degree Of Freedom leg joint and method based on differential gear train Download PDFInfo
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- CN110091935A CN110091935A CN201910343357.2A CN201910343357A CN110091935A CN 110091935 A CN110091935 A CN 110091935A CN 201910343357 A CN201910343357 A CN 201910343357A CN 110091935 A CN110091935 A CN 110091935A
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- transmission gear
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- mounting plate
- 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
Abstract
The Three Degree Of Freedom leg joint and method that the invention discloses a kind of based on differential gear train, leg joint include bracket, first to third driving motor, the first to the second transmission gear, first to third cone transmission gear, convolution frame, proximal end driving leg and distal end driving leg.Three Degree Of Freedom leg according to the present invention joint realizes driving leg mechanism rolling and pitching using differential gear train, and the opposite revolution of distal end driving leg and proximal end driving leg is realized using revolute pair.Three motor driven according to the present invention, the leg joint based on differential gear train, have it is small in size, driving mechanism is compact, reduces the advantage of rotary inertia, can be used on small-sized legged type robot as driving joint.
Description
Technical field
The present invention relates to robot leg joint fields, and in particular to a kind of Three Degree Of Freedom leg pass based on differential gear train
Section and method.
Background technique
In the 1960s, the process that the mankind understand biological outstanding characteristic, study and reproduce forms one
Door subject --- bionics (Bionics).The experts and scholars in the field have carried out long-term experiment to the biology in nature and have seen
It examines, and detailed anatomy has been carried out to its kinetic characteristic and biological nature, discovery has sufficient animal in terms of adaptive capacity to environment
There is stronger advantage.At home and abroad under the unremitting effort of scientific research personnel, bionical foot formula mobile robot imitation has sufficient animal
Motion feature, the leg by controlling one or more freedom degrees alternately stride forward forward, and terrain adaptability is higher than wheeled and crawler belt
The movement of any earth's surface almost may be implemented in formula mobile robot after installing a variety of payload additional.But such current machine
Robot mechanism and control are complicated.The movement in most of legged type robot legs joint is by multiple mutual farther away execution machines of mounting distance
Structure, such as motor driven cause robotically-driven leg body product excessive, and mass-dispersion, and distal end inertia is excessive, causes driving mechanism
Energy consumption is excessive.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of based on poor for defect involved in background technique
The Three Degree Of Freedom leg joint of driving wheel system and method.
The present invention is to solve the technical problem to use following technical scheme:
Three Degree Of Freedom leg joint based on differential gear train, including bracket, the first to third driving motor, the first to the second transmission
Gear, first to third cone transmission gear, convolution frame, proximal end driving leg and distal end driving leg；
The bracket includes the first fixed plate, the second fixed plate, front mounting plate, middle mounting plate and several fixed pillars；Wherein, institute
State the first fixed plate, the second fixed plate is arranged in parallel；Several fixed pillars are arranged at the first fixed plate, the second fixed plate
Between, both ends are vertically connected with the first fixed plate, the second fixed plate respectively；The front mounting plate, middle mounting plate are in rectangle, and two
Side is vertically connected with the first fixed plate, the second fixed plate respectively；The front mounting plate setting is fixed in the first fixed plate, second
The middle part of the first fixed plate, the second fixed plate is arranged in the side of plate, middle mounting plate, and front mounting plate is parallel with middle mounting plate to be set
It sets；The second through-hole that the front mounting plate is equipped with first through hole and passes through for second transmission gear rotational shaft, the middle peace
Loading board is equipped with the third through-hole passed through for first driving motor output shaft；
The convolution frame is U-shaped, includes the first side plate, the second side plate and bottom plate, first side plate, the second side plate are equal and described
Bottom plate is vertically connected, and first side plate is equipped with the fourth hole passed through for the first cone transmission gear rotational shaft, second side
Plate is equipped with the fifth hole passed through for the second cone transmission gear rotational shaft, and bottom plate, which is equipped with, bores transmission gear for the third
The 6th through-hole that shaft passes through；
First transmission gear, the second transmission gear are arranged on the outside of front mounting plate, and shaft is each passed through described first
Through-hole, the second through-hole and it is connected with the front mounting plate by bearing；
Described first, which bores transmission gear to third, is arranged in the convolution frame, wherein the first cone transmission gear turns
Axis passes through the fourth hole and is connected by bearing with first side plate；The shaft of the second cone transmission gear passes through institute
It states fifth hole and is connected by bearing with second side plate；It is logical that the shaft of the third cone transmission gear passes through the described 6th
Hole and it is connected with the bottom plate by bearing；The first cone transmission gear, the equal and described third cone of the second cone transmission gear pass
Moving gear engagement, and first to third cone transmission gear the number of teeth it is identical；
The convolution frame is arranged in the space that the first fixed plate, the second fixed plate, front mounting plate, middle mounting plate surround；It is described
First driving motor is fixed on the middle mounting plate, and output shaft passes through the third through-hole and the second cone transmission gear
The shaft for stretching out the second side plate is coaxially connected；The shaft of second transmission gear pass through second through-hole after and described first
The shaft that cone transmission gear stretches out the first side plate is coaxially connected；Second driving motor is fixed on the front mounting plate,
The shaft of output end and first transmission gear is coaxially connected；
It is equipped in first fixed plate, the second fixed plate for the notch for the convolution frame rotation；
The shaft of the stretching bottom plate of proximal end driving leg one end and third cone transmission gear is coaxially connected；
The third driving motor is fixed on the other end of the proximal end driving leg, and the one of output shaft and the distal end driving leg
End is vertical to be connected, for driving the distal end driving leg to rotate relative to proximal end driving leg.
As the present invention is based on the further prioritization schemes in Three Degree Of Freedom leg joint of differential gear train, also comprising first to
Third link block；
Described first to third link block include magnetic support mounting plate and the magnetic support that is fixed on magnetic support mounting plate；
The side of the first fixed plate, the second fixed plate far from front mounting plate is arranged in first link block；Described second connects
Connection module, third link block are arranged at the upside of first fixed plate, the second fixed plate；Described first to third connect
The magnetic support mounting plate of module is vertically connected with the first side plate, the second side plate；Described first to third link block magnetic support it is equal
The outside of its magnetic support mounting plate is set, for quickly connecting and dismantling by magnetic force with other Three Degree Of Freedom leg joints.
The invention also discloses a kind of driving methods for being somebody's turn to do the Three Degree Of Freedom leg joint based on differential gear train, comprising following
Step:
First driving motor is able to drive the rotation of the second cone transmission gear, and the second driving motor passes through the first transmission gear and second
The spur gear pair that transmission gear is constituted is able to drive the rotation of the first cone transmission gear, and third bores transmission gear as differential gear train
Planetary gear can roll on the first cone transmission gear and the second cone questions of drive gear tooth simultaneously；
If necessary to drive the rolling of leg joint: the first driving motor of control, the work of the second driving motor, so that the second cone transmission
Gear and the first cone transmission gear revolving speed are equal, contrary；
If necessary to drive the pitching of leg joint: the first driving motor of control, the work of the second driving motor, so that the second cone transmission
Transmission gear revolving speed is equal, direction is identical for gear and the first cone；
If necessary to drive leg joint to bend and stretch: control third driving motor work drives proximal end driving leg and distal end driving leg
Mutually rotation.
The invention adopts the above technical scheme compared with prior art, has following technical effect that
The configuration of the present invention is simple, it is easy to use, it solves the complexity of legged type robot driving leg structure and inertia is excessive etc. asks
Topic, helps to realize the modularized design of driving leg or even entire legged type robot.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is differential gear train structural scheme of mechanism of the present invention.
In figure, the first driving motor of 1-；The magnetic support of the first link block of 2-；The magnetic support mounting plate of the first link block of 3-；
The first fixed plate of 4-；5- fixes pillar；The magnetic support mounting plate of the second link block of 6-；The magnetic support of the second link block of 7-；8-
Two fixed plates；The second driving motor of 9-；10- front mounting plate；The first transmission gear of 11-；The second transmission gear of 12-；13- first is bored
Transmission gear；14- second bores transmission gear；15- third bores transmission gear；The first side plate of 16-；17- bottom plate；The driving of the proximal end 18-
Leg；The distal end 19- driving leg；20- third driving motor；The second side plate of 21-；Mounting plate in 22-.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing:
The present invention can be embodied in many different forms, and should not be assumed that be limited to the embodiments described herein.On the contrary, providing
These embodiments are thoroughly and complete to make the disclosure, and will give full expression to the scope of the present invention to those skilled in the art.
In the accompanying drawings, for the sake of clarity it is exaggerated component.
As shown in Figure 1, the invention discloses a kind of Three Degree Of Freedom leg joint based on differential gear train, including bracket,
One to third driving motor, the first to the second transmission gear, first to third cone transmission gear, it is convolution frame, proximal end driving leg, remote
Hold driving leg and first to third link block；
The bracket includes the first fixed plate, the second fixed plate, front mounting plate, middle mounting plate and several fixed pillars；Wherein, institute
State the first fixed plate, the second fixed plate is arranged in parallel；Several fixed pillars are arranged at the first fixed plate, the second fixed plate
Between, both ends are vertically connected with the first fixed plate, the second fixed plate respectively；The front mounting plate, middle mounting plate are in rectangle, and two
Side is vertically connected with the first fixed plate, the second fixed plate respectively；The front mounting plate setting is fixed in the first fixed plate, second
The middle part of the first fixed plate, the second fixed plate is arranged in the side of plate, middle mounting plate, and front mounting plate is parallel with middle mounting plate to be set
It sets；The second through-hole that the front mounting plate is equipped with first through hole and passes through for second transmission gear rotational shaft, the middle peace
Loading board is equipped with the third through-hole passed through for first driving motor output shaft；
The convolution frame is U-shaped, includes the first side plate, the second side plate and bottom plate, first side plate, the second side plate are equal and described
Bottom plate is vertically connected, and first side plate is equipped with the fourth hole passed through for the first cone transmission gear rotational shaft, second side
Plate is equipped with the fifth hole passed through for the second cone transmission gear rotational shaft, and bottom plate, which is equipped with, bores transmission gear for the third
The 6th through-hole that shaft passes through；
First transmission gear, the second transmission gear are arranged on the outside of front mounting plate, and shaft is each passed through described first
Through-hole, the second through-hole and it is connected with the front mounting plate by bearing；
Described first, which bores transmission gear to third, is arranged in the convolution frame, wherein the first cone transmission gear turns
Axis passes through the fourth hole and is connected by bearing with first side plate；The shaft of the second cone transmission gear passes through institute
It states fifth hole and is connected by bearing with second side plate；It is logical that the shaft of the third cone transmission gear passes through the described 6th
Hole and it is connected with the bottom plate by bearing；The first cone transmission gear, the equal and described third cone of the second cone transmission gear pass
Moving gear engagement, and first to third cone transmission gear the number of teeth it is identical；
The convolution frame is arranged in the space that the first fixed plate, the second fixed plate, front mounting plate, middle mounting plate surround；It is described
First driving motor is fixed on the middle mounting plate, and output shaft passes through the third through-hole and the second cone transmission gear
The shaft for stretching out the second side plate is coaxially connected；The shaft of second transmission gear pass through second through-hole after and described first
The shaft that cone transmission gear stretches out the first side plate is coaxially connected；Second driving motor is fixed on the front mounting plate,
The shaft of output end and first transmission gear is coaxially connected；
It is equipped in first fixed plate, the second fixed plate for the notch for the convolution frame rotation；
The shaft of the stretching bottom plate of proximal end driving leg one end and third cone transmission gear is coaxially connected；
The third driving motor is fixed on the other end of the proximal end driving leg, and the one of output shaft and the distal end driving leg
End is vertical to be connected, for driving the distal end driving leg to rotate relative to proximal end driving leg；
Described first to third link block include magnetic support mounting plate and the magnetic support that is fixed on magnetic support mounting plate；
The side of the first fixed plate, the second fixed plate far from front mounting plate is arranged in first link block；Described second connects
Connection module, third link block are arranged at the upside of first fixed plate, the second fixed plate；Described first to third connect
The magnetic support mounting plate of module is vertically connected with the first side plate, the second side plate；Described first to third link block magnetic support it is equal
The outside of its magnetic support mounting plate is set, for quickly connecting and dismantling by magnetic force with other Three Degree Of Freedom leg joints.
The invention also discloses a kind of driving methods for being somebody's turn to do the Three Degree Of Freedom leg joint based on differential gear train, comprising following
Step:
First driving motor is able to drive the rotation of the second cone transmission gear, and the second driving motor passes through the first transmission gear and second
The spur gear pair that transmission gear is constituted is able to drive the rotation of the first cone transmission gear, and third bores transmission gear as differential gear train
Planetary gear can roll on the first cone transmission gear and the second cone questions of drive gear tooth simultaneously；
If necessary to drive the rolling of leg joint: the first driving motor of control, the work of the second driving motor, so that the second cone transmission
Gear and the first cone transmission gear revolving speed are equal, contrary；
If necessary to drive the pitching of leg joint: the first driving motor of control, the work of the second driving motor, so that the second cone transmission
Transmission gear revolving speed is equal, direction is identical for gear and the first cone；
If necessary to drive leg joint to bend and stretch: control third driving motor work drives proximal end driving leg and distal end driving leg
Mutually rotation.
As shown in Fig. 2, when the second cone transmission gear passes through by passing through, side equal by revolving speed with the first cone transmission gear
To it is opposite when, only third cone transmission gear pass through by rotation, drive driving leg mechanism around third cone transmission gear pass through
Axis rolling, output angle size are γ.When the second cone transmission gear passes through by passing through with the first cone transmission gear by turning
Speed is equal, and when direction is identical, third cone transmission gear passes through by no longer rotating, only around first bevel gear by being produced by axis
Raw deflection, output angle β drive driving leg mechanism to realize pitching motion.When the second cone transmission gear passes through by with first
Bore transmission gear by by revolving speed is not equal or direction difference when, rolling and the pitching simultaneously of driving leg mechanism.By adjusting first
Driving motor passes through revolving speed and steering with the second driving motor by output shaft, it will be able to generate different driving leg mechanism rollings
Turn with pitch angle and angular speed, then generate different driving leg mechanism end tracks.
Those skilled in the art can understand that unless otherwise defined, all terms used herein (including skill
Art term and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary should be understood that have in the context of the prior art
The consistent meaning of meaning will not be explained in an idealized or overly formal meaning and unless defined as here.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not limited to this hair the foregoing is merely a specific embodiment of the invention
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (3)
1. the Three Degree Of Freedom leg joint based on differential gear train, which is characterized in that including bracket, first to third driving motor,
The first to the second transmission gear, first to third cone transmission gear, convolution frame, proximal end driving leg and distal end driving leg；
The bracket includes the first fixed plate, the second fixed plate, front mounting plate, middle mounting plate and several fixed pillars；Wherein, institute
State the first fixed plate, the second fixed plate is arranged in parallel；Several fixed pillars are arranged at the first fixed plate, the second fixed plate
Between, both ends are vertically connected with the first fixed plate, the second fixed plate respectively；The front mounting plate, middle mounting plate are in rectangle, and two
Side is vertically connected with the first fixed plate, the second fixed plate respectively；The front mounting plate setting is fixed in the first fixed plate, second
The middle part of the first fixed plate, the second fixed plate is arranged in the side of plate, middle mounting plate, and front mounting plate is parallel with middle mounting plate to be set
It sets；The second through-hole that the front mounting plate is equipped with first through hole and passes through for second transmission gear rotational shaft, the middle peace
Loading board is equipped with the third through-hole passed through for first driving motor output shaft；
The convolution frame is U-shaped, includes the first side plate, the second side plate and bottom plate, first side plate, the second side plate are equal and described
Bottom plate is vertically connected, and first side plate is equipped with the fourth hole passed through for the first cone transmission gear rotational shaft, second side
Plate is equipped with the fifth hole passed through for the second cone transmission gear rotational shaft, and bottom plate, which is equipped with, bores transmission gear for the third
The 6th through-hole that shaft passes through；
First transmission gear, the second transmission gear are arranged on the outside of front mounting plate, and shaft is each passed through described first
Through-hole, the second through-hole and it is connected with the front mounting plate by bearing；
Described first, which bores transmission gear to third, is arranged in the convolution frame, wherein the first cone transmission gear turns
Axis passes through the fourth hole and is connected by bearing with first side plate；The shaft of the second cone transmission gear passes through institute
It states fifth hole and is connected by bearing with second side plate；It is logical that the shaft of the third cone transmission gear passes through the described 6th
Hole and it is connected with the bottom plate by bearing；The first cone transmission gear, the equal and described third cone of the second cone transmission gear pass
Moving gear engagement, and first to third cone transmission gear the number of teeth it is identical；
The convolution frame is arranged in the space that the first fixed plate, the second fixed plate, front mounting plate, middle mounting plate surround；It is described
First driving motor is fixed on the middle mounting plate, and output shaft passes through the third through-hole and the second cone transmission gear
The shaft for stretching out the second side plate is coaxially connected；The shaft of second transmission gear pass through second through-hole after and described first
The shaft that cone transmission gear stretches out the first side plate is coaxially connected；Second driving motor is fixed on the front mounting plate,
The shaft of output end and first transmission gear is coaxially connected；
It is equipped in first fixed plate, the second fixed plate for the notch for the convolution frame rotation；
The shaft of the stretching bottom plate of proximal end driving leg one end and third cone transmission gear is coaxially connected；
The third driving motor is fixed on the other end of the proximal end driving leg, and the one of output shaft and the distal end driving leg
End is vertical to be connected, for driving the distal end driving leg to rotate relative to proximal end driving leg.
2. the Three Degree Of Freedom leg joint according to claim 1 based on differential gear train, which is characterized in that also include first
To third link block；
Described first to third link block include magnetic support mounting plate and the magnetic support that is fixed on magnetic support mounting plate；
The side of the first fixed plate, the second fixed plate far from front mounting plate is arranged in first link block；Described second connects
Connection module, third link block are arranged at the upside of first fixed plate, the second fixed plate；Described first to third connect
The magnetic support mounting plate of module is vertically connected with the first side plate, the second side plate；Described first to third link block magnetic support it is equal
The outside of its magnetic support mounting plate is set.
3. the driving method based on the Three Degree Of Freedom leg joint described in claim 1 based on differential gear train, which is characterized in that
It comprises the steps of:
First driving motor is able to drive the rotation of the second cone transmission gear, and the second driving motor passes through the first transmission gear and second
The spur gear pair that transmission gear is constituted is able to drive the rotation of the first cone transmission gear, and third bores transmission gear as differential gear train
Planetary gear can roll on the first cone transmission gear and the second cone questions of drive gear tooth simultaneously；
If necessary to drive the rolling of leg joint: the first driving motor of control, the work of the second driving motor, so that the second cone transmission
Gear and the first cone transmission gear revolving speed are equal, contrary；
If necessary to drive the pitching of leg joint: the first driving motor of control, the work of the second driving motor, so that the second cone transmission
Transmission gear revolving speed is equal, direction is identical for gear and the first cone；
If necessary to drive leg joint to bend and stretch: control third driving motor work drives proximal end driving leg and distal end driving leg
Mutually rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910343357.2A CN110091935B (en) | 2019-04-26 | 2019-04-26 | Three-degree-of-freedom leg joint based on differential gear train and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910343357.2A CN110091935B (en) | 2019-04-26 | 2019-04-26 | Three-degree-of-freedom leg joint based on differential gear train and method |
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| Publication Number | Publication Date |
|---|---|
| CN110091935A true CN110091935A (en) | 2019-08-06 |
| CN110091935B CN110091935B (en) | 2023-05-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910343357.2A Active CN110091935B (en) | 2019-04-26 | 2019-04-26 | Three-degree-of-freedom leg joint based on differential gear train and method |
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| Country | Link |
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Cited By (3)
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| CN113081667A (en) * | 2021-03-25 | 2021-07-09 | 北京航空航天大学 | Twelve-degree-of-freedom gait simulation device |
| CN114348078A (en) * | 2021-11-29 | 2022-04-15 | 国网新源控股有限公司回龙分公司 | Water pump moving and transporting equipment for pumped storage construction in civil engineering construction |
| CN114506399A (en) * | 2022-03-07 | 2022-05-17 | 上海大学 | High-dynamic quadruped robot based on all-joint drive coaxial leg structure module |
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| CN114506399A (en) * | 2022-03-07 | 2022-05-17 | 上海大学 | High-dynamic quadruped robot based on all-joint drive coaxial leg structure module |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110091935B (en) | 2023-05-12 |
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