CN110091935B - Three-degree-of-freedom leg joint based on differential gear train and method - Google Patents
Three-degree-of-freedom leg joint based on differential gear train and method Download PDFInfo
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- CN110091935B CN110091935B CN201910343357.2A CN201910343357A CN110091935B CN 110091935 B CN110091935 B CN 110091935B CN 201910343357 A CN201910343357 A CN 201910343357A CN 110091935 B CN110091935 B CN 110091935B
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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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Abstract
The invention discloses a three-degree-of-freedom leg joint based on a differential gear train and a method thereof. The three-degree-of-freedom leg joint adopts a differential gear train to realize rolling and pitching of a driving leg mechanism, and adopts a revolute pair to realize relative rotation of a distal driving leg and a proximal driving leg. The three-motor drive based on the differential gear train has the advantages of small volume, compact driving mechanism and reduced moment of inertia, and can be used as a driving joint on a small foot type robot.
Description
Technical Field
The invention relates to the field of robot leg joints, in particular to a three-degree-of-freedom leg joint based on a differential gear train and a method.
Background
The process of understanding, studying and reproducing the excellent properties of biology by humans in the 60 s of the 20 th century forms a discipline, bionics. Expert scholars in the field have carried out long-term experimental observation on living things in nature and have carried out detailed analysis on the movement characteristics and biological characteristics of the living things, and have found that the legged animals have stronger advantages in terms of environmental adaptability. Under the continuous efforts of domestic and foreign scientific researchers, the bionic foot type mobile robot simulates the motion characteristics of a foot animal, and by controlling the forward alternate stepping of one or more legs with degrees of freedom, the terrain adaptability of the bionic foot type mobile robot is higher than that of a wheel type mobile robot and a crawler type mobile robot, and the bionic foot type mobile robot can almost realize the movement of any ground surface after various effective loads are added. But at present, the mechanism and the control of the robot are complex. The movement of the leg joints of most foot robots is driven by a plurality of actuators which are arranged at a relatively long distance from each other, such as motors, so that the driving legs of the robots are overlarge in size, scattered in mass and overlarge in far-end inertia, and the energy consumption of the driving mechanisms is overlarge.
Disclosure of Invention
The invention aims to solve the technical problem of providing a three-degree-of-freedom leg joint based on a differential gear train and a method thereof aiming at the defects related to the background technology.
The invention adopts the following technical scheme for solving the technical problems:
the three-degree-of-freedom leg joint based on the differential gear train comprises a bracket, first to third driving motors, first to second transmission gears, first to third bevel transmission gears, a rotating frame, a proximal driving leg and a distal driving leg;
the bracket comprises a first fixed plate, a second fixed plate, a front mounting plate, a middle mounting plate and a plurality of fixed struts; the first fixing plate and the second fixing plate are arranged in parallel; the fixing support posts are arranged between the first fixing plate and the second fixing plate, and two ends of the fixing support posts are respectively and vertically fixedly connected with the first fixing plate and the second fixing plate; the front mounting plate and the middle mounting plate are rectangular, and both sides of the front mounting plate and the middle mounting plate are respectively and vertically fixedly connected with the first fixing plate and the second fixing plate; the front mounting plate is arranged on one side of the first fixing plate and one side of the second fixing plate, the middle mounting plate is arranged in the middle of the first fixing plate and the middle fixing plate, and the front mounting plate and the middle mounting plate are arranged in parallel; the front mounting plate is provided with a first through hole and a second through hole for the rotation shaft of the second transmission gear to pass through, and the middle mounting plate is provided with a third through hole for the output shaft of the first driving motor to pass through;
the rotating frame is U-shaped and comprises a first side plate, a second side plate and a bottom plate, wherein the first side plate and the second side plate are vertically and fixedly connected with the bottom plate, a fourth through hole for the rotating shaft of the first cone transmission gear to pass through is formed in the first side plate, a fifth through hole for the rotating shaft of the second cone transmission gear to pass through is formed in the second side plate, and a sixth through hole for the rotating shaft of the third cone transmission gear to pass through is formed in the bottom plate;
the first transmission gear and the second transmission gear are arranged outside the front mounting plate, and the rotating shafts of the first transmission gear and the second transmission gear respectively pass through the first through hole and the second through hole and are connected with the front mounting plate through bearings;
the first cone transmission gear and the third cone transmission gear are all arranged in the rotating frame, wherein a rotating shaft of the first cone transmission gear passes through the fourth through hole and is connected with the first side plate through a bearing; the rotating shaft of the second bevel transmission gear passes through the fifth through hole and is connected with the second side plate through a bearing; the rotating shaft of the third cone transmission gear passes through the sixth through hole and is connected with the bottom plate through a bearing; the first cone transmission gear and the second cone transmission gear are meshed with the third cone transmission gear, and the teeth numbers of the first cone transmission gear to the third cone transmission gear are the same;
the rotating frame is arranged in a space surrounded by the first fixing plate, the second fixing plate, the front mounting plate and the middle mounting plate; the first driving motor is fixed on the middle mounting plate, and an output shaft of the first driving motor penetrates through the third through hole and the rotating shaft of the second bevel transmission gear, which extends out of the second side plate, and is coaxially and fixedly connected with the second bevel transmission gear; the rotating shaft of the second transmission gear passes through the second through hole and is coaxially and fixedly connected with the rotating shaft of the first cone transmission gear extending out of the first side plate; the second driving motor is fixed on the front mounting plate, and the output end of the second driving motor is coaxially and fixedly connected with the rotating shaft of the first transmission gear;
the first fixing plate and the second fixing plate are respectively provided with a notch for the rotating of the rotating frame;
one end of the proximal driving leg is coaxially and fixedly connected with a rotating shaft of the third cone transmission gear, which extends out of the bottom plate;
the third driving motor is fixed at the other end of the proximal driving leg, and an output shaft of the third driving motor is vertically and fixedly connected with one end of the distal driving leg and is used for driving the distal driving leg to rotate relative to the proximal driving leg.
As a further optimization scheme of the three-degree-of-freedom leg joint based on the differential gear train, the three-degree-of-freedom leg joint further comprises a first connecting module, a second connecting module and a third connecting module;
the first to third connecting modules comprise a magnetic seat mounting plate and a magnetic seat fixed on the magnetic seat mounting plate;
the first connecting module is arranged on one side of the first fixing plate and the second fixing plate, which is far away from the front mounting plate; the second connecting module and the third connecting module are arranged on the upper sides of the first fixing plate and the second fixing plate; the magnetic seat mounting plates of the first connecting module, the second connecting module and the third connecting module are respectively connected with the first fixing plate and the second fixing plate; the magnetic seats of the first connecting module, the second connecting module and the third connecting module are arranged on the outer sides of the magnetic seat mounting plates of the first connecting module, the second connecting module and the third connecting module and are used for being connected with and detached from other three-degree-of-freedom leg joints through magnetic force.
The invention also discloses a driving method of the three-degree-of-freedom leg joint based on the differential gear train, which comprises the following steps:
the first driving motor can drive the second bevel transmission gear to rotate, the second driving motor can drive the first bevel transmission gear to rotate through a straight gear pair formed by the first transmission gear and the second transmission gear, and the third bevel transmission gear is used as a planet gear of the differential gear train and can roll on gear teeth of the first bevel transmission gear and the second bevel transmission gear simultaneously;
if leg joint roll needs to be driven: the first driving motor and the second driving motor are controlled to work, so that the rotation speeds of the second conical transmission gear and the first conical transmission gear are equal and opposite;
if leg joint pitch is required to be driven: the first driving motor and the second driving motor are controlled to work, so that the rotation speeds of the second conical transmission gear and the first conical transmission gear are equal and the directions are the same;
if the leg joint needs to be driven to bend and stretch: and controlling the third driving motor to work so as to drive the proximal driving leg and the distal driving leg to mutually rotate.
Compared with the prior art, the technical scheme provided by the invention has the following technical effects:
the invention has simple structure and convenient use, solves the problems of overlarge complexity and inertia of the driving leg structure of the foot-type robot, and is beneficial to realizing the modularized design of the driving leg and even the whole foot-type robot.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of a differential gear system mechanism according to the present invention.
In the figure, 1-a first driving motor; 2-a magnetic mount of the first connection module; 3-a magnet holder mounting plate of the first connection module; 4-a first fixing plate; 5-fixing the support column; 6-a magnetic seat mounting plate of the second connection module; 7-a magnetic seat of the second connection module; 8-a second fixing plate; 9-a second drive motor; 10-a front mounting plate; 11-a first transmission gear; 12-a second transmission gear; 13-a first bevel drive gear; 14-a second bevel drive gear; 15-a third bevel drive gear; 16-a first side plate; 17-a bottom plate; 18-proximal drive legs; 19-distal drive legs; 20-a third drive motor; 21-a second side plate; 22-middle mounting plate.
Description of the embodiments
The technical scheme of the invention is further described in detail below with reference to the accompanying drawings:
this invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, the components are exaggerated for clarity.
As shown in fig. 1, the invention discloses a three-degree-of-freedom leg joint based on a differential gear train, which comprises a bracket, first to third driving motors, first to second transmission gears, first to third bevel transmission gears, a rotating bracket, a proximal driving leg, a distal driving leg and first to third connecting modules;
the bracket comprises a first fixed plate, a second fixed plate, a front mounting plate, a middle mounting plate and a plurality of fixed struts; the first fixing plate and the second fixing plate are arranged in parallel; the fixing support posts are arranged between the first fixing plate and the second fixing plate, and two ends of the fixing support posts are respectively and vertically fixedly connected with the first fixing plate and the second fixing plate; the front mounting plate and the middle mounting plate are rectangular, and both sides of the front mounting plate and the middle mounting plate are respectively and vertically fixedly connected with the first fixing plate and the second fixing plate; the front mounting plate is arranged on one side of the first fixing plate and one side of the second fixing plate, the middle mounting plate is arranged in the middle of the first fixing plate and the middle fixing plate, and the front mounting plate and the middle mounting plate are arranged in parallel; the front mounting plate is provided with a first through hole and a second through hole for the rotation shaft of the second transmission gear to pass through, and the middle mounting plate is provided with a third through hole for the output shaft of the first driving motor to pass through;
the rotating frame is U-shaped and comprises a first side plate, a second side plate and a bottom plate, wherein the first side plate and the second side plate are vertically and fixedly connected with the bottom plate, a fourth through hole for the rotating shaft of the first cone transmission gear to pass through is formed in the first side plate, a fifth through hole for the rotating shaft of the second cone transmission gear to pass through is formed in the second side plate, and a sixth through hole for the rotating shaft of the third cone transmission gear to pass through is formed in the bottom plate;
the first transmission gear and the second transmission gear are arranged outside the front mounting plate, and the rotating shafts of the first transmission gear and the second transmission gear respectively pass through the first through hole and the second through hole and are connected with the front mounting plate through bearings;
the first cone transmission gear and the third cone transmission gear are all arranged in the rotating frame, wherein a rotating shaft of the first cone transmission gear passes through the fourth through hole and is connected with the first side plate through a bearing; the rotating shaft of the second bevel transmission gear passes through the fifth through hole and is connected with the second side plate through a bearing; the rotating shaft of the third cone transmission gear passes through the sixth through hole and is connected with the bottom plate through a bearing; the first cone transmission gear and the second cone transmission gear are meshed with the third cone transmission gear, and the teeth numbers of the first cone transmission gear to the third cone transmission gear are the same;
the rotating frame is arranged in a space surrounded by the first fixing plate, the second fixing plate, the front mounting plate and the middle mounting plate; the first driving motor is fixed on the middle mounting plate, and an output shaft of the first driving motor penetrates through the third through hole and the rotating shaft of the second bevel transmission gear, which extends out of the second side plate, and is coaxially and fixedly connected with the second bevel transmission gear; the rotating shaft of the second transmission gear passes through the second through hole and is coaxially and fixedly connected with the rotating shaft of the first cone transmission gear extending out of the first side plate; the second driving motor is fixed on the front mounting plate, and the output end of the second driving motor is coaxially and fixedly connected with the rotating shaft of the first transmission gear;
the first fixing plate and the second fixing plate are respectively provided with a notch for the rotating of the rotating frame;
one end of the proximal driving leg is coaxially and fixedly connected with a rotating shaft of the third cone transmission gear, which extends out of the bottom plate;
the third driving motor is fixed at the other end of the proximal driving leg, and an output shaft of the third driving motor is vertically and fixedly connected with one end of the distal driving leg and is used for driving the distal driving leg to rotate relative to the proximal driving leg;
the first to third connecting modules comprise a magnetic seat mounting plate and a magnetic seat fixed on the magnetic seat mounting plate;
the first connecting module is arranged on one side of the first fixing plate and the second fixing plate, which is far away from the front mounting plate; the second connecting module and the third connecting module are arranged on the upper sides of the first fixing plate and the second fixing plate; the magnetic seat mounting plates of the first connecting module, the second connecting module and the third connecting module are respectively connected with the first fixing plate and the second fixing plate; the magnetic seats of the first connecting module, the second connecting module and the third connecting module are arranged on the outer sides of the magnetic seat mounting plates of the first connecting module, the second connecting module and the third connecting module and are used for being connected with and detached from other three-degree-of-freedom leg joints through magnetic force.
The invention also discloses a driving method of the three-degree-of-freedom leg joint based on the differential gear train, which comprises the following steps:
the first driving motor can drive the second bevel transmission gear to rotate, the second driving motor can drive the first bevel transmission gear to rotate through a straight gear pair formed by the first transmission gear and the second transmission gear, and the third bevel transmission gear is used as a planet gear of the differential gear train and can roll on gear teeth of the first bevel transmission gear and the second bevel transmission gear simultaneously;
if leg joint roll needs to be driven: the first driving motor and the second driving motor are controlled to work, so that the rotation speeds of the second conical transmission gear and the first conical transmission gear are equal and opposite;
if leg joint pitch is required to be driven: the first driving motor and the second driving motor are controlled to work, so that the rotation speeds of the second conical transmission gear and the first conical transmission gear are equal and the directions are the same;
if the leg joint needs to be driven to bend and stretch: and controlling the third driving motor to work so as to drive the proximal driving leg and the distal driving leg to mutually rotate.
As shown in fig. 2, when the passing speed of the second conical transmission gear is equal to the passing speed of the first conical transmission gear and the direction is opposite, only the third conical transmission gear is driven to roll around the passing axis of the third conical transmission gear by rotating, and the output angle is gamma. When the second bevel gear passes through the rotation speed which is equal to that of the first bevel gear, and the directions are the same, the third bevel gear does not rotate any more through passing through the rotation speed, only deflects around the first bevel gear through the passing axis, and the output angle is beta, so that the driving leg mechanism is driven to realize pitching action. When the second bevel drive gear passes through the first bevel drive gear and the passing speed is unequal or the direction is different, the driving leg mechanism rolls and pitching simultaneously. By adjusting the rotation speed and the steering of the first driving motor and the second driving motor through the output shaft, different rolling and pitching angles and angular speeds of the driving leg mechanism can be generated, and then different tail end tracks of the driving leg mechanism are generated.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
While the foregoing is directed to embodiments of the present invention, other and further details of the invention may be had by the present invention, it should be understood that the foregoing description is merely illustrative of the present invention and that no limitations are intended to the scope of the invention, except insofar as modifications, equivalents, improvements or modifications are within the spirit and principles of the invention.
Claims (3)
1. The three-degree-of-freedom leg joint based on the differential gear train is characterized by comprising a bracket, first to third driving motors, first to second transmission gears, first to third bevel transmission gears, a rotating frame, a proximal driving leg and a distal driving leg;
the bracket comprises a first fixed plate, a second fixed plate, a front mounting plate, a middle mounting plate and a plurality of fixed struts; the first fixing plate and the second fixing plate are arranged in parallel; the fixing support posts are arranged between the first fixing plate and the second fixing plate, and two ends of the fixing support posts are respectively and vertically fixedly connected with the first fixing plate and the second fixing plate; the front mounting plate and the middle mounting plate are rectangular, and both sides of the front mounting plate and the middle mounting plate are respectively and vertically fixedly connected with the first fixing plate and the second fixing plate; the front mounting plate is arranged on one side of the first fixing plate and one side of the second fixing plate, the middle mounting plate is arranged in the middle of the first fixing plate and the middle fixing plate, and the front mounting plate and the middle mounting plate are arranged in parallel; the front mounting plate is provided with a first through hole and a second through hole for the rotation shaft of the second transmission gear to pass through, and the middle mounting plate is provided with a third through hole for the output shaft of the first driving motor to pass through;
the rotating frame is U-shaped and comprises a first side plate, a second side plate and a bottom plate, wherein the first side plate and the second side plate are vertically and fixedly connected with the bottom plate, a fourth through hole for the rotating shaft of the first cone transmission gear to pass through is formed in the first side plate, a fifth through hole for the rotating shaft of the second cone transmission gear to pass through is formed in the second side plate, and a sixth through hole for the rotating shaft of the third cone transmission gear to pass through is formed in the bottom plate;
the first transmission gear and the second transmission gear are arranged outside the front mounting plate, and the rotating shafts of the first transmission gear and the second transmission gear respectively pass through the first through hole and the second through hole and are connected with the front mounting plate through bearings;
the first cone transmission gear and the third cone transmission gear are all arranged in the rotating frame, wherein a rotating shaft of the first cone transmission gear passes through the fourth through hole and is connected with the first side plate through a bearing; the rotating shaft of the second bevel transmission gear passes through the fifth through hole and is connected with the second side plate through a bearing; the rotating shaft of the third cone transmission gear passes through the sixth through hole and is connected with the bottom plate through a bearing; the first cone transmission gear and the second cone transmission gear are meshed with the third cone transmission gear, and the teeth numbers of the first cone transmission gear to the third cone transmission gear are the same;
the rotating frame is arranged in a space surrounded by the first fixing plate, the second fixing plate, the front mounting plate and the middle mounting plate; the first driving motor is fixed on the middle mounting plate, and an output shaft of the first driving motor penetrates through the third through hole and the rotating shaft of the second bevel transmission gear, which extends out of the second side plate, and is coaxially and fixedly connected with the second bevel transmission gear; the rotating shaft of the second transmission gear passes through the second through hole and is coaxially and fixedly connected with the rotating shaft of the first cone transmission gear extending out of the first side plate; the second driving motor is fixed on the front mounting plate, and the output end of the second driving motor is coaxially and fixedly connected with the rotating shaft of the first transmission gear;
the first fixing plate and the second fixing plate are respectively provided with a notch for the rotating of the rotating frame;
one end of the proximal driving leg is coaxially and fixedly connected with a rotating shaft of the third cone transmission gear, which extends out of the bottom plate;
the third driving motor is fixed at the other end of the proximal driving leg, and an output shaft of the third driving motor is vertically and fixedly connected with one end of the distal driving leg and is used for driving the distal driving leg to rotate relative to the proximal driving leg.
2. The differential gear train based three degree of freedom leg joint according to claim 1, further comprising first to third connection modules;
the first to third connecting modules comprise a magnetic seat mounting plate and a magnetic seat fixed on the magnetic seat mounting plate;
the first connecting module is arranged on one side of the first fixing plate and the second fixing plate, which is far away from the front mounting plate; the second connecting module and the third connecting module are arranged on the upper sides of the first fixing plate and the second fixing plate; the magnetic seat mounting plates of the first connecting module, the second connecting module and the third connecting module are respectively connected with the first fixing plate and the second fixing plate; the magnetic seats of the first connecting module, the second connecting module and the third connecting module are all arranged on the outer sides of the magnetic seat mounting plates.
3. The driving method of the three-degree-of-freedom leg joint based on the differential gear train as claimed in claim 1, comprising the following steps:
the first driving motor can drive the second bevel transmission gear to rotate, the second driving motor can drive the first bevel transmission gear to rotate through a straight gear pair formed by the first transmission gear and the second transmission gear, and the third bevel transmission gear is used as a planet gear of the differential gear train and can roll on gear teeth of the first bevel transmission gear and the second bevel transmission gear simultaneously;
if leg joint roll needs to be driven: the first driving motor and the second driving motor are controlled to work, so that the rotation speeds of the second conical transmission gear and the first conical transmission gear are equal and opposite;
if leg joint pitch is required to be driven: the first driving motor and the second driving motor are controlled to work, so that the rotation speeds of the second conical transmission gear and the first conical transmission gear are equal and the directions are the same;
if the leg joint needs to be driven to bend and stretch: and controlling the third driving motor to work so as to drive the proximal driving leg and the distal driving leg to mutually rotate.
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| Application Number | Priority Date | Filing Date | Title |
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| 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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| 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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| CN110091935A CN110091935A (en) | 2019-08-06 |
| CN110091935B true CN110091935B (en) | 2023-05-12 |
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| CN113081667B (en) * | 2021-03-25 | 2022-07-29 | 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 |
| CN114506399B (en) * | 2022-03-07 | 2022-12-13 | 上海大学 | High-dynamic quadruped robot based on full-joint drive coaxial leg structure module |
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