CN110104090A - A kind of leg biped robot - Google Patents
A kind of leg biped robot Download PDFInfo
- Publication number
- CN110104090A CN110104090A CN201910407486.3A CN201910407486A CN110104090A CN 110104090 A CN110104090 A CN 110104090A CN 201910407486 A CN201910407486 A CN 201910407486A CN 110104090 A CN110104090 A CN 110104090A
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- China
- Prior art keywords
- joint
- shank
- push rod
- linear
- biped robot
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- 239000003446 ligand Substances 0.000 description 2
- 230000000930 thermomechanical effect Effects 0.000 description 2
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- 210000002683 foot Anatomy 0.000 description 1
- 230000012447 hatching Effects 0.000 description 1
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Classifications
-
- 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 present invention is suitable for robotic technology field, provides a kind of leg biped robot, and including at least shank and the linear joint connecting with shank, linear joint includes: electric machine assembly, has the shaft for output power；Lead screw pair, including nut and screw rod, the nut are connected in the shaft, and with the concentric setting of the shaft, screw rod rotation is socketed in the nut；And push rod, it is connect with one end of the screw rod；When the shaft drives nut rotation, the screw rod drives the push rod to move in a straight line along the rotating shaft core direction, and then drives the shank movement.In the present invention, due to motor opposing hydraulic system, its control is relatively simple, and without oil leak risk, meanwhile lead screw pair has the characteristics that structure is simple, at low cost, coefficient of friction is low, high-efficient with respect to retarder, therefore, linear joint of the present invention has many advantages, such as that structure is simple, at low cost, coefficient of friction is low, high-efficient, simple without oil leak risk, control.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of leg biped robot.
Background technique
Leg biped robot, relatively wheeled or caterpillar type robot have the advantages that significant, wherein leg biped robot can be with
Complicated landform is adapted to, such as the ground such as step, slope, hogwallow, broken stone road or even meadow, wetland, mountainous region, forest.And
And leg biped robot is adapted to the various places such as family, market and open air, therefore in family's service entertainment, mall shopping, work
There are broad application prospects for factory's inspection, logistics transportation, rescue and relief work, military mission etc..
Currently, the research both at home and abroad about leg biped robot is more, there are biped anthropomorphic robot, quadruped robot, six foots
Robot etc..In various types of leg biped robots, joint structure is all one of the nuclear structure of robot.Currently, market
On robot in, joint structure is occupied the majority using rotating electric machine connection harmonic speed reducer or the scheme of planetary reducer,
Also there are a small number of schemes for using hydraulic cylinder isoline actuator.However, using the scheme of motor connection retarder, control is opposite
Simply, but retarder has the disadvantages of at high cost, low efficiency；Using the scheme of hydraulic cylinder, need to be equipped with oil pump, oil pump electricity
The whole series hydraulic system such as machine, servo valve, pipeline, structure is more complicated, and control is also more complicated, and there are oil leak risks.
Summary of the invention
The purpose of the present invention is to provide a kind of leg biped robots, it is intended to solve the linear joint of current leg biped robot
Structure is complicated, controls complicated, at high cost, low efficiency and there is technical issues that oil leak.
The invention is realized in this way a kind of leg biped robot, including at least shank and the straight line being connect with the shank
Joint, the linear joint include:
Electric machine assembly has the shaft for output power；
Lead screw pair, including nut and screw rod, the nut are connected in the shaft, and with the shaft is concentric sets
It sets, the screw rod rotation is socketed in the nut；And
Push rod is connect with one end of the screw rod；
When the shaft drives nut rotation, the screw rod drives the push rod to do straight line fortune along the rotating shaft core direction
It is dynamic, and then drive the shank movement.
In one embodiment of the invention, the leg biped robot is quadruped robot, and the quadruped robot includes
Fuselage, the linear joint, connecting rod and the shank, wherein the linear joint, connecting rod and shank constitute a crank block
Mechanism.
In one embodiment of the invention, the leg biped robot is biped robot, and the biped robot includes
The shank, be connected to the shank the left and right sides two groups of linear joint components, and respectively with the shank and two groups
The sole of the linear joint component connection, linear joint component described in each group include at least the linear joint.
In one embodiment of the invention, linear joint component described in each group further includes oscillating bearing and ankle auxiliary ten thousand
Xiang Jie, wherein the linear joint connects the shank, institute by the oscillating bearing close to the top of the electric machine assembly
It states linear joint and connects the ankle auxiliary universal joint close to the bottom end of the push rod, the ankle auxiliary universal joint is far from the straight line
The one end in joint is installed on the sole.
In one embodiment of the invention, linear joint component described in each group further includes oscillating bearing, ankle auxiliary ten thousand
To section and connecting rod, wherein the linear joint is fixed on the shank close to the top of the electric machine assembly, and the straight line closes
Save and connect the oscillating bearing close to the bottom end of the push rod, one end connecting joint bearing of the connecting rod, the connecting rod it is another
One end connects the ankle and assists universal joint, and one end far from the connecting rod of the ankle auxiliary universal joint is installed on the sole
On.
In one embodiment of the invention, the shank is connect by ankle-joint with the sole.
In one embodiment of the invention, the oscillating bearing is pivotally mounted on the support rod of the shank.
In one embodiment of the invention, the ankle-joint is universal joint.
In one embodiment of the invention, the leg biped robot further include master board and with master board electricity
Property connection driver, sending synchronous or asynchronous flexible master control to the linear joint by the master board instructs,
The motor that the master control instruction controls the linear joint is transmitted by the driver to rotate forward or backwards.
In one embodiment of the invention, the linear joint further include:
Force snesor is connected to the one end of the push rod far from the screw rod, and the force snesor is for detecting described push away
The axial force of bar；And
Push rod end is connected to the one end of the force snesor far from the push rod.
Implement a kind of leg biped robot of the invention, have the advantages that the leg biped robot includes linear joint,
Linear joint includes electric machine assembly, lead screw pair and push rod, wherein electric machine assembly has the shaft for output power, lead screw pair
Including nut and screw rod, nut be connected in shaft and with the concentric setting of shaft, screw rod rotation is socketed in nut, and push rod connects
It is connected to one end of screw rod, converts the rotary motion of shaft to by the screw rod and nut of lead screw pair the linear motion of push rod, that is,
When shaft drives nut rotation, screw rod drives push rod to move in a straight line along rotating shaft core direction, and then drives shank movement, by
In motor opposing hydraulic system, control is relatively simple, and without oil leak risk, meanwhile, lead screw pair has knot with respect to retarder
The features such as structure is simple, at low cost, coefficient of friction is low, high-efficient, therefore, linear joint of the present invention have structure it is simple, it is at low cost,
Coefficient of friction is low, it is high-efficient, without oil leak risk, control is simple the advantages that.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the overlooking structure diagram of the linear joint of leg biped robot provided in an embodiment of the present invention；
Fig. 2 is that the linear joint of leg biped robot provided in an embodiment of the present invention is in when not exclusively stretching out state along Fig. 1
In the direction A-A schematic cross-sectional view；
Fig. 3 is the side structure schematic view of the lead screw pair of the linear joint of leg biped robot provided in an embodiment of the present invention；
Fig. 4 is the screw rod of the linear joint of leg biped robot provided in an embodiment of the present invention and the stereochemical structure of rotation-preventing mechanism
Schematic diagram；
Fig. 5 is the schematic cross-sectional view of the motor of the linear joint of leg biped robot provided in an embodiment of the present invention；
Fig. 6 is that the linear joint of leg biped robot provided in an embodiment of the present invention is in when being fully retracted state along Fig. 1
The direction A-A schematic cross-sectional view；
Fig. 7 be when the linear joint of leg biped robot provided in an embodiment of the present invention is in fully extended state along Fig. 1
The direction A-A schematic cross-sectional view；
Fig. 8 is the side structure schematic view that linear joint provided in an embodiment of the present invention is applied to quadruped robot；
Fig. 9 is the schematic perspective view that linear joint provided in an embodiment of the present invention is applied to quadruped robot；
Figure 10 is the schematic cross-sectional view that linear joint provided in an embodiment of the present invention is applied to quadruped robot；
Figure 11 is the structure for the ankle that linear joint provided by one embodiment of the present invention is applied to biped robot
Schematic diagram；
Figure 12 is the solid for the ankle that linear joint provided by one embodiment of the present invention is applied to biped robot
Structural schematic diagram；
Figure 13 is that linear joint provided by one embodiment of the present invention is applied to the ankle of biped robot and along the
The side structure schematic view in one direction；
Figure 14 is that linear joint provided by one embodiment of the present invention is applied to the ankle of biped robot and along the
The side structure schematic view in two directions；
Figure 15 is that linear joint provided by one embodiment of the present invention is applied to the ankle of biped robot and along the
The side structure schematic view in three directions；
Figure 16 is the vertical of the ankle that the linear joint that another embodiment of the present invention provides is applied to biped robot
Body structural schematic diagram.
Label detail involved in above-mentioned attached drawing is as follows:
100- linear joint；10- electric machine assembly；11- motor；111- stator；112- rotor；113- shaft；114- limit
Structure；12- motor housing；The first fastener of 121-；13- rolling bearing；20- lead screw pair；21- nut；22- screw rod；221- limit
Position block；222- limited step；The second fastener of 23-；The 4th fastener of 24-；30- push rod；31- groove；32- limiting groove；40-
Articular shell；41- rotation-preventing mechanism；411- convex block；42- third fastener；50- linear bearing；60- driver；61- driver
Seat；70- encoder；71- encoder seat；72- fixing piece；80- force snesor；90- push rod end；
200- quadruped robot；201- fuselage；Connecting rod；Shank；300- biped robot；302-
Sole；303- ankle-joint；304- oscillating bearing；305- ankle assists universal joint；306- connecting rod；307- support rod；The ground 400-.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
It should be noted that when component is referred to as " being fixed on " or " being set to " another component, it can directly or
It connects and is located on another component.When a component referred to as " is connected to " another component, it be can be directly or indirectly
It is connected on another component.Term " on ", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top",
The orientation or position of the instructions such as "bottom", "inner", "outside" are orientation based on the figure or position, are merely for convenience of describing,
It should not be understood as the limitation to the technical program.Term " first ", " second " are used merely to facilitate description purpose, and should not be understood as
Indication or suggestion relative importance or the quantity for implicitly indicating technical characteristic.The meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In order to illustrate technical solutions according to the invention, it is described in detail below in conjunction with specific accompanying drawings and embodiments.
Fig. 1 and Fig. 2 are please referred to, the embodiment of the invention provides a kind of linear joints 100 comprising electric machine assembly 10, silk
Thick stick pair 20, push rod 30 and articular shell 40.Wherein, articular shell 40 in interior hollow structure and is socketed on outside lead screw pair 20；Motor
Component 10 is fixed together with articular shell 40, such as passes through the first fastener 121 for motor housing 12 and articular shell 40
It is fixed together, which includes but is not limited to screw etc.；One end of push rod 30 and lead screw pair 20 are far from electricity
One end of thermomechanical components 10 connects.In a particular application, lead screw pair 20 includes but is not limited to lead screw pair, ball screw assembly, row
Star roller screw pair etc..
Specifically, electric machine assembly 10 has shaft 113, which is used for output power, and shaft 113 is hollow shaft；
Lead screw pair 20 is at least partially housed in articular shell 40, and with the concentric setting of shaft 113 and connect；Push rod 30 is connected to silk
On one end of thick stick pair 20, lead screw pair 20 is used to convert the rotary motion of shaft 113 to the straight line axial along shaft 113 of push rod 30
Movement.In addition, push rod 30 can select according to actual needs with the concentric setting of shaft 113, or not with shaft 113 is concentric sets
Set, preferably with the concentric setting of shaft 113, in order to which the linear motion to push rod 30 is accurately controlled.
In the present embodiment, due to motor opposing hydraulic system, control is relatively simple, and without oil leak risk, meanwhile, silk
The opposite retarder of thick stick pair 20, has the characteristics that structure is simple, at low cost, coefficient of friction is low, high-efficient, therefore, which closes
Section 100 has many advantages, such as that structure is simple, at low cost, coefficient of friction is low, high-efficient, simple without oil leak risk, control.
In the present embodiment, incorporated by reference to Fig. 4, lead screw pair 20 includes nut 21 and screw rod 22, wherein nut 21 is fixedly attached
In in shaft 113, can be rotated synchronously with shaft 113；The rotation of screw rod 22 is placed in nut 21, and push rod 30 is connected to screw rod 22
One end end and moved synchronously with screw rod 22, when shaft 113 drive nut 21 rotate when, screw rod 22 drive push rod 30 along turn
113 axis direction of axis moves in a straight line.Specifically, push rod 30 is connected to the end of one end of screw rod 22 by the second fastener 23
Portion, second fastener 23 include but is not limited to screw etc..Preferably, it is arranged in the end that screw rod 22 is connect with push rod 30 limited
Position step 222 is correspondingly provided with limiting groove 32 in the end of push rod 30, when screw rod 22 is inserted into push rod 30, limiting stand
The end face of rank 222 is connected on the bottom surface of limiting groove 32, it can be achieved that the axially position of screw rod 22 and push rod 30.
Meanwhile the rotation-preventing mechanism 41 for the rotation of anti-throw-out lever 30 is provided on push rod 30, the rotation-preventing mechanism 41 setting
In end of the articular shell 40 far from 10 one end of electric machine assembly.Specifically, rotation-preventing mechanism 41 can be plate structure in a ring,
It is sheathed on outside push rod 30, and the end of articular shell 40, the third fastener 42 are fixedly connected on by third fastener 42
Including but not limited to screw etc..Preferably, rotation-preventing mechanism 41 is fixedly connected on articular shell 40 by multiple third fasteners 42
End, and multiple third fasteners 42 are evenly arranged along the circumferencial direction of articular shell 40.
Further, in order to realize the anti-rotating function of rotation-preventing mechanism 41, incorporated by reference to Fig. 3, which includes setting
In at least one groove 31 on the outer surface of push rod 30 and the inner ring of rotation-preventing mechanism 41 is set to towards axis direction protrusion
At least one convex block 411, along the axially extending setting of push rod 30, convex block 411 cooperates the groove 31 one by one with groove 31,
So that push rod 30 can relatively move in the axial direction with rotation-preventing mechanism 41, rotate in rotation-preventing mechanism 41 to prevent throw-out lever 30,
And then prevent the screw rod 22 of lead screw pair 20 from nut 21 being followed to rotate.Wherein, the number of convex block 411 and groove 31 can be according to reality
Border is selected, it is not limited here.
In the present embodiment, due to the presence of rotation-preventing mechanism 41, prevent screw rod 22 is from following the rotation of nut 21, Zhi Nengyan
The axis of itself moves in a straight line, and the linear motion of screw rod 22 will drive push rod 30 to move in a straight line together.
In one embodiment of the invention, limited block is fixedly installed in the end of the one end of screw rod 22 far from push rod 30
221.Preferably, the limited block 221 is substantially plate-like, which is set to the top of screw rod 22, and passes through the 4th fastening
Part 24 is fixedly connected with screw rod 22, and the top end surface of screw rod 22 is abutted with the lower end surface of limited block 221, the 4th fastener 24 packet
Include but be not limited to screw etc..Under the direction hatching A-A (as shown in Figure 1) of vertical rotation axis 113, the section of limited block 221 is wide
Degree is greater than the sectional width of screw rod 22, so that limited block 221 can prevent screw rod 22 to be detached from spiral shell when moving in a straight line downwards
Mother 21.Since the sectional width that the sectional width of limited block 221 is greater than screw rod 22 will drive when screw rod 22 moves downward
Limited block 221 moves downward, until the lower end surface of limited block 221 is connected on the upper surface of nut 21, screw rod 22 can not at this time
It further moves downward, and then screw rod 22 is prevented to be detached from nut 21.Preferably, the inside of the ora terminalis of limited block 221 and shaft 113
Wall spacing distance, to avoid limited block 221 hits 113 inner sidewall of shaft and hinders 30 flexible motion of screw rod 22 and push rod.
In one embodiment of the invention, linear joint 100 further includes being sheathed between push rod 30 and articular shell 40
Linear bearing 50.In the present embodiment, linear bearing 50 is installed between articular shell 40 and push rod 30, can reduce push rod 30
The friction of linear relative movement between articular shell 40.Specifically, which is installed on articular shell 40 far from electricity
The end of 10 one end of thermomechanical components, inner surface are abutted with the outer surface of push rod 30, the inner surface of outer surface and articular shell 40
Abut, lower end surface is connected on the upper surface of rotation-preventing mechanism 41, thereon end face with protrude from the prominent of 40 inner surface of articular shell
It plays 401 to abut, passes through the position of 30 straight limit bearing 50 of articular shell 40, rotation-preventing mechanism 41 and push rod.In a particular application,
The linear bearing 50 includes but is not limited to set made of the low-friction coefficients materials such as ball linear bearing, sliding bearing, Teflon
Cylinder etc..
In one embodiment of the invention, electric machine assembly 10 includes motor 11, motor housing 12 and rolling bearing 13.Its
In, incorporated by reference to Fig. 5, motor 11 includes above-mentioned shaft 113, the stator 111 being fixedly sheathed in motor housing 12, and is sheathed on
In stator 111 and the rotor 112 that is fixedly sheathed in outside shaft 113.Rolling bearing 13 be sheathed on shaft 113 and motor housing 12 it
Between, inner ring is fixed in shaft 113, and outer ring is fixed on motor housing 12, to guarantee that stator 111 and rotor 112 are coaxial.
In this embodiment, motor housing 12 is fixed together with articular shell 40, motor housing 12, articular shell 40 and shaft
The position of 113 threes limitation rolling bearing 13.In a particular application, rolling bearing 13 should lubricate well, can make 11 high speed of motor
Smooth running, low noise, the rolling bearing 13 include but is not limited to single-row bearing, double-row bearing and multirow bearing etc.；Motor 11
Including but not limited to AC permanent magnet synchronous motor, brshless DC motor, band brushless motor etc..
In one embodiment of the invention, limited close to the setting of one end of the motor 11 of electric machine assembly 10 in shaft 113
Bit architecture 114, the position limiting structure 114 is for limiting the stroke that screw rod 22 moves upwards.When screw rod 22 moves up to limit shape
When state, making contact between the upper surface of the limited block 221 of 22 top end part of screw rod and the lower end surface of the position limiting structure 114, this
When screw rod 22 can not continue up.Incorporated by reference to Fig. 6, under this limiting condition, push rod 30 stretches out the length of articular shell 40
Most short namely push rod 30 is spent to be fully retracted in articular shell 40.Preferably, the position limiting structure 114 can be integrated with shaft 113
Structure, i.e. position limiting structure 114 are the top of shaft 113.
Preferably, the first elastic component (not shown) is provided between position limiting structure 114 and screw rod 22, i.e., in position limiting structure
It is provided with the first elastic component between 114 lower end surface and the upper surface of limited block 221, first elastic component is by elastic material system
At playing buffer function, to protect components, can also reduce the noise of moving contact.Specifically, which can be with
It is connected on the lower end surface of position limiting structure 114, also can connect on the upper surface of limited block 221.
In another embodiment of the present invention, the bottom end of screw rod 22 is fixedly sheathed in push rod 30, in push rod 30 and spiral shell
The second elastic component (not shown) is provided between bar 22, which is sheathed on outside screw rod 22.In the present embodiment, second
Elastic component is made of elastic material, plays buffer function, to protect components, can also reduce noise.Specifically, second bullet
Property part is set between the upper surface of push rod 30 and the lower end surface of nut 21, which can connect in the upper of push rod 30
On end face, also it can connect on the lower end surface of nut 21.When screw rod 22 moves up to limiting condition, the upper end of push rod 30
Making contact between face and the lower end surface of nut 21, screw rod 22 can not continue up at this time.Incorporated by reference to Fig. 6, in this pole
Under limit state, the length of the stretching articular shell 40 of push rod 30 is most short namely push rod 30 is fully retracted in articular shell 40.
It is understood that when screw rod 22 moves up to limiting condition, can be the lower end surface of position limiting structure 114 with
The upper surface elder generation making contact of limited block 221 is also possible to the upper surface of push rod 30 and the lower end surface elder generation making contact of nut 21,
Under the upper surface and the nut 21 that can also be the lower end surface of position limiting structure 114 and the upper surface of limited block 221 and push rod 30
End face contacts simultaneously.Therefore in yet another embodiment of the present invention, in the upper of the lower end surface of position limiting structure 114 and limited block 221
The first elastic component is provided between end face, meanwhile, second is provided between the upper surface of push rod 30 and the lower end surface of nut 21
Elastic component.
In one embodiment of the invention, third elastic component is provided between limited block 221 and nut 21 (not show
Out), which is sheathed on outside screw rod 22.In the present embodiment, third elastic component is made of elastic material, plays slow
Punching effect, to protect components, can also reduce noise.Specifically, the upper surface of the lower end surface of limited block 221 and nut 21 it
Between be provided with third elastic component, which can connect on the lower end surface of limited block 221, also can connect in nut
On 21 upper surface.When screw rod 22 moves downwardly to limiting condition, the upper surface of the lower end surface of limited block 221 and nut 21 it
Between making contact, screw rod 22 can not continue to move downward at this time.Incorporated by reference to Fig. 7, under this limiting condition, push rod 30, which stretches out, to be closed
Save the length longest namely the fully extended articular shell 40 of push rod 30 of shell 40.
As shown in Fig. 2, screw rod 22 is in the intermediate state between two limiting conditions, under this state, push rod 30 is opposite
Articular shell 40, which is in, not exclusively stretches out state.
In one embodiment of the invention, in order to control motor 11, linear joint 100 further includes driver
60, the driver 60 is for controlling motor 11.In the present embodiment, driver 60 can be first installed on driver block 61, then into
One step is fixed on motor housing 12 by driver block 61；Alternatively, driver 60 is directly mounted on motor housing 12；Or
Person, driver 60 are installed on other positions, such as 201 position of fuselage of leg biped robot.In a particular application, driver 60 can
To be control circuit board, motor 11 and control circuit board are electrically connected.
In one embodiment of the invention, for the flexible accurate position control of carry out to push rod 30, linear joint
100 further include encoder 70, which is set at one end of shaft 113, and the angular displacement of shaft 113 is used to convert
At electric signal, and circuit board is fed back to, circuit board exports control instruction to motor according to the angle of current spindle 113, with adjustment
And correct the output angle of shaft 113.In the present embodiment, volume is provided with outside one end of position limiting structure 114 in shaft 113
Code device seat 71, the encoder seat 71 and shaft 113 are coaxially disposed, and are fixed in shaft 113 by fixing piece 72, encoder 70
It is installed on the encoder seat 71.
In one embodiment of the invention, for the accurate power control of flexible carry out to push rod 30, linear joint 100
It further include force snesor 80, which is connected to the one end of push rod 30 far from screw rod 22, and for detecting push rod 30
Axial force, the force snesor 80 are also electrically connected with driver 60.In the present embodiment, linear joint 100 further includes push rod end
End 90, which is connected to the one end of force snesor 80 far from push rod 30.When powering to motor 11, rotor 112 revolves
Turn, shaft 113 is driven to rotate, and then nut 21 is driven to rotate, because of the anti-rotating function of rotation-preventing mechanism, screw rod 22 cannot follow nut
21 rotations, can only move in a straight line along the axis of lead screw pair 20, and the linear motion of screw rod 22 will drive push rod 30, force snesor 80
It is moved linearly together with push rod end 90.
It is understood that in other embodiments, for not needing the occasion of power control, force snesor can not be installed
80.In addition, having strict demand for cost, and not harsh occasion is required to power control, force snesor can not also be installed
80, at this point, force feedback can be changed by detecting the electric current of motor 11 according to the proportionate relationship of 11 torque of motor and 11 electric current of motor
11 torque of motor is calculated, the conversion relation of torque and axial force further according to lead screw pair 20 converses the axial force of screw rod 22.
Based on the same inventive concept, the embodiment of the invention also provides a kind of leg biped robots comprising such as above-mentioned any
Linear joint 100 described in one embodiment.In a particular application, leg biped robot include but is not limited to quadruped robot, it is double
Biped robot and multi-foot robot etc..
In one embodiment of the invention, incorporated by reference to Fig. 8 to Figure 10, above-mentioned linear joint 100 is applied to four-footed
In robot 200, which includes fuselage 201, above-mentioned linear joint 100, connecting rod 202 and shank 203, wherein
Linear joint 100, connecting rod 202 and shank 203 constitute a slider-crank mechanism, and the lead screw pair 20 of linear joint 100 is by motor
The rotary motion of 11 rotor 112 is converted to the linear motion of screw rod 22, and then drives the linear motion of push rod 30, crank block
The linear motion of push rod 30 is converted to the rotary motion (direction B-B ' in such as Fig. 8) of shank 203 by mechanism.
In another embodiment of the present invention, incorporated by reference to Figure 11 and Figure 12, above-mentioned linear joint 100 is applied to double
The ankle of biped robot 300, which mainly includes shank 301, sole 302, ankle-joint 303, above-mentioned straight
Line joint 100, oscillating bearing 304 and ankle assist universal joint 305.Wherein, shank 301 and sole 302 are connected by ankle-joint 303
It connects, ankle-joint 303 is one group of universal joint, can be referred to as the main universal joint of ankle, here to be different from ankle auxiliary universal joint 305.Straight line
Joint 100 connects shank 301 by oscillating bearing 304 close to the top of motor 11, close to the bottom end of push rod 30 connection ankle auxiliary
Universal joint 305.Oscillating bearing 304 is pivotally mounted on the support rod 307 of shank 301.Ankle assists universal joint 305 to close far from straight line
One end of section 100 is installed on sole 302.The dress that linear joint 100, oscillating bearing 304, ankle auxiliary universal joint 305 are formed
Ligand, referred to as linear joint component.It include two groups of linear joint groups at the ankle-joint 303 of every leg of biped robot
Part, two groups of linear joint components are located at the left and right sides of shank 301, symmetrically set relative to shank 301 and ankle-joint 303
It sets, as shown in figure 12.
Incorporated by reference to Figure 13 and Figure 14, in the present embodiment, by the master board (not shown) of robot to two straight lines
Joint 100 sends the master control instruction of synchronization telescope movement, transmits master control instruction two linear joints 100 of control by driver 60
Motor 11 rotate in same direction, that is, the linear movement direction of screw rod 22 and push rod 30 in two linear joints 100 is identical, joint
Bearing 304 and ankle 303 rotate, and sole 302 is driven to realize the pitching movement with respect to ground 400.
As shown in figure 15, asynchronous stretch is sent to two linear joints 100 by the master board (not shown) of robot
The master control instruction of contracting movement is rotated backward by the motor 11 that driver 60 transmits master control instruction two linear joints 100 of control,
That is, the screw rod 22 of two linear joints 100 and the linear movement direction of push rod 30 are on the contrary, oscillating bearing 304 and 303 turns of ankle
It is dynamic, and sole 302 is driven to realize that movement is turned in rolling or inside/outside.
In addition, in the present embodiment, oscillating bearing 304 could alternatively be cardan universal joint component, ankle assists universal joint 305 can also
To replace with oscillating bearing 304.The direction of linear joint 100 shown in the present embodiment are as follows: motor housing 12 and articular shell
40 upper, and push rod 30 is downward.It is of course also possible to the direction of linear joint 100 be changed, i.e. motor housing 12 and articular shell 40
Under, push rod 30 is upward.
In yet another embodiment of the present invention, incorporated by reference to Figure 16, above-mentioned linear joint 100 is applied to biped machine
The ankle of people, the biped robot mainly include shank 301, sole 302, ankle-joint 303, linear joint 100, joint shaft
Hold 304, ankle auxiliary universal joint 305 and connecting rod 306.Wherein, shank 301 and sole 302 are connected by ankle-joint 303, ankle-joint
303 be one group of universal joint, can be referred to as the main universal joint of ankle here, to be different from ankle auxiliary universal joint 305.Linear joint 100 leans on
One end of nearly motor is fixed on shank 301, one end connecting joint bearing 304 of the other end close to push rod 30.The one of connecting rod 306
Connecting joint bearing 304 is held, the other end connects ankle and assists universal joint 305.Ankle assists the one of the separate connecting rod 306 of universal joint 305
End is installed on sole 302.The dress that linear joint 100, oscillating bearing 304, ankle auxiliary universal joint 305 and connecting rod 306 are formed
Ligand, referred to as linear joint component all include two groups of linear joint groups at the ankle-joint 303 of every leg of biped robot
Part, two groups of linear joint components are located at the left and right sides of shank 301, symmetrically set relative to shank 301 and ankle-joint 303
It sets, as shown in figure 16.
In the present embodiment, it is synchronized and is stretched to two transmissions of linear joint 100 by the master board (not shown) of robot
The master control instruction of contracting movement is rotate in same direction by the motor 11 that driver 60 transmits master control instruction two linear joints 100 of control,
The linear movement direction of screw rod 22 and push rod 30 in two linear joints 100 is identical, and oscillating bearing 304 and ankle 303 rotate,
And sole 302 is driven to realize the pitching movement with respect to ground 400.It is straight to two by the master board (not shown) of robot
Line joint 100 sends the master control instruction of asynchronous stretching motion, transmits master control instruction by driver 60 and controls two straight lines passes
The motor 11 of section 100 rotates backward, that is, the screw rod 22 of two linear joints 100 and the linear movement direction of push rod 30 are on the contrary, close
Bearings 304 and ankle 303 rotate, and sole 302 is driven to realize that movement is turned in rolling or inside/outside.
In addition, in the present embodiment, oscillating bearing 304 could alternatively be cardan universal joint component, ankle assists universal joint 305 can also
To replace with oscillating bearing 304.The direction of linear joint 100 shown in the present embodiment are as follows: motor housing 12 and articular shell
40 upper, and push rod 30 is downward.It is of course also possible to the direction of linear joint 100 be changed, i.e. motor housing 12 and articular shell 40
Under, push rod 30 is upward.
The foregoing is merely alternative embodiments of the invention, are not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of leg biped robot, which is characterized in that described straight including at least shank and the linear joint being connect with the shank
Line joint includes:
Electric machine assembly has the shaft for output power；
Lead screw pair, including nut and screw rod, the nut are connected in the shaft, and with the concentric setting of the shaft, institute
Screw rod rotation is stated to be socketed in the nut；And
Push rod is connect with one end of the screw rod；
When the shaft drives nut rotation, the screw rod drives the push rod to move in a straight line along the rotating shaft core direction,
And then the shank is driven to move.
2. leg biped robot as described in claim 1, which is characterized in that the leg biped robot is quadruped robot, described
Quadruped robot includes fuselage, the linear joint, connecting rod and the shank, wherein the linear joint, connecting rod and shank structure
At a slider-crank mechanism.
3. leg biped robot as described in claim 1, which is characterized in that the leg biped robot is biped robot, described
Biped robot include the shank, be connected to the shank the left and right sides two groups of linear joint components, and respectively with
The sole of the connection of linear joint component described in the shank and two groups, linear joint component described in each group include at least described straight
Line joint.
4. leg biped robot as claimed in claim 3, which is characterized in that linear joint component described in each group further includes joint
Bearing and ankle assist universal joint, wherein the linear joint passes through the oscillating bearing close to the top of the electric machine assembly
The shank is connected, the linear joint connects the ankle close to the bottom end of the push rod and assists universal joint, the ankle auxiliary ten thousand
It is installed on the sole to one end far from the linear joint is saved.
5. leg biped robot as claimed in claim 3, which is characterized in that linear joint component described in each group further includes joint
Bearing, ankle auxiliary universal joint and connecting rod, wherein the linear joint is fixed on the shank close to the top of the electric machine assembly
On, the linear joint connects the oscillating bearing close to the bottom end of the push rod, one end connecting joint bearing of the connecting rod,
The other end of the connecting rod connects the ankle and assists universal joint, and one end far from the connecting rod of the ankle auxiliary universal joint is installed
In on the sole.
6. leg biped robot as claimed in claim 3, which is characterized in that the shank is connected by ankle-joint and the sole
It connects.
7. leg biped robot as claimed in claim 4, which is characterized in that the oscillating bearing is pivotally mounted to the shank
On support rod.
8. leg biped robot as claimed in claim 6, which is characterized in that the ankle-joint is universal joint.
9. such as the described in any item leg biped robots of claim 3 to 8, which is characterized in that the leg biped robot further includes master
Control panel and the driver being electrically connected with the master board, are sent to the linear joint by the master board and are synchronized
Or asynchronous flexible master control instruction, the master control instruction is transmitted by the driver and is controlling the motor of the linear joint just
To or rotate backward.
10. leg biped robot as claimed in any one of claims 1 to 8, which is characterized in that the linear joint further include:
Force snesor is connected to the one end of the push rod far from the screw rod, and the force snesor is for detecting the push rod
Axial force；And
Push rod end is connected to the one end of the force snesor far from the push rod.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910407486.3A CN110104090A (en) | 2019-05-16 | 2019-05-16 | A kind of leg biped robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910407486.3A CN110104090A (en) | 2019-05-16 | 2019-05-16 | A kind of leg biped robot |
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| CN110104090A true CN110104090A (en) | 2019-08-09 |
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| CN201910407486.3A Pending CN110104090A (en) | 2019-05-16 | 2019-05-16 | A kind of leg biped robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112809730A (en) * | 2020-12-30 | 2021-05-18 | 深圳市优必选科技股份有限公司 | Joint movement mechanism and robot |
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Application publication date: 20190809 |