CN110588833A - High-load three-section leg structure suitable for electric foot type robot - Google Patents
High-load three-section leg structure suitable for electric foot type robot Download PDFInfo
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- CN110588833A CN110588833A CN201910984394.1A CN201910984394A CN110588833A CN 110588833 A CN110588833 A CN 110588833A CN 201910984394 A CN201910984394 A CN 201910984394A CN 110588833 A CN110588833 A CN 110588833A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0241—One-dimensional joints
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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 provides a high-load three-section leg structure suitable for an electric foot robot, which comprises a hip joint driving module, a hip joint module, a side swing joint driving module, a knee joint module, an ankle joint module and a shank module; the knee joint module is connected with the hip joint module, and the output rotary power realizes the hip joint movement of the leg structure of the robot; the power output interface of the side swing joint driving module is connected with the knee joint module, and the output rotary power realizes the side swing joint movement of the robot leg structure; the power output interface of the knee joint module is connected with the ankle joint module, and the output rotary power realizes the knee joint movement of the leg structure of the robot; the power output interface of the ankle joint module is connected with the shank module, and the output rotary power realizes the ankle joint movement of the leg structure of the robot. The invention has 3 freedom degrees of movement, each freedom degree can realize large-amplitude rotation, the movement flexibility is good, and the loading capacity is strong.
Description
Technical Field
The invention relates to the technical field of electric robots, in particular to a high-load three-section leg structure suitable for an electric foot robot.
Background
The multi-section leg structure of the mammal has flexible movement capability and is an important bionic basis for the structural design of the legged robot. The three-section leg structure not only keeps the motion flexibility and the dead point supporting characteristic, but also reduces the complexity of the limb structure to a greater extent, and is one of the mainstream schemes of the leg structure of the foot type bionic robot. In order to reduce the control difficulty and improve the load carrying capacity of a leg-foot structure, the conventional three-section leg type bionic robot mainly adopts a four-degree-of-freedom configuration, takes a hydraulic or motor system as a power source and takes a four-bar linkage mechanism as a transmission chain.
Patent 201811653218.1 discloses a bionic robot leg, which comprises a fixed seat, a hip, a thigh part and a shank part, wherein the hip motor, the thigh part motor and the shank part motor respectively drive the fixed seat, the thigh part and the shank part through gear systems, but the driving capability is weak, so that the scheme is only suitable for small and light robots.
Patent 201310214762.7 discloses a bionic robot leg mechanism, which includes a scapula, a shoulder joint, a thigh, a knee joint, a shank, a passive ankle joint, a sole and a driving module. According to the scheme, the ball screw is adopted to drive the joint, the transmission mechanism is in a four-bar configuration, and the dynamic control difficulty is high.
The foot type bionic robot is developing towards high dynamic, electric and high load directions, but an electric leg structure scheme with high motion flexibility and high load performance is lacked at present.
Therefore, it is an urgent technical problem to be solved by those skilled in the art to provide an electric robot leg structure with high motion flexibility and high load performance.
Disclosure of Invention
Aiming at the current research situation and the existing problems, the invention provides a high-load three-section leg structure suitable for an electric foot type robot, which has 3 degrees of freedom of movement, each degree of freedom can realize large-amplitude rotation, the movement flexibility is good, and the loading capacity is strong. In order to achieve the purpose, the invention adopts the following technical scheme:
a high-load three-section leg structure suitable for an electric legged robot comprises a hip joint driving module, a hip joint module, a side swing joint driving module, a knee joint module, an ankle joint module and a shank module;
the hip joint driving module, the side swing joint driving module, the knee joint module and the ankle joint module are respectively provided with a power device and a power output interface so as to provide rotary power for each motion joint; the hip joint driving module, the hip joint module and the side swing joint driving module are all connected with the robot body structure;
the power output interface of the hip joint driving module is connected with the hip joint module, and the knee joint module is connected with the hip joint module and rotates around the axis of the output end of the hip joint module; the rotary power output by the hip joint module drives the knee joint module, the ankle joint module and the shank module to flex and stretch through the hip joint module, so that the hip joint motion of a leg structure of the robot is realized;
the power output interface of the side swing joint driving module is connected with the knee joint module, and the output rotary power drives the knee joint module, the ankle joint module and the shank module to swing laterally so as to realize the side swing joint motion of the leg structure of the robot;
the power output interface of the knee joint module is connected with the ankle joint module, the ankle joint module rotates around the axis of the output end of the knee joint module, and the rotary power output by the knee joint module drives the ankle joint module and the shank module to bend and stretch, so that the knee joint movement of the leg structure of the robot is realized;
the power output interface of the ankle joint module is connected with the shank module, and the shank module rotates around the axis of the output end of the ankle joint module; the rotary power output by the ankle joint module drives the shank module to bend and stretch, so that the ankle joint movement of the leg structure of the robot is realized.
Preferably, the hip joint driving module comprises a hip joint casing, a hip joint motor, a hip joint reducer, a hip joint casing end cover and a hip joint first bevel gear; the hip joint shell is fixedly connected to a robot body structure and provides mounting and positioning for a hip joint driving module, a stator connecting disc of a hip joint motor is fixedly connected in the hip joint shell, an input shaft of a hip joint speed reducer is connected with a rotor of the hip joint motor, an output shaft of the hip joint speed reducer is connected with a first bevel gear of a hip joint, an outer connecting disc of the hip joint speed reducer is fixedly connected with an end cover of the hip joint shell, and the end cover of the hip joint shell is fixedly connected with the hip joint shell; the hip joint motor and the hip joint reducer are coaxial with a main rotating shaft of a first hip joint bevel gear;
the rotary power generated by the hip joint motor is transmitted to a hip joint first bevel gear after being subjected to speed change through a hip joint speed reducer and is used as the power output of the hip joint driving module, and the hip joint first bevel gear is a power output interface of the hip joint driving module.
Preferably, the hip joint module comprises a hip joint second bevel gear, a hip joint first bearing, a hip joint base, a hip joint second bearing, a hip joint third bearing and a hip joint frame; the second bevel gear of the hip joint, the first bearing of the hip joint and the hip joint base are all coaxial with the main rotating shaft of the hip joint frame, and the axis is the main rotating shaft of the hip joint module; the hip joint frame is characterized in that a hip joint base is fixedly connected with a robot body structure and provides mounting and positioning for a hip joint module, a hip joint second bevel gear is connected with the hip joint base through a hip joint first bearing, one end of the hip joint frame is fixedly connected with the hip joint second bevel gear, the other end of the hip joint frame is connected with a hip joint second bearing and a hip joint third bearing, the hip joint second bearing and the hip joint third bearing are respectively arranged on two sides of a main rotating shaft of the hip joint frame, the hip joint second bearing and the hip joint third bearing are coaxial, and the coaxial axis of the hip joint second bearing and the hip joint third bearing is an auxiliary rotating shaft of the hip;
the first bevel gear of the hip joint is connected with the second bevel gear of the hip joint to form a bevel gear pair, and the hip joint module rotates around a main rotating shaft of the hip joint module to realize hip joint movement.
Preferably, the main rotating shaft of the hip joint module is intersected with and vertical to the auxiliary rotating shaft; the axis of the first hip joint bevel gear is intersected with and perpendicular to the axis of the second hip joint bevel gear.
Preferably, the side swing joint driving module comprises a side swing joint shell, a side swing joint motor, a side swing joint reducer, a side swing joint shell end cover and a side swing joint first bevel gear; the side swing joint shell is fixedly connected to a robot body structure and provides mounting and positioning for a side swing joint driving module, a stator connecting disc of a side swing joint motor is fixedly connected into the side swing joint shell, an input shaft of a side swing joint speed reducer is connected with a rotor of the side swing joint motor, an output shaft of the side swing joint speed reducer is connected with a first bevel gear of a side swing joint, an outer connecting disc of the side swing joint speed reducer is fixedly connected with an end cover of the side swing joint shell, and the end cover of the side swing joint shell is fixedly connected with the side swing joint shell; a side swing joint motor rotating shaft, a side swing joint reducer rotating shaft and a side swing joint first bevel gear main rotating shaft are coaxial;
and the rotating power generated by the side swing joint motor is transmitted to a first bevel gear of the side swing joint after being subjected to speed change through the side swing joint speed reducer and is used as the power output of the side swing joint driving module, and the first bevel gear of the side swing joint is a power output interface of the side swing joint driving module.
Preferably, the knee joint module comprises a knee joint casing, a knee joint motor, a knee joint reducer, a knee joint first bevel gear, a knee joint frame, a knee joint first bearing and a knee joint second bearing; the knee joint motor is characterized in that the knee joint shell, the knee joint motor, the knee joint reducer and the knee joint first bevel gear are coaxial with the knee joint frame, the coaxial axes are main rotating shafts of the knee joint module, a stator connecting disc of the knee joint motor is fixedly connected in the knee joint shell, an input shaft of the knee joint reducer is connected with a rotor of the knee joint motor, an output shaft of the knee joint reducer is connected with the knee joint first bevel gear, one end of the knee joint frame is fixedly connected with an outer connecting disc of the knee joint reducer and the knee joint shell in sequence, the other end of the knee joint frame is connected with a knee joint first bearing and a knee joint second bearing, the knee joint first bearing and the knee joint second bearing are respectively arranged on two sides of the;
the knee joint casing comprises a bevel gear structure used for being connected with a first bevel gear of a lateral swing joint to form a bevel gear pair, the knee joint casing and the knee joint frame are provided with bearing seats respectively connected with a second hip joint bearing and a third hip joint bearing, and the knee joint module rotates around an auxiliary rotating shaft of the hip joint module to realize lateral swing joint movement;
the rotary power generated by the knee joint motor is transmitted to the knee joint first bevel gear after being subjected to speed change by the knee joint speed reducer and is used as the power output of the knee joint module, and the knee joint first bevel gear is a power output interface of the knee joint module.
Preferably, the main rotating shaft of the knee joint module is intersected with and vertical to the auxiliary rotating shaft; the axis of the first bevel gear of the lateral swing joint is intersected with and vertical to the main rotating shaft of the knee joint module.
Preferably, the ankle joint module comprises an ankle joint casing, an ankle joint motor, an ankle joint reducer, a first chain wheel, a thigh structure body, a second chain wheel mandrel and a chain; the ankle joint structure comprises an ankle joint shell, an ankle joint motor, an ankle joint reducer and a first chain wheel, wherein the ankle joint shell, the ankle joint motor, the ankle joint reducer and the first chain wheel are respectively coaxial with a thigh structure body, the coaxial axis is a main rotating shaft of an ankle joint module, a stator connecting disc of the ankle joint motor is fixedly connected in the ankle joint shell, an input shaft of the ankle joint reducer is connected with a rotor of the ankle joint motor, an output shaft of the ankle joint reducer is connected with the first chain wheel, an external connecting disc of the ankle joint reducer is fixedly connected with the ankle joint frame, the first chain wheel is meshed with a chain, one end of the thigh structure body is fixedly connected with the ankle joint shell, the other end of;
the ankle joint shell comprises a bevel gear structure which is connected with a first bevel gear of the knee joint to form a bevel gear pair; the ankle joint shell and the thigh structure body both comprise bearing mounting structures to be respectively connected with the first knee joint bearing and the second knee joint bearing, and the ankle joint module rotates around the auxiliary rotating shaft of the knee joint module to realize knee joint movement;
the shank module comprises a second chain wheel, a shank plate and a bionic foot; one end of the shank plate is fixedly connected with a second chain wheel, the other end of the shank plate is connected with the bionic foot, the second chain wheel is connected with a second chain wheel mandrel and rotates around an auxiliary rotating shaft of the ankle joint module, and the first chain wheel, the chain and the second chain wheel are connected with each other to form a chain transmission pair together;
the rotary power that the ankle joint motor produced transmits for first sprocket after the ankle joint reduction gear speed change, and first sprocket drives the chain motion, and the chain is the power take off of ankle joint module, and the chain is the power take off interface of ankle joint module.
Preferably, the main rotating shaft of the ankle joint module is parallel to the auxiliary rotating shaft; the axis of the first knee joint bevel gear is intersected with and perpendicular to the main rotating shaft of the ankle joint module.
Preferably, the hip joint driving module, the hip joint module, the side swing joint driving module, the knee joint module, the ankle joint module and the shank module are combined with each other to form a transmission chain A, a transmission chain B, a transmission chain C and a transmission chain D respectively;
the transmission chain A sequentially comprises a hip joint reducer, a hip joint first bevel gear, a hip joint second bevel gear, a hip joint frame, a hip joint second bearing and a hip joint third bearing;
the transmission chain B sequentially comprises a side swing joint speed reducer, a side swing joint first bevel gear, a knee joint casing, a knee joint frame, a knee joint first bearing and a knee joint second bearing;
the transmission chain C sequentially comprises a knee joint reducer, a knee joint first bevel gear, an ankle joint shell, a thigh structure body and a second chain wheel mandrel;
the transmission chain D sequentially comprises an ankle joint reducer, a first chain wheel, a chain and a second chain wheel;
the rotary power generated by the hip joint motor is output to the knee joint module through the transmission chain A to drive the hip joint module, the knee joint module, the ankle joint module and the shank module to flex and stretch, so that the leg structure of the robot is controlled to perform hip joint movement;
the rotary power generated by the side swing joint motor is output to the ankle joint module through the transmission chain B to drive the knee joint module, the ankle joint module and the shank module to swing laterally, so that the side swing joint motion of the leg structure of the robot is realized;
the rotary power generated by the knee joint motor is output to the shank module through the transmission chain C to drive the ankle joint module and the shank module to bend and stretch, so that the knee joint movement of the leg structure of the robot is realized;
and the rotary power generated by the ankle joint motor is output to the shank module through the transmission chain D to drive the shank module to bend and stretch, so that the ankle joint motion of the leg structure of the robot is realized.
The hip joint second bevel gear, the hip joint base and the side swing joint first bevel gear are in a coaxial state, the hip joint second bevel gear and the side swing joint first bevel gear are in a nested layout, so that a transmission chain A and a transmission chain B are in a parallel state to transmit torque relatively independently, the problem that driving torques of all joints are mutually coupled in a conventional series layout is avoided, and the control difficulty is reduced;
in the transmission chain A, a hip joint first bevel gear is connected with a hip joint second bevel gear through a bevel gear pair, in the transmission chain B, a side swing joint first bevel gear is connected with a knee joint shell through the bevel gear pair, and a hip joint driving module and a side swing joint driving module are directly installed on a robot body structure, so that the inertia force of the hip joint driving module and the side swing joint driving module acts on the robot body.
A first bevel gear of the knee joint in the transmission chain C is connected with the ankle joint shell through a bevel gear pair, so that the knee joint motor and the knee joint reducer are adjacent to a rotating shaft of the hip joint module, and the inertia force influence of the knee joint motor and the knee joint reducer on a leg structure of the robot is reduced; the first chain wheel, the chain and the second chain wheel in the transmission chain D are connected through a chain transmission pair, so that the ankle joint motor and the ankle joint reducer are adjacent to a rotating shaft of the knee joint module; drive chain C and drive chain D make the drive module in knee joint module, the ankle joint module arrange in robot leg structure's near-to-body end, compare in the serial-type overall arrangement of traditional design scheme, leg structure's inertia of rotation is lower, and drive module's load is littleer, makes leg structure have more kinetic energy to be used for knee joint motion, ankle joint motion, has promoted knee joint, ankle joint's load carrying capacity among the robot leg structure.
Compared with the prior art, the invention has the following beneficial effects:
1. compared with the traditional hydraulic or electric push rod driving mode, the motor-driven three-section leg-foot structure scheme provided by the invention has a larger joint swing angle and higher degree of freedom, and ensures the flexibility of movement; and the rotary joint is internally provided with a closed speed reducer, so that the driving moment of the joint is larger, and the load carrying capacity of the leg structure is stronger.
2. The transmission chains of the hip joint and the side swing joint adopt a parallel design scheme, the second bevel gear of the hip joint and the first bevel gear of the side swing joint are nested, the driving force of the hip joint and the driving force of the side swing joint can be simultaneously and respectively transmitted, and the installation positions of the motor driving devices in the hip joint and the side swing joint are arranged upwards and are respectively and directly fixedly connected with the rack, so that the movement mass and the rotational inertia in the leg structure are effectively reduced, the movement dynamics of the leg structure is improved, and the structural rigidity and the loaded operation capacity of the leg structure are improved.
3. Compared with the conventional tandem leg and foot transmission scheme, the knee joint and the ankle joint have lower rotational inertia, higher structural rigidity and stronger load capacity.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are only embodiments of the invention, and that for a person skilled in the art, other drawings can be obtained from the provided drawings without inventive effort.
FIG. 1 is a schematic diagram of the overall structure of a highly loaded three-piece leg structure provided by the present invention;
FIG. 2 is a schematic diagram of a hip drive module in a high load three-piece leg configuration according to the present invention;
FIG. 3 is a schematic diagram of a hip joint module in a high load three-piece leg configuration provided by the present invention;
FIG. 4 is a schematic structural diagram of a lateral swing joint driving module in a high load three-section leg structure according to the present invention;
FIG. 5 is a schematic structural view of a knee joint module in a high load three-piece leg configuration provided by the present invention;
FIG. 6 is a schematic diagram of an ankle module in a high load three-piece leg configuration provided by the present invention;
FIG. 7 is a schematic structural view of a lower leg module in a high load three-piece leg configuration provided by the present invention;
fig. 8 is a schematic mechanical transmission diagram of a high load three-segment leg structure provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Embodiments of the present invention are described in detail below with reference to fig. 1-8.
As shown in fig. 1, a high-load three-section leg structure suitable for an electric legged robot is characterized in that: comprises a hip joint driving module 1, a hip joint module 2, a side swing joint driving module 3, a knee joint module 4, an ankle joint module 5 and a shank module 6; the hip joint driving module 1, the side swing joint driving module 3, the knee joint module 4 and the ankle joint module 5 internally comprise a power device and a power output interface so as to provide rotary power for each motion joint; the hip joint driving module 1, the hip joint module 2 and the side swing joint driving module 3 are all connected with a robot body structure 0; the knee joint module 4 is connected with the hip joint module 2 and rotates around the axis of the output end of the hip joint module 2; the ankle joint module 5 is connected with the knee joint module 4 and rotates around the axis of the output end of the knee joint module 4; the lower leg module 6 is connected to the ankle module 5 and rotates about the output axis of the ankle module 5. The power output interface of the hip joint driving module 1 is connected with the hip joint module 2, and the output rotary power drives the knee joint module 4, the ankle joint module 5 and the shank module 6 to bend and stretch through the hip joint module 2, so that the hip joint movement of the leg structure of the robot is realized; the power output interface of the side swing joint driving module 3 is connected with the knee joint module 4, and the output rotary power drives the knee joint module 4, the ankle joint module 5 and the shank module 6 to swing laterally, so that the side swing joint motion of the leg structure of the robot is realized; the power output interface of the knee joint module 4 is connected with the ankle joint module 5, and the output rotary power drives the ankle joint module 5 and the shank module 6 to bend and stretch, so that the knee joint movement of the leg structure of the robot is realized; the power output interface of the ankle joint module 5 is connected with the shank module 6, and the output rotary power drives the shank module 6 to bend and stretch, so that the ankle joint motion of the leg structure of the robot is realized.
As shown in fig. 2, the hip joint driving module 1 includes a hip joint housing 11, a hip joint motor 12, a hip joint reducer 13, a hip joint housing end cover 14, and a hip joint first bevel gear 15; the hip joint shell 11 is fixedly connected to the robot body structure 0 and provides installation and positioning for the hip joint driving module 1, a stator connecting disc of the hip joint motor 12 is fixedly connected into the hip joint shell 11, an input shaft of a hip joint reducer 13 is connected with a rotor of the hip joint motor 12, an outer connecting disc is fixedly connected with a hip joint shell end cover 14, an output shaft is connected with a hip joint first bevel gear 15, and the hip joint shell end cover 14 is fixedly connected with the hip joint shell 11; the hip joint motor 12 and the hip joint reducer 13 are coaxial with the main rotating shaft of the hip joint first bevel gear 15.
As shown in fig. 3, the hip joint module 2 comprises a hip joint second bevel gear 21, a hip joint first bearing 22, a hip joint base 23, a hip joint second bearing 24, a hip joint third bearing 25 and a hip joint frame 26; wherein the second hip joint bevel gear 21, the first hip joint bearing 22 and the hip joint base 23 are respectively coaxial with a main rotating shaft of the hip joint frame 26, and the coaxial axes are the main rotating shaft of the hip joint module 2; the hip joint base 23 is fixedly connected with the robot body structure 0 and provides mounting and positioning for the hip joint module 2, the hip joint second bevel gear 21 is connected with the hip joint base 23 through a hip joint first bearing 22, one end of a hip joint frame 26 is fixedly connected with the hip joint second bevel gear 21, and the other end of the hip joint frame is respectively connected with a hip joint second bearing 24 and a hip joint third bearing 25; the second hip joint bearing 24 and the third hip joint bearing 25 are respectively arranged at two sides of the main rotating shaft of the hip joint frame 26 and are coaxial, and the coaxial axis of the second hip joint bearing and the third hip joint bearing is the auxiliary rotating shaft of the hip joint module 2; preferably, the main rotation axis of the hip joint module 2 intersects and is perpendicular to the secondary rotation axis; the first hip joint bevel gear 15 and the second hip joint bevel gear 21 are connected to form a bevel gear pair, and preferably, the axis of the first hip joint bevel gear 15 is intersected with and perpendicular to the axis of the second hip joint bevel gear 21; the hip joint module 2 rotates about its own main axis of rotation to effect hip joint motion.
As shown in fig. 4, the yaw joint driving module 3 includes a yaw joint housing 31, a yaw joint motor 32, a yaw joint reducer 33, a yaw joint housing end cover 34, and a yaw joint first bevel gear 35; the side swing joint shell 31 is fixedly connected to the robot body structure 0 and provides mounting and positioning for the side swing joint driving module 3, a stator connecting disc of a side swing joint motor 32 is fixedly connected in the side swing joint shell 31, an input shaft of a side swing joint speed reducer 33 is connected with a rotor of the side swing joint motor 32, an outer connecting disc is fixedly connected with a side swing joint shell end cover 34, an output shaft of the side swing joint speed reducer is connected with a side swing joint first bevel gear 35, and the side swing joint shell end cover 34 is fixedly connected with the side swing joint shell 31; the main rotating shaft of the side swing joint motor 32, the main rotating shaft of the side swing joint speed reducer 33 and the main rotating shaft of the side swing joint first bevel gear 35 are coaxial.
As shown in fig. 5, the knee joint module 4 includes a knee joint housing 41, a knee joint motor 42, a knee joint reducer 43, a knee joint first bevel gear 44, a knee joint frame 45, a knee joint first bearing 46, and a knee joint second bearing 47; the knee joint machine shell 41, the knee joint motor 42, the knee joint reducer 43 and the knee joint first bevel gear 44 are respectively coaxial with a main rotating shaft of the knee joint frame 45, the coaxial axis is a main rotating shaft of the knee joint module 4, a stator connecting disc of the knee joint motor 42 is fixedly connected in the knee joint machine shell 41, an input shaft of the knee joint reducer 43 is connected with a rotor of the knee joint motor 42, an outer connecting disc is fixedly connected with the knee joint frame 45, an output shaft is connected with the knee joint first bevel gear 44, one end of the knee joint frame 45 is fixedly connected with the knee joint machine shell 41, the other end of the knee joint frame 45 is connected with the knee joint first bearing 46 and the knee joint second bearing 47, the knee joint first bearing 46 and the knee joint second bearing 47 are respectively arranged at two sides of the knee joint frame 45, the knee; preferably, the primary axis of rotation of the knee joint module 4 intersects and is perpendicular to the secondary axis of rotation; the knee joint housing 41 comprises a bevel gear structure for connecting with the first bevel gear 35 of the lateral swing joint to form a bevel gear pair, preferably, the axis of the first bevel gear 35 of the lateral swing joint intersects with and is perpendicular to the main rotating shaft of the knee joint module 4; the knee joint housing 41 and the knee joint frame 45 are provided with bearing seats to be connected with the hip joint second bearing 24 and the hip joint third bearing 25, respectively, and the knee joint module 4 rotates around the auxiliary rotation axis of the hip joint module 2 to realize the side swing joint motion.
As shown in fig. 6, the ankle module 5 includes an ankle housing 51, an ankle motor 52, an ankle reducer 53, a first sprocket 54, a thigh structure 55, a second sprocket spindle 56, and a chain 57; the ankle joint comprises an ankle joint shell 51, an ankle joint motor 52, an ankle joint reducer 53 and a first chain wheel 54, wherein the ankle joint shell 51, the ankle joint motor 52, the ankle joint reducer 53 and the first chain wheel 54 are respectively coaxial with a main rotating shaft of a thigh structure body 55, the coaxial shaft line is the main rotating shaft of the ankle joint module 5, a stator connecting disc of the ankle joint motor 52 is fixedly connected in the ankle joint shell 51, an input shaft of the ankle joint reducer 53 is connected with a rotor of the ankle joint motor 52, an external connecting disc is fixedly connected with the ankle joint frame 55, an output shaft is connected with the first chain wheel 54, the first chain wheel 54 is connected with a chain 57, one end of the thigh structure body 55 is fixedly connected with the ankle joint shell 51, the other end of the thigh; preferably, the primary axis of rotation of the ankle module 5 is parallel to the secondary axis of rotation. The ankle joint housing 51 comprises a bevel gear structure to connect with the knee joint first bevel gear 44 to form a bevel gear pair, preferably, the axis of the knee joint first bevel gear 44 intersects with and is perpendicular to the main rotation axis of the ankle joint module 5; the ankle joint housing 51 and the thigh structure 55 both include bearing mounting structures to be connected with the knee joint first bearing 46 and the knee joint second bearing 47, respectively, and the ankle joint module 5 rotates around the auxiliary rotation axis of the knee joint module 4 to realize the knee joint movement.
As shown in fig. 7, the lower leg module 6 comprises a second chain wheel 61, a lower leg plate 62 and a bionic foot 63; wherein one end of the shank plate 62 is fixedly connected with the second chain wheel 61, the other end is connected with the bionic foot 63, the second chain wheel 62 is connected with the second chain wheel mandrel 56 and can rotate around the auxiliary rotating shaft of the ankle joint module 5, and the first chain wheel 54, the chain 57 and the second chain wheel 61 are connected with each other to form a chain transmission pair together.
The speed reducer in the leg structure adopts a closed speed reducer, the driving moment is larger than that of the conventional scheme, the hip joint driving module and the side swing joint driving module are directly connected with the robot body structure, and the installation positions of the knee joint module and the ankle joint module are respectively arranged near the main rotating shafts of the hip joint and the knee joint, so that the motion quality and the rotational inertia of the leg-foot structure are effectively reduced, the dynamic motion capability of the leg structure is improved, and the leg structure has higher loading capability.
As shown in fig. 8(a), the overall transmission diagram of the present invention is shown. The rotational power generated by the hip joint motor 12 is transmitted to the hip joint first bevel gear 15 as the power output of the hip joint drive module 1 after being changed in speed by the hip joint reducer 13, and the hip joint first bevel gear 15 is the power output interface of the hip joint drive module 1. The rotational power generated by the yaw joint motor 32 is transmitted to the yaw joint first bevel gear 35 as the power output of the yaw joint drive module 3 after being changed in speed by the yaw joint speed reducer 33, and the yaw joint first bevel gear 35 is the power output interface of the yaw joint drive module 3. The rotational power generated by the knee joint motor 42 is transmitted to the knee joint first bevel gear 44 as the power output of the knee joint module 4 after being changed in speed by the knee joint speed reducer 43, and the knee joint first bevel gear 44 is the power output interface of the knee joint module 4. The rotational power generated by the ankle joint motor 52 is transmitted to the first chain wheel 54 after being changed in speed by the ankle joint speed reducer 53, the first chain wheel 54 drives the chain 57 to move, the chain 57 is the power output of the ankle joint module 5, and the chain 57 is the power output interface of the ankle joint module 5. The hip joint driving module 1, the hip joint module 2, the side swing joint driving module 3, the knee joint module 4, the ankle joint module 5 and the shank module 6 are combined with each other to form a transmission chain A, a transmission chain B, a transmission chain C and a transmission chain D respectively; the transmission chain A sequentially comprises a hip joint reducer 13, a hip joint first bevel gear 15, a hip joint second bevel gear 21, a hip joint frame 26, a hip joint second bearing 24 and a hip joint third bearing 25; the transmission chain B sequentially comprises a side swing joint speed reducer 33, a side swing joint first bevel gear 35, a knee joint casing 41, a knee joint frame 45, a knee joint first bearing 46 and a knee joint second bearing 47; the transmission chain C sequentially comprises a knee joint reducer 43, a knee joint first bevel gear 44, an ankle joint shell 51, a thigh structure body 54 and a second sprocket spindle 56; the transmission chain D sequentially comprises an ankle joint reducer 53, a first chain wheel 54, a chain 57 and a second chain wheel 61; the rotary power generated by the hip joint motor 12 is output to the knee joint module 4 through the transmission chain A to drive the hip joint module 2, the knee joint module 4, the ankle joint module 5 and the shank module 6 to bend and stretch, so that the leg structure of the robot is controlled to perform hip joint movement; the rotary power generated by the side swing joint motor 32 is output to the ankle joint module 5 through the transmission chain B to drive the knee joint module 4, the ankle joint module 5 and the shank module 6 to swing laterally, so that the side swing joint motion of the leg structure of the robot is realized; the rotary power generated by the knee joint motor 42 is output to the shank module through the transmission chain C to drive the ankle joint module 5 and the shank module 6 to bend and stretch, so that the knee joint movement of the leg structure of the robot is realized; the rotary power generated by the ankle joint motor 52 is output to the shank module through the transmission chain D to drive the shank module 6 to bend and stretch, so that the ankle joint motion of the leg structure of the robot is realized.
Fig. 8(B) and 8(c) are schematic views of a drive chain a and a drive chain B, respectively, according to the present invention. The hip joint second bevel gear 21, the hip joint base 23 and the side swing joint first bevel gear 35 are in a coaxial state, the hip joint second bevel gear 21 and the side swing joint first bevel gear 35 are in a nested layout, so that the transmission chain A and the transmission chain B are in a parallel state to transmit torque relatively independently, the problem that driving torques of all joints in a conventional series layout are mutually coupled is avoided, and the control difficulty is reduced; in the transmission chain A, the hip joint first bevel gear 15 is connected with the hip joint second bevel gear 21 through a bevel gear pair, in the transmission chain B, the side swing joint first bevel gear 35 is connected with the knee joint shell 41 through the bevel gear pair, so that the hip joint driving module 1 and the side swing joint driving module 3 are both directly installed on the robot body structure, and accordingly the inertia force of the hip joint driving module 1 and the side swing joint driving module 3 acts on the robot body.
Fig. 8(D) and 8(e) are schematic views of the drive chain C and the drive chain D, respectively, according to the present invention. The first bevel gear 44 of the knee joint and the ankle joint shell 51 in the transmission chain C are connected through a bevel gear pair, so that the knee joint motor 42 and the knee joint reducer 43 are arranged near the rotating shaft of the hip joint module 2, and the inertia force influence of the knee joint motor 42 and the knee joint reducer 43 on the leg structure of the robot is reduced; the first chain wheel 54, the chain 57 and the second chain wheel 61 in the transmission chain D are connected through a chain transmission pair, so that the ankle joint motor 52 and the ankle joint speed reducer 53 are arranged near the rotating shaft of the knee joint module 4, and the inertia of the ankle joint motor 52 and the ankle joint speed reducer 53 to the leg structure of the robot is reduced; drive module that drive chain C and drive chain D made in knee joint module 4, the ankle joint module 5 arranges in robot leg structure's near-to-body end, compares in the serial-type overall arrangement of traditional design scheme, and leg structure's inertia of rotation is lower, and drive module's load is littleer, makes leg structure have more kinetic energy to be used for knee joint motion, ankle joint motion, has promoted knee joint, ankle joint's load carrying capacity in the robot leg structure.
The high-load three-section leg structure suitable for the electric legged robot provided by the invention is described in detail above, and a specific example is applied in the description to explain the principle and the implementation of the invention, and the description of the above embodiment is only used to help understanding the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. The utility model provides a high load syllogic leg structure suitable for electronic sufficient robot which characterized in that: comprises a hip joint driving module (1), a hip joint module (2), a side swing joint driving module (3), a knee joint module (4), an ankle joint module (5) and a shank module (6);
the hip joint driving module (1), the side swing joint driving module (3), the knee joint module (4) and the ankle joint module (5) are respectively provided with a power device and a power output interface so as to provide rotary power for each motion joint; the hip joint driving module (1), the hip joint module (2) and the side swing joint driving module (3) are all connected with a robot body structure (0);
the power output interface of the hip joint driving module (1) is connected with the hip joint module (2), and the knee joint module (4) is connected with the hip joint module (2) and rotates around the axis of the output end of the hip joint module (2); the rotary power output by the hip joint module (2) drives the knee joint module (4), the ankle joint module (5) and the shank module (6) to bend and stretch through the hip joint module (2), so that the hip joint motion of a leg structure of the robot is realized;
the power output interface of the side swing joint driving module (3) is connected with the knee joint module (4), and the output rotary power drives the knee joint module (4), the ankle joint module (5) and the shank module (6) to swing laterally, so that the side swing joint motion of a robot leg structure is realized;
the power output interface of the knee joint module (4) is connected with the ankle joint module (5), the ankle joint module (5) rotates around the axis of the output end of the knee joint module (4), and the rotary power output by the knee joint module (4) drives the ankle joint module (5) and the shank module (6) to bend and stretch, so that the knee joint motion of a robot leg structure is realized;
the power output interface of the ankle joint module (5) is connected with the shank module (6), and the shank module (6) rotates around the axis of the output end of the ankle joint module (5); the rotary power output by the ankle joint module (5) drives the shank module (6) to bend and stretch, so that the ankle joint motion of the leg structure of the robot is realized.
2. The high-load three-segment leg structure suitable for the electric legged robot as claimed in claim 1, wherein:
the hip joint driving module (1) comprises a hip joint casing (11), a hip joint motor (12), a hip joint reducer (13), a hip joint casing end cover (14) and a hip joint first bevel gear (15); the hip joint shell (11) is fixedly connected to a robot body structure (0) and provides mounting and positioning for a hip joint driving module (1), a stator connecting disc of a hip joint motor (12) is fixedly connected into the hip joint shell (11), an input shaft of a hip joint reducer (13) is connected with a rotor of the hip joint motor (12), an output shaft of the hip joint reducer (13) is connected with a hip joint first bevel gear (15), an outer connecting disc of the hip joint reducer (13) is fixedly connected with a hip joint shell end cover (14), and the hip joint shell end cover (14) is fixedly connected with the hip joint shell (11); the hip joint motor (12) and the hip joint reducer (13) are coaxial with a main rotating shaft of a hip joint first bevel gear (15);
the rotary power generated by the hip joint motor (12) is transmitted to a hip joint first bevel gear (15) after being subjected to speed change through a hip joint speed reducer (13) and is used as the power output of the hip joint driving module (1), and the hip joint first bevel gear (15) is a power output interface of the hip joint driving module (1).
3. The high-load three-segment leg structure suitable for the electric legged robot as claimed in claim 2, wherein:
the hip joint module (2) comprises a hip joint second bevel gear (21), a hip joint first bearing (22), a hip joint base (23), a hip joint second bearing (24), a hip joint third bearing (25) and a hip joint frame (26); wherein the second hip joint bevel gear (21), the first hip joint bearing (22) and the hip joint base (23) are all coaxial with a main rotating shaft of the hip joint frame (26), and the axis is the main rotating shaft of the hip joint module (2); the hip joint base (23) is fixedly connected with a robot body structure (0) and provides mounting and positioning for a hip joint module (2), a hip joint second bevel gear (21) is connected with the hip joint base (23) through a hip joint first bearing (22), one end of a hip joint frame (26) is fixedly connected with the hip joint second bevel gear (21), the other end of the hip joint frame is connected with a hip joint second bearing (24) and a hip joint third bearing (25), the hip joint second bearing (24) and the hip joint third bearing (25) are respectively arranged on two sides of a main rotating shaft of the hip joint frame (26), the hip joint second bearing (24) and the hip joint third bearing (25) are coaxial, and the coaxial axes of the hip joint second bearing and the hip joint third bearing (25) are auxiliary rotating shafts of the hip joint module (2);
the first hip joint bevel gear (15) and the second hip joint bevel gear (21) are connected to form a bevel gear pair, and the hip joint module (2) rotates around a main rotating shaft of the hip joint module to realize hip joint movement.
4. A high-load three-segment leg structure suitable for an electric legged robot according to claim 3, characterized in that: the main rotating shaft of the hip joint module (2) is intersected with and vertical to the auxiliary rotating shaft; the axis of the hip joint first bevel gear (15) is intersected with and vertical to the axis of the hip joint second bevel gear (21).
5. A high-load three-segment leg structure suitable for an electric legged robot according to claim 3, characterized in that:
the side swing joint driving module (3) comprises a side swing joint shell (31), a side swing joint motor (32), a side swing joint speed reducer (33), a side swing joint shell end cover (34) and a side swing joint first bevel gear (35); the side swing joint shell (31) is fixedly connected to a robot body structure (0) and provides installation and positioning for a side swing joint driving module (3), a stator connecting disc of a side swing joint motor (32) is fixedly connected into the side swing joint shell (31), an input shaft of a side swing joint speed reducer (33) is connected with a rotor of the side swing joint motor (32), an output shaft of the side swing joint speed reducer is connected with a side swing joint first bevel gear (35), an outer connecting disc of the side swing joint speed reducer (33) is fixedly connected with a side swing joint shell end cover (34), and the side swing joint shell end cover (34) is fixedly connected with the side swing joint shell (31); a rotating shaft of a side swing joint motor (32), a rotating shaft of a side swing joint reducer (33) and a main rotating shaft of a first bevel gear (35) of the side swing joint are coaxial;
the rotating power generated by the side swing joint motor (32) is transmitted to a side swing joint first bevel gear (35) after being subjected to speed change through a side swing joint speed reducer (33) and is used as the power output of the side swing joint driving module (3), and the side swing joint first bevel gear (35) is a power output interface of the side swing joint driving module (3).
6. The high-load three-segment leg structure suitable for the electric legged robot as claimed in claim 5, wherein:
the knee joint module (4) comprises a knee joint machine shell (41), a knee joint motor (42), a knee joint reducer (43), a knee joint first bevel gear (44), a knee joint frame (45), a knee joint first bearing (46) and a knee joint second bearing (47); the knee joint motor (42) is characterized in that the knee joint shell (41), the knee joint motor (42), the knee joint reducer (43) and the knee joint first bevel gear (44) are coaxial with the knee joint frame (45), the coaxial axis is a main rotating shaft of the knee joint module (4), a stator connecting disc of the knee joint motor (42) is fixedly connected in the knee joint shell (41), an input shaft of the knee joint reducer (43) is connected with a rotor of the knee joint motor (42), an output shaft of the knee joint reducer is connected with the knee joint first bevel gear (44), one end of the knee joint frame (45) is sequentially fixedly connected with an outer connecting disc of the knee joint reducer (43) and the knee joint shell (41), the other end of the knee joint reducer is connected with a knee joint first bearing (46) and a knee joint second bearing (47), the knee joint first bearing (46) and the knee joint second bearing (47), The knee joint second bearing (47) is coaxial, and the coaxial axis of the knee joint second bearing is a secondary rotating shaft of the knee joint module (4);
the knee joint shell (41) comprises a bevel gear structure and is used for being connected with a first bevel gear (35) of a lateral swing joint to form a bevel gear pair, the knee joint shell (41) and a knee joint frame (45) are provided with bearing seats and are respectively connected with a second hip joint bearing (24) and a third hip joint bearing (25), and the knee joint module (4) rotates around a secondary rotating shaft of the hip joint module (2) to realize the motion of the lateral swing joint;
the rotary power generated by the knee joint motor (42) is transmitted to a knee joint first bevel gear (44) after being subjected to speed change through a knee joint speed reducer (43) and is used as the power output of the knee joint module (4), and the knee joint first bevel gear (44) is a power output interface of the knee joint module (4).
7. The high-load three-segment leg structure suitable for the electric legged robot according to claim 6, characterized in that: the main rotating shaft and the auxiliary rotating shaft of the knee joint module (4) are intersected and vertical; the axis of the first bevel gear (35) of the lateral swing joint is intersected with and vertical to the main rotating shaft of the knee joint module (4).
8. The high-load three-segment leg structure suitable for the electric legged robot according to claim 6, characterized in that:
the ankle joint module (5) comprises an ankle joint shell (51), an ankle joint motor (52), an ankle joint reducer (53), a first chain wheel (54), a thigh structure body (55), a second chain wheel mandrel (56) and a chain (57); wherein the ankle joint casing (51), the ankle joint motor (52), the ankle joint reducer (53) and the first chain wheel (54) are respectively coaxial with a thigh structure body (55), the coaxial axis is a main rotating shaft of the ankle joint module (5), a stator connecting disc of the ankle joint motor (52) is fixedly connected in the ankle joint casing (51), an input shaft of the ankle joint reducer (53) is connected with a rotor of the ankle joint motor (52), an output shaft of the ankle joint reducer is connected with the first chain wheel (54), an external connecting disc of the ankle joint reducer (53) is fixedly connected with the ankle joint frame (55), the first chain wheel (54) is meshed with a chain (57), one end of the thigh structure body (55) is fixedly connected with the ankle joint casing (51), the other end of the thigh structure body is connected with a second chain wheel mandrel (56), and the axis of the second chain wheel mandrel (56) is an auxiliary rotating shaft of the ankle joint module (5);
the ankle joint shell (51) comprises a bevel gear structure so as to be connected with a first bevel gear (44) of the knee joint to form a bevel gear pair; the ankle joint shell (51) and the thigh structure body (55) both comprise bearing mounting structures to be respectively connected with a first knee joint bearing (46) and a second knee joint bearing (47), and the ankle joint module (5) rotates around a secondary rotating shaft of the knee joint module (4) to realize knee joint movement;
the shank module (6) comprises a second chain wheel (61), a shank plate (62) and a bionic foot (63); one end of the shank plate (62) is fixedly connected with the second chain wheel (61), the other end of the shank plate is connected with the bionic foot (63), the second chain wheel (62) is connected with the second chain wheel mandrel (56) and rotates around the auxiliary rotating shaft of the ankle joint module (5), and the first chain wheel (54), the chain (57) and the second chain wheel (61) are connected with each other to form a chain transmission pair together;
the rotary power that ankle joint motor (52) produced transmits for first sprocket (54) after ankle joint reduction gear (53) variable speed, and first sprocket (54) drive chain (57) motion, and chain (57) are the power take off of ankle joint module (5), and chain (57) are the power take off interface of ankle joint module (5).
9. The high-load three-segment leg structure suitable for the electric legged robot according to claim 8, characterized in that: the main rotating shaft of the ankle joint module (5) is parallel to the auxiliary rotating shaft; the axis of the first knee joint bevel gear (44) is intersected with and vertical to the main rotating shaft of the ankle joint module (5).
10. A high-load three-segment leg structure suitable for an electric legged robot according to claim 1 or 8, characterized in that:
the hip joint driving module (1), the hip joint module (2), the side swing joint driving module (3), the knee joint module (4), the ankle joint module (5) and the shank module (6) are combined with one another to form a transmission chain A, a transmission chain B, a transmission chain C and a transmission chain D respectively;
the transmission chain A sequentially comprises a hip joint reducer (13), a hip joint first bevel gear (15), a hip joint second bevel gear (21), a hip joint frame (26), a hip joint second bearing (24) and a hip joint third bearing (25), and the hip joint first bevel gear (15) is connected with the hip joint second bevel gear (21) through a bevel gear pair;
the transmission chain B sequentially comprises a side swing joint speed reducer (33), a side swing joint first bevel gear (35), a knee joint casing (41), a knee joint frame (45), a knee joint first bearing (46) and a knee joint second bearing (47), and in the transmission chain B, the side swing joint first bevel gear (35) is connected with the knee joint casing (41) through a bevel gear pair;
the transmission chain C sequentially comprises a knee joint reducer (43), a knee joint first bevel gear (44), an ankle joint shell (51), a thigh structure body (54) and a second chain wheel mandrel (56), wherein the knee joint first bevel gear (44) and the ankle joint shell (51) are connected through a bevel gear pair, so that the knee joint motor (42) and the knee joint reducer (43) are adjacent to a rotating shaft of the hip joint module (2);
the transmission chain D sequentially comprises an ankle joint reducer (53), a first chain wheel (54), a chain (57) and a second chain wheel (61), the first chain wheel (54), the chain (57) and the second chain wheel (61) are connected through a chain transmission pair, and the ankle joint motor (52) and the ankle joint reducer (53) are adjacent to a rotating shaft of the knee joint module (4);
the rotary power generated by the hip joint motor (12) is output to the knee joint module (4) through the transmission chain A to drive the hip joint module (2), the knee joint module (4), the ankle joint module (5) and the shank module (6) to bend and stretch;
the rotary power generated by the side swing joint motor (32) is output to the ankle joint module (5) through the transmission chain B to drive the knee joint module (4), the ankle joint module (5) and the shank module (6) to swing laterally; the hip joint second bevel gear (21), the hip joint base (23) and the side swing joint first bevel gear (35) are in a coaxial state, the hip joint second bevel gear (21) and the side swing joint first bevel gear (35) adopt a nested layout, and the transmission chain A and the transmission chain B transmit torque relatively independently;
the rotary power generated by the knee joint motor (42) is output to the shank module (6) through the transmission chain C to drive the ankle joint module (5) and the shank module (6) to bend and stretch;
the rotary power generated by the ankle joint motor (52) is output to the shank module (6) through the transmission chain D to drive the shank module (6) to bend and stretch;
the hip joint second bevel gear (21), the hip joint base (23) and the side swing joint first bevel gear (35) are in a coaxial state; the second bevel gear (21) of the hip joint and the first bevel gear (35) of the side swing joint are in a nested layout, so that the transmission chain A and the transmission chain B are in a parallel connection state to transmit torque relatively independently.
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| CN114571497A (en) * | 2022-03-14 | 2022-06-03 | 上海大学 | Leg-arm robot pivot type explosive motion joint based on double-motor power cooperation |
| CN114571497B (en) * | 2022-03-14 | 2024-02-20 | 上海大学 | Leg arm robot pivot type explosive movement joint based on double-motor power cooperation |
| CN114800444A (en) * | 2022-03-29 | 2022-07-29 | 浙江大学 | Hybrid drive whole-body exoskeleton robot |
| CN114800444B (en) * | 2022-03-29 | 2023-09-08 | 浙江大学 | Hybrid-driven whole-body exoskeleton robot |
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