CN111017064A - Motor-driven double-foot lower limb walking structure and working method thereof - Google Patents
Motor-driven double-foot lower limb walking structure and working method thereof Download PDFInfo
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- CN111017064A CN111017064A CN202010068762.0A CN202010068762A CN111017064A CN 111017064 A CN111017064 A CN 111017064A CN 202010068762 A CN202010068762 A CN 202010068762A CN 111017064 A CN111017064 A CN 111017064A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention relates to a motor-driven biped lower limb walking structure and a working method thereof, and the motor-driven biped lower limb walking structure comprises a hip framework, a thigh framework, a shank framework and a foot plate, wherein the upper end of the thigh framework is movably connected with the hip framework through a hip joint, the lower end of the thigh framework is movably connected with the shank framework through a knee joint, and the lower end of the shank framework is movably connected with the foot plate through an ankle joint; the thigh skeleton is provided with a first motor assembly, the output end of the first motor assembly is fixedly connected with a crank, the crank is hinged to the upper end of a connecting rod, and the lower end of the connecting rod is hinged to the upper portion of the shank skeleton. Utilize the motor to drive the rotation of knee joint through four-bar linkage, realize the stable walking of biped robot low limbs, avoided causing the big problem of shank inertia at knee joint department direct mount motor, be favorable to realizing the timely response of shank and foot, can show the response speed that improves the foot end, the installation and debugging of being convenient for.
Description
Technical Field
The invention relates to a motor-driven lower limb walking structure with double feet and a working method thereof.
Background
With the continuous expansion of the research field of robots, robots have also entered the era of high-speed development, and more various robots have entered into our visual field, and even some robots have entered into our work, study and even life. The research and application of the biped robot are generally concerned, the important basic research content of the humanoid robot is the biped walking robot technology, and the main purpose is to research the humanoid biped robot with most characteristics of human, which is characterized in that a rotating pair simulates hip joint, knee joint and ankle joint of human, an executing device replaces muscles to realize the support and continuous coordinated movement of the body, and the joints can rotate relatively at a certain angle. The main research direction of the biped walking robot is to research and innovate mechanisms to design biped lower limbs, and to control the biped to complete walking or other actions so as to research a humanoid robot.
In recent years, research on biped robots has attracted wide interest of scholars at home and abroad, and has achieved great results, and particularly, great breakthroughs have been made in simulating various human actions, cooperating with people, communicating with languages, and the like. The research of foreign humanoid robots began in the 60's of the 19 th century, and as early as 1968, a control type biped walking robot named "Rig" was manufactured by the U.S. general company, and the introduction of the research of biped robots was revealed. The first human-like modern robot in the world was developed in 1973 by the bioengineering research group of the scientific engineering system of the early rice field, japan, and was named WABOT-1. The research results of the biped robot which is more successful abroad in recent years and has higher influence are the ASIMO robot of Japan Honda, the SDR series robot of Japan Sony robot, the T-HR3 robot of Japan Toyota company, the Robbit robot researched by the university of Florida, the Atals robot researched by the American Boston Dynamics, the Cassie robot researched by the AgilityRobotic of robot venture company, the HUBO robot designed by the Korean advanced technology research institute, and the NAO robot of France Aldebaran robot company.
The research of the domestic biped robot starts late, and compared with the early research of the biped walking robot abroad, the research starts from the 20 th century to the 80 th, but the research also obtains a great performance under the strong support of the country. In 2000, the national defense science and technology university born with the support of the national ' 863 ' project that the first pedestrian ' walking robot which is independently developed in China has a human-like appearance and can simulate the functions of human walking and basic operation.
Six generations of robots, namely BRH-1 to BRH-6, were developed successively by Beijing university of rational Engineers until 2002, and the robots already have autonomous intellectual property rights with functions of vision, voice conversation, force sense, balance sense and the like. The Zhejiang university develops the twins table tennis robot in 2011, one of the robot is known as Wu, the height is 1 m 60, the weight is 55 kg, the longevity peach head is Chinese jacket, and the robot is a large-scale humanoid robot newly developed in a robot laboratory of Zhejiang intelligent system and control research institute. Except college units, some domestic companies research biped walking robots and have achieved good results, for example, the robot company of Shenzhen (Ubtech) shows the first commercial biped robot Walker in the world to audiences around the world on CES in 2018, and the robot company has two main interaction modes, is activated through voice and a touch screen and provides various functions. The first generation prototype model of the ART robot was released in 2016 steel man technology, and is a big-type biped robot which is successfully developed in China.
Although research on the biped walking robot has achieved many research results, the biped walking speed, stability and self-adaptive capacity of the robot are still not ideal at present, and the robot has great defects in stability, coordination and cooperation between a human and the robot, and the like, which is also a main reason why the biped walking robot does not walk into our lives. One aspect is the cost issue, such as that of the Boston Dynamics company, which is still difficult to commercially produce. The other is the problem in the aspect of theoretical research, and the bionic foot type robot technology relates to the aspects of robot mechanics, mechanism kinematics, dynamics, control theory and the like. Most of the existing bionic foot robots are usually fixed after structural form design, and have limitation.
Disclosure of Invention
In view of the above, the present invention provides a motor-driven lower limb walking structure and a working method thereof, which avoid the problem of large leg inertia caused by directly mounting a motor at a knee joint, facilitate the realization of timely response of the lower leg and the foot, and significantly improve the response speed of the foot end.
The invention is realized by adopting the following scheme: a biped lower limb walking structure driven by a motor comprises a hip framework, a thigh framework, a shank framework and a foot plate, wherein the upper end of the thigh framework is movably connected with the hip framework through a hip joint, the lower end of the thigh framework is movably connected with the shank framework through a knee joint, and the lower end of the shank framework is movably connected with the foot plate through an ankle joint; the thigh skeleton is provided with a first motor assembly, the output end of the first motor assembly is fixedly connected with a crank, the crank is hinged to the upper end of a connecting rod, and the lower end of the connecting rod is hinged to the upper portion of the shank skeleton.
Furthermore, the hip joint comprises a second motor component for driving the thigh framework to swing left and right, a third motor component for driving the thigh framework to rotate and a fourth motor component for driving the thigh framework to swing back and forth, the second motor component is fixedly connected to the hip framework, the third motor component is fixedly connected to the output end of the second motor set, and the fourth motor component is fixedly connected to the output end of the third motor component.
Furthermore, first motor element, second motor element, third motor element and fourth motor element all include the motor and are used for installing the mount of motor.
Furthermore, the foot plate and the shank framework are hinged together at the ankle joint, a connecting part hinged with the lower end of the shank framework through a hinge shaft is arranged on the foot plate, the hinge shaft and the shank framework are in rotary fit through a bearing, a damping motor is installed in the middle of the connecting part of the foot plate, and a main shaft of the damping motor is coaxially connected with the hinge shaft between the connecting part of the foot plate and the shank framework.
Furthermore, the shank skeleton and the thigh skeleton are hinged together at the knee joint through a hinge shaft, and the hinge shaft is in rotary fit with the thigh skeleton through a bearing.
The other technical scheme of the invention is as follows: according to the working method of the motor-driven biped lower limb walking structure, when the first motor assembly rotates, the motion of the shank skeleton is realized through the crank and the connecting rod, so that the knee joint is driven to rotate; when the second motor assembly, the third motor assembly and the fourth motor assembly rotate, the movement of the hip joint in three directions is realized respectively, so that the left-right swinging, the rotation and the front-back swinging of the thigh framework are driven respectively.
Compared with the prior art, the invention has the following beneficial effects:
(1) the motor is utilized to drive the knee joint to rotate through the four-bar mechanism, so that the lower limb of the biped robot can walk stably, the existing full-drive design is replaced, the problem of large leg inertia caused by directly mounting the motor at the knee joint is avoided, the timely response of the crus and the feet is favorably realized, the response speed of the foot end can be obviously improved, and the installation and debugging are facilitated; (2) the ankle joint is additionally provided with a damping motor to drive the ankle joint to move, so that the stability of the lower limbs of the feet when standing still or walking can be obviously enhanced.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to specific embodiments and accompanying drawings.
Drawings
FIG. 1 is a front view of an embodiment of the present invention;
FIG. 2 is a side view of an embodiment of the present invention;
FIG. 3 is a top view of an embodiment of the present invention;
FIG. 4 is a perspective view of an embodiment of the present invention;
FIG. 5 is a schematic view of the connection of a thigh frame and a shank frame in an embodiment of the invention;
FIG. 6 is a schematic view of a hip joint structure according to an embodiment of the present invention;
FIG. 7 is a schematic view of a knee joint in an embodiment of the present invention;
FIG. 8 is a schematic view showing the structure of the ankle joint in the embodiment of the present invention;
the reference numbers in the figures illustrate: the robot comprises an A-hip framework, a B-hip joint, a C-knee joint, a D-ankle joint, a 1-third motor component, a 2-second motor component, a 3-fourth motor component, a 4-first motor component, a 5-crank, a 6-thigh framework, a 7-connecting rod, an 8-shank framework, a 9-foot plate, a 10-bearing and an 11-damping motor.
Detailed Description
As shown in fig. 1 to 8, a motor-driven biped lower limb walking structure comprises a hip framework a, a thigh framework 6, a shank framework 8 and a foot plate 9, wherein the upper end of the thigh framework 6 is movably connected with the hip framework a through a hip joint B, the lower end of the thigh framework 6 is movably connected with the shank framework 8 through a knee joint C, and the lower end of the shank framework 8 is movably connected with the foot plate 9 through an ankle joint D; the thigh framework 6 is provided with a first motor assembly 4, the output end of the first motor assembly 4 faces to the left or right, the output end of the first motor assembly 4 is fixedly connected with a crank 5, the crank 5 is hinged with the upper end of a connecting rod 7, the lower end of the connecting rod 7 is hinged with the upper part of a shank framework 8, and the connecting rod is positioned in front of the thigh framework; the crank, the connecting rod, thigh skeleton and shank skeleton four form four-bar linkage, utilize the motor to drive the crank motion, later realize shank skeleton motion through the connecting rod, thereby the rotation of knee joint has been driven, realize the stable walking of biped robot low limbs, replace original full drive design now with this, avoided causing the big problem of shank inertia in knee joint department direct mount motor, be favorable to realizing the timely response of shank and foot, can show the response speed who improves the foot end, be convenient for installation and debugging.
In this embodiment, the hip joint B includes a second motor assembly 2 for driving the thigh frame to swing left and right, a third motor assembly 1 for driving the thigh frame to rotate, and a fourth motor assembly 3 for driving the thigh frame to swing back and forth, the second motor assembly 2 is fixedly connected to the hip frame, the output end of the second motor assembly faces forward, the third motor assembly 1 is fixedly connected to the output end of the second motor set, the output end of the third motor assembly faces downward, the fourth motor assembly is fixedly connected to the output end of the third motor assembly, and the output end of the fourth motor assembly faces left or right; the hip joint adopts three motor components which are arranged in space, can satisfy the movement of the lower limbs of the robot in three directions,
in this embodiment, the first motor assembly 4, the second motor assembly 2, the third motor assembly 1 and the fourth motor assembly 3 each include a motor and a fixing frame for mounting the motor, and the motors are fixedly connected to the fixing frame through bolts; the fixing frame of the first motor component 4 is fixedly connected to the thigh framework through bolts; the fixing frame of the second motor component 2 is fixedly connected to the hip framework A, the fixing frame of the third motor component 1 is fixedly connected to the output end of the second motor component, and the fixing frame of the fourth motor component 3 is fixedly connected to the output end of the third motor component; when the second motor component 2 rotates, the whole third motor component 1 can be driven to rotate, when the third motor component 1 rotates, the whole fourth motor component 3 can be driven to rotate, and when the fourth motor component rotates, the thigh 3 can be driven to complete the movement.
In this embodiment, sole 9 and shank skeleton 8 are in the same place at ankle joint D articulated, have on the sole 9 and pass through articulated shaft articulated connecting portion with shank skeleton 8 lower extreme, the articulated shaft passes through bearing 10 normal running fit with the shank skeleton, thereby maintain the smooth rotation of robot lower limbs ankle joint, install damping motor 11 in the middle of the connecting portion of sole, damping motor 11's main shaft and the articulated shaft coaxial coupling between the connecting portion of sole and the shank skeleton are in the same place, utilize damping motor rotation to drive the ankle joint motion, thereby accomplish the stability of feedback thereby adjusting the standing of robot lower limbs or walking through damping motor along with the gesture that sole 9 stood, can show the stability when strengthening biped lower limbs standing motionless or walking, foot 9 takes the design of imitative flat board, in order to guarantee that biped lower limbs stand on the level ground.
In this embodiment, the lower leg frame 8 and the thigh frame 6 are hinged together at the knee joint C through a hinge shaft, and the hinge shaft and the thigh frame are rotatably matched through a bearing 10 to complete smooth rotation of the knee joint of the robot.
According to the working method of the motor-driven biped lower limb walking structure, when the first motor assembly rotates, the motion of the shank skeleton is realized through the crank and the connecting rod, so that the knee joint is driven to rotate; when the second motor assembly, the third motor assembly and the fourth motor assembly rotate, the movement of the hip joint in three directions is realized respectively, so that the left-right swinging, the rotation and the front-back swinging of the thigh framework are driven respectively; the ankle joint movement is realized by the rotation of the damping motor, so that the foot plate is driven to move, and the stability of the lower limbs of the feet when standing still or walking can be obviously enhanced.
Any embodiment disclosed herein above is meant to disclose, unless otherwise indicated, all numerical ranges disclosed as being preferred, and any person skilled in the art would understand that: the preferred ranges are merely those values which are obvious or representative of the technical effect which can be achieved. Since the numerical values are too numerous to be exhaustive, some of the numerical values are disclosed in the present invention to illustrate the technical solutions of the present invention, and the above-mentioned numerical values should not be construed as limiting the scope of the present invention.
If the invention discloses or relates to parts or structures which are fixedly connected to each other, the fixedly connected parts can be understood as follows, unless otherwise stated: a detachable fixed connection (for example using bolts or screws) is also understood as: non-detachable fixed connections (e.g. riveting, welding), but of course, fixed connections to each other may also be replaced by one-piece structures (e.g. manufactured integrally using a casting process) (unless it is obviously impossible to use an integral forming process).
In addition, terms used in any technical solutions disclosed in the present invention to indicate positional relationships or shapes include approximate, similar or approximate states or shapes unless otherwise stated.
Any part provided by the invention can be assembled by a plurality of independent components or can be manufactured by an integral forming process.
Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present invention and not to limit the same; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (6)
1. The utility model provides a motor drive's biped low limbs walking structure which characterized in that: the upper end of the thigh framework is movably connected with the hip framework through a hip joint, the lower end of the thigh framework is movably connected with the shank framework through a knee joint, and the lower end of the shank framework is movably connected with the foot plate through an ankle joint; the thigh skeleton is provided with a first motor assembly, the output end of the first motor assembly is fixedly connected with a crank, the crank is hinged to the upper end of a connecting rod, and the lower end of the connecting rod is hinged to the upper portion of the shank skeleton.
2. The motor-driven bipedal lower extremity walking structure of claim 1, wherein: the hip joint comprises a second motor component for driving the thigh framework to swing left and right, a third motor component for driving the thigh framework to rotate and a fourth motor component for driving the thigh framework to swing back and forth, the second motor component is fixedly connected to the hip framework, the third motor component is fixedly connected to the output end of the second motor set, and the fourth motor component is fixedly connected to the output end of the third motor component.
3. The motor-driven bipedal lower extremity walking structure of claim 2, characterized in that: the first motor assembly, the second motor assembly, the third motor assembly and the fourth motor assembly comprise motors and fixing frames for mounting the motors.
4. The motor-driven bipedal lower extremity walking structure of claim 1, wherein: the ankle joint damping device is characterized in that the foot plate and the shank framework are hinged together at an ankle joint, a connecting part hinged with the lower end of the shank framework through a hinge shaft is arranged on the foot plate, the hinge shaft and the shank framework are in rotating fit through a bearing, a damping motor is arranged in the middle of the connecting part of the foot plate, and a main shaft of the damping motor is coaxially connected with the hinge shaft between the connecting part of the foot plate and the shank framework.
5. The motor-driven bipedal lower extremity walking structure of claim 4, wherein: the lower leg framework and the thigh framework are hinged together at the knee joint through a hinge shaft, and the hinge shaft is in rotary fit with the thigh framework through a bearing.
6. A method of operating a motor-driven bipedal lower extremity walking structure according to claim 2, characterized in that: when the first motor component rotates, the shank skeleton moves through the crank and the connecting rod, so that the knee joint is driven to rotate; when the second motor assembly, the third motor assembly and the fourth motor assembly rotate, the movement of the hip joint in three directions is realized respectively, so that the left-right swinging, the rotation and the front-back swinging of the thigh framework are driven respectively.
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| CN202010068762.0A CN111017064A (en) | 2020-01-21 | 2020-01-21 | Motor-driven double-foot lower limb walking structure and working method thereof |
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| CN202010068762.0A CN111017064A (en) | 2020-01-21 | 2020-01-21 | Motor-driven double-foot lower limb walking structure and working method thereof |
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| CN111017064A true CN111017064A (en) | 2020-04-17 |
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Cited By (3)
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| CN111731407A (en) * | 2020-08-20 | 2020-10-02 | 之江实验室 | High-energy-efficiency lightweight leg-foot structure layout and design method for biped robot |
| CN112937719A (en) * | 2021-02-05 | 2021-06-11 | 重庆工程职业技术学院 | Walking robot shank structure |
| CN114212163A (en) * | 2021-11-17 | 2022-03-22 | 深圳市优必选科技股份有限公司 | Leg structure and humanoid robot |
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