CN111071365A - High-energy-efficiency walking biped robot leg-foot structure - Google Patents
High-energy-efficiency walking biped robot leg-foot structure Download PDFInfo
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- CN111071365A CN111071365A CN201911301851.9A CN201911301851A CN111071365A CN 111071365 A CN111071365 A CN 111071365A CN 201911301851 A CN201911301851 A CN 201911301851A CN 111071365 A CN111071365 A CN 111071365A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The invention discloses a leg and foot structure of a biped robot walking with high energy efficiency, which comprises a driving unit, a knee joint, a telescopic shank, a telescopic connecting rod unit and a foot, wherein the driving unit is arranged in the knee joint, and the driving unit, the telescopic shank, the foot, the telescopic connecting rod unit and the driving unit are connected in a tail-ending manner to form a four-connecting-rod mechanism. The invention drives the motion of the feet and the ankle joints through the quadrilateral linkage mechanism, can effectively optimize the mass distribution of the leg-foot structure of the biped robot, reduce the rotational inertia of the leg-foot structure of the biped robot, reduce the energy required for driving the leg-foot to move and improve the walking energy efficiency of the biped robot. In addition, the shock absorption and buffering devices are added in the shank part and the connecting rod part, so that the impact energy between the foot and the ground in the walking process of the biped robot can be effectively absorbed and utilized, and the walking energy efficiency of the biped robot is further improved.
Description
Technical Field
The invention relates to a leg and foot structure of a biped robot, in particular to a leg and foot structure of a biped robot capable of walking with high energy efficiency.
Background
The biped robot can assist or replace human to finish various operations due to the human-like appearance characteristics, and has wide application prospect. Scholars at home and abroad develop related researches on biped robots and put forward a series of biped robots, such as Atlas robot of boston power company in the united states, Asimo robot of honda company in japan, Walker robot of preferential company in China, and the like.
However, the biped robot is still mainly in the research stage at present, and has a certain distance from the practical application, and one of the important reasons is that the biped robot has low walking energy efficiency, large power consumption and weak cruising ability. How to improve the walking energy efficiency and improve the cruising ability of the biped robot is directly related to whether the biped robot has real practicability, and is an important research direction of the biped robot.
The leg-foot structure is a key structure of the biped robot and is one of the core factors influencing the walking energy efficiency of the biped robot. At present, the mode of driving the leg and foot joint of the biped robot is mainly to install a motor at the joint and directly drive the leg and foot joint to move through the motor. However, in the direct driving mode of installing the motor at the joint, the weight of the motor can greatly increase the moment of inertia of the leg and foot structure, so that more energy is needed when the leg and foot are driven to move, and the walking energy efficiency of the biped robot is reduced. Particularly, the drive motor is arranged at the ankle joint, and the influence of the increase of the mass of the ankle joint on the moment of inertia of legs and feet is particularly obvious due to the fact that the distance between the ankle joint and the hip is large, so that the influence on the walking energy efficiency of the biped robot is particularly obvious.
In addition, in the walking process of the biped robot, large impact force exists between feet and the ground, on one hand, the impact can be directly caused to the driving motor, so that the driving motor needs to be additionally provided with extra protection measures, and the weight is increased; on the other hand, the impact force between the foot and the ground causes a large energy dissipation, further affecting the walking energy efficiency of the biped robot.
Disclosure of Invention
Aiming at the defects of the leg-foot structure of the conventional biped robot, the invention aims to provide the leg-foot structure of the biped robot capable of walking with high energy efficiency, so that on one hand, the mass distribution of the leg-foot structure of the biped robot is optimized, the rotational inertia of the leg-foot structure of the biped robot is reduced, and the energy required for driving the leg-foot to move is reduced; on the other hand, a damping and buffering device is added to effectively absorb and utilize impact energy between feet and the ground in the walking process of the biped robot, so that the walking energy efficiency of the biped robot is further improved.
The technical scheme adopted by the invention is as follows:
the leg and foot structure of the biped robot capable of walking with high energy efficiency comprises a driving unit, a knee joint, a telescopic shank, a telescopic connecting rod unit and a foot, wherein the driving unit is installed inside the knee joint, and the driving unit, the telescopic shank, the foot, the telescopic connecting rod unit and the driving unit are connected end to form a four-connecting-rod mechanism.
Furthermore, the telescopic shank comprises a shank upper section, a shank piston cylinder, a shank piston rod, a shank lower section and an ankle, the upper end of the shank upper section is fixedly connected with the knee joint, the lower end of the shank upper section is fixedly connected with the shank piston cylinder, the shank piston rod is arranged in the shank piston cylinder, the other end of the shank piston rod, the shank lower section and the ankle are sequentially and fixedly connected, and the ankle is also rotatably connected with the foot.
Furthermore, the telescopic connecting rod unit comprises a connecting rod lower section, a connecting rod piston rod, a connecting rod piston cylinder and a connecting rod upper section, wherein the connecting rod lower section is rotatably connected with the foot, one end of the connecting rod piston rod is fixedly connected with the connecting rod lower section, the other end of the connecting rod piston rod extends into the connecting rod piston cylinder, the connecting rod piston cylinder is fixedly connected with the connecting rod upper section, and the connecting rod upper section is rotatably connected with the driving unit.
Furthermore, the telescopic shank also comprises a shank spring which is fixed at one end of the shank piston rod extending into the shank piston cylinder.
Furthermore, the telescopic connecting rod unit also comprises a connecting rod spring, and the connecting rod spring is fixed at one end of the connecting rod piston rod extending into the connecting rod piston cylinder.
Furthermore, the driving unit comprises a driving block and a driving motor, an output shaft of the driving motor is connected with the driving block to drive the driving block to rotate, the driving block is rotatably connected with the upper section of the connecting rod, and the driving motor is fixed in the knee joint.
Furthermore, the rotatable connection of the driving block and the upper section of the connecting rod is specifically realized through a first pin, a first spherical hinge and a first nut, one end of the first pin is fixedly connected with the driving block, the first spherical hinge is arranged in the middle of the first pin, the upper section of the connecting rod is sleeved on the first spherical hinge and is limited through the first nut connected to the other end of the first pin.
Furthermore, the specific structure of the rotatable connection between the lower section of the connecting rod and the foot is the same as the connection structure between the driving block and the upper section of the connecting rod.
Furthermore, the upper section of the shank, the piston rod of the shank and the lower section of the shank adopt hollow circular tubes, and the upper section of the shank and the lower section of the shank are made of carbon fibers; the shank piston rod is made of aluminum alloy.
Furthermore, the lower section of the connecting rod, the piston rod of the connecting rod and the upper section of the connecting rod are made of solid round tubes made of aluminum alloy.
The invention has the following beneficial effects:
(1) through quadrangle connecting rod structure, arrange the driving motor that drives ankle joint motion in knee joint department, optimize the mass distribution of biped robot leg foot structure, effectively reduce the inertia of biped robot leg foot structure, required energy when reducing drive leg foot motion improves biped robot's the efficiency of walking.
(2) The shock absorption and buffering devices are added in the shank part and the connecting rod part, so that on one hand, the impact in the process of contacting the foot with the ground can be absorbed, on the other hand, the impact energy can be stored and released in the processes of contacting and separating the foot with the ground, the efficient utilization of the impact energy between the foot and the ground in the walking process of the biped robot is realized, and the walking energy efficiency is further improved.
Drawings
Fig. 1 is a schematic structural diagram of the leg and foot structure of the biped robot of the present invention.
Fig. 2 is a partial view of a driving block of the leg-foot structure of the biped robot of the present invention.
FIG. 3 is a partial foot view of the biped robotic leg and foot configuration of the present invention;
fig. 4 is a schematic view of the connection part of the motor and the driving block of the biped robot of the present invention.
In the figure: 1. the driving motor, 2, a knee joint, 3, an upper section of a lower leg, 4, a lower leg spring, 5, a lower leg piston cylinder, 6, a lower leg piston rod, 7, a lower section of a lower leg, 8, an ankle, 9, a pivot, 10, a foot, 11, a second ball hinge, 12, a lower link section, 13, a link piston rod, 14, a link piston cylinder, 15, a link spring, 16, an upper link section, 17, a first ball hinge, 18, a driving block, 19, a first pin, 20, a first nut, 21, a second pin, 22, a second nut, 23, a first bolt, 24, a second bolt, 1-1, a motor base body and 1-2 output shafts.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments, and the objects and effects of the present invention will become more apparent, it being understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.
As shown in fig. 1-4, the present invention includes a drive motor 1, a knee joint 2, a lower leg upper section 3, a lower leg spring 4, a lower leg piston cylinder 5, a lower leg piston rod 6, a lower leg lower section 7, an ankle 8, a pivot 9, a foot 10, a ball joint two 11, a link lower section 12, a link piston rod 13, a link piston cylinder 14, a link spring 15, a link upper section 16, a ball joint one 17, a drive block 18, a stud one 19, a nut one 20, a stud two 21, a nut two 22, a bolt one 23, and a bolt two 24. The drive motor 1 is arranged in the knee joint 2, the lower leg upper section 3 is connected with the knee joint 2 and the lower leg piston cylinder 5, the lower leg spring 4 and the lower leg piston rod 6 are arranged in the lower leg piston cylinder 5, the lower leg section 7 is connected with the lower leg piston cylinder 5 and the ankle 8, and the ankle 8 is connected with the foot 10 through the pivot 9. The lower section 12 of the connecting rod is connected with a connecting rod piston rod 13 through a foot spherical hinge 11, the connecting rod piston rod 13 and a connecting rod spring 15 are arranged in a connecting rod piston cylinder 14, the upper section 16 of the connecting rod is connected with the connecting rod piston cylinder 14 through a driving block spherical hinge 17, a driving block 18 is connected with the driving block spherical hinge 17, and the driving block 18 is arranged in the knee joint 2.
As shown in fig. 4, the driving motor 1 comprises a motor base body 1-1 and an output shaft 1-2, wherein a threaded hole is formed in the motor base body 1-1, a threaded hole is correspondingly formed in the knee joint 2, and the driving motor 1 is installed and fixed in the knee joint through a first bolt 23. The output shaft 1-2 of the driving motor 1 is also provided with a threaded hole, the driving block 18 is also correspondingly provided with a threaded hole, the driving block 18 is connected with the output shaft 1-2 of the driving motor 1 through a second bolt 24, the output shaft 1-2 of the driving motor 1 can drive the driving block 18 to rotate as shown in figure 2, one end of a first pin 19 is installed in the driving block 18, a first ball hinge 17 is installed in the middle of the first pin 19, the other end of the first pin 19 is connected with a first nut 20, the first nut 20 is used for limiting the position of the first ball hinge 17, and the driving block 18 and the upper connecting rod section 16 can rotate around the center of the first ball hinge 17.
As shown in figure 2, one end of a pin I19 is arranged in a driving block 18, a ball hinge I17 is arranged in the middle of the pin I19, the other end of the pin I19 is connected with a nut I20, the nut I20 is used for limiting the position of the ball hinge I17, and the driving block 18 and the connecting rod upper section 16 can rotate around the center of the ball hinge I17.
As shown in fig. 3, one end of the second pin 21 is installed in the foot 10, the second ball joint 11 is installed in the middle of the second pin 21, the other end of the second pin 21 is connected with the second nut 22, the second nut 22 is used for limiting the position of the second ball joint 11, and the foot 10 and the lower connecting rod section 12 can rotate around the center of the second ball joint 11.
As shown in fig. 1, the upper shank section 3, the piston rod 6 and the lower shank section 7 are made of hollow circular tubes, and the upper shank section 3 and the lower shank section 7 are made of carbon fibers; the shank piston rod 6 is made of aluminum alloy.
As shown in fig. 1, the lower connecting rod section 12, the connecting rod piston rod 13 and the upper connecting rod section 16 are solid circular tubes made of aluminum alloy.
The specific implementation working process of the invention is as follows:
in the leg-foot structure of the biped robot, the mass of the driving motor accounts for a large proportion of the total mass, and the arrangement position of the driving motor directly influences the rotational inertia of the leg-foot structure, so that the walking energy efficiency of the leg-foot structure is influenced. Wherein, because the ankle joint is great with the distance of hip, if will drive the driving motor of ankle joint and arrange in the ankle joint, can obviously increase the inertia of leg and foot structure, reduce the walking efficiency of biped robot. In addition, since the mass of the driving motor is large, if the driving motor is disposed at the ankle joint, the entire size of the leg and foot structure needs to be increased in order to satisfy the strength requirement, thereby causing a further decrease in walking energy efficiency.
As shown in fig. 1, the present invention arranges a drive motor 1 that drives an ankle joint at a knee joint. The lower leg part consists of an upper lower leg section 3, a lower leg spring 4, a lower leg piston cylinder 5, a lower leg piston rod 6, a lower leg section 7 and an ankle 8; the connecting rod part is composed of a connecting rod lower section 12, a connecting rod piston rod 13, a connecting rod piston cylinder 14, a connecting rod spring 15 and a connecting rod upper section 16. The driving block 18, the lower leg part, the connecting rod part and the foot 10 form a quadrilateral linkage mechanism, wherein the driving block 18 is connected with the connecting rod part by adopting a first spherical hinge 17, the foot is connected with the connecting rod part by adopting a second spherical hinge 11, and the foot and the lower leg part form an ankle joint and are connected by adopting a pivot 9.
The output shaft of the driving motor 1 drives the driving block 18 to rotate, so as to drive the connecting rod part to rotate, and further drives the foot 10 to rotate through the rotation of the connecting rod part, so that the ankle joint is driven. Through reasonable configuration of the lengths of the driving block 18, the shank part, the connecting rod part and the foot 10, the relation between the rotation angle of the output shaft of the driving motor 1 and the rotation angle of the foot 10 can be effectively obtained, and further the aim of driving the ankle joint by arranging the motor at the knee joint can be achieved.
According to the invention, the drive motor 1 for driving the ankle joint is arranged at the knee joint, so that the distance between the drive motor with larger mass and the hip is reduced, and the moment of inertia of the leg and foot structure during movement is reduced. In addition, because the driving motor 1 with larger mass moves up to the knee joint, the shank part and the connecting rod part can be made of materials with light mass and high strength, such as carbon fiber, aluminum alloy and the like, and the shank part adopts a hollow structure on the premise of ensuring the strength, so that the mass of the shank part and the connecting rod part is greatly reduced, and the moment of inertia of the leg-foot structure is further reduced. Through the design, the energy required by the movement of the legs and the feet can be reduced, and the walking energy efficiency of the leg and foot structure is improved.
The invention adds a damping and buffering device consisting of a shank spring 4, a shank piston cylinder 5 and a shank piston rod 6 at the shank part, and adds a damping and buffering device consisting of a connecting rod piston rod 13, a connecting rod piston cylinder 14 and a connecting rod spring 15 at the connecting rod part. On one hand, the shock absorption and buffering device can absorb the impact in the process of contacting with the ground and reduce the impact on the driving motor 1, so that a lighter driving motor can be selected under the condition of the same driving force; on the other hand, the impact energy can be stored by compressing the spring in the process of contacting the feet with the ground, and the impact energy is released by restoring the length of the spring in the process of leaving the ground, so that the efficient utilization of the impact energy between the feet and the ground in the walking process of the biped robot is realized, and the walking energy efficiency is further improved.
In addition, the shank spring 4 and the link spring 15 may not be provided, and the damping and cushioning effect may be achieved only by compressed air in a piston cylinder whose piston rod is closed.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and although the invention has been described in detail with reference to the foregoing examples, it will be apparent to those skilled in the art that various changes in the form and details of the embodiments may be made and equivalents may be substituted for elements thereof. All modifications, equivalents and the like which come within the spirit and principle of the invention are intended to be included within the scope of the invention.
Claims (10)
1. The leg and foot structure of the biped robot capable of walking with high energy efficiency is characterized by comprising a driving unit, a knee joint (2), a telescopic shank, a telescopic connecting rod unit and a foot (10), wherein the driving unit is installed inside the knee joint (2), and the driving unit, the telescopic shank, the foot (10), the telescopic connecting rod unit and the driving unit are connected end to form a four-connecting-rod mechanism.
2. The biped robot leg foot capable of walking with high energy efficiency according to claim 1, characterized in that the telescopic shank comprises a shank upper section (3), a shank piston cylinder (5), a shank piston rod (6), a shank lower section (7) and an ankle (8), the upper end of the shank upper section (3) is fixedly connected with the knee joint (2), the lower end of the shank upper section is fixedly connected with the shank piston cylinder (5), the shank piston rod (6) is arranged in the shank piston cylinder (5), the other end of the shank piston rod (6), the shank lower section (7) and the ankle (8) are fixedly connected in sequence, and the ankle (8) is rotatably connected with the foot (10).
3. The legged-foot structure of energy-efficient walking biped robot according to claim 1, characterized in that said telescopic link unit comprises a lower link section (12), a link piston rod (13), a link piston cylinder (14), and an upper link section (16), said lower link section (12) is rotatably connected to said foot (10), one end of the link piston rod (13) is fixedly connected to the lower link section (12), the other end of the link piston rod (13) is inserted into said link piston cylinder (14), said link piston cylinder (14) is fixedly connected to said upper link section (16), and said upper link section (16) is rotatably connected to said driving unit.
4. The biped robot leg and foot structure with high energy efficiency walking according to claim 2 is characterized in that the telescopic shank further comprises a shank spring (4), and the shank spring (4) is fixed at one end of the shank piston rod (6) extending into the shank piston cylinder (5).
5. The biped robot legged foot structure with energy-efficient walking according to claim 3, characterized in that said telescopic link unit further comprises a link spring (15), said link spring (15) is fixed on one end of said link piston rod (13) extending into said link piston cylinder (14).
6. The biped robot leg structure of energy-efficient walking of claim 3, characterized in that the driving unit comprises a driving block (18) and a driving motor (1), the output shaft of the driving motor (1) is connected with the driving block (18) to drive the driving block (18) to rotate, the driving block (18) is rotatably connected with the upper section of the connecting rod (16), and the driving motor (1) is fixed in the knee joint (2).
7. The biped robot leg-foot structure with energy-efficient walking of claim 6 is characterized in that the rotatable connection of the driving block (18) and the connecting rod upper section (16) is specifically through a first pin (19), a first ball hinge (17) and a first nut (20), one end of the first pin (19) is fixedly connected with the driving block (18), the first ball hinge (17) is installed in the middle of the first pin (19), and the connecting rod upper section (16) is sleeved on the first ball hinge (17) and limited through the first nut (20) connected to the other end of the first pin (19).
8. The energy-efficient walking biped robot leg and foot structure according to claim 7, characterized in that the specific structure of the rotatable connection of the lower link segment (12) and the foot (10) is the same as the connection structure of the driving block (18) and the upper link segment (16).
9. The energy-efficient walking biped robot leg and foot structure according to claim 2, characterized in that the upper shank section (3), the piston rod (6) and the lower shank section (7) are hollow round tubes, and the upper shank section (3) and the lower shank section (7) are made of carbon fiber; the shank piston rod (6) is made of aluminum alloy.
10. The energy-efficient walking biped robot leg and foot structure according to claim 3, wherein the lower connecting rod section (12), the piston rod (13) and the upper connecting rod section (16) are solid round tubes made of aluminum alloy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911301851.9A CN111071365A (en) | 2019-12-17 | 2019-12-17 | High-energy-efficiency walking biped robot leg-foot structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911301851.9A CN111071365A (en) | 2019-12-17 | 2019-12-17 | High-energy-efficiency walking biped robot leg-foot structure |
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| CN111071365A true CN111071365A (en) | 2020-04-28 |
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| CN201911301851.9A Pending CN111071365A (en) | 2019-12-17 | 2019-12-17 | High-energy-efficiency walking biped robot leg-foot structure |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112389563A (en) * | 2020-11-06 | 2021-02-23 | 华南理工大学广州学院 | Effectual mechanical leg of moving away to avoid possible earthquakes |
| CN112660265A (en) * | 2020-12-31 | 2021-04-16 | 北京理工大学 | Biped robot leg structure based on five connecting rods |
| CN112744312A (en) * | 2020-12-04 | 2021-05-04 | 北京理工大学 | Bionic robot and leg structure thereof |
| CN113928442A (en) * | 2021-12-16 | 2022-01-14 | 之江实验室 | Vibration reduction shank structure of humanoid robot |
| CN116080789A (en) * | 2023-04-07 | 2023-05-09 | 之江实验室 | Foot structure of shock attenuation energy storage and biped robot |
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| CN116080789A (en) * | 2023-04-07 | 2023-05-09 | 之江实验室 | Foot structure of shock attenuation energy storage and biped robot |
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Application publication date: 20200428 |
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