CN111360868A - Bionic robot and limb structure of parallel driving joint of bionic robot - Google Patents
Bionic robot and limb structure of parallel driving joint of bionic robot Download PDFInfo
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- CN111360868A CN111360868A CN202010214559.XA CN202010214559A CN111360868A CN 111360868 A CN111360868 A CN 111360868A CN 202010214559 A CN202010214559 A CN 202010214559A CN 111360868 A CN111360868 A CN 111360868A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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Abstract
The invention provides a limb structure of a bionic robot parallel driving joint and a bionic robot, wherein the limb structure comprises a first joint, a first limb, a second joint and a second limb which are sequentially connected in series; the first joint comprises a rotating shaft cylinder and at least two driving parts, and a bearing is arranged between the rotating shaft cylinder and the driving parts so that the rotating shaft cylinder can do rotary motion relative to the driving parts; the first limb and the rotating shaft barrel move synchronously, the first limb comprises a torsion shaft, the axis of the torsion shaft is perpendicular to the rotating axis of the rotating shaft barrel, and the driving part drives the torsion shaft to rotate around the axis of the torsion shaft in parallel through a first transmission mechanism; the second joint comprises a rotating shaft, the axis of the rotating shaft is perpendicular to the axis of the torsion shaft, and the torsion shaft drives the rotating shaft to rotate around the axis of the torsion shaft through a second transmission mechanism; the second limb is connected with the rotating shaft and synchronously rotates with the rotating shaft.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a limb structure of a parallel driving joint of a bionic robot and the bionic robot with the limb structure.
Background
At present, the motion modes of the robot mainly comprise a wheel type, a foot type, a crawler type and the like; the mechanical arm of a wheeled, tracked robot or the mechanical leg of a legged robot is an extremely important part of a robot. The foot type robot simulates the motion form of an animal, adopts a foot-leg structure to finish moving, and has the advantages of strong environmental adaptation, flexible motion, active vibration isolation, low energy consumption and the like; particularly, the quadruped robot has the advantages of strong bearing capacity, good stability, strong environmental adaptability and the like, becomes a hotspot of robot research, and is widely applied to the fields of material transportation, agricultural production and the like. In the limb structure of the existing robot, the whole robot generally has a parallel mechanism or a serial mechanism. Like the leg structure of a legged robot, the leg structure of a tandem structure is generally formed by sequentially connecting a hip joint, a thigh, a knee joint and a shank in series. Although the structure leads the whole limb structure of the robot to be compact, the movable range of hip joint and knee joint is larger, and the robot has the advantages of light and dexterity in bionics and the like; however, in this tandem leg structure, the driving transmission modes of the two hip and knee joints are different from the synergistic action principle of the adjacent joint muscle groups of human beings or quadrupeds, and the two hip and knee joints are respectively corresponding to the power transmission devices which are independent from each other. When the ultra-dynamic movement such as running and jumping is needed, the respective power transmission devices corresponding to the two hip and knee joints cannot be connected in parallel to complementarily drive the two hip and knee joints. Therefore, the robot leg mechanism with the serial structure does not have the defect that adjacent joints are driven in parallel in bionics.
Although the robot leg mechanism with the parallel structure has the advantages of being capable of realizing parallel complementary driving of hip and knee joints and providing joint explosive force required by ultra-dynamic motion, the robot leg mechanism generally adopts a four-bar form in the prior art, the structure is relatively wide, the limitation on the movable range of two joints of each hip and knee joint is large, and meanwhile, limbs of the parallel structure are not light enough (the self weight of the limbs is larger compared with that of a series structure), and the robot leg mechanism is not beneficial to realizing the ultra-dynamic motion of the bionic robot.
Disclosure of Invention
In view of the above, the present invention provides a limb structure of a parallel driving joint of a biomimetic robot and a robot having the limb structure, so as to solve one or more problems in the prior art.
According to one aspect of the invention, the invention discloses a limb structure of a parallel driving joint of a bionic robot, which comprises a first joint, a first limb, a second joint and a second limb which are sequentially connected in series;
the first joint comprises a rotating shaft cylinder and at least two driving parts, and a bearing is arranged between the rotating shaft cylinder and the driving parts so that the rotating shaft cylinder can do rotary motion relative to the driving parts;
the first limb and the rotating shaft barrel move synchronously, the first limb comprises a torsion shaft, the axis of the torsion shaft is perpendicular to the rotating axis of the rotating shaft barrel, and the driving part drives the torsion shaft to rotate around the axis of the torsion shaft in parallel through a first transmission mechanism;
the second joint comprises a rotating shaft, the axis of the rotating shaft is perpendicular to the axis of the torsion shaft, and the torsion shaft drives the rotating shaft to rotate around the axis of the torsion shaft through a second transmission mechanism;
the second limb is connected with the rotating shaft and synchronously rotates with the rotating shaft.
In some embodiments of the present invention, the first transmission mechanism includes two driving gears and a driven gear, the two driving gears are respectively connected to the output shafts of the two driving members, the driven gear is connected to the torsion shaft, and a bearing is disposed between the rotary shaft barrel and the driving gears to realize the rotary support of the rotary shaft barrel relative to the driving members.
In some embodiments of the present invention, the driving gear and the driven gear are both bevel gears, output shafts of the two driving members are coaxially arranged, and the number of teeth of the two driving gears is equal.
In some embodiments of the present invention, the second transmission mechanism is a bevel gear transmission, the driving bevel gear is fixedly connected to the torsion shaft, and the driven bevel gear is fixedly connected to the rotation shaft.
In some embodiments of the invention, the drive component comprises a motor and a speed reducer, the motor outputting power through the speed reducer.
In some embodiments of the present invention, the rotor shaft of the motor is a hollow shaft, the speed reducer is a two-stage planetary speed reducer, the inner gear ring of the planetary speed reducer is a duplex inner gear ring, the planet wheels of the planetary speed reducer are all engaged with the duplex inner gear ring, and the duplex inner gear ring is fixed with the housing of the motor;
a primary sun gear shaft of the planetary reducer is positioned in a through hole of the hollow shaft and is fixedly connected with the rotor shaft so as to enable the primary sun gear shaft and the hollow shaft to synchronously rotate;
and a secondary sun wheel shaft of the planetary reducer is coaxially arranged with the primary sun wheel shaft, and the secondary sun wheel shaft is fixed with the output end of a primary planet carrier of the planetary reducer.
In some embodiments of the present invention, the driving part further includes an encoder, an encoder support, and a magnetic column, the encoder is fixed to a housing of the motor by the encoder support, and the magnetic column rotates in synchronization with a rotor shaft of the motor.
In some embodiments of the invention, the first joint further comprises a U-shaped connecting frame for connecting the robot body and the limbs, the ends of the U-shaped connecting frame being for connection with the body, and the two side arms of the U-shaped connecting frame being connected with the housings of the two driving members.
In some embodiments of the present invention, the torsion shaft and the rotating shaft cylinder are connected by a flange, and a bearing is disposed between the torsion shaft and the flange.
In some embodiments of the present invention, the second joint includes a U-shaped support frame for supporting the rotating shaft, an end of the U-shaped support frame is connected to the torsion shaft through a flange, a bearing is disposed between the torsion shaft and the flange, and shaft holes for mounting the rotating shaft are correspondingly disposed on two side arms of the U-shaped support frame;
and a U-shaped fixed frame is arranged between the second limb and the rotating shaft, the end part of the U-shaped fixed frame is connected with the second limb, and two side arms of the U-shaped fixed frame are respectively fixed with two ends of the rotating shaft.
Another aspect of the present invention further provides a bionic robot, which includes the above-mentioned limb structure of the parallel driving joint of the bionic robot.
In the limb structure of the parallel driving joint of the bionic robot in the embodiment of the invention, the first joint is driven in parallel, and the first joint, the first limb, the second joint and the second limb are sequentially connected in series, so that the limb structure of the robot is kept compact on the premise of providing larger explosive driving force for the ultra-dynamic motion of the robot; in addition, the motion ranges of the first joint and the second joint of the limb structure are not affected mutually, and the motion limit positions of the joints are increased.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
It will be appreciated by those skilled in the art that the objects and advantages that can be achieved with the present invention are not limited to the specific details set forth above, and that the above and other objects that can be achieved with the present invention will be more clearly understood from the following detailed description.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention. In order to facilitate the illustration and description of some parts of the invention, corresponding parts in the drawings may be exaggerated, i.e., may be larger, relative to other parts in an exemplary apparatus actually manufactured according to the present invention. In the drawings:
fig. 1 is a schematic structural diagram of a limb structure of a parallel drive joint of a biomimetic robot in an embodiment of the present invention;
FIG. 2 is a front view of a limb structure of a parallel-drive joint of a biomimetic robot in one embodiment of the present disclosure;
FIG. 3 is a side view of a limb structure of a parallel drive joint of the biomimetic robot shown in FIG. 2;
FIG. 4 is a schematic diagram of the internal structure of a first joint of the limb structures of the parallel drive joints of the biomimetic robot shown in FIG. 2;
FIG. 5 is a schematic diagram of the internal structure of a second joint of the limb structures of the parallel drive joint of the biomimetic robot shown in FIG. 2;
FIG. 6 is a diagram of the movement limit position of the first joint of the limb structure of the parallel driving joint of the biomimetic robot in one embodiment of the present invention;
fig. 7 is a movement limit position diagram of a second joint of a limb structure of a parallel drive joint of a biomimetic robot in an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention are described in further detail below with reference to the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention and not to limit the present invention.
It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or process steps closely related to the scheme according to the present invention are shown in the drawings, and other details not so relevant to the present invention are omitted.
It should be emphasized that the term "comprises/comprising/comprises/having" when used herein, is taken to specify the presence of stated features, elements, steps or components, but does not preclude the presence or addition of one or more other features, elements, steps or components.
It should be noted that the terms of orientation such as "left end" and "right end" appearing in the present specification are the directions of positions shown in the drawings; the term "coupled" herein may mean not only directly coupled, but also indirectly coupled, in which case intermediates may be present, if not specifically stated. A direct connection is one in which two elements are connected without the aid of intermediate elements, and an indirect connection is one in which two elements are connected with the aid of other elements. It should be understood that the limb structure of the parallel driving joint of the bionic robot herein can be applied to the leg structure of a legged robot, and can also be applied to the arm structure of various robots, such as a mechanical arm in an industrial robot.
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, like reference characters designate the same or similar parts throughout the several views.
Fig. 1 is a schematic structural diagram of a limb structure of a parallel drive joint of a biomimetic robot according to an embodiment of the present invention, as shown in fig. 1, the limb structure includes a first joint, a first limb, a second joint, and a second limb, and the first joint, the first limb, the second joint, and the second limb are sequentially connected in series.
The first joint comprises a shaft barrel 110 and at least two drive members, between which shaft barrel 110 and drive members bearings are arranged, so that the shaft barrel 110 is rotatable in relation to the drive members. During rotation of the shaft barrel 110, the bearings are used to secure and rotatably support the shaft barrel 110 to the drive component. The first limb is connected with the first joint in series, and the first limb can not only move synchronously with the rotating shaft barrel 110, but also rotate around the axis of the first limb. The first limb may include a torsion shaft 210, the axis of the torsion shaft 210 being perpendicular to the axis of the shaft barrel 110; further, a first transmission mechanism may be additionally installed between the output shaft of the driving component and the torsion shaft 210, and at least two driving components are connected in parallel through the first transmission mechanism to drive the torsion shaft 210 to rotate around its own axis.
The second joint is connected with the first limb in series and is used for driving the second limb 410 to move; the second joint may include a rotating shaft 320, an axis of the rotating shaft 320 is perpendicular to an axis of the torsion shaft 210 of the first limb, a second transmission mechanism is disposed between the torsion shaft 210 and the rotating shaft 320, and the torsion shaft 210 may drive the rotating shaft 320 to rotate around its own axis through the second transmission mechanism. The second limb 410 is connected in series with the second joint and moves synchronously with the rotation shaft 320 of the second joint. When the device is specifically arranged, the second limb 410 can be directly and fixedly connected with the rotating shaft 320 of the second joint, and the rotation of the rotating shaft 320 can drive the second limb 410 to rotate; in addition, a mechanical transmission mechanism may be additionally installed between the rotating shaft 320 and the second limb 410, and the torsion shaft 210 drives the rotating shaft 320 to perform corresponding movement through the mechanical transmission mechanism.
For example, the first joint of the limb structure may be two driving members, as shown in fig. 2, and the first driving member 010 and the second driving member 020 are connected in parallel to drive the first limb to move correspondingly. At this time, the first transmission mechanism between the torsion shaft 210 and the output shaft of the driving member is also designed to be a transmission mode in which two driving gears drive one driven gear; the two driving gears are respectively fixed on output shafts of the two driving parts, the driven gear is fixed on the torsion shaft 210, and the driving gear and the driven gear are in meshing transmission; power transmission between the driving member and the torsion shaft 210 is achieved. The first joint adopts a mode that two driving parts are connected in parallel to drive the torsion shaft 210, and compared with a mode that a single driving part drives the torsion shaft 210 to move, the first joint greatly improves the driving force of limbs. It should be understood that the first transmission mechanism may also include two driving gears and two driven gears, the two driving gears are respectively engaged with the two driven gears, the two driven gears are fixed on the same transmission shaft, and a parallel driving manner may also be implemented.
Further, two driving parts may be respectively provided at both ends of the shaft barrel 110. Through holes can be correspondingly formed in two end faces of the rotating shaft cylinder 110, and output shafts of the two driving parts respectively extend into the rotating shaft cylinder 110 from the through holes from the outside of the rotating shaft cylinder 110. At this time, the two driving gears may be respectively fixed to the output shaft section of the driving part located inside the rotating shaft tube 110, and the driving gears and the rotating shaft tube 110 are rotatably supported and fixed by the first bearing 161. A driven gear engaged with the two driving gears may also be located inside the rotating shaft cylinder 110, and a fixed shaft of the driven gear extends out of the rotating shaft cylinder 110 from the inside of the rotating shaft cylinder 110; specifically, a through hole may be formed at a position of the rotation shaft cylinder 110 corresponding to the fixing shaft, and the fixing shaft extends from the through hole. The fixed shaft of the driven gear may be used as the torsion shaft 210 of the first limb, in which case the driven gear is directly fixed at the end of the torsion shaft 210; in addition, the driven gear may be provided on a separate fixed shaft to which the torsion shaft 210 of the first limb is connected through a connection member. Because the first bearing 161 is disposed between the shaft cylinder 110 and the driving gear, the shaft cylinder 110 can rotate relative to the driving gear; the rotation of the shaft barrel 110 can be realized by the first transmission mechanism, and particularly, the rotation of the shaft barrel 110 can be controlled by controlling the rotation direction or the rotation speed of the two driving gears.
The two driving members disposed at the two ends of the rotating shaft tube 110 may be disposed in a bilaterally symmetrical structure, and the rotational input of the two driving members is converted into one rotational output. The first transmission mechanism may further be a bevel gear transmission, the transmission mechanism including two drive bevel gears and one driven bevel gear. The first driving bevel gear 151 and the second driving bevel gear 152 are respectively fixedly connected with output shafts of the two driving parts, and the driven bevel gear 153 is fixedly connected with the torsion shaft 210, and at this time, the two driving bevel gears and the driven bevel gear form a differential bevel gear combination. In order to allow the rotary shaft cylinder 110 to perform a rotary motion with respect to the driving member, a first bearing 161 is disposed between the drive bevel gear and the rotary shaft cylinder 110. Similarly, the bevel gear transmission mechanism may be configured such that the two drive bevel gears are engaged with the two driven bevel gears, respectively, but in order to implement parallel driving, the two driven bevel gears need to be fixed to the same transmission shaft.
In the above embodiment, the rotation speed or direction of the shaft barrel 110 and the torsion shaft 210 is related to the rotation speed and the rotation direction of the two driving gears. In fig. 1, it is assumed that the thumb of the right hand is pointed from the first driving member 010 to the second driving member 020, and the holding direction of the remaining four fingers of the right hand is the forward rotation direction of the first bevel gear drive 151 and the second bevel gear drive 152. When the two driving bevel gears have the same rotation direction and rotation speed, the first driven bevel gear 153 is stationary, and the rotating shaft barrel 110 can rotate relative to the driving part due to the support of the first bearing 161; if the rotational speed of the first drive bevel gear 151 of the first drive member positioned on the left side of the rotary shaft tube 110 is set to V1The second bevel drive gear 152 of the second driving member located on the right side of the rotary shaft tube 110 is set to V2At this time, the rotation speed of the rotary shaft tube 110 is:
when the rotation directions of the two drive bevel gears are opposite, for example: the first driving bevel gear 151 of the first driving part rotates in a forward direction, and the second driving bevel gear 152 of the second driving part rotates in a reverse direction, but when the rotation speeds of the two driving bevel gears are the same, only the first driven bevel gear 153 rotates; when the number of teeth of the first drive bevel gear 151 of the first drive member is Z1The number of teeth of the second drive bevel gear 152 of the second drive part is set to Z2The number of teeth of the first driven bevel gear 153 is set to Z3And Z is1＝Z2(ii) a Since the torsion shaft 210 rotates in synchronization with the first driven bevel gear 153, the torsion shaft 210 rotates at a rotational speed
When the two driving bevel gears rotate in opposite directions but at different speeds, the first driven bevel gear 153 is rotatable, and the shaft barrel 110 also rotates in the same direction as the driving bevel gear having the faster speed.
In the second transmission mechanism, since the rotating shaft 320 is perpendicular to the axis of the torsion shaft 210, a bevel gear transmission manner may be adopted. At this time, the third driving bevel gear 332 of the second transmission mechanism is fixed at one end of the torsion shaft 210 connected with the second joint, the second driven bevel gear 331 of the second transmission mechanism is fixed on the rotating shaft 320, and the third driving bevel gear 332 is engaged with the second driven bevel gear 331 to realize mechanical transmission. In this transmission, the torsion shaft 210 serves as a fixed shaft of the third bevel gear 332, and thus the rotation speed of the third bevel gear 332 of the second transmission is
If the number of teeth of the third drive bevel gear 332 of the second transmission mechanism is set to Z4The second driven bevel gear 331 is set to Z5At the same time, the rotation speed of the rotating shaft 320
If the thumb of the right hand is supposed to point to the second joint from the first joint, the holding direction of the remaining four fingers of the right hand is taken as the positive rotation direction of the torsion shaft 210; when the torsion shaft 210 rotates in the forward direction, the rotation direction of the rotation shaft 320 is in the reverse direction; since the second limb 410 moves synchronously with the rotation shaft, the second limb 410 also rotates reversely.
In the present embodiment, the first transmission mechanism and the second transmission mechanism are bevel gears, but other types of transmission methods, such as friction wheel transmission, may be adopted. And in the mode of adopting bevel gear transmission, certain gear speed-up transmission or speed-down transmission can be carried out according to the requirement.
In one embodiment of the present invention, the driving member may be in the form of a motor + reducer, and the rotational power of the motor is output through the reducer; the reducer may be a planetary reducer of one or more stages. As shown in fig. 4, the motor includes a housing 121, a stator 122, a rotor 123, and a rotor shaft 124. The housing 121 of the motor is designed in such a way that the end cap 125 can be removed to facilitate maintenance and replacement of the internal components of the motor. The stator 122 of the motor is located inside the housing 121 of the motor, and corresponding protruding portions are arranged on both the housing 121 and the end cover 125 of the motor, and the stator 122 is located between the two protruding portions to achieve axial positioning. The rotor 123 of the motor is fixedly connected with the rotor shaft 124 so as to realize synchronous rotation of the rotor 123 and the rotor shaft 124. When the two driving components are respectively located at two ends of the rotating shaft barrel 110, a third bearing 163 may be respectively installed between the housing 121 of the motor and the rotating shaft barrel 110, so as to realize the rotational support between the rotating shaft barrel 110 and the driving components. A fifth bearing 165 and a fourth bearing 164 may be disposed between the rotor shaft 124 of the motor and the end cap 125 and the housing 121 of the motor to allow the rotor shaft 124 to rotate relative to the end cap 125.
Further, the rotor shaft 124 of the motor may be a hollow shaft, and the planetary reducer is a two-stage planetary reducer. The secondary planetary reducer comprises a primary sun gear shaft, a primary planet gear, a primary planet carrier, a secondary sun gear shaft, a secondary planet gear, a secondary planet carrier and a duplex ring gear 143. The primary sun gear shaft 141 is positioned in the shaft hole inside the rotor shaft 124 and is fixedly connected with the rotor shaft 124; the dual ring gear 143 is fixedly connected with the housing 121 of the motor in an interference fit or gluing manner. The first-stage planet carrier and the second-stage planet carrier can be cage-shaped planet carriers, the second-stage sun gear shaft 144 and the first-stage sun gear shaft 141 are coaxially arranged, and the second-stage sun gear shaft 144 is fixedly connected with the output end of the first-stage planet carrier 142, so that the second-stage sun gear shaft 144 and the first-stage planet carrier 142 synchronously move. The primary planet wheel and the secondary planet wheel are both meshed with the duplex annular gear 143; in order to realize the rotary support between the planet carrier and the dual ring gear 143, a sixth bearing 166 and a seventh bearing 167 are arranged between the primary planet carrier and the dual ring gear 143 and between the secondary planet carrier 145 and the dual ring gear 143; in order to realize the rotational support between the second-stage planet carrier and the motor housing, a second bearing 162 may be additionally installed between the second-stage planet carrier 145 and the motor housing 121. The output of the secondary planet carrier 145 acts as the output shaft of the drive means to drive the torsion shaft 210 in rotation about its own axis via the first transmission mechanism.
The planetary reducer only has the advantages that the output end of the secondary planet carrier extends out of the shell 121 of the motor, and other components are integrated in the shell 121 of the motor, so that the size of the whole driving component is reduced, and the planetary reducer is particularly suitable for robots requiring compact structures. The above-described drive member may be designed in a form of a motor + a planetary reduction gear, or in a form of a motor + a normal reduction gear. Besides the motor, the power element may also be driven by other driving means, such as hydraulic driving.
The first joint may also include an encoder 132, an encoder mount 131, and a magnetic post 133. The encoder bracket 131 is fixed to the end cover 125 of the motor housing 121 by screws, the encoder 132 is further fixed to the encoder bracket 131, and the magnetic pole 133 may be fixed to the primary sun gear shaft 141. Specifically, a blind hole may be formed in the end surface of the non-gear end of the primary sun gear shaft 141 along the axial direction, and the magnetic stud 133 may be fixed in the blind hole.
In another embodiment of the present invention, in order to further increase the power of the first joint and the second joint, the driving members may be provided in a larger number. For example, four driving members are adopted, the four driving members are divided into two groups, two driving members of each group drive the same output shaft together, and the first transmission mechanism is arranged between the two output shafts and the torsion shaft 210; compared with a mode that two driving parts are driven in parallel, the mode that four driving parts are driven in parallel is adopted, and the driving force of limbs is further improved. Similarly, the first transmission mechanism can adopt other mechanical transmission modes besides a gear transmission mode; such as a friction wheel drive. Specifically, the friction wheel transmission mechanism includes two driving wheels and a driven wheel, the two driving wheels are respectively fixed on two output shafts of the driving part, and the driven wheel is fixed on the torsion shaft 210 of the first limb, so that the torsion shaft 210 can also realize the rotation motion.
In one embodiment of the present invention, the first joint of the limb structure of the parallel driving joint of the biomimetic robot may further comprise a U-shaped connecting frame 170, the U-shaped connecting frame 170 for connecting the body and the limbs of the robot, comprising an end bridge for connecting with the body of the robot and forked side arms for connecting with the driving part of the first joint. The bridging part of the end part of the U-shaped connecting frame 170 is in a flange shape, and the U-shaped connecting frame can be connected with the body through the flange. Through holes are correspondingly formed in the left fork-shaped side arm and the right fork-shaped side arm of the U-shaped connecting frame 170, and the shells 121 of the two driving parts positioned at the two ends of the rotating shaft cylinder 110 can be arranged in the through holes of the two fork-shaped side arms to fix the driving parts; the specific fixing mode can be interference fit or gluing and the like. The bridging part at the end part of the U-shaped connecting frame 170 is connected with the body of the robot, and the two fork-shaped side arms are connected with the two driving parts of the first joint, namely, the connection between the body of the robot and the first joint is realized. In the first joint, during the synchronous movement of the first limb and the rotating shaft barrel 110, the movement limit position of the first limb is only limited by the U-shaped connecting frame 170; therefore, in the case where the size of the U-shaped link frame 170 is sufficiently small, a sufficiently large movement space of the first limb can be secured.
Further, the first limb of the limb structure of the parallel driving joint of the bionic robot may further include a sleeve 220 and two flanges, the two flanges are respectively disposed at two ends of the torsion shaft 210, and the sleeve 220 is sleeved outside the torsion shaft 210. At the end of the torsion shaft 210 near the first joint, the torsion shaft 210 extends from the outside of the shaft tube 110 into the shaft tube 110, and the shaft tube 110 is correspondingly perforated at the extension of the torsion shaft 210. In order to realize the positioning between the torsion shaft 210 and the rotating shaft barrel 110, a flange structure may be provided at the through hole of the rotating shaft barrel 110; a first flange 211 at one end of the torsion shaft 210 near the first joint is connected with a flange structure on the rotating shaft barrel 110 through bolts or screws; in order to realize the rotation motion of the torsion shaft 210, an eighth bearing 231 may be installed between the torsion shaft 210 and the first flange 211, and the eighth bearing 231 may realize the rotational support between the torsion shaft 210 and the first flange 211.
The second joint of the limb structure of the bionic robot parallel driving joint may further include a U-shaped support frame 310, the U-shaped support frame 310 is used for connecting the first limb with the second joint, and the U-shaped support frame 310 includes an end bridging portion for connecting with the end of the torsion shaft 210 and a forked side arm for connecting with the rotating shaft 320 of the second joint. The end of the U-shaped support frame 310 is in a flange shape, the second flange 212 is sleeved on one end of the torsion shaft 210 close to the second joint, and the second flange 212 outside the torsion shaft 210 is connected with the end of the U-shaped support frame 310 through bolts or screws, so that the series connection of the first limb and the second joint is realized. In order to realize the rotation motion of the torsion shaft 210, a ninth bearing 232 should be disposed between the torsion shaft 210 and the flange. The two ends of the rotating shaft 320 are further fixed in the through holes of the two fork-shaped side arms of the U-shaped supporting frame 310, respectively, and a tenth bearing 341 and an eleventh bearing 342 are disposed between the rotating shaft 320 and the through holes, so as to realize the rotation support between the rotating shaft 320 and the U-shaped supporting frame 310. In the second joint, the second limb 410 moves synchronously with the rotating shaft 320, so that the movement limit position of the second limb 410 is limited only by the U-shaped supporting frame 310; in case the size of the U-shaped support frame 310 is sufficiently small, it is also possible to secure a sufficiently large movement space for the second limb 410.
In order to prevent foreign particles from entering the second transmission mechanism, a joint boot 350 may be placed on the outside of the second transmission mechanism, and the joint boot 350 is coupled to the U-shaped support frame 310 such that a chamber is formed between the joint boot 350 and the U-shaped support frame 310. The joint boot 350 not only improves the aesthetic appearance of the second joint location, but also effectively prevents external particles from building up wear on the second drive.
In another embodiment of the invention, the limb structure may also be provided with a U-shaped fixed frame 420, the U-shaped fixed frame 420 enabling the series connection of the second limb 410 with the second joint, the U-shaped fixed frame 420 also comprising an end bridge for connection with the second limb 410 and forked side arms for connection with the swivel axis of the second joint. The end of the U-shaped fixed frame 420 is provided with a sleeve segment, the second limb 410 is fixed in the sleeve axial hole, and the connection mode can be selected from interference fit, gluing, welding and the like. Two side arms of the U-shaped fixing frame 420 are respectively fixedly connected with two ends of the rotating shaft 320 to realize the synchronous movement of the U-shaped fixing frame 420 and the rotating shaft 320; through holes matched with the rotating shaft 320 can be arranged on two side arms of the U-shaped fixed frame 420, and the rotating shaft is fixed in the through holes in a manner of interference fit or bonding and the like; or connected with the side arm of the U-shaped fixed frame 420 at the end face of the rotating shaft through a bolt or a screw.
In the above embodiment, the body of the robot is connected with the first joint by the U-shaped connecting frame 170, and the movement limit position of the first joint is limited only by the U-shaped connecting frame 170; the second joint and the second limb 410 are connected by a U-shaped fixed frame, so that the movement limit position of the second joint is only limited by the U-shaped fixed frame. As shown in fig. 6 and 7, the movement of the first joint and the second joint is not interfered with each other, a large movement range can be ensured, and the movement ranges of the first joint and the second joint are basically the same.
The invention also provides a bionic robot, which comprises a body and the limb structure in the embodiment; the first joint of the limb structure is connected with the body of the robot. For example, the biomimetic robot may be a four-legged or biped robot; in a four-footed robot, the four limb structures can serve as the leg structures of the four-footed robot; in a biped robot that walks upright, two limb structures may be employed as the leg structure of the robot and two limb structures as the arm structure of the robot.
Through the embodiment, the first joint, the first limb body, the second joint and the second limb body of the limb structure of the bionic robot parallel driving joint are sequentially connected in series, and the first joint adopts a parallel driving mode, so that the explosive driving force of the robot in the ultra-dynamic motion is improved, and the robot keeps a compact limb structure. In addition, the driving part adopts a mode of a motor and a planetary reducer, and the planetary reducer is integrated in the shell of the motor, so that the volume size of the driving part is further reduced, and the limb structure of the robot is more compact. The body of the robot is connected with the first joint, the second joint and the second limb through the U-shaped frame, so that the movement limit positions of the first joint and the second joint are not affected by each other, and the movement limit positions of the joints are increased.
Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments and/or in combination with or instead of the features of the other embodiments in the present invention.
The above-mentioned embodiments illustrate and describe the basic principles and main features of the present invention, but the present invention is not limited to the above-mentioned embodiments, and those skilled in the art should make modifications, equivalent changes and modifications without creative efforts to the present invention, and fall within the protection scope of the technical solution of the present invention.
Claims (10)
1. A limb structure of a bionic robot parallel driving joint is characterized in that the limb structure comprises a first joint, a first limb, a second joint and a second limb which are sequentially connected in series;
the first joint comprises a rotating shaft cylinder and at least two driving parts, and a bearing is arranged between the rotating shaft cylinder and the driving parts so that the rotating shaft cylinder can do rotary motion relative to the driving parts;
the first limb and the rotating shaft barrel move synchronously, the first limb comprises a torsion shaft, the axis of the torsion shaft is perpendicular to the rotating axis of the rotating shaft barrel, and the driving part drives the torsion shaft to rotate around the axis of the torsion shaft in parallel through a first transmission mechanism;
the second joint comprises a rotating shaft, the axis of the rotating shaft is perpendicular to the axis of the torsion shaft, and the torsion shaft drives the rotating shaft to rotate around the axis of the torsion shaft through a second transmission mechanism;
the second limb is connected with the rotating shaft and synchronously rotates with the rotating shaft.
2. The bionic robot parallel driving joint limb structure according to claim 1, wherein the first transmission mechanism comprises two driving gears and a driven gear, the two driving gears are respectively connected with output shafts of the two driving parts, the driven gear is connected with the torsion shaft, and a bearing is arranged between the rotary shaft barrel and the driving gears so as to realize the rotary support of the rotary shaft barrel relative to the driving parts.
3. The bionic robot parallel driving joint limb structure according to claim 2, wherein the driving gear and the driven gear are bevel gears, the output shafts of the two driving parts are coaxially arranged, and the number of teeth of the two driving gears is equal.
4. The bionic robot parallel driving joint limb structure according to claim 1,
the second transmission mechanism is in bevel gear transmission, a driving bevel gear is fixedly connected with the torsion shaft, and a driven bevel gear is fixedly connected with the rotating shaft;
the driving component comprises a motor and a speed reducer, and the motor outputs power through the speed reducer.
5. The limb structure of the bionic robot parallel drive joint as claimed in claim 4, wherein the rotor shaft of the motor is a hollow shaft, the reducer is a two-stage planetary reducer, the inner gear ring of the planetary reducer is a duplex inner gear ring, the planet wheels of the planetary reducer are all meshed with the duplex inner gear ring, and the duplex inner gear ring is fixed with the shell of the motor;
a primary sun gear shaft of the planetary reducer is positioned in a through hole of the hollow shaft and is fixedly connected with the rotor shaft so as to enable the primary sun gear shaft and the hollow shaft to synchronously rotate;
and a secondary sun wheel shaft of the planetary reducer is coaxially arranged with the primary sun wheel shaft, and the secondary sun wheel shaft is fixed with the output end of a primary planet carrier of the planetary reducer.
6. The bionic robot parallel driving joint limb structure according to claim 4 or 5, wherein the driving part further comprises an encoder, an encoder support and a magnetic column, the encoder is fixed on the shell of the motor through the encoder support, and the magnetic column and a rotor shaft of the motor rotate synchronously.
7. The bionic robot parallel driving joint limb structure according to any one of claims 1-5, wherein the first joint further comprises a U-shaped connecting frame for connecting the robot body and the limb, the end of the U-shaped connecting frame is used for connecting the body, and two side arms of the U-shaped connecting frame are connected with the shells of the two driving parts.
8. The bionic robot parallel driving joint limb structure as claimed in claim 1, wherein the torsion shaft is connected with the rotating shaft barrel through a flange, and a bearing is arranged between the torsion shaft and the flange.
9. The bionic robot parallel driving joint limb structure according to claim 1, wherein the second joint comprises a U-shaped supporting frame for supporting the rotating shaft, the end part of the U-shaped supporting frame is connected with the torsion shaft through a flange, a bearing is arranged between the torsion shaft and the flange, and shaft holes for installing the rotating shaft are correspondingly arranged on two side arms of the U-shaped supporting frame;
and a U-shaped fixed frame is arranged between the second limb and the rotating shaft, the end part of the U-shaped fixed frame is connected with the second limb, and two side arms of the U-shaped fixed frame are respectively fixed with two ends of the rotating shaft.
10. A biomimetic robot, characterized in that it comprises a limb structure of a biomimetic robot parallel drive joint according to any of claims 1-9.
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| CN202010214559.XA CN111360868A (en) | 2020-03-24 | 2020-03-24 | Bionic robot and limb structure of parallel driving joint of bionic robot |
| PCT/CN2020/096212 WO2021189677A1 (en) | 2020-03-24 | 2020-06-15 | Limb structure having parallel-driven joint for bionic robot, and bionic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010214559.XA CN111360868A (en) | 2020-03-24 | 2020-03-24 | Bionic robot and limb structure of parallel driving joint of bionic robot |
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| WO2021189675A1 (en) * | 2020-03-24 | 2021-09-30 | 北京理工大学 | Parallel-drive joint used for super-dynamic bionic robot, and robot |
| CN113967905A (en) * | 2021-10-22 | 2022-01-25 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Leg mechanism of exoskeleton robot |
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| WO2021189677A1 (en) | 2021-09-30 |
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