CN1129509C - Ankle joint driving structure device for anthropomorphic robot - Google Patents
Ankle joint driving structure device for anthropomorphic robot Download PDFInfo
- Publication number
- CN1129509C CN1129509C CN 01144584 CN01144584A CN1129509C CN 1129509 C CN1129509 C CN 1129509C CN 01144584 CN01144584 CN 01144584 CN 01144584 A CN01144584 A CN 01144584A CN 1129509 C CN1129509 C CN 1129509C
- Authority
- CN
- China
- Prior art keywords
- ankle
- joint
- anthropomorphic robot
- nut
- transmission system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
The present invention relates to an ankle joint driving structure device for an anthropomorphic robot, which belongs to the technical field of the anthropomorphic robot and is composed of an ankle joint rolling driving system, an ankle joint pitching driving system and a bracket, wherein the rolling driving system is composed of a motor and a link drive mechanism, and the pitching driving system is composed of a motor, a speed reducing mechanism and a screw rod slider mechanism. The bracket presents a framework structure and is provided with a joint shaft in the rolling direction and a joint shaft in the pitching direction. The ankle joint driving mechanism has the advantages of simple structure and easy processing and assembly.
Description
Technical field
The present invention relates to a kind of ankle joint driving structure device for anthropomorphic robot, belong to anthropomorphic robot's technical field.
Background technology
Leg structure is anthropomorphic robot's a important component part, and its design is one of key technology of anthropomorphic robot, because it has very big influence to whole anthropomorphic robot's energy efficiency.Realize anthropomorphic function, all necessary self-contained energy of anthropomorphic robot, because anthropomorphic robot's weight and volume is conditional, the entrained energy also is subject to certain restrictions on weight and volume, can only fulfil assignment with its limited energy.Seek out the anthropomorphic formula walking and the work of longer time of farther distance, unique method is to improve the efficient of walking leg, and wherein the appropriate design of leg structure is the important and valid approach of raising the efficiency.
In the research of anthropomorphic robot's walking leg, all be with artificial object both at home and abroad, by the bionical people's of machinery foot sport characteristic, and carry out necessary simplification, and start with from various gaits, adopt different drive mechanism devices, do many experiments, accumulated more rich experience.Realize principle according to function bionics, frame for movement, present anthropomorphic robot all adopts a both legs 2*6=12 joint freedom degrees to realize anthropomorphic function, and its joint freedom degrees is distributed as shown in Figure 1.
Fig. 1 is anthropomorphic robot's joint of lower extremity structural representation.Wherein, the 1st, anthropomorphic robot's pin, the 2nd, the roll direction joint shaft of anthropomorphic robot's ankle, the 3rd, the pitch orientation joint shaft of anthropomorphic robot's ankle, the 4th, anthropomorphic robot's shank, the 5th, the pitch orientation joint shaft of anthropomorphic robot's knee, the 6th, anthropomorphic robot's thigh, the 7th, the roll direction joint shaft of anthropomorphic robot's hip, the 8th, anthropomorphic robot's hip frame, the 9th, the yaw direction joint shaft of anthropomorphic robot's hip, the 10th, anthropomorphic robot's upper body, the 11st, the pitching joint shaft of anthropomorphic robot's hip.
Home and abroad typical anthropomorphic robot's lower limb ankle-joint drive mechanism device adopts composite construction more at present, and adopt the cross normal axis to realize ankle roll and the joint motions of pitching both direction, this structure can satisfy anthropomorphic robot's ankle motion function well taking under the condition of less spatial volume, helps improving transmission performance, reduces movement interference.
From the interrelated datas of consulting such as Chinese patent Information Network, at present in the relevant ankle joint driving structure device for anthropomorphic robot of announcing, the most representative, most typical is the Honda robot series that Japanese honda company releases, its ankle-joint drive mechanism device such as Fig. 2, shown in Figure 3.
Fig. 2, Fig. 3 are the P2 of the Honda robot ankle-joint composite construction diagrams of gears that Japanese honda company releases, and Fig. 2 is a front view, and Fig. 3 is a left view.Wherein, the 1st, anthropomorphic robot's pin, the 2nd, the roll direction joint shaft of anthropomorphic robot's ankle, the 3rd, the pitch orientation joint shaft of anthropomorphic robot's ankle, the 4th, anthropomorphic robot's shank, the 12nd, sextuple power/torque sensor, the 13rd, anthropomorphic robot's ankle pitch orientation joint transmission harmonic gear reducer, the 14th, anthropomorphic robot's ankle roll direction joint transmission harmonic gear reducer, the 15th, anthropomorphic robot's ankle roll direction joint motions drive motor means, the 16th, the driving-belt in the belt driver, the 17th, the driven pulley in the belt driver, 18 anthropomorphic robot's ankle-joint main supports.
The joint transmission of anthropomorphic robot's ankle pitch orientation installs and fixes with steel wheel and anthropomorphic robot's shank 4 of harmonic gear reducer 13, driven pulley 17 in its waveform generator and the belt driver connects firmly by axle, to realize synchronous turnover, its flexbile gear and anthropomorphic robot's ankle pitch orientation joint shaft 3 (part of anthropomorphic robot's ankle-joint main support 18) connect firmly, to realize synchronous turnover.Anthropomorphic robot's ankle pitch orientation joint motions drive motor means (not expression in the drawings) that level is installed in the shank upper end realizes deceleration, commutation, increases driving torque by belt driver 16,17 and harmonic gear reducer 13, and use harmonic gear reducer differential gearing drive characteristic that anthropomorphic robot's ankle-joint main support 18 and anthropomorphic robot's shank 4 are relatively rotated around anthropomorphic robot's ankle pitch orientation joint shaft 3, thereby realize the joint motions of anthropomorphic robot's ankle pitch orientation; The joint motions of anthropomorphic robot's ankle roll direction realize principle and function class with the joint motions of anthropomorphic robot's ankle pitch orientation, just lack one-level band transmission decelerating device.
This ankle joint driving structure device for anthropomorphic robot can satisfy the harmonic gear deceleration transmission scheme that Honda company is adopted well, ankle roll and pitching two direction joint power transmission shaft perpendicular quadratures, satisfied taking the less condition of volume preferably, helped improving transmission performance, reduce movement interference.But the non-regular face of this ankle joint driving structure device for anthropomorphic robot and need machined surface on the high side, structure is relatively complicated, and required manufacturing, processing and assembly precision are had relatively high expectations, and certain technical difficulty is arranged, and parts are on the high side, are unfavorable for mounting or dismounting and carrying.Its ankle roll direction joint motions drive motor means 15 is embedded in the ankle device, ankle roll and the transmission of the pitch orientation joint assembling scheme of harmonic gear reducer, one side requires drive motors and the harmonic gear reducer volume is as far as possible little, weight is light as far as possible, even in Japan, these also need customized, this ankle-joint drive mechanism device bending strength is decreased, for satisfying desirable strength, need high ratio of strength to weight contour energy material and high-quality foundry engieering inevitably.
Summary of the invention
The purpose of this invention is to provide the simple in structure of roll of a kind of anthropomorphic robot's of realization ankle and pitch orientation joint motions, be easy to the ankle-joint transmission device of processing and assembling.
Ankle-joint transmission device of the present invention is by ankle-joint roll transmission system, and ankle-joint pitching transmission system and support three parts are formed.Described ankle-joint roll transmission system is made up of motor, jointed gear unit.Jointed gear unit is by eccentric wheel, and connecting rod is formed.Described ankle-joint pitching transmission system is made up of motor, reducing gear, screw mandrel, nut, slide block mechanism.Described support is a shaped as frame structure, has the joint shaft of roll direction on it.
Ankle-joint transmission device of the present invention has been realized ankle roll and ankle pitching two joint power transmission shaft perpendicular quadratures.And can satisfy anthropomorphic robot's ankle motion function well taking under the condition of less spatial volume, help improving transmission performance, reduce movement interference.Its characteristics are that also apparatus of the present invention adopt the conventional frame structure, have simple in structurely, in light weight, and manufacturing, processing and assembling are easier to, and required precision such as easily satisfies at characteristics.
Description of drawings
Fig. 1: be anthropomorphic robot's joint of lower extremity structural representation.
Fig. 2: be ankle-joint composite construction transmission device installation diagram in the prior art P2 robot.
Fig. 3: be the left view of Fig. 2.
Fig. 4: the front view that is used for the supporting structure on anthropomorphic robot's ankle-joint for the present invention.
Fig. 5: be the vertical view of Fig. 4.
Fig. 6: be the front view of anthropomorphic robot's ankle-joint drive mechanism installation diagram of the present invention.
Fig. 7: for the A of Fig. 6 to partial view.
Fig. 8: be the B-B cutaway view of Fig. 7.
Embodiment
The composition and the course of action of accompanying drawings anthropomorphic robot's ankle-joint drive mechanism are as follows:
Anthropomorphic robot's ankle-joint drive mechanism of the present invention is formed (see figure 6) by ankle-joint roll transmission system, ankle-joint pitching transmission system, support three parts.The motor 25 of roll transmission system, an end of its output shaft and the eccentric mechanism of transmission mechanism wheel 32 connect firmly, and the eccentric shaft of eccentric mechanism wheel 32 links to each other with connecting rod 26 1 ends, and the concrete structure of this jointed gear unit is seen Chinese patent application 01115517.5.(see figure 5) on the porose fulcrum 19 that is installed on the support 18 on this connecting rod 26 forms connecting rod and fulcrum and relatively rotates, thereby realizes the roll of anthropomorphic robot's ankle-joint.Motor 31 (see figure 6)s of pitching transmission system drive screw mandrel 28 by reducing gear 30 and rotate.The nut 27 that has slide block is housed on the screw mandrel 28, and the slide block on the nut 27 is contained on the guide rail 29, and when screw mandrel 28 rotated, nut 27 was promptly along guide rail 29 upper and lower moving.Nut 27 links to each other with connecting rod 24 again, drivening rod 24 motions when the upper and lower motion of nut.Porose on the connecting rod 24, can be installed on the fulcrum 20 of support 18, connecting rod and fulcrum are formed relatively rotate, thus the pitching of realization anthropomorphic robot ankle-joint.
Fig. 4, Fig. 5 are the supporting structure installation drawings on anthropomorphic robot's ankle-joint, and Fig. 4 is a front view, and Fig. 5 is a vertical view.Wherein, the 2nd, the roll direction joint shaft of anthropomorphic robot's ankle, the 18th, anthropomorphic robot's ankle-joint main support, the 19th, fulcrum, it is a part in order to the crank rocker bar linkage mechanism driver of realizing the joint motions of anthropomorphic robot's ankle roll direction, the 20th, fulcrum is the part in order to the crank block bar linkage mechanism driver of realizing the joint motions of anthropomorphic robot's ankle pitch orientation, the 21st, and the pitch orientation joint shaft installing hole of anthropomorphic robot's ankle.
Fig. 6 is ankle joint driving structure device for anthropomorphic robot figure of the present invention, is front view.Wherein, the 1st, anthropomorphic robot's pin, the 2nd, the roll direction joint shaft of anthropomorphic robot's ankle, the 3rd, the pitch orientation joint shaft of anthropomorphic robot's ankle, the 4th, anthropomorphic robot's shank, the 18th, anthropomorphic robot's ankle-joint main support, the 20th, fulcrum, it is a part in order to the crank block bar linkage mechanism driver of realizing the joint motions of anthropomorphic robot's ankle pitch orientation, the 23rd, the potentiometer of control anthropomorphic robot ankle roll direction joint motions, the 24th, shaft portion in the crank block bar linkage mechanism driver of realization anthropomorphic robot ankle pitch orientation joint motions, the 25th, the motor of anthropomorphic robot's ankle roll direction joint motions, the 26th, the shaft portion of the crank rocker bar linkage mechanism driver of realization anthropomorphic robot ankle roll direction joint motions, 25 and 26 referring to patent application 01115517.5,27,28,29 are respectively the transmission nut in anthropomorphic robot's ankle pitch orientation joint motions spindle gear, drive lead screw and drive rail, the 30th, anthropomorphic robot's ankle pitch orientation joint motions secondary gear deceleration device, the 31st, the motor of anthropomorphic robot's ankle pitch orientation joint motions.
Fig. 7, Fig. 8 are ankle joint driving structure device for anthropomorphic robot figure of the present invention, are respectively A to partial view and the B-B cutaway view of bowing.Wherein, the 1st, anthropomorphic robot's pin, the 2nd, the roll direction joint shaft of anthropomorphic robot's ankle, the 3rd, the pitch orientation joint shaft of anthropomorphic robot's ankle, the 4th, anthropomorphic robot's shank, the 12nd, sextuple power/torque sensor, the 18th, anthropomorphic robot's ankle-joint main support, the 19th, fulcrum, it is a part in order to the crank rocker bar linkage mechanism driver of realizing the joint motions of anthropomorphic robot's ankle roll direction, the 20th, fulcrum, it is a part in order to the crank block bar linkage mechanism driver of realizing the joint motions of anthropomorphic robot's ankle pitch orientation, the 22nd, the potentiometer of control anthropomorphic robot ankle pitch orientation joint motions, the 23rd, the potentiometer of control anthropomorphic robot ankle roll direction joint motions, the 24th, the shaft portion of the crank block bar linkage mechanism driver of realization anthropomorphic robot ankle pitch orientation joint motions, the 26th, the shaft portion of the crank rocker bar linkage mechanism driver of realization anthropomorphic robot ankle roll direction joint motions, the 32nd, the eccentric mechanism wheel in the crank rocker bar linkage mechanism driver, 26 and 32 referring to patent application 01115517.5.
Ankle-joint drive mechanism device of the present invention is made up of ankle roll direction joint transmission system, ankle pitch orientation joint transmission system and ankle-joint supporting structure device three parts.Said ankle roll direction joint transmission system is by motor 25 (see figure 6)s, crank rocker bar linkage mechanism driver (eccentric mechanism wheel 32, connecting rod 26, fulcrum 19) (see figure 7) is formed, and ankle-joint main support 18 (see figure 8)s realize the function of the driven rocking bar of crank rocker bar linkage mechanism driver at this.Said ankle pitch orientation joint transmission system is by motor 31, secondary gear deceleration device 30, feed screw nut's transmission device (drive lead screw 28, transmission nut 27 and drive rail 29), crank block bar linkage mechanism driver (transmission nut 27 is realized active sliding block function, connecting rod 24, fulcrum 20) is formed, and ankle-joint main support 18 is realized the function of the driven crank of crank block bar linkage mechanism driver at this.Said ankle-joint supporting structure device, as shown in Figure 4 and Figure 5, it is a frame type structure, have the roll direction joint shaft 2 of anthropomorphic robot's ankle on it and realize ankle roll, the transmission of the pitch orientation joint fulcrum 19,20 of bar linkage mechanism driver respectively, and be ankle pitch orientation joint shaft 3 prefabricated installing holes 21, this structure helps carrying, simplified structure, be convenient to realize the modular assembling, reduce manufacturing, processing and assembly difficulty.
Anthropomorphic robot's ankle pitch orientation joint motions drive motor means 31 is by secondary gear deceleration device 30, feed screw nut's transmission device 27,28,29, crank block bar linkage mechanism driver 27,24,20 and anthropomorphic robot's ankle-joint main support 18 realize slowing down, commutation, increase driving torque, feed screw nut's transmission device is converted to the up and down translation of transmission nut 27 along drive lead screw 28 and drive rail 29 with the gyration of the motor 31 of anthropomorphic robot's ankle pitch orientation joint motions, use crank block linkage drive characteristic by transmission nut 27 (realizing the active sliding block function) then, connecting rod 24, fulcrum 20 and anthropomorphic robot's ankle-joint main support 18 (realizing driven crank function) realization anthropomorphic robot ankle-joint main support 18 and anthropomorphic robot's shank 4 relatively rotate around anthropomorphic robot's ankle pitch orientation joint shaft 3, thereby realize the joint motions of anthropomorphic robot's ankle pitch orientation.The motor 25 utilization crank and rocker mechanism drive characteristics of anthropomorphic robot's ankle roll direction joint motions that parallel anthropomorphic robot's pin 1 base plate is installed realize deceleration, commutation, increase driving torque by bar linkage mechanism driver 32,26,19 and anthropomorphic robot's ankle-joint main support 18, convert the gyration of drive motors to anthropomorphic robot's pin 1 and relatively rotate around anthropomorphic robot's ankle roll direction joint shaft 2, thereby realize the joint motions of anthropomorphic robot's ankle roll direction with anthropomorphic robot's ankle-joint main support 18.The present invention designs ankle joint driving structure device for anthropomorphic robot relatively by one's own efforts, as Fig. 4, Fig. 5, with anthropomorphic ankle-joint main support 18, fulcrum 19 in order to the part of the crank rocker bar linkage mechanism driver of realizing the joint motions of anthropomorphic robot's ankle roll direction, be designed to one in order to the fulcrum 20 of the part of the crank block bar linkage mechanism driver of realizing the joint motions of anthropomorphic robot's ankle pitch orientation and the roll direction joint shaft 2 of anthropomorphic robot's ankle, and be the pitch orientation joint shaft 3 prefabricated installing holes 21 of anthropomorphic robot's ankle, be convenient to form modular and install, help simplifying and install and raising intensity; This anthropomorphic robot's ankle-joint supporting structure device cross section adopts the square structure, and this makes it have similar single beam bearing capacity advantages of higher, and carrying rationally has higher bending resistance and torsional strength; Apparatus of the present invention are that the reasonable assembling of potentiometer etc. stays adequate space, and it is well-balanced, reasonable to make that whole device distributes, and takies less space and volume.
Claims (1)
1. one kind has ankle-joint roll transmission system, ankle-joint pitching transmission system, the ankle joint driving structure device for anthropomorphic robot that support three parts are formed, it is characterized in that described ankle-joint roll transmission system is by motor, jointed gear unit is formed, described jointed gear unit is by eccentric wheel, connecting rod is formed, described ankle-joint pitching transmission system is by motor, reducing gear, feed screw nut's slide block mechanism is formed, said support is a shaped as frame structure, the joint shaft that has the roll direction on it, one end of its output shaft of the motor of said roll transmission system (25) and the eccentric mechanism of jointed gear unit wheel 32 connect firmly, the eccentric shaft of eccentric mechanism wheel 32 links to each other with connecting rod 26 1 ends, connecting rod (26) is gone up porose, can be installed on the fulcrum (19) on the support (18), the motor of pitching transmission system (31) drives screw mandrel (28) by reducing gear (30) and rotates, the nut (27) that has slide block on the screw mandrel (28), slide block on the nut (27) is contained on the guide rail (29), when screw mandrel (28) rotates, nut (27) is promptly along on the guide rail (29), following motion, nut (27) links to each other with connecting rod (24) again, on nut (27), under when moving, get final product drivening rod (24) motion, connecting rod (24) is gone up porose, can be installed on the fulcrum (20) of support (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01144584 CN1129509C (en) | 2001-12-21 | 2001-12-21 | Ankle joint driving structure device for anthropomorphic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01144584 CN1129509C (en) | 2001-12-21 | 2001-12-21 | Ankle joint driving structure device for anthropomorphic robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1351924A CN1351924A (en) | 2002-06-05 |
| CN1129509C true CN1129509C (en) | 2003-12-03 |
Family
ID=4677693
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 01144584 Expired - Fee Related CN1129509C (en) | 2001-12-21 | 2001-12-21 | Ankle joint driving structure device for anthropomorphic robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1129509C (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102198664B (en) * | 2011-05-25 | 2013-06-05 | 燕山大学 | Two-degree-of-freedom (two-DOF) spherical parallel robot bionic ankle joint with central spherical pair |
| CN103231749B (en) * | 2013-05-11 | 2015-08-12 | 北京工业大学 | S-shaped curve walking keeps away barrier car |
| CN103612681B (en) * | 2013-11-23 | 2016-06-22 | 华中科技大学 | A kind of Form of Bionics Mechanical Legs |
| CN108858170A (en) * | 2018-08-24 | 2018-11-23 | 扬州工业职业技术学院 | A kind of joint transmission means for industrial machinery arm |
| CN111071365A (en) * | 2019-12-17 | 2020-04-28 | 之江实验室 | High-energy-efficiency walking biped robot leg-foot structure |
-
2001
- 2001-12-21 CN CN 01144584 patent/CN1129509C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN1351924A (en) | 2002-06-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1164404C (en) | Articulation coxae driving structure device for anthropomorphic robot | |
| CN101422907B (en) | Under-actuated bipod walking robot hip-joint mechanism | |
| CN1129509C (en) | Ankle joint driving structure device for anthropomorphic robot | |
| EA016473B1 (en) | Mechanical forming press | |
| CN1120768C (en) | Four bar linkage mechanism driver for hip joint of anthropomorphic robot | |
| CN1123430C (en) | Four bar linkage mechanism driver for malleolus joint of anthropomorphic robot | |
| CN2312160Y (en) | Ability imitating tupe walking legs mechanism | |
| CN211970850U (en) | Material box feeding mechanism | |
| CN211846805U (en) | Elevator hauler integral type frame | |
| CN209757334U (en) | A move capable car for automobile production line conveying equipment | |
| DE3372528D1 (en) | Transmission for producing a discontinuous movement from a continuous movement | |
| CN112064461A (en) | Concrete road surface construction napping device | |
| CN2558663Y (en) | Hydraulic cylinder tilting device for converter | |
| CN2183326Y (en) | Boosting bicycle | |
| CN219275832U (en) | Power-assisted exoskeleton device with steel rope transmission mode | |
| CN218295503U (en) | Street lamp connection structure for town road convenient to maintenance | |
| CN2812900Y (en) | Hemiptegic rehabilitation auxiliary exercising robot | |
| CN2371061Y (en) | Vibration changer | |
| CN2401733Y (en) | Screw driving device for fully opened track suspension type conveyer | |
| CN219481445U (en) | Lifting mechanism of running machine | |
| CN220886866U (en) | Screw nut lifting machine | |
| CN2493497Y (en) | Lever transmission type bicycle | |
| CN2304787Y (en) | Semi-hanging multi-point gearing flexible transmission for sintering machine | |
| CN2410225Y (en) | Driving mechanism for bicycle with reciprocating level | |
| CN2326220Y (en) | Regulation and control apparatus for health-care bed or chair |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C06 | Publication | ||
| PB01 | Publication | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |