CN113134841B - Humanoid robot based on joint-crossing cooperative driving - Google Patents
Humanoid robot based on joint-crossing cooperative driving Download PDFInfo
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- CN113134841B CN113134841B CN202110377836.3A CN202110377836A CN113134841B CN 113134841 B CN113134841 B CN 113134841B CN 202110377836 A CN202110377836 A CN 202110377836A CN 113134841 B CN113134841 B CN 113134841B
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Abstract
The invention provides a cross-joint cooperative drive-based humanoid robot, which comprises a trunk, a hip joint, a thigh rod, a knee joint, a shank rod, an ankle joint, a sole, a first pair of driving units fixed at the trunk, a second pair of driving units fixed in the hip joint and a third pair of driving units fixed in the knee joint. The two driving units of the first pair of driving units are respectively connected with the hip joint through two connecting rods of the first pair of connecting rods, the two driving units of the second pair of driving units are respectively connected with the knee joint through two connecting rods of the second pair of connecting rods, and the two driving units of the third pair of driving units are respectively connected with the ankle joint through two connecting rods of the third pair of connecting rods. Compared with the prior art, the humanoid robot theoretically reduces half of the requirement for single joint to output torque and strengthens the cooperative driving capability of each joint by utilizing the two motors for cooperative driving to simultaneously output peak values; and on the premise of reducing the transmission mechanism, the inertia upward moving degree is maximized.
Description
Technical Field
The invention relates to the field of humanoid robots, in particular to a humanoid robot based on joint-crossing cooperative driving.
Background
The humanoid robot is not only an important mark of the national high-tech comprehensive level, but also has wide application in human production and life. The humanoid robot has human appearance characteristics, so that the humanoid robot can adapt to human living and working environments and replace human beings to finish various operations. The power-driven artificial limb can not only replace the operation of people in the environment with radiation, dust and toxicity, but also form a power-driven artificial limb in the rehabilitation medicine to assist the paralyzed patient to realize the dream of walking. In the future, the method can be widely applied to a plurality of fields of medical treatment, biotechnology, education, disaster relief, ocean development, machine maintenance, transportation, agriculture, forestry, aquatic products and the like.
At present, humanoid robots (hereinafter, humanoid robots) which replace real people to work in dangerous, harmful and other working condition environments at home and abroad are all of structures with all joints connected in series; or a layout structure which takes the joint series connection as the main part and takes the parallel connection driving as the auxiliary part. Each joint is connected in series to form a layout structure; or the layout structure which mainly comprises the joints connected in series and assists in parallel driving has the advantages of simple topological layout, relatively easy dynamic calculation, relatively easy structural design, simple structural relationship among the joints and the like.
The nimble motion of the lower limbs of current humanoid robot generally needs six degrees of freedom, and hip joint spin, anteverted and outer pendulum, the anteverted of knee joint and ankle joint and outer pendulum promptly, these joints are the independent joint of motor and reduction gear integration, and its driving force is weak, and motion inertia is big, then is unfavorable for humanoid robot's lower limbs motion, is difficult to realize nimble motions such as the quick running of humanoid robot.
Disclosure of Invention
In view of this, the embodiments of the present invention provide a humanoid robot based on joint-crossing cooperative driving, so as to eliminate or improve one or more defects existing in the prior art.
The technical scheme of the invention is as follows:
humanoid robot includes truck, hip joint, thigh pole, knee joint, shank pole, ankle joint and sole, humanoid robot still includes: a first pair of drive units fixed at the torso; a second pair of drive units secured within the hip joint; a third pair of drive units secured within the knee joint.
The two driving units of the first pair of driving units are respectively connected with the hip joint through the two connecting rods of the first pair of connecting rods so as to drive the hip joint to perform self-rotation and/or forward-swing actions; the two driving units of the first pair of driving units are driven cooperatively, and when the two connecting rods of the first pair of connecting rods swing in the same direction, the hip joint moves forwards; when the two connecting rods of the first pair of connecting rods swing reversely, the hip joint performs a self-rotating action;
the two driving units of the second pair of driving units are respectively connected with the knee joint through two connecting rods of the second pair of connecting rods so as to drive the external swing of the hip joint and/or the forward swing of the shank rod; the two driving units of the second pair of driving units are driven cooperatively, and when the two connecting rods of the second pair of connecting rods swing in the same direction, the shank rod swings forwards; when the two connecting rods of the second pair of connecting rods swing reversely, the hip joint swings outwards;
the two driving units of the third pair of driving units are respectively connected with the ankle joint through the two connecting rods of the third pair of connecting rods so as to drive the forward swing and/or the outward swing of the ankle joint to move; the two driving units of the third pair of driving units are cooperatively driven, and when the two connecting rods of the third pair of connecting rods swing in the same direction, the ankle joint swings forwards; when the two connecting rods of the third pair of connecting rods swing reversely, the ankle joint swings outwards.
In some embodiments, the hip joint comprises a hip spin frame and a hip epicycloidal frame, the hip epicycloidal frame has two mutually perpendicular directional axis structures, wherein one directional axis is connected with the hip spin frame, and the other directional axis is pivotally connected with the upper end of the thigh rod; the hip spin frame is rotatably coupled to the torso and is configured to support the torso.
In some embodiments, one of the first pair of drive units is connected to one end of one of the first pair of links, the other end of which is connected to the hip spin frame, such that the one of the first pair of drive units, the one of the first pair of links, and the hip spin frame comprise a dual-rocker mechanism.
In some embodiments, the other drive unit of the first pair of drive units is connected to one end of the other link of the first pair of links, the other end of the link being connected to the hip exoskeleton frame, such that the other drive unit of the first pair of drive units, the other link of the first pair of links, and the hip exoskeleton frame connection comprise a dual-rocker mechanism.
In some embodiments, the two drive units of the first pair of drive units are located on the posterior side of the hip joint, the output ends of the two drive units of the first pair of drive units face in different directions, and the two links of the first pair of links are located on the two sides of the hip joint respectively.
In some embodiments, the lower portion of the thigh bar and the upper portion of the shank bar are pivotally connected by a knee joint hinge to constitute a knee joint;
two driving units of the second pair of driving units are positioned in the hip swing frame, one driving unit of the second pair of driving units is connected with the upper end of one connecting rod of the second pair of connecting rods, and the lower end of the connecting rod is connected with the upper end of the shank rod, so that one driving unit of the second pair of driving units, one connecting rod of the second pair of connecting rods and the shank rod form a double-rocker mechanism;
the other driving unit of the second pair of driving units is connected with the upper end of the other connecting rod of the second pair of connecting rods, and the lower end of the connecting rod is connected with the upper end of the shank rod, so that the other driving unit of the second pair of driving units, the other connecting rod of the second pair of connecting rods and the shank rod form a double-rocker mechanism;
the output ends of the two driving units of the second pair of driving units face different directions, and the two connecting rods of the second pair of connecting rods are respectively positioned at two sides of the thigh rod.
In some embodiments, the lower end of the shank and the sole are connected by an ankle joint cross to form an ankle joint; the shank rod is connected with a first direction shaft of the ankle joint cross shaft in a pivoted mode, and the sole is connected with a second direction shaft of the ankle joint cross shaft in a pivoted mode.
In some embodiments, the third pair of driving units is located in the knee joint rotating shaft, one of the driving units of the third pair of driving units is connected with the upper end of one of the third pair of connecting rods, and the lower end of the connecting rod is connected with the upper end of the sole of the foot, so that one of the driving units of the third pair of driving units, one of the connecting rods of the third pair of connecting rods and the sole of the foot form a double-rocker mechanism;
the other driving unit of the third pair of driving units is connected with the upper end of the other connecting rod of the third pair of connecting rods, and the lower end of the connecting rod is connected with the upper end of the sole of the foot, so that the other driving unit of the third pair of driving units, the other connecting rod of the third pair of connecting rods and the sole of the foot form a double-rocker mechanism;
and the two connecting rods of the third pair of connecting rods are respectively positioned at two sides of the shank rod.
In some embodiments, the motors of the first, second and third pairs of drive units are each provided with a speed reducer, which is connected to the connecting rod.
In some embodiments, a force sensor is provided at the ankle or the sole.
In some embodiments, the humanoid robot comprises a modular structure for ease of assembly of a hip joint, thigh bar, knee joint, calf bar, ankle joint and sole.
According to the cross-joint cooperative drive-based humanoid robot provided by the embodiment of the invention, the available beneficial effects at least comprise:
(1) according to the humanoid robot provided by the embodiment of the invention, two driving units of a first pair of driving units are cooperatively driven, and the self-rotation and forward-swing actions of hip joints are jointly controlled according to the steering of the humanoid robot, so that the cooperative driving of the degrees of freedom (first) and (third) is realized; two driving units of the second pair of driving units are cooperatively driven, and the outward swinging of the hip joint and the forward swinging of the shank rod are jointly controlled according to the steering direction of the two driving units, so that the cooperative driving of the degrees of freedom II and IV is realized; and cooperatively driving the two driving units of the third pair of driving units, and jointly controlling the forward swing and the outward swing of the ankle joint according to the steering direction of the driving units to realize the cooperative driving of the degrees of freedom (fifthly) and (sixthly).
(2) The humanoid robot provided by the embodiment of the invention has the advantages that the first pair of driving units for driving the hip joint to rotate and swing forwards are moved upwards to the trunk, the second pair of driving units for driving the hip joint to swing outwards and the leg rod to swing forwards are moved upwards to the hip joint, the third pair of driving units for driving the ankle joint to swing forwards and outwards are moved upwards to the knee joint, and the inertia is moved upwards in the whole structure. On the premise of reducing the transmission mechanism, the inertia upward moving degree is maximized, the design concept of the humanoid robot is met, the lower limb movement of the robot is facilitated, and the walking and running at high speed are facilitated.
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 these and other objects that can be achieved with the present invention will be more clearly understood from the detailed description that follows.
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. For purposes of illustrating and describing some portions of the present invention, corresponding parts of the drawings may be exaggerated, i.e., may be larger, relative to other components in an exemplary apparatus actually manufactured according to the present invention. In the drawings:
fig. 1 is a schematic diagram of a structure of a humanoid robot in an embodiment of the present invention.
Fig. 2 is a schematic diagram of the trunk and lower limbs of the humanoid robot in an embodiment of the invention.
Fig. 3 is a schematic structural diagram of the outer and front pendulums of the hip joint of the right leg of the humanoid robot in one embodiment of the invention.
Reference numerals:
1. a torso; 2. a hip joint; 3. a thigh bar; 4. a knee joint; 5. a shank rod; 6. an ankle joint; 7. a sole of a foot; 11. a first pair of drive units; 12. a second pair of drive units; 13. a third pair of drive units; 14. a first pair of links; 15. a second pair of links; 16. a third pair of links; 21. a hip spin frame; 22. a hip outer swing frame; 41. a knee joint rotating shaft; 61. ankle joint cross axle.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the following embodiments and accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but 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 processing steps closely related to the solution according to the present invention are shown in the drawings, and other details not so related to the present invention are omitted.
It should be emphasized that the term "comprises/comprising" 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 is also noted herein that the term "coupled," if not specifically stated, may refer herein to not only a direct connection, but also an indirect connection in which an intermediate is present.
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, the same reference numerals denote the same or similar parts, or the same or similar steps.
The invention provides a humanoid robot based on joint-crossing cooperative driving, which is used for reducing the torque requirement of a driving motor, improving joint cooperative driving capability and realizing the capability of high-speed walking.
In some embodiments, as shown in fig. 1 and fig. 2, the lower limb of the humanoid robot of the present invention can realize humanoid motion, for example, the lower limb can realize six degrees of freedom, namely hip joint (thigh) spinning motion, hip joint forward swing motion, hip joint outward swing motion, knee joint (lower leg) forward swing motion, ankle joint (sole 7) forward swing motion and ankle joint outward swing motion, wherein the forward swing or outward swing is only described with one-direction degree of freedom, and the corresponding part is reciprocatable, i.e. return reverse motion is also included. Among the six degrees of freedom, the hip joint spinning motion can be recorded as degree of freedom (i), the hip joint forward swing motion as degree of freedom (ii), the hip joint outward swing motion as degree of freedom (iii), the knee joint forward swing motion as degree of freedom (iv), the ankle joint forward swing motion as degree of freedom (v), and the ankle joint outward swing motion as degree of freedom (c).
If the humanoid robot needs to have agile motion capability represented by rapid walking and running capability, degrees of freedom of strong explosion performance are mainly needed, namely the outward swinging motion of hip joints, the forward swinging motion of knee joints and the forward swinging motion of ankle joints, and the degrees of freedom driven by the strong explosion have rapid reversing capability, so that the requirement of reversing frequency for the rapid walking and running speed is met. In the leg design of the existing humanoid robot, the driving capability is considered independently, if the driving of each degree of freedom is driven by one driving unit, the motor of the humanoid robot should have high output torque or be provided with a speed reducer with a large reduction ratio, the output torque of each driving unit cannot be cooperatively used, and the output torque of each driving unit is wasted. If the degree of freedom fast reversing capability required by fast running is considered at the same time, the reduction ratio of the speed reducer of the related driving unit should not be too large, and generally should not exceed 20:1, so that when the reduction ratio is reduced, how to compensate the driving output capability of the related degree of freedom needs to be considered.
In some embodiments, the humanoid robot includes a torso 1, a hip joint 2, a thigh bar 3, a knee joint 4, a calf bar 5, an ankle joint 6, a ball of foot 7, and the like. In addition, the humanoid robot further comprises a plurality of sets of motors for driving the hip joint 2, the knee joint 4 and the ankle joint 6 to move, such as: a first pair of drive units 11 fixed at the trunk 1, a second pair of drive units 12 fixed in the hip joint 2 and a third pair of drive units 13 fixed in the knee joint 4. The hip joint 2, the thigh rod 3, the knee joint 4, the lower leg rod 5, the ankle joint 6, the sole 7 and the like are all in a single-leg structure, and the structures of the left leg and the right leg are arranged in a mirror symmetry mode.
The two driving units of the first pair of driving units 11 are respectively connected with the hip joint 2 through the two connecting rods of the first pair of connecting rods 14 so as to drive the hip joint 2 to rotate and/or swing forwards. The two driving units of the first pair of driving units 11 are driven cooperatively, and when the two connecting rods of the first pair of connecting rods 14 swing in the same direction, the hip joint 2 swings forwards; when the two links of the first pair of links 14 swing in opposite directions, the hip joint 2 is in a spinning motion.
The two driving units of the second pair of driving units 12 are respectively connected with the knee joint 4 through two connecting rods of the second pair of connecting rods 15 so as to drive the external swing of the hip joint 2 and/or the forward swing of the lower leg rod 5. The two driving units of the second pair of driving units 12 are driven cooperatively, and when the two connecting rods of the second pair of connecting rods 15 swing in the same direction, the shank rod 5 swings forwards; when the two links of the second pair of links 15 swing in opposite directions, the hip joint 2 swings outward.
The two driving units of the third pair of driving units 13 are respectively connected with the ankle joint 6 through two connecting rods of the third pair of connecting rods 16 so as to drive the forward swing and/or outward swing of the ankle joint 6; the two driving units of the third pair of driving units 13 are driven cooperatively, and when the two connecting rods of the third pair of connecting rods 16 swing in the same direction, the ankle joint 6 swings forwards; when the two links of the third pair of links 16 swing in opposite directions, the ankle joint 6 swings outward.
Here, the driving unit may include a motor and a decelerator connected to the motor, the decelerator being connected to the link. In another embodiment of the present invention, the driving unit may also adopt a reduction motor.
According to the humanoid robot provided by the embodiment of the invention, two driving units of a first pair of driving units are cooperatively driven, and the self-rotation and forward-swing actions of hip joints are jointly controlled according to the steering of the humanoid robot, so that the cooperative driving of the degrees of freedom (first) and (third) is realized; two driving units of the second pair of driving units are cooperatively driven, and the outward swinging of the hip joint and the forward swinging of the shank rod are jointly controlled according to the steering direction of the two driving units, so that the cooperative driving of the degrees of freedom II and IV is realized; and cooperatively driving the two driving units of the third pair of driving units, and jointly controlling the forward swing and the outward swing of the ankle joint according to the steering direction of the driving units to realize the cooperative driving of the degrees of freedom (fifthly) and (sixthly).
In the above embodiment, with respect to the serial layout structure of each joint, the six degrees of freedom of the single leg of the humanoid robot of the present invention is driven by three pairs of parallel connecting rods, if hip joints, knee joints and ankle joints requiring strong explosive performance are designed, a reducer with a small reduction ratio may be configured, the required design torque may also be achieved by cooperatively driving two motors to simultaneously output peak torque, and theoretically, the design torque is equivalent to half of the requirement when the torque is output by a single joint, and the humanoid robot has advantages of light weight, low cost, and the like.
If the speed reducer with a small reduction ratio is adopted, the six-degree-of-freedom single-leg structure driven by the three pairs of parallel connecting rods makes up for the problem of insufficient joint capacity caused by reduction of the reduction ratio.
Compared with a serial layout structure of each joint, the double joint output torque of the humanoid robot in the prior art can be achieved by adopting the motors with the same torque and the speed reducers with the same reduction ratio, and the movement performance of the humanoid robot is greatly enhanced.
The humanoid robot provided by the embodiment of the invention can realize the purpose of fast walking and running and is also suitable for the movement of a complex terrain environment.
According to the humanoid robot provided by the embodiment of the invention, the first pair of driving units 11 for driving the hip joint to rotate and swing forwards are moved upwards and arranged at the position of the trunk 1, the second pair of driving units 12 for driving the hip joint to swing outwards and the front swing of the lower leg rod 5 are moved upwards and arranged at the position of the hip joint 2, and the third pair of driving units 13 for driving the ankle joint 6 to swing forwards and outwards are arranged at the position of the knee joint 4, so that the inertia is moved upwards in the whole structure, the inertia moving-up degree is maximized on the premise of reducing a transmission mechanism, the design concept of the humanoid robot is met, the lower limb movement of the robot is facilitated, and the high-speed walking and running are favorably realized.
As shown in fig. 1 and 2, the hip joint 2 comprises a hip spin frame 21 and a hip swing frame 22, the hip swing frame 22 has two mutually perpendicular directional axis structures, wherein one directional axis is connected with the hip spin frame 21, and the other directional axis is pivotally connected with the upper end of the thigh rod 3; the hip spin frame 21 is rotatably connected to the trunk 1 and serves to support the trunk 1. The hip spin frame 21 here is also connected to the trunk 1 and serves to support the trunk 1 of the humanoid robot.
In some embodiments, one of the drive units of the first pair of drive units 11 is connected to one end of one of the links of the first pair of links 14, the other end of which is connected to the hip spin frame 21, such that the one of the drive units of the first pair of drive units 11, the one of the links of the first pair of links 14 and the hip spin frame 21 constitute a double rocker mechanism. The other driving unit of the first pair of driving units 11 is connected with one end of the other connecting rod of the first pair of connecting rods 14, and the other end of the connecting rod is connected with the hip swing frame 22, so that the other driving unit of the first pair of driving units 11, the other connecting rod of the first pair of connecting rods 14 and the hip swing frame 22 are connected to form a double-rocker mechanism.
The double-rocker mechanism is a hinge four-bar mechanism with two side links both being rockers, and the rocker in the mechanism connected with the motor can be used as a driving part. When the connecting rod is collinear with the rocker, there are two extreme positions of the mechanism. The revolute pairs on the connecting rod of the double-rocker mechanism are all turnover pairs, so that the connecting rod can rotate in the whole circle relative to the two connecting rods, and the robot is suitable for the humanoid lower limb movement.
The two driving units of the first pair of driving units 11 are driven cooperatively, and when the two connecting rods of the first pair of connecting rods 14 swing in the same direction, the hip joint 2 (thigh rod 3) swings around one directional axis of the hip external swing frame 22, namely, swings back and forth; when the two links of the first pair of links 14 swing in opposite directions, the hip joint 2 (thigh rod 3) rotates around the hip spin frame 21 (the other axis of the hip swing frame 22), and the hip joint 2 performs a spin motion.
In some embodiments, the two drive units of the first pair of drive units 11 are located at the rear side of the hip joint 2, the output ends of the two drive units of the first pair of drive units 11 face in different directions, and the two links of the first pair of links 14 are located at both sides of the hip joint 2.
In some embodiments, the lower portion of the thigh bar 3 and the upper portion of the shank bar 5 are pivotally connected by a knee joint hinge 41 to constitute the knee joint 4. Two driving units of the second pair of driving units 12 are positioned in the hip swing frame 22, one driving unit of the second pair of driving units 12 is connected with the upper end of one connecting rod of the second pair of connecting rods 15, and the lower end of the connecting rod is connected with the upper end of the shank rod 5, so that the one driving unit of the second pair of driving units 12, the one connecting rod of the second pair of connecting rods 15 and the shank rod 5 form a double-rocker mechanism. The other drive unit of the second pair of drive units 12 is connected with the upper end of the other link of the second pair of links 15, and the lower end of the link is connected with the upper end of the shank rod 5, so that the other drive unit of the second pair of drive units 12, the other link of the second pair of links 15 and the shank rod 5 constitute a double-rocker mechanism.
The two driving units of the second pair of driving units 12 are cooperatively driven, when the two connecting rods of the second pair of connecting rods 15 swing in the same direction, the lower leg rod 5 swings around the knee joint rotating shaft 41, and the lower leg rod 5 swings forwards; when the two links of the second pair of links 15 swing in opposite directions, the thigh rod 3 swings around the hip swing frame 22, and the hip joint 2 swings outward. Fig. 3 is a schematic diagram showing the structures of the hip outer swing and the hip front swing of the right leg of the humanoid robot.
Further, the output ends of the two driving units of the second pair of driving units 12 face different directions, and the two links of the second pair of links 15 are respectively located at both sides of the thigh lever 3.
In some embodiments, the lower end of the shank rod 5 and the sole 7 are connected by an ankle joint cross 61 to form an ankle joint 6; the calf shank 5 is pivotally connected to a first direction axis of the ankle joint cross 61, and the sole 7 is pivotally connected to a second direction axis of the ankle joint cross 61. In this embodiment, the ankle joint 6 is not limited to the cross-shaft structure, and other structures such as the ball-and-socket joint structure shown in fig. 3 may be employed.
Further, two links of the third pair of links 16 are located on both sides of the calf rod 5, respectively. The third pair of driving units 13 is located in the knee joint rotating shaft 41, one of the driving units of the third pair of driving units 13 is connected with the upper end of one of the connecting rods 16 of the third pair, and the lower end of the connecting rod is connected with the upper end of the sole 7, so that the one of the driving units of the third pair of driving units 13, one of the connecting rods 16 of the third pair and the sole 7 form a double-rocker mechanism. The other driving unit of the third pair of driving units 13 is connected with the upper end of the other connecting rod of the third pair of connecting rods 16, and the lower end of the connecting rod is connected with the upper end of the sole 7, so that the other driving unit of the third pair of driving units 13, the other connecting rod of the third pair of connecting rods 16 and the sole 7 form a double-rocker mechanism.
The two driving units of the third pair of driving units 13 are driven cooperatively, when the two connecting rods of the third pair of connecting rods 16 swing in the same direction, the sole 7 swings around the first direction axis of the cross shaft, and the ankle joint 6 swings forwards; when the two links of the third pair of links 16 swing in opposite directions, the sole 7 swings around the second direction axis of the cross, and the ankle joint 6 swings outward.
In some embodiments, the motors of the first, second and third pairs of drive units 11, 12, 13 are each provided with a reducer, which is connected to a link. The reduction ratio of the speed reducer is smaller and more favorable on the premise of meeting the requirement of the output torque. The high torque density motor and the high-efficiency large-torque speed reducer are selected in the same ratio, so that the deficiency of the low speed reduction ratio in the aspect of output torque is favorably made up.
In some embodiments, the upper end and the lower end of the thigh rod are both of a connecting structure of U-shaped grooves, and the directions of the two U-shaped grooves are perpendicular to each other, namely, not in the same freedom direction; in a similar way, the upper end and the lower end of the shank rod are both connected with U-shaped grooves, and the two U-shaped grooves are perpendicular to each other, namely not in the same freedom direction. The connection structure of the hip joint, the knee joint and the ankle joint of the embodiment of the invention can adopt a six-degree-of-freedom humanoid robot joint structure in the prior art, and the connection mode and the structure are not described in detail.
In some embodiments, the humanoid robot can run at a high speed, each joint of the lower limb of the humanoid robot is bound to be subjected to a huge instantaneous contact impact force external force when running at a high speed, and each joint of the lower limb can be a hard-tooth speed reducer with good impact resistance, such as a planetary speed reducer, a cycloid speed reducer and the like.
In some embodiments, a force sensor is provided at the ankle joint 6 or the sole 7 to detect a force condition of the lower limb. Further preferably, the force sensor is a six-dimensional force sensor.
In some embodiments, the humanoid robot comprises a hip joint 2, a thigh rod 3, a knee joint 4, a shank rod 5, an ankle joint 6 and a sole 7, and is of a modular structure for convenient assembly, high modularity and good maintainability.
According to the cross-joint cooperative drive-based humanoid robot provided by the embodiment of the invention, the available beneficial effects at least comprise:
(1) according to the humanoid robot provided by the embodiment of the invention, two driving units of a first pair of driving units are cooperatively driven, and the self-rotation and forward-swing actions of hip joints are jointly controlled according to the steering of the humanoid robot, so that the cooperative driving of the degrees of freedom (first) and (third) is realized; two driving units of the second pair of driving units are cooperatively driven, and the outward swinging of the hip joint and the forward swinging of the shank rod are jointly controlled according to the steering direction of the two driving units, so that the cooperative driving of the degrees of freedom II and IV is realized; and cooperatively driving the two driving units of the third pair of driving units, and jointly controlling the forward swing and the outward swing of the ankle joint according to the steering direction of the driving units to realize the cooperative driving of the degrees of freedom (fifthly) and (sixthly).
(2) Compared with the serial layout structure of each joint, the humanoid robot provided by the embodiment of the invention theoretically reduces half of the requirement when the single joint outputs torque, and has the advantages of light weight, low cost and the like.
(3) Compared with a serial layout structure of each joint, the double joint output torque of the humanoid robot in the prior art can be achieved by adopting the motors with the same torque and the speed reducers with the same reduction ratio, and the movement performance of the humanoid robot is greatly enhanced.
(4) The humanoid robot provided by the embodiment of the invention has the advantages that the first pair of driving units for driving the hip joint to rotate and swing forwards are moved upwards to the trunk, the second pair of driving units for driving the hip joint to swing outwards and the leg rod to swing forwards are moved upwards to the hip joint, the third pair of driving units for driving the ankle joint to swing forwards and outwards are moved upwards to the knee joint, and the inertia is moved upwards in the whole structure. On the premise of reducing the transmission mechanism, the inertia upward moving degree is maximized, the design concept of the humanoid robot is met, the lower limb movement of the robot is facilitated, and the walking and running at high speed are facilitated.
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 description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes may be made to the embodiment of the present invention by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A humanoid robot based on joint-crossing cooperative driving comprises a trunk, a hip joint, a thigh rod, a knee joint, a lower leg rod, an ankle joint and a sole, and is characterized in that,
the humanoid robot further comprises:
a first pair of drive units fixed at the torso;
a second pair of drive units secured within the hip joint;
a third pair of drive units secured within the knee joint;
the two driving units of the first pair of driving units are respectively connected with the hip joint through the two connecting rods of the first pair of connecting rods so as to drive the hip joint to perform self-rotation and/or forward-swing actions; the two driving units of the first pair of driving units are driven cooperatively, and when the two connecting rods of the first pair of connecting rods swing in the same direction, the hip joint moves forwards; when the two connecting rods of the first pair of connecting rods swing reversely, the hip joint performs a self-rotating action;
the two driving units of the second pair of driving units are respectively connected with the knee joint through two connecting rods of the second pair of connecting rods so as to drive the external swing of the hip joint and/or the forward swing of the shank rod; the two driving units of the second pair of driving units are driven cooperatively, and when the two connecting rods of the second pair of connecting rods swing in the same direction, the shank rod swings forwards; when the two connecting rods of the second pair of connecting rods swing reversely, the hip joint swings outwards;
the two driving units of the third pair of driving units are respectively connected with the ankle joint through the two connecting rods of the third pair of connecting rods so as to drive the forward swing and/or the outward swing of the ankle joint to move; the two driving units of the third pair of driving units are cooperatively driven, and when the two connecting rods of the third pair of connecting rods swing in the same direction, the ankle joint swings forwards; when the two connecting rods of the third pair of connecting rods swing reversely, the ankle joint swings outwards.
2. The humanoid robot based on the cross-joint cooperative drive of claim 1, wherein the hip joint comprises a hip spin frame and a hip swing frame, the hip swing frame has two mutually perpendicular directional axis structures, wherein one directional axis is connected with the hip spin frame, and the other directional axis is pivotally connected with the upper end of the thigh rod;
the hip spin frame is rotatably coupled to the torso and is configured to support the torso.
3. The humanoid robot based on the cross-joint cooperative drive of claim 2,
one of the first pair of driving units is connected with one end of one of the first pair of connecting rods, and the other end of the connecting rod is connected with the hip spin frame, so that the one driving unit of the first pair of driving units, the one connecting rod of the first pair of connecting rods and the hip spin frame form a double-rocker mechanism;
the other driving unit of the first pair of driving units is connected with one end of the other connecting rod of the first pair of connecting rods, and the other end of the connecting rod is connected with the hip swing frame, so that the other driving unit of the first pair of driving units, the other connecting rod of the first pair of connecting rods and the hip swing frame are connected to form a double-rocker mechanism.
4. The humanoid robot based on cross-joint cooperative drive of claim 3, characterized in that two drive units of the first pair of drive units are located at the rear side of the hip joint, output ends of the two drive units of the first pair of drive units face different directions, and two links of the first pair of links are located at two sides of the hip joint respectively.
5. The humanoid robot based on joint-crossing cooperative drive of claim 3, wherein the lower part of the thigh lever and the upper part of the shank lever are pivotally connected by a knee joint rotation shaft to constitute a knee joint;
two driving units of the second pair of driving units are positioned in the hip swing frame, one driving unit of the second pair of driving units is connected with the upper end of one connecting rod of the second pair of connecting rods, and the lower end of the connecting rod is connected with the upper end of the shank rod, so that one driving unit of the second pair of driving units, one connecting rod of the second pair of connecting rods and the shank rod form a double-rocker mechanism;
the other driving unit of the second pair of driving units is connected with the upper end of the other connecting rod of the second pair of connecting rods, and the lower end of the connecting rod is connected with the upper end of the shank rod, so that the other driving unit of the second pair of driving units, the other connecting rod of the second pair of connecting rods and the shank rod form a double-rocker mechanism;
the output ends of the two driving units of the second pair of driving units face different directions, and the two connecting rods of the second pair of connecting rods are respectively positioned at two sides of the thigh rod.
6. The humanoid robot based on the joint crossing cooperative drive of claim 5, characterized in that the lower end of the shank rod and the sole are connected by an ankle joint cross shaft to constitute an ankle joint; the shank rod is connected with a first direction shaft of the ankle joint cross shaft in a pivoted mode, and the sole is connected with a second direction shaft of the ankle joint cross shaft in a pivoted mode.
7. The humanoid robot based on the cross-joint cooperative drive of claim 6,
the third pair of driving units are positioned in the knee joint rotating shaft, one of the driving units of the third pair of driving units is connected with the upper end of one of the connecting rods of the third pair of connecting rods, and the lower end of the connecting rod is connected with the upper end of the sole of the foot, so that one of the driving units of the third pair of driving units, one of the connecting rods of the third pair of connecting rods and the sole of the foot form a double-rocker mechanism;
the other driving unit of the third pair of driving units is connected with the upper end of the other connecting rod of the third pair of connecting rods, and the lower end of the connecting rod is connected with the upper end of the sole of a foot, so that the other driving unit of the third pair of driving units, the other connecting rod of the third pair of connecting rods and the sole of the foot form a double-rocker mechanism;
and the two connecting rods of the third pair of connecting rods are respectively positioned at two sides of the shank rod.
8. The humanoid robot based on joint-crossing cooperative drive of claim 1, wherein the first pair of drive units, the second pair of drive units and the third pair of drive units each comprise a motor and a reducer connected with the motor, the reducer being connected with the connecting rod.
9. The humanoid robot based on the joint crossing cooperative drive of claim 1, wherein a force sensor is arranged at the ankle joint or the sole.
10. The humanoid robot based on the cross-joint cooperative drive of claim 1, wherein the humanoid robot comprises a hip joint, a thigh bar, a knee joint, a calf bar, an ankle joint and a sole of a foot in a modular structure for easy assembly.
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