CN113353172B - Leg structure with low inertia and high bearing capacity and foot type robot applying same - Google Patents
Leg structure with low inertia and high bearing capacity and foot type robot applying same Download PDFInfo
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- CN113353172B CN113353172B CN202110622621.3A CN202110622621A CN113353172B CN 113353172 B CN113353172 B CN 113353172B CN 202110622621 A CN202110622621 A CN 202110622621A CN 113353172 B CN113353172 B CN 113353172B
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- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The invention belongs to the technical field of robots and discloses a leg structure with low inertia and high bearing capacity and a foot type robot applying the same. This shank structure includes crotch connector, pelvis assembly, knee joint motor, hip joint motor, side pendulum joint motor and leg connecting rod, wherein: the hip connector is simultaneously connected with the stators of the three motors, the rotors of the three motors are respectively connected with the pelvis assembly, the side swing joint motor is coaxially opposite to the hip joint motor, the axis of the knee joint motor is vertical to the axes of the two motors, the hip joint motor drives the thigh connecting rod to rotate, the knee joint motor drives the shank connecting rod to rotate, and the side swing joint motor drives the leg connecting rod to swing laterally, so that the outward swing adduction of the legs of the robot and the flexion and extension of the thighs and the shanks are realized. According to the invention, the three joint motors are connected in parallel to the machine body, and the pelvis assembly carries out power splitting, so that the leg inertia is reduced, the leg rigidity is enhanced, and the bearing and dynamic response capability is improved.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a low-inertia high-bearing leg structure and a foot type robot applying the same.
Background
The foot type robot generally adopts a multi-connecting-rod leg structure to realize walking and jumping motions, so the overall performance of the robot depends on the maneuvering performance of the robot legs to a great extent. The high-performance foot robot requires legs to have high bearing capacity, light weight, small inertia and high dynamic response, but due to the existence of scale effect, the target requirements are often in conflict, the structural design of the legs is challenged, how to adopt exquisite structural configuration and reasonably configure structural parameters is adopted, and therefore the solution of design target conflict becomes a hotspot and difficulty of research and development of the high-performance foot robot.
Various designs have been disclosed by the relevant agencies and developers. For example, an issued patent CN104875813B discloses a 3-degree-of-freedom electric leg structure of a small quadruped robot, which includes a side swing joint, a hip joint and a knee joint, and can realize motions such as outward swing/inward swing, thigh flexion and extension, and shank flexion and extension of the leg. In order to reduce the leg inertia, the proposal moves the knee joint driving motor up to the crotch, and transmits the rotary motion of the motor to the knee joint by using a four-bar mechanism. The motor of the hip-knee joint adopts a coaxial arrangement scheme, so that the gravity center of the integral structure of the leg part is close to the rotation axis of the hip joint, three joints are respectively and directly driven by independent permanent magnet synchronous torque motors, the stator of the side-swinging joint motor is connected with a machine body, the rotor of the side-swinging joint motor is connected with the stator of the hip joint motor, and the rotor of the hip joint motor is connected with the knee joint stator to form a tandem joint configuration, the hip and knee joint motors are oppositely arranged on two sides of a leg connecting rod, and the motor connecting shell is relatively short. Patent document CN109941369A in an actual examination state discloses a 3-degree-of-freedom electric leg structure of a small four-legged robot, wherein a hip-knee joint is installed on the inner side of a leg connecting rod, a hip joint casing is long, a joint bearing bending moment is large, and the leg structure is only suitable for small legged robots. Patent CN103448828B adopts ball screw to convert the rotary motion of motor into linear motion, so as to achieve the actuation effect similar to linear actuator, and realize thigh flexion and extension, shank flexion and extension motion. The knee joint rotating motor is arranged near the axis of the hip joint, so that the leg inertia is effectively reduced. However, the lead screw has limited stroke, the leg connecting rod has small movement space, and the lead screw needs a certain movement space outside the leg structure for stretching, so that the structural design is difficult. Patent CN 107200078B adopts the hip and knee parallel arrangement mode, utilizes the multi-link zoom type mechanism to transmit the thigh and shank movement, the hip and knee movement coupling, because of the existence of the shank middle transmission guide rail, the leg rigidity is poor, the mechanical gain is small, the driving force required by the actuator is large, and the device is only suitable for the light-load robot. A series of papers, represented by Design Principles for Energy-Efficient marketing and augmentation on the MIT Cheetah Robot, published by the American society for science and technology of Massachusetts, 2015 discloses a hip-knee joint coaxial arrangement scheme adopted by the MIT CHEETAH Robot developed by the papers. In the scheme, the large leg and the small leg are arranged in series, the hip joint is directly connected with the thigh connecting rod, the knee joint is connected with the small leg connecting rod through a four-bar mechanism or a synchronous belt, the robot has the capability of fast running and jumping, and the movement energy consumption of the robot is close to the level of an animal; ATRIAS developed by Berkeley university of California also adopts a coaxial distribution scheme of hip and knee joints, a scissor mechanism is used as a leg connecting rod, a hip and knee joint motor controls the flexion and extension of the leg connecting rod through two rotary arms of the scissor mechanism respectively, and the leg structure has lower weight due to the application of the scissor mechanism.
In summary, although the design scheme of knee joint drive overhead and hip knee joint coaxial effectively ensures the dynamic performance of the leg structure of the legged robot, the following problems still exist:
(1) the coaxial tandem leg structure of the hip and the knee mainly depends on joint shaft transmission, the transmission relations are mutually coupled, and the load is amplified layer by layer, so that the weight of the joint supporting structure is heavier, the rigidity of the joint is weakened, and the bearing capacity is reduced;
(2) due to the existence of the serial connection relationship of the joints, the whole of the posterior joint is used as the load of the anterior joint, so that the equivalent moment of inertia of the anterior joint is increased, and the dynamic response capability of the leg structure is reduced.
The presence of these problems results in a limited load capacity of the robot. In order to obtain higher motion performance and higher leg loading capacity, the crotch structure needs to be optimally designed.
Disclosure of Invention
Aiming at the defects or the improvement requirements of the prior art, the invention provides a leg structure with low inertia and high bearing capacity and a foot type robot applying the leg structure.
To achieve the above object, according to the present invention, a low inertia high load-bearing legged robot is provided. The legged robot consists of a body and a plurality of legs, wherein the crotch parts of the legs are connected with the body, the foot ends of the legs are contacted with the ground, and the leg connecting rods are connected with the crotch parts and the foot ends. The number of legs depends on the kind of legged robot, for example for a four-legged robot, there are four legs. The leg structure of the foot type robot provided by the invention comprises a crotch connector, a pelvis assembly, a leg connecting rod, a knee joint motor, a hip joint motor and a side swing joint motor, wherein:
the leg connecting rod, the knee joint motor, the hip joint motor and the side swing joint motor are respectively arranged on four side surfaces of the pelvis assembly and connected with the pelvis assembly, the side swing joint motor and the hip joint motor are coaxially and oppositely arranged, the knee joint motor and the leg connecting rod are oppositely arranged, the rotation axis of the knee joint motor is perpendicular to the connecting line of the side swing joint motor and the hip joint motor, the knee joint motor is used for driving a shank connecting rod in the leg connecting rod to rotate around a knee joint, the hip joint motor is used for driving a thigh connecting rod in the leg connecting rod to rotate around the hip joint, and the side swing joint motor is used for driving the leg connecting rod to swing laterally, so that three-degree-of-freedom motions of the foot type robot, such as leg outward swing/inward contraction, thigh flexion/extension and shank flexion/extension, are realized.
Further preferably, the pelvis assembly comprises a U-shaped pelvis base and a hip joint input gear, a hip joint output gear and a universal joint which are arranged in the U-shaped pelvis, wherein the hip joint input gear and the hip joint output gear are meshed with each other, and the rotation axes of the hip joint input gear and the hip joint output gear are intersected and perpendicular to each other. The universal joint longitudinal connecting shaft is respectively connected with the two ear plates of the U-shaped pelvis base, an outer frame input shaft of the universal joint is connected with a rotor of the knee joint motor, and an inner frame output shaft penetrates through the hip joint output gear and is connected with an input shaft of a motion transmission mechanism of the shank connecting rod. The input shaft, the output shaft and the longitudinal connecting shaft of the universal joint are intersected in the center of the universal joint.
Further preferably, a rotor of the knee joint motor is connected with an outer frame input shaft of the universal joint, and an inner frame output shaft of the universal joint drives a motion transmission mechanism of the shank connecting rod to drive the shank connecting rod to rotate around the knee joint; the rotor of the hip joint motor is connected with the hip joint input gear, the hip joint input gear penetrates through an ear plate on one side, close to the hip joint motor, of the U-shaped pelvis base, and the rotation of the hip joint motor drives the hip joint input gear and the hip joint output gear to rotate so as to output the rotation of the hip joint motor; and the rotor of the side swing joint motor is fixedly connected with an ear plate at one side of the U-shaped pelvis base, which is far away from the hip joint input gear, and the side swing joint motor rotates to drive the U-shaped pelvis base to rotate around the rotating shaft, so that the rotation of the side swing joint motor is output.
Further preferably, the pelvis base, the hip joint output gear, the hip joint bearing and the leg connecting rod together form a side swing motion transmission chain, the side swing joint motor drives the side swing motion transmission chain to enable the leg connecting rod to rotate around a hole center connecting line of two ear plates of the pelvis base, and the rotating shaft is parallel to a sagittal axis of the robot, so that the side swing motion realizes the outward/inward swinging motion of the leg connecting rod of the robot.
Further preferably, the hip joint input gear, the hip joint output gear and the thigh link together form a thigh link movement transmission chain, and the hip joint motor controls the thigh link to rotate around a geometrical axis of the hip joint bearing through the thigh link movement transmission chain, wherein the rotation axis is parallel to a lateral axis of the robot, so that the thigh link movement realizes robot thigh link contraction/extension, namely thigh flexion and extension movement.
Further preferably, the universal joint, the lower leg motion transmission link and the lower leg link jointly form a lower leg link motion transmission chain, the knee joint motor drives the lower leg link to rotate around a geometric axis of the knee joint shaft through the lower leg link flexion and extension transmission chain, and the axis is parallel to a lateral shaft of the robot, so that the lower leg link motion realizes extension/contraction of the lower leg link of the robot, namely lower leg flexion and extension motion.
Further preferably, the legged robot further comprises a crotch connector, which is shaped like a dustpan and is connected to the pelvis base at the ear plates by bearings, and the pelvis base can rotate relative to the crotch connector. The stators of the side-swinging joint motor, the hip joint motor and the knee joint motor are respectively connected to the side surface of the crotch connector, and the rotating axes of the three motors are intersected in the center of the universal joint. The top surface of the crotch connector is fixedly connected with the robot body, so that structurally, the side swing joint motor, the hip joint motor and the knee joint motor are connected in parallel to the robot body and fixedly connected with the robot body.
Further preferably, the hip joint input gear and the hip joint output gear are bevel gears, and the mounting axes of the two bevel gears are intersected and perpendicular to each other. And the rotor of the hip joint motor is connected with the input shaft of the hip joint input gear. The hip joint input gear penetrates through an ear plate on one side, close to the hip joint motor, of the pelvis base and is connected with the pelvis base through a bearing, the outer ring of the bearing is matched with the inner wall of an ear plate hole on the side of the pelvis base, and the inner ring of the bearing is matched with a shaft of the hip joint input gear. And the rotor of the side swing joint motor is fixedly connected with an ear plate at one side of the pelvis base far away from the hip joint motor through a flange.
Further preferably, the output shaft of the universal joint penetrates through the hip joint output gear and is connected with the hip joint output gear through a universal joint bearing, the inner ring of the universal joint bearing is matched with the output shaft of the universal joint, and the outer ring of the universal joint bearing is matched with the hip joint output gear.
Preferably, the leg connecting rods comprise thigh connecting rods, shank connecting rods and push rods, wherein the thigh connecting rods are fixedly connected with the hip joint output gear, and the rotation of the hip joint output gear drives the thigh connecting rods to realize thigh flexion and extension movement. The near end of the shank connecting rod is connected with the far end of the thigh connecting rod through a knee joint shaft, one end of the push rod is connected with the knee joint shaft, the other end of the push rod is provided with a shank transmission mechanism, and the shank transmission mechanism is fixedly connected with an output shaft of the universal joint. The thigh connecting rod is fixedly connected with the U-shaped pelvis base, the U-shaped pelvis base is driven by the side swing joint motor to rotate laterally, the thigh connecting rod is driven to further drive the shank connecting rod to rotate laterally, and the outward swing/inward swing movement of the leg connecting rod is achieved.
Generally, compared with the prior art, the technical scheme of the invention has the following beneficial effects:
1. the stator of the knee joint motor, the stator of the side swing joint motor, the stator of the hip joint motor and the pelvis assembly are connected to the robot body in parallel and fixedly connected with the robot body, the rotors of the three motors are connected with the pelvis assembly, power generated by the motors is divided through the pelvis assembly, and the connection mode is different from the mode that the three motors are sequentially connected in series, so that the whole of the next-stage joint is prevented from being used as the load of the previous-stage joint, the force arm from each joint motor to a leg connecting rod is shortened, the whole load capacity of the foot type robot is improved, the equivalent rotational inertia from the leg to the motor is reduced, and the dynamic response capacity of the leg is further improved;
2. according to the invention, the rotating shafts of the knee joint motor, the side swing joint motor and the hip joint motor are intersected at the universal joint, so that the decoupling of the rotating motions of the three motors under the action of the universal joint is realized, the mutual interference is avoided, the transmission decoupling of the side swing motion, the thigh flexion and extension motion and the shank connecting rod flexion and extension motion is ensured, and the load accumulation and the arm of force amplification caused by the serial connection of the side swing joint, the knee joint and the hip joint are avoided;
3. according to the invention, the bevel gear pair and the universal joint are applied to enable three groups of transmission chains to coexist in a coaxial manner, and the leg connecting rod structure only comprises a thigh, a shank and a multi-connecting-rod structure, so that the structural complexity and the structural weight of the leg part of the robot are greatly reduced, the power output mode of the motor is optimized, and the load capacity of the leg part is improved;
4. the hip structure of the invention provides the rotary power by the motor, the pelvis assembly transmits the rotary power, the side swing, hip and knee joint motors are all arranged on the body and do not swing along with the leg structure, so that the leg inertia is further reduced, the outward swing/inward contraction movement of the leg connecting rod, the flexion and extension movement of the thigh and the flexion and extension movement of the crus are in parallel transmission relation, compared with the traditional tandem leg structure, the load of all foot ends is born by the pelvis, and the joint load is greatly reduced; the pelvis assembly can divide the load of the foot end, so that the stress condition of the leg connecting rod is single, the leg structure is simplified, and the load carrying capacity of the leg connecting rod is enhanced; the design of the pelvis assembly enables the motion range of the leg connecting rod to reach 360 degrees, and has larger motion space.
Drawings
FIG. 1 is a schematic diagram of a low-inertia high-support legged robot constructed in accordance with a preferred embodiment of the present invention;
FIG. 2 is an exploded view of a low inertia, high load-bearing legged robot constructed in accordance with a preferred embodiment of the present invention;
FIG. 3 is a schematic diagram of the construction of a pelvic assembly constructed in accordance with a preferred embodiment of the invention;
FIG. 4 is a cross-sectional view of a preferred embodiment of the present invention constructed to provide a pelvic assembly;
FIG. 5 is an exploded view of a pelvic structure constructed in accordance with a preferred embodiment of the invention;
FIG. 6 is an exploded view of a gimbal structure constructed in accordance with a preferred embodiment of the present invention;
fig. 7 is an exploded view of a leg link constructed in accordance with a preferred embodiment of the present invention.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:
1-hip connector, 2-pelvis assembly, 3-leg link, 41-side swing joint motor, 42-hip joint motor, 43-knee joint motor, 200-pelvis base, 201-universal joint, 202-hip joint input gear, 203-hip joint output gear, 204-side swing joint bearing, 205-hip joint bearing, 206-universal joint bearing, 2011-universal joint input shaft, 2012-universal joint control yoke, 2013-universal joint cross yoke, 2014-universal joint transition yoke, 2015-universal joint output shaft, 2016-universal joint fork arm, 30-thigh link, 31-calf drive, 32-knee joint shaft, 33-calf link, 34-push rod.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The body of the foot type robot is similar to the upper body of a human or the body of a quadruped animal, the body of the foot type robot is of a frame structure, a power battery, a motor driver, a control computer, an environment perception sensor and the like of the robot are placed in the frame, mechanical interfaces connected with the crotch connector 1 are arranged at four corners of the bottom of the frame, a plurality of legs support the frame of the body of the robot together, and the legs alternately support and swing to push the body to move. The number of legs depends on the kind of legged robot, e.g. for a bipedal robot, there are two legs, for a quadruped robot, there are four legs, for a hexapod robot, and so on. The body frame and the legs together form a legged robot. In this embodiment, the robot is a quadruped robot.
As shown in fig. 1 and 2, the leg structure includes a crotch connector 1, a pelvis assembly 2, a leg link 3, a side swing joint motor 41, a hip joint motor 42, and a knee joint motor 43. The pelvic assembly 2 is connected to the robot body by a crotch connector 1. The pelvis assembly 2 is connected with the leg connecting rod 3, stators of the side swing joint motor 41, the hip joint motor 42 and the knee joint motor 43 are respectively connected with the crotch connector, and rotors are respectively connected with the pelvis assembly 2 through corresponding flanges. The leg connecting rods 3 are driven by the rotating power generated by the side swing joint motor 41, the hip joint motor 42 and the knee joint motor 43 respectively, so that the side swing of the leg connecting rods, the flexion and extension of the thigh connecting rods and the flexion and extension of the shank connecting rods are realized, and the motion of the foot type robot is further realized.
As shown in fig. 3, the pelvis assembly 2 is a central pivot assembly of the structure, an output shaft of the central pivot assembly is respectively connected with transmission mechanisms of a thigh connecting rod and a shank connecting rod, an input shaft of the central pivot assembly is respectively connected with rotors of a side swing joint motor 41, a hip joint motor 42 and a knee joint motor 43, rotors of the three motors are respectively connected with input ends of the pelvis, rotary power output by the three motors is output to the leg connecting rods through the pelvis, and the pelvis adopts a nested shaft transmission structure, so that the motor power can be collected and shunted on the premise of ensuring the compactness and the rationality of the structure, and the leg connecting rods can move cooperatively; the stators of the three motors are respectively connected with a crotch connector or a connecting flange on the machine body.
As shown in fig. 4 and 5, the pelvis assembly 2 includes a pelvis base 200, a universal joint 201, a hip joint input gear 202, a hip joint output gear 203, a side swing joint bearing 204, a hip joint bearing 205, and a universal joint bearing 206;
the stator of the side-swing joint motor 41 is fixed to the crotch connector, the rotor thereof is fixedly connected with the pelvis base 200, the pelvis base 200 is connected with the crotch connector 1 through a side-swing joint bearing 204, and the pelvis base 200 has a lateral swing freedom relative to the crotch connector 1 and further relative to the robot body;
the stator of the hip joint motor 42 is fixed on the robot frame, the rotor of the hip joint motor is coaxially and fixedly connected with the hip joint input gear 202, and the hip joint input gear 202 is meshed with the hip joint output gear 203 to form a gear transmission pair. The hip joint output gear 203 is connected with the pelvis base 200 through a hip joint bearing 205, and the hip joint output gear 203 has a rotation freedom degree relative to the pelvis base 200;
the stator of the knee joint motor 43 is fixed on the robot frame, the rotor thereof is fixedly connected with the input shaft of the universal joint 201, the output shaft of the universal joint 201 is connected with the hip joint output gear 203 through the universal joint bearing 206, and the output shaft of the universal joint 201 has the lateral swing freedom degree relative to the hip connector 1 and the axial rotation freedom degree relative to the pelvis base 200;
the rotation axes of the rotors of the yaw joint motor 41, the hip joint motor 42, and the knee joint motor 43 intersect at the center point of the universal joint 201, the rotation axis of the output shaft of the universal joint 201 is collinear with the rotation axis of the hip joint output gear 203, the rotation axis of the hip joint input gear 202 is collinear with the rotation axis of the pelvic base 200, and the rotation axis of the hip joint output gear 203 and the rotation axis of the hip joint input gear 202 are perpendicular to each other.
As shown in fig. 6, in the present embodiment, the gimbal (201) adopts a thompson gimbal configuration, and its composition includes an input shaft (2011), a control yoke (2012), a spider (2013), a transition yoke (2014), an output shaft (2015), and a scissor arm (2016). The rotary power input by the input shaft (2011) is transmitted to the output shaft (2015) through the cross fork (2013), the cross fork (2013) ensures that the included angle between the axis of the input shaft (2011) and the axis of the output shaft (2015) can be changed in real time during movement, the control yoke (2012), the transition yoke (2014) and the shearing fork arm (2016) ensure the constant speed characteristic of movement transmission, and the rotating speeds of the input shaft (2011) and the output shaft (2015) are constant and equal. To ensure the constant velocity characteristic of the motion transmission of the joint (201), the joint (201) may also employ common constant velocity joint configurations such as ball cages, ball forks, etc., not to be described herein. In other embodiments, the structure of the universal joint (201) can adopt a constant velocity universal joint or a non-constant velocity universal joint, the model selection of the universal joint (201) in the embodiment is only used for understanding the method and the core idea of the invention, and the specific structure of the universal joint (201) is not understood to be a limitation of the invention.
As shown in fig. 7, the leg link 3 includes a thigh link 30, a shank transmission mechanism 31, a push rod 34, a shank link 33, and a knee joint shaft 32; the thigh link 30 is fixedly connected with the hip joint output gear 203, the shank transmission mechanism 31 is fixedly connected with the output shaft of the universal joint 201, the shank link 33 is connected with the lower connecting shaft of the thigh link 30 through the knee joint shaft 32, the shank transmission mechanism 31 is connected with the shank link 33 through a pin shaft, the shank link 33 has a rotational degree of freedom relative to the lower connecting shaft of the thigh link 30, and the shank link 33 and the shank transmission mechanism 31 have a transmission relationship which is not limited to a multi-link mechanism, a chain transmission, a belt transmission and the like, and in the embodiment, the transmission relationship of a four-bar mechanism is shown.
The pelvis assembly integrates three groups of transmission chains: the side pendulum motion transmission chain, the thigh connecting rod flexion and extension motion transmission chain and the crus connecting rod flexion and extension motion transmission chain;
the pelvis base 200, the hip joint bearing 205, the hip joint output gear 203 and the leg connecting rod 3 jointly form a side swing motion transmission chain, the side swing joint motor 42 controls the leg connecting rod 3 to rotate around the geometric axis of the side swing joint bearing 204 through the side swing motion transmission chain, and controls the leg connecting rod to swing outwards and inwards to fold, namely to swing sideways;
the hip joint input gear 202, the hip joint output gear 203 and the thigh connecting rod 30 jointly form a thigh connecting rod flexion and extension movement transmission chain, and the hip joint motor 42 controls the thigh connecting rod 30 to rotate around the geometric axis of the hip joint bearing 205 through the thigh connecting rod flexion and extension movement transmission chain so as to control the thigh connecting rod to contract and extend, namely the thigh connecting rod flexion and extension movement;
the universal joint 201 and the lower leg connecting rod 33 jointly form a lower leg connecting rod flexion and extension motion transmission chain, the knee joint motor 43 controls the lower leg connecting rod 33 to rotate around the geometric axis of the knee joint shaft 32 through the lower leg connecting rod flexion and extension transmission chain, and controls the lower leg to contract and extend, namely the lower leg connecting rod flexion and extension motion;
the inner ring of the universal joint bearing 206 is matched with the output shaft of the universal joint 201, the outer ring is matched with the hip joint output gear 203, and the pelvis base 200 sequentially drives the hip joint bearing 205, the hip joint output gear 203, the universal joint bearing 206 and the universal joint output shaft to swing laterally in the outward swinging and inward contracting movement of the leg connecting rod 3; in the flexion and extension movement of the shank link, the universal joint bearing 205 ensures the relative rotation of the hip joint output gear and the universal joint output shaft; the universal joint bearing 206 ensures the relative position relation and the rotation relation between the hip joint output gear and the universal joint output shaft, the application of the universal joint 201 realizes the transmission decoupling and load shunting of the side-sway motion and the flexion-extension motion of the shank connecting rod, ensures the transmission rationality, and avoids the load accumulation and the power loss caused by the series connection of the side-sway joint and the knee joint;
in the side swing motion, the pelvis base 200 can ensure the mechanical positioning of the rotation axes of the hip joint input gear 202 and the hip joint output gear 203, in the thigh connecting rod flexion and extension motion, the hip joint input gear 202 and the hip joint output gear 203 realize transmission through the meshing of the bevel gear pair, and the base and the gear pair realize the transmission decoupling of the thigh connecting rod flexion and extension motion and the side swing motion, so that the transmission rationality is ensured, and the load accumulation and the power loss caused by the serial connection of the side swing joint and the hip joint are avoided.
In the invention, standard fittings such as a bolt, a nut, a positioning sleeve, a clamp spring, a gasket, a part of standard bearings and a limit pin are not indicated, but are added to corresponding positions in the design process of the whole structure of the actual leg.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A low inertia high load bearing leg structure, characterized in that it comprises a crotch connector (1), a pelvis assembly (2), a leg link (3), a knee joint motor (43), a hip joint motor (42) and a roll joint motor (41), wherein,
the crotch connector (1) is used for fixing stators of the knee joint motor, the hip joint motor and the side swing joint motor; the leg connecting rod (3), the knee joint motor (43), the hip joint motor (42) and the side swing joint motor (41) are respectively arranged on four side surfaces of the pelvis assembly and connected with the pelvis assembly (2), the side swing joint motor (41) and the hip joint motor (42) are coaxially and oppositely arranged, the knee joint motor (43) and the leg connecting rod (3) are oppositely arranged, the axis of the knee joint motor is intersected with and mutually perpendicular to the connecting line of the side swing joint motor (41) and the hip joint motor (42), the knee joint motor (43) is used for driving a shank connecting rod (33) in the leg connecting rod (3) to rotate, the hip joint motor (42) is used for driving a thigh connecting rod (30) in the leg connecting rod (3) to rotate, and the side swing joint motor (41) is used for driving the leg connecting rod (3) to swing laterally, so that the outward swing/inward swing and outward and inward swing of the leg structure are realized, Decoupling three degrees of freedom motion of thigh flexion/extension and shank flexion/extension;
the pelvis assembly (2) comprises a U-shaped pelvis base (200), a hip joint input gear (202), a hip joint output gear (203) and a universal joint (201) which are arranged in the U-shaped pelvis, wherein the hip joint input gear (202) and the hip joint output gear (203) are meshed with each other, the rotation axes of the two gears are intersected and are perpendicular to each other, the hip joint output gear (203) is connected with the pelvis base (200) through a hip joint bearing (205), the longitudinal connecting shafts (2013) of the universal joint (201) are respectively connected with two ear plates of the U-shaped pelvis base (200), the input shaft of the universal joint (201) is connected with the rotor of the knee joint motor (43), the output shaft passes through a hip joint output gear (203), the output shaft drives the shank connecting rod (33) to rotate, and an input shaft, an output shaft and a longitudinal connecting shaft of the universal joint (201) are intersected at the center of the universal joint (201);
the rotor of the hip joint motor (42) is connected with the hip joint input gear (202), the hip joint input gear (202) penetrates through an ear plate on one side, close to the hip joint motor (42), of the U-shaped pelvis base (200), and the rotation of the hip joint motor (42) drives the hip joint input gear (202) and the hip joint output gear (203) to rotate so as to output the rotation of the hip joint motor (42); the rotor of the side swing joint motor (41) is fixedly connected with an ear plate on one side, far away from the hip joint input gear (202), of the U-shaped pelvis base (200), and the side swing joint motor (41) rotates to drive the U-shaped pelvis base (200) to rotate so as to output the rotation of the side swing joint motor.
2. A low-inertia high-load leg structure as claimed in claim 1, wherein the pelvis base (200), the hip joint output gear (203), the hip joint bearing (205) and the leg link (3) together form a side swing motion transmission chain, and the side swing joint motor (41) drives the side swing motion transmission chain to rotate the leg link (3) around the connecting line of the hole centers of the two ear plates of the pelvis base (200), so as to realize the outward/inward swing motion of the leg link (3).
3. A low-inertia high-load leg structure as claimed in claim 1, wherein the hip joint input gear (202), the hip joint output gear (203) and the thigh link (30) together form a thigh link kinematic transmission chain, and the hip joint motor (42) controls the thigh link (30) to rotate around the geometric axis of the hip joint bearing (205) through the thigh link kinematic transmission chain, so as to realize thigh link (30) extension/contraction, i.e. thigh flexion and extension movement.
4. The leg structure with low inertia and high load bearing capacity as claimed in claim 1, wherein the universal joint (201), the lower leg transmission mechanism (31), the push rod (34) and the lower leg link (33) jointly form a lower leg link motion transmission chain, and the knee joint motor (43) drives the lower leg link (33) to rotate around the geometric axis of the knee joint shaft (32) through the lower leg link flexion and extension transmission chain, so as to realize extension/contraction of the lower leg link (33), i.e. lower leg flexion and extension motion, of the robot.
5. A low inertia, high load bearing leg structure as claimed in claim 1, wherein the hip joint input gear (202) and the hip joint output gear (203) are bevel gears, the axes of mounting of which intersect and are perpendicular to each other.
6. A low inertia high load leg structure as claimed in claim 1, wherein the leg link (3) comprises a thigh link (30), a shank link (33) and a push rod (34), wherein the thigh link (30) is secured to a hip joint output gear (203); the shank connecting rod (33) is connected with the thigh connecting rod through a knee joint shaft (32), one end of the push rod (34) is connected with the knee joint shaft (32), the other end of the push rod is provided with a shank transmission mechanism (31), and the shank transmission mechanism (31) is fixedly connected with an output shaft of the universal joint (201).
7. A low inertia high load bearing leg structure as claimed in claim 1, wherein the crotch connector (1) is connected to the pelvic base (200) by a side swing knuckle bearing (204); the inner ring of the universal joint bearing (206) is matched with the output shaft of the universal joint (201), and the outer ring of the universal joint bearing is matched with the hip joint output gear.
8. A legged robot applying the leg structure of any of claims 1-7, wherein the leg structure is connected to the legged robot by a crotch connector.
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| CN114056449A (en) * | 2021-11-18 | 2022-02-18 | 北京钢铁侠科技有限公司 | Robot running gear and have its robot |
| CN114506399B (en) * | 2022-03-07 | 2022-12-13 | 上海大学 | High-dynamic quadruped robot based on full-joint drive coaxial leg structure module |
| CN114571497B (en) * | 2022-03-14 | 2024-02-20 | 上海大学 | Leg arm robot pivot type explosive movement joint based on double-motor power cooperation |
| CN114506400B (en) * | 2022-03-17 | 2022-11-29 | 中国人民解放军国防科技大学 | Bionic foot type robot based on centralized driving four-degree-of-freedom leg structure |
| CN114852207A (en) * | 2022-04-26 | 2022-08-05 | 中国北方车辆研究所 | Shaft-driven three-degree-of-freedom wheel foot walking mechanism |
| CN116279900B (en) * | 2023-02-14 | 2023-09-05 | 七腾机器人有限公司 | Transmission device and robot leg assembly |
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