CN115303382B - Foot type robot joint driving device and method - Google Patents
Foot type robot joint driving device and method Download PDFInfo
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- CN115303382B CN115303382B CN202211119053.6A CN202211119053A CN115303382B CN 115303382 B CN115303382 B CN 115303382B CN 202211119053 A CN202211119053 A CN 202211119053A CN 115303382 B CN115303382 B CN 115303382B
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 82
- 230000005540 biological transmission Effects 0.000 claims description 117
- 230000009471 action Effects 0.000 abstract description 9
- 230000033001 locomotion Effects 0.000 description 7
- 210000003205 muscle Anatomy 0.000 description 6
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000001808 coupling effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention provides a foot-type robot joint driving device and a foot-type robot joint driving method, wherein the foot-type robot joint driving device comprises a shell, a first joint driving mechanism, a second joint driving mechanism, an adjusting mechanism, a first connecting rod and a second connecting rod, wherein the first joint driving mechanism, the second joint driving mechanism, the adjusting mechanism, the first connecting rod and the second connecting rod are arranged on the shell, the adjusting mechanism is respectively coupled with the output end of the first joint driving mechanism and the output end of the second joint driving mechanism, the output end of the first joint driving mechanism is connected with the first connecting rod, the output end of the second joint driving mechanism is connected with a linkage assembly for enabling the second connecting rod to act along with the first connecting rod, the linkage assembly is rotatably arranged on the first connecting rod, the second connecting rod is arranged on the linkage assembly, and the first connecting rod and the second connecting rod are respectively connected with a foot-type robot joint arm. The scheme realizes the coordinated action of the two joints.
Description
Technical Field
The invention belongs to the field of foot-type robot joint driving, and particularly relates to a foot-type robot joint driving device.
Background
The muscles of the human arm, which are the motion driving actuators, have both single joint muscles and double joint muscles. The single joint muscle realizes independent driving of each joint, and the double joint muscle can synchronously realize driving of two joints, so that the double joint muscle has the characteristic of simultaneous driving of the double joints.
The foot robot simulates human body actions, and has various gait and strong trafficability, so the foot robot is applied to the scenes such as industrial inspection with complex environment. Whereas each joint in the existing foot robot is driven by a separate drive actuator, i.e. a single joint drive.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a device and a method for driving joints of a foot robot, so as to realize synchronous driving of two joints of the foot robot.
To achieve the above and other related objects, the present invention provides a foot robot joint driving device comprising: the robot comprises a shell, and a first joint driving mechanism, a second joint driving mechanism, an adjusting mechanism, a first connecting rod and a second connecting rod which are arranged on the shell, wherein the adjusting mechanism is respectively coupled with the output end of the first joint driving mechanism and the output end of the second joint driving mechanism, the output end of the first joint driving mechanism is connected with the first connecting rod, the output end of the second joint driving mechanism is connected with a linkage assembly used for enabling the second connecting rod to move along with the first connecting rod, the linkage assembly is rotatably arranged on the first connecting rod, the second connecting rod is arranged on the linkage assembly, and the first connecting rod and the second connecting rod are respectively connected with a foot robot joint arm.
Optionally, the first joint actuating mechanism includes first driving motor and is used for driving first connecting rod pivoted first pivot, first driving motor's output with first pivot fixed connection, first pivot can be followed self axis and rotationally installed on the casing.
Optionally, the second joint actuating mechanism includes second driving motor and is used for driving the second pivot of linkage subassembly action, second driving motor's output with second pivot fixed connection, the second pivot can be followed self axis and rotationally installed on the casing.
Optionally, the linkage assembly includes a third rotating shaft and a fourth rotating shaft, a first transmission assembly for driving a first link to act is arranged between the first rotating shaft and the third rotating shaft, the first link is fixedly installed on the first transmission assembly, a second transmission assembly for enabling the third rotating shaft to rotate along with the second rotating shaft is arranged between the second rotating shaft and the third rotating shaft, and a third transmission assembly for enabling the adjusting mechanism to rotate along with the second rotating shaft is arranged between the second rotating shaft and the input end of the adjusting mechanism; a fourth transmission assembly for enabling the fourth rotating shaft to rotate along with the third rotating shaft is arranged between the third rotating shaft and the fourth rotating shaft, and the second connecting rod is fixedly arranged on the fourth rotating shaft.
Optionally, the first transmission assembly, the second transmission assembly, the third transmission assembly and the fourth transmission assembly each include a driving wheel, a driven wheel and a belt for rotating the driven wheel with the driving wheel.
Optionally, the driving wheel of the first transmission assembly is sleeved on the first rotating shaft, and the driving wheel of the first transmission assembly is fixed with the first rotating shaft; the driven wheel of the first transmission assembly is sleeved on the third rotating shaft, and the driven wheel of the first transmission assembly can rotate relative to the third rotating shaft; one end of the first connecting rod is fixed with the driven wheel of the first transmission assembly, and the other end of the first connecting rod is sleeved on the fourth rotating shaft.
Optionally, the driving wheel of the second transmission assembly is sleeved on the second rotating shaft, the driving wheel of the second transmission assembly is fixed with the second rotating shaft, the driven wheel of the second transmission assembly is sleeved on the third rotating shaft, and the driven wheel of the second transmission assembly can rotate relative to the third rotating shaft.
Optionally, the driving wheel of the third transmission assembly is sleeved on the second rotating shaft, the driving wheel of the third transmission assembly is fixed with the second rotating shaft, and the driven wheel of the third transmission assembly is connected with the input end of the adjusting mechanism; the driving wheel of the fourth transmission assembly is sleeved on the third rotating shaft, the driving wheel of the fourth transmission assembly is fixed with the third rotating shaft, the driven wheel of the fourth transmission assembly is sleeved on the fourth rotating shaft, and the driven wheel of the fourth transmission assembly is fixed with the fourth rotating shaft.
Optionally, the adjusting mechanism comprises a third driving motor and a small-tooth-difference planetary gear transmission assembly, the small-tooth-difference planetary gear transmission assembly comprises a pin shaft disc, an external gear, an internal gear, a revolution shaft and a rotation eccentric shaft driven by the second joint driving mechanism, pin shafts are arranged on the pin shaft disc, pin holes are formed in the external gear corresponding to the pin shafts, at least two external gears are arranged on the external gear, the centers of the two external gears are respectively and fixedly arranged on the rotation eccentric shaft, the output end of the third driving motor is connected with the revolution shaft, the revolution shaft is connected with the pin shaft disc, the external gear is arranged in the internal gear, and the external gear is meshed with the internal gear; and a transmission gear is fixed on the first rotating shaft and meshed with an outer gear ring of the inner gear.
To achieve the above and other related objects, the present invention provides a foot robot joint driving method applied to the foot robot joint driving device, the method comprising:
controlling the first joint driving mechanism to drive the first connecting rod to act so as to drive the second connecting rod to act through the first connecting rod;
controlling a second joint driving mechanism to drive a second connecting rod to act;
the control and adjustment mechanism is coupled with the output end of the first joint driving mechanism and the output end of the second joint driving mechanism so as to adjust the output force of the first connecting rod and the second connecting rod.
As described above, the foot robot joint driving device and method of the present invention have the following advantages:
in the embodiment, the first connecting rod is driven to act through the first joint driving mechanism so as to drive the linkage assembly to act, and the second connecting rod acts along with the first connecting rod through the action of the linkage assembly, so that joints at two ends of the joint arm act respectively. The linkage assembly is driven to act through the second joint driving mechanism so as to realize the independent action of the second connecting rod. And the output force of the first connecting rod and the second connecting rod is adjusted through an adjusting mechanism.
Drawings
Fig. 1 is a schematic cross-sectional view of a joint driving device of a foot robot according to an embodiment of the present invention.
Fig. 2 is a schematic structural view of a planetary gear transmission assembly with small tooth difference according to an embodiment of the present invention.
Detailed Description
Reference numerals in the drawings of the specification include: the first driving motor 101, the first rotating shaft 102, the first transmission assembly 103, the transmission gear 104, the first connecting rod 2, the second driving motor 301, the second rotating shaft 302, the second transmission assembly 303, the third rotating shaft 4, the second connecting rod 5, the fourth transmission assembly 6, the third driving motor 7, the small tooth difference planetary gear transmission assembly 8, the pin shaft disc 801, the pin shaft 802, the internal gear 803, the rotation eccentric shaft 804, the external gear 805, the revolution shaft 806, the third transmission assembly 9 and the fourth rotating shaft 10.
Further advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present invention, which is described by the following specific examples.
The application provides a foot robot joint driving device, specifically refer to fig. 1 and fig. 2.
The present embodiment provides a foot robot joint driving device, including: the device comprises a shell, and a first joint driving mechanism, a second joint driving mechanism, an adjusting mechanism, a first connecting rod 2 and a second connecting rod 5 which are arranged on the shell, wherein the adjusting mechanism is respectively coupled with the output end of the first joint driving mechanism and the output end of the second joint driving mechanism, the output end of the first joint driving mechanism is connected with the first connecting rod 2, the output end of the second joint driving mechanism is connected with a linkage assembly for enabling the second connecting rod 5 to move along with the first connecting rod 2, the linkage assembly is rotatably arranged on the first connecting rod 2, the second connecting rod 5 is arranged on the linkage assembly, and the first connecting rod 2 and the second connecting rod 5 are respectively connected with a foot type robot joint arm.
In this embodiment, the first link 2 is driven to act by the first joint driving mechanism to drive the linkage assembly to act, and the second link 5 is caused to act with the first link 2 by the linkage assembly to act. The linkage assembly is driven to act through the second joint driving mechanism so as to realize the independent action of the second connecting rod 5. The output force of the first connecting rod 2 and the second connecting rod 5 is adjusted through the adjusting mechanism.
Illustratively, the first link 2 and the second link 5 are respectively located at two ends of the foot robot joint arm, and the connection positions of the first link and the second link and the foot robot joint arm form the foot robot joint.
In an exemplary embodiment, the first joint driving mechanism includes a first driving motor 101 and a first rotating shaft 102 for driving the first link 2 to rotate, an output end of the first driving motor 101 is fixedly connected with the first rotating shaft 102, and the first rotating shaft 102 is rotatably mounted on the housing along its own axis.
In this embodiment, the first driving motor 101 drives the first rotating shaft 102 to rotate, so as to drive the first link 2 and the linkage assembly to act.
In an exemplary embodiment, the second joint driving mechanism includes a second driving motor 301 and a second rotating shaft 302 for driving the linkage assembly to act, an output end of the second driving motor 301 is fixedly connected with the second rotating shaft 302, and the second rotating shaft 302 is rotatably mounted on the housing along its own axis.
In this embodiment, the second driving motor 301 drives the second rotating shaft 302 to rotate, so as to drive the linkage assembly to act, and further drive the second connecting rod 5 to act through the linkage assembly.
In an exemplary embodiment, the linkage assembly comprises a third rotating shaft 4 and a fourth rotating shaft 10, a first transmission assembly 103 for driving the first connecting rod 2 to act is arranged between the first rotating shaft 102 and the third rotating shaft 4, the first connecting rod 2 is fixedly arranged on the first transmission assembly 103, a second transmission assembly 303 for enabling the third rotating shaft 4 to rotate along with the second rotating shaft 302 is arranged between the second rotating shaft 302 and the third rotating shaft 4, and a third transmission assembly 9 for enabling the adjusting mechanism to rotate along with the second rotating shaft 302 is arranged between the second rotating shaft 302 and the input end of the adjusting mechanism; a fourth transmission assembly 6 for enabling the fourth rotating shaft 10 to rotate along with the third rotating shaft 4 is arranged between the third rotating shaft 4 and the fourth rotating shaft 10, and the second connecting rod 5 is fixedly arranged on the fourth rotating shaft 10.
It should be noted that, when the first driving motor 101 acts, the first shaft 102 is driven to rotate, and at this time, the third shaft 4 is not driven by the first transmission assembly 103 to rotate along its own axis. Since the first link 2 is fixedly mounted on the first transmission assembly 103, the first link 2 will act along with the rotation of the first transmission assembly 103, and at this time, the first link 2 and the fourth rotating shaft 10 will rotate with the third rotating shaft 4 as the rotation center. When the second driving motor 301 acts, the second rotating shaft 302 is driven to rotate, at this time, the second rotating shaft 302 drives the third rotating shaft 4 to rotate, and then the fourth rotating shaft 10 is driven to rotate through the fourth transmission assembly 6, so that the second connecting rod 5 fixed with the fourth rotating shaft 10 rotates.
In an exemplary embodiment, the first transmission assembly 103, the second transmission assembly 303, the third transmission assembly 9 and the fourth transmission assembly 6 each include a driving wheel, a driven wheel, and a belt for rotating the driven wheel with the driving wheel, to achieve flexible transmission.
It is worth to say that, in this scheme, through action wheel, follow the driving wheel rotation to realize the synchronous rotation between two axles. And the belt is arranged so that the fourth rotating shaft 10 can rotate with the third rotating shaft 4 as a rotation center.
In an exemplary embodiment, the driving wheel of the first transmission assembly 103 is sleeved on the first rotating shaft 102, and the driving wheel of the first transmission assembly 103 is fixed with the first rotating shaft 102; the driven wheel of the first transmission assembly 103 is sleeved on the third rotating shaft 4, and the driven wheel of the first transmission assembly 103 can rotate relative to the third rotating shaft 4; one end of the first connecting rod 2 is fixed with the driven wheel of the first transmission assembly 103, and the other end of the first connecting rod 2 is sleeved on the fourth rotating shaft 10.
The first connecting rod 2 is illustratively sleeved on the third rotating shaft 4 and the fourth rotating shaft 10 through sleeves.
It should be noted that, the driven wheel of the first transmission assembly 103 is installed with the third rotating shaft 4 through a sleeve, so that when the first rotating shaft 102 rotates, the third rotating shaft 4 cannot be driven to rotate along the axis thereof.
In an exemplary embodiment, the driving wheel of the second transmission assembly 303 is sleeved on the second rotating shaft 302, the driving wheel of the second transmission assembly 303 is fixed with the second rotating shaft 302, the driven wheel of the second transmission assembly 303 is sleeved on the third rotating shaft 4, and the driven wheel of the second transmission assembly 303 can rotate relative to the third rotating shaft 4.
It should be noted that, the driving wheel of the second transmission assembly 303 is fixed to the second rotating shaft 302, and the driven wheel of the second transmission assembly 303 is fixed to the third rotating shaft 4, so that when the second rotating shaft 302 rotates, the third rotating shaft 4 is driven to rotate.
In an exemplary embodiment, the driving wheel of the third transmission assembly 9 is sleeved on the second rotating shaft 302, the driving wheel of the third transmission assembly 9 is fixed with the second rotating shaft 302, and the driven wheel of the third transmission assembly 9 is connected with the input end of the adjusting mechanism; the driving wheel of the fourth transmission assembly 6 is sleeved on the third rotating shaft 4, the driving wheel of the fourth transmission assembly 6 is fixed with the third rotating shaft 4, the driven wheel of the fourth transmission assembly 6 is sleeved on the fourth rotating shaft 10, and the driven wheel of the fourth transmission assembly 6 is fixed with the fourth rotating shaft 10.
In this embodiment, the second rotating shaft 302 rotates to drive the driving wheel of the third transmission assembly 9 to rotate, and further drive the driven wheel of the third transmission assembly 9 to act, so that the adjusting mechanism acts.
In an exemplary embodiment, the adjusting mechanism comprises a third driving motor 7 and a small-tooth-difference planetary gear transmission assembly 8, the small-tooth-difference planetary gear transmission assembly 8 comprises a pin shaft disc 801, an external gear 805, an internal gear 803, a revolution shaft 806 and a rotation eccentric shaft 804 driven by the second joint driving mechanism, the pin shaft disc 801 is provided with a pin shaft 802, pin holes are formed on the external gear 805 corresponding to the pin shaft 802, at least two groups of external gears 805 are arranged, the centers of the two groups of external gears 805 are respectively fixedly arranged on the rotation eccentric shaft 804, the output end of the third driving motor 7 is connected with the revolution shaft 806, the revolution shaft 806 is connected with the pin shaft disc 801, the external gear 805 is arranged in the internal gear 803, and the external gear 805 is meshed with the internal gear 803; a transmission gear 104 is fixed to the first rotating shaft 102, and the transmission gear 104 is meshed with an outer gear ring of the inner gear 803.
It is worth to say that the planetary gear transmission assembly 8 with small tooth difference has a large transmission ratio, and when the transmission ratio is more than 11, the accuracy of the motion position control of the foot robot can be effectively improved. The simultaneous driving of the double joints of the foot type robot is realized through the planetary gear transmission assembly 8 with small tooth difference, the pose control and the output force control of the foot type robot are realized, and the motion safety of the robot is improved. By setting the outputs of the first driving motor 101, the second driving motor 301 and the third driving motor 7, the output characteristics of the foot-type robot joint can be regulated and controlled, and the mechanical characteristics of the robot joint can be optimized. And the simultaneous driving of the two joints of the foot robot does not depend on a moment sensor and a complex control algorithm, so that the cost and the complexity of an operation system are reduced.
In the present embodiment, the rotation eccentric shaft 804 is rotated by the second rotating shaft 302, so that both the non-eccentrically mounted external gear 805 and the eccentrically mounted external gear 805 realize rotation, and the external gear 805 is driven to revolve by the third driving motor 7. The external gear 805 rotates to drive the internal gear 803 to rotate, so that the external gear ring of the internal gear 803 drives the transmission gear 104 to rotate, and further control of the output force of the first connecting rod 2 is achieved, and the rotation eccentric shaft 804 and the second rotating shaft 302 synchronously rotate, so that control of the output force of the second connecting rod 5 is achieved.
In addition, the application also provides a foot robot joint driving method aiming at the foot robot joint driving device, which comprises the following steps:
step S1: the first joint driving mechanism is controlled to drive the first connecting rod 2 to act so as to drive the second connecting rod 5 to act through the first connecting rod 2.
By way of example, the first driving motor 101 is controlled to act, so that the first rotating shaft 102 acts, and the first linkage assembly drives the first connecting rod 2 to act, so that the first connecting rod 2, the fourth rotating shaft 10 and the second connecting rod 5 rotate by taking the third rotating shaft 4 as a rotating shaft.
Step S2: the second joint driving mechanism is controlled to drive the second connecting rod 5 to act.
By way of example, the second driving motor 301 is controlled to act, so that the second rotating shaft 302 rotates, and the second transmission assembly 303 drives the third rotating shaft 4 to rotate, so that the second connecting rod 5 rotates with the fourth rotating shaft 10 as a rotating shaft.
Step S3: the control and adjustment mechanism is coupled with the output end of the first joint driving mechanism and the output end of the second joint driving mechanism to adjust the output force of the first connecting rod 2 and the second connecting rod 5.
Illustratively, the second driving motor 301 drives the rotation eccentric shaft 804 of the small-tooth-difference planetary gear transmission assembly 8 in the adjusting mechanism to rotate through the third transmission assembly 9, and drives the revolution shaft 806 of the small-tooth-difference planetary gear transmission assembly 8 to rotate through the third driving motor 7, so that the external gear 805 revolves and rotates. The meshing of the external gear 805 with the internal gear 803 controls the output force of the first shaft 102 by the meshing of the internal gear 803 with the transmission gear 104 on the first shaft 102, and the output force of the second link 5 is controlled by the synchronous action of the rotation eccentric shaft 804 and the second shaft 302.
In an exemplary embodiment, when the joint needs to drive the first link 2 and the second link 5 to move to the designated positions in the free space, respectively, the first driving motor 101 or the second driving motor 301 is operated, and the second driving motor 301 is in a stationary locked state. When the first driving motor 101 rotates clockwise, the transmission gear 104 rotates clockwise, the internal gear 803 meshed with the transmission gear 104 rotates counterclockwise, and the first link 2 generates a counterclockwise rotational motion to rotate to a designated position. When the third driving motor 7 rotates counterclockwise, the second link 5 is rotated counterclockwise, thereby rotating to a designated position.
In an exemplary embodiment, when the outputs of the first link 2 and the second link 5 require force control, the first driving motor 101, the second driving motor 301, and the third driving motor 7 perform drive control in common. When the first driving motor 101 and the second driving motor 301 rotate clockwise, the first link 2 and the second link 5 are driven to rotate clockwise, and the external gear 805 is driven to perform rotation and revolution motions, so that the motion of the pin disc 801 is subjected to the coupling action of the first link 2 and the second link 5. When the third driving motor 7 drives the pin shaft disk 801 to rotate, the external gear 805 is driven to do a rotation action, and the moment applied to the external gear 805 acts on the rotation eccentric shaft 804 and the internal gear 803, and the rotation eccentric shaft 804 and the internal gear 803 transmit the moment to the first connecting rod 2 and the second connecting rod 5 through gear meshing, so that the output control of the first connecting rod 2 and the second connecting rod 5 is realized. When the output torque of the third drive motor 7 changes, the output torque of the first link 2 will change accordingly, and the torque of the third drive motor 7 can be transmitted to the internal gear 803 through the external gear 805 meshed with both the eccentric rotation shaft 804 and the internal teeth of the internal gear 803, thereby affecting the output torque of the first link 2. Conversely, the output torque of the first driving motor 101 changes, which affects the output torque of the first link 2 and the second link 5 at the same time.
In the embodiment, through the planetary gear transmission assembly 8 with small tooth difference, the simultaneous driving of the foot-type robot double joints is realized, the rigid connection of the robot joints from the first driving belt motor, the second driving motor 301, the third driving motor 7 and the joint arm is changed into the flexible connection formed by the first transmission assembly 103 to the fourth transmission assembly 6, the pose control and the output control of the robot joints are realized, the motion characteristics of the foot-type robot joints are optimized, and the cost and the complexity of a control system are reduced.
Since some of the contents of the foot robot joint driving method have already been described in the foot robot joint driving apparatus, the method will not be described in detail here.
It should be noted that the order of the reference numerals of steps S1-S3 in the method does not limit the order of the steps.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
Claims (7)
1. A foot robot joint driving device, comprising: the device comprises a shell, a first joint driving mechanism, a second joint driving mechanism, an adjusting mechanism, a first connecting rod and a second connecting rod, wherein the first joint driving mechanism, the second joint driving mechanism, the adjusting mechanism, the first connecting rod and the second connecting rod are arranged on the shell, the adjusting mechanism is respectively coupled with the output end of the first joint driving mechanism and the output end of the second joint driving mechanism, the output end of the first joint driving mechanism is connected with the first connecting rod, the output end of the second joint driving mechanism is connected with a linkage assembly for enabling the second connecting rod to act along with the first connecting rod, the linkage assembly is rotatably arranged on the first connecting rod, the second connecting rod is arranged on the linkage assembly, and the first connecting rod and the second connecting rod are respectively connected with a foot-type robot joint arm;
the first joint driving mechanism comprises a first driving motor and a first rotating shaft for driving the first connecting rod to rotate, the output end of the first driving motor is fixedly connected with the first rotating shaft, and the first rotating shaft can be rotatably arranged on the shell along the axis of the first rotating shaft;
the second joint driving mechanism comprises a second driving motor and a second rotating shaft for driving the linkage assembly to act, the output end of the second driving motor is fixedly connected with the second rotating shaft, and the second rotating shaft can be rotatably arranged on the shell along the axis of the second rotating shaft;
the linkage assembly comprises a third rotating shaft and a fourth rotating shaft, a first transmission assembly for driving a first connecting rod to act is arranged between the first rotating shaft and the third rotating shaft, the first connecting rod is fixedly arranged on the first transmission assembly, a second transmission assembly for enabling the third rotating shaft to rotate along with the second rotating shaft is arranged between the second rotating shaft and the third rotating shaft, and a third transmission assembly for enabling the adjusting mechanism to rotate along with the second rotating shaft is arranged between the second rotating shaft and the input end of the adjusting mechanism; a fourth transmission assembly for enabling the fourth rotating shaft to rotate along with the third rotating shaft is arranged between the third rotating shaft and the fourth rotating shaft, and the second connecting rod is fixedly arranged on the fourth rotating shaft.
2. The foot robot joint driving device according to claim 1, wherein the first transmission assembly, the second transmission assembly, the third transmission assembly and the fourth transmission assembly each include a driving wheel, a driven wheel, and a belt for rotating the driven wheel with the driving wheel.
3. The foot robot joint driving device according to claim 2, wherein the driving wheel of the first transmission assembly is sleeved on the first rotating shaft, and the driving wheel of the first transmission assembly is fixed with the first rotating shaft; the driven wheel of the first transmission assembly is sleeved on the third rotating shaft, and the driven wheel of the first transmission assembly can rotate relative to the third rotating shaft; one end of the first connecting rod is fixed with the driven wheel of the first transmission assembly, and the other end of the first connecting rod is sleeved on the fourth rotating shaft.
4. The foot robot joint driving device according to claim 3, wherein the driving wheel of the second transmission assembly is sleeved on the second rotating shaft, the driving wheel of the second transmission assembly is fixed with the second rotating shaft, the driven wheel of the second transmission assembly is sleeved on the third rotating shaft, and the driven wheel of the second transmission assembly can rotate relative to the third rotating shaft.
5. The foot robot joint driving device according to claim 4, wherein a driving wheel of the third transmission assembly is sleeved on the second rotating shaft, the driving wheel of the third transmission assembly is fixed with the second rotating shaft, and a driven wheel of the third transmission assembly is connected with an input end of the adjusting mechanism; the driving wheel of the fourth transmission assembly is sleeved on the third rotating shaft, the driving wheel of the fourth transmission assembly is fixed with the third rotating shaft, the driven wheel of the fourth transmission assembly is sleeved on the fourth rotating shaft, and the driven wheel of the fourth transmission assembly is fixed with the fourth rotating shaft.
6. The foot robot joint driving device according to claim 2, wherein the adjusting mechanism comprises a third driving motor and a small-tooth-difference planetary gear transmission assembly, the small-tooth-difference planetary gear transmission assembly comprises a pin shaft disc, an external gear, an internal gear, a revolution shaft and a rotation eccentric shaft driven by the second joint driving mechanism, pin shafts are arranged on the pin shaft disc, pin holes are formed on the external gear corresponding to the pin shafts, at least two external gears are arranged, the centers of the two external gears are fixedly arranged on the rotation eccentric shaft respectively, the output end of the third driving motor is connected with the revolution shaft, the revolution shaft is connected with the pin shaft disc, the external gear is arranged in the internal gear, and the external gear is meshed with the internal gear; and a transmission gear is fixed on the first rotating shaft and meshed with an outer gear ring of the inner gear.
7. A foot robot joint driving method, characterized by being applied to the foot robot joint driving device according to any one of claims 1 to 6, comprising:
controlling the first joint driving mechanism to drive the first connecting rod to act so as to drive the second connecting rod to act through the first connecting rod;
controlling a second joint driving mechanism to drive a second connecting rod to act;
the control and adjustment mechanism is coupled with the output end of the first joint driving mechanism and the output end of the second joint driving mechanism so as to adjust the output force of the first connecting rod and the second connecting rod.
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| CN202211119053.6A CN115303382B (en) | 2022-09-13 | 2022-09-13 | Foot type robot joint driving device and method |
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| CN202211119053.6A CN115303382B (en) | 2022-09-13 | 2022-09-13 | Foot type robot joint driving device and method |
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| CN115303382A CN115303382A (en) | 2022-11-08 |
| CN115303382B true CN115303382B (en) | 2024-02-06 |
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| JP2008200813A (en) * | 2007-02-21 | 2008-09-04 | Kyoto Univ | Bipedal walking robot |
| CN103419195A (en) * | 2012-05-21 | 2013-12-04 | 库卡罗伯特有限公司 | Industrial robot with drives that extend into a manual base housing |
| CN105835083A (en) * | 2016-05-27 | 2016-08-10 | 清华大学 | Flexible part parallel-clamping and coupling switchover self-adaptive robot finger device |
| CN109176597A (en) * | 2018-11-19 | 2019-01-11 | 西安交通大学 | A kind of ectoskeleton dynamic knee joint structure |
| CN209111108U (en) * | 2018-11-27 | 2019-07-16 | 上海原能细胞生物低温设备有限公司 | A kind of rotation hoisting type mechanical arm |
| CN111516002A (en) * | 2020-06-23 | 2020-08-11 | 北京哈崎机器人科技有限公司 | Joint unit and joint module of robot and foot type robot with joint unit and joint module |
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