CN117262067A - Hip joint structure, leg structure and six-degree-of-freedom low-inertia robot bionic leg - Google Patents
Hip joint structure, leg structure and six-degree-of-freedom low-inertia robot bionic leg Download PDFInfo
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- 210000004394 hip joint Anatomy 0.000 title claims abstract description 105
- 210000002414 leg Anatomy 0.000 title claims abstract description 97
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 23
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 210
- 210000000689 upper leg Anatomy 0.000 claims abstract description 124
- 210000000629 knee joint Anatomy 0.000 claims abstract description 114
- 210000003423 ankle Anatomy 0.000 claims abstract description 79
- 244000309466 calf Species 0.000 claims abstract description 73
- 210000002683 foot Anatomy 0.000 claims abstract description 63
- 210000003127 knee Anatomy 0.000 claims description 7
- 210000001624 hip Anatomy 0.000 claims description 5
- 238000013461 design Methods 0.000 abstract description 14
- 230000009471 action Effects 0.000 abstract description 11
- 210000001503 joint Anatomy 0.000 description 16
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 238000005452 bending Methods 0.000 description 4
- 230000001808 coupling effect Effects 0.000 description 3
- 210000005069 ears Anatomy 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000037078 sports performance Effects 0.000 description 2
- 210000003371 toe Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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Abstract
髋关节结构、腿部结构及六自由度低惯量的机器人仿生腿，属于仿生腿。为了解决现有的人形仿生腿无法同时实现多自由度、布局紧凑、轻量化及低惯量的目的。本发明包括髋关节结构和腿部结构；腿部结构包括大腿、膝关节连接轴、小腿、踝关节万向节组件、脚部、膝关节曲柄摇杆驱动组件和踝关节曲柄摇杆驱动组件；大腿与小腿转动连接，小腿通过踝关节万向节组件与脚部转动连接；膝关节曲柄摇杆驱动组件的固定端安装在大腿上，驱动端铰连接在小腿上，并驱动小腿进行前后摆动，实现小腿的俯仰动作；踝关节曲柄摇杆驱动组件的固定端安装在大腿上，驱动端连接在踝关节万向节组件上，用以实现脚部的俯仰动作和侧摆动作。本发明主要用于机器人腿部的设计。
The hip joint structure, leg structure and six-degree-of-freedom low-inertia robot bionic legs are bionic legs. In order to solve the problem that existing humanoid bionic legs cannot simultaneously achieve the goals of multiple degrees of freedom, compact layout, lightweight and low inertia. The invention includes a hip joint structure and a leg structure; the leg structure includes a thigh, a knee joint connecting shaft, a calf, an ankle joint universal joint assembly, a foot, a knee joint crank rocker driving assembly and an ankle joint crank rocker driving assembly; The thigh and calf are rotationally connected, and the calf is rotationally connected to the foot through the ankle joint universal joint assembly; the fixed end of the knee joint crank rocker drive assembly is installed on the thigh, and the driving end is hingedly connected to the calf and drives the calf to swing forward and backward. To realize the pitching action of the calf; the fixed end of the ankle crank rocker driving assembly is installed on the thigh, and the driving end is connected to the ankle universal joint assembly to realize the pitching action and side swinging action of the foot. The invention is mainly used for the design of robot legs.
Description
技术领域Technical field
本发明涉及一种腿部结构，尤其涉及一种髋关节结构、腿部结构及具有六自由度、低惯量的机器人仿生腿。The invention relates to a leg structure, in particular to a hip joint structure, a leg structure and a robot bionic leg with six degrees of freedom and low inertia.
背景技术Background technique
曾经，人形机器人作为影视作品中的形象给人以无限想象，科技迅猛发展的当今世界，这种想象正在逐步成为现实。当今世界，各国都在积极地进行人形机器人技术的研究，目前人形机器人技术已经获得了许多可喜的研究成果，但人形机器人腿部作为机器人运动的重要部分仍存在许多方面的问题亟待解决。In the past, humanoid robots as images in film and television works gave people unlimited imagination. In today's world with the rapid development of science and technology, this imagination is gradually becoming a reality. In today's world, all countries are actively conducting research on humanoid robot technology. Currently, humanoid robot technology has achieved many gratifying research results. However, humanoid robot legs, as an important part of robot movement, still have many problems that need to be solved.
人形机器人的腿部结构包括大腿、膝关节、小腿、踝关节和足部，为了实现膝关节与踝关节的弯曲，一般将关节的驱动部件安装在对应的关节的位置处，或者将用于驱动踝关节的驱动器置于小腿或者膝关节处，这就导致小腿惯量增加。例如中国专利“CN111846008A”公开了“一种具有变刚度踝关节的双足机器人”，驱动部件包括电机和齿轮副等，通过电机与齿轮副的配合来实现关节处的弯曲。但是此种方式的设计，导致关节处的质量大，无法实现小腿及脚部的轻量化运动，且对腿部的多自由度运动产生限制。The leg structure of a humanoid robot includes thighs, knee joints, calves, ankle joints and feet. In order to achieve the bending of knee joints and ankle joints, the driving components of the joints are generally installed at the corresponding joint positions, or used to drive The driver of the ankle joint is placed at the calf or knee joint, which results in an increase in calf inertia. For example, Chinese patent "CN111846008A" discloses "a bipedal robot with variable stiffness ankle joints". The driving components include motors and gear pairs, and the bending of the joints is achieved through the cooperation of the motor and the gear pair. However, this type of design results in a large mass at the joints, which makes it impossible to achieve lightweight movement of the lower legs and feet, and limits the multi-degree of freedom movement of the legs.
同时，为了使人形机器人具有更高的跳跃姿态，还需要配备大力矩与高转速的执行器；为了达到更好地效果，腿部也应轻量化设计，这就需要腿部部件布局紧凑；但是由于腿部关节运动范围较大，紧凑布局较难实现，进而导致外观不够“拟人”。At the same time, in order to make the humanoid robot have a higher jumping posture, it also needs to be equipped with actuators with high torque and high speed; in order to achieve better effects, the legs should also be designed to be lightweight, which requires a compact layout of the leg parts; however, Due to the large range of motion of the leg joints, a compact layout is difficult to achieve, resulting in a less "anthropomorphic" appearance.
发明内容Contents of the invention
本发明为解决上述技术问题，提供一种髋关节结构、腿部结构及具有六自由度、低惯量的机器人仿生腿。In order to solve the above technical problems, the present invention provides a hip joint structure, a leg structure and a robot bionic leg with six degrees of freedom and low inertia.
本发明为解决上述技术问题采用的技术方案是：The technical solutions adopted by the present invention to solve the above technical problems are:
一种三自由度的髋关节结构，包括机身连接件、髋关节万向节、大腿连接件、两个推杆伸缩件和髋关节俯仰电机；所述的髋关节万向节包括有y轴方向的销轴和z轴方向的销轴，所述的机身连接件连接到髋关节万向节中y轴方向的销轴的两端，并绕髋关节万向节中y轴方向的销轴进行旋转；所述髋关节万向节中z轴方向的销轴的两端分别安装在大腿连接件上，大腿连接件绕髋关节万向节中z轴方向的销轴进行旋转；两个所述的推杆伸缩件分别设置在机身连接件的前后两侧，推杆伸缩件的连接端通过球轴承连接在机身连接件上，推杆伸缩件的伸出端通过球轴承连接在大腿连接件上，推杆伸缩件和大腿连接件的连接点与推杆伸缩件和机身连接件的连接点分别处于髋关节万向节中z轴方向的销轴的两侧；髋关节俯仰电机输出轴的轴线方向与x轴方向平行，髋关节俯仰电机的输出端与腿部结构的端部固定连接，驱动腿部结构绕髋关节俯仰电机输出轴的轴线方向进行旋转。A hip joint structure with three degrees of freedom, including a fuselage connector, a hip joint universal joint, a thigh connector, two push rod telescopic components and a hip joint pitch motor; the hip joint universal joint includes a y-axis The pin in the direction of the hip joint and the pin in the z-axis direction. The fuselage connector is connected to both ends of the pin in the y-axis direction of the hip joint universal joint and surrounds the pin in the y-axis direction of the hip joint universal joint. The axis rotates; the two ends of the pin in the z-axis direction of the hip joint universal joint are respectively installed on the thigh connector, and the thigh connector rotates around the pin in the z-axis direction of the hip joint universal joint; two The push rod telescopic parts are respectively arranged on the front and rear sides of the fuselage connector. The connecting end of the push rod telescopic parts is connected to the fuselage connector through ball bearings. The extended end of the push rod telescopic parts is connected to the fuselage connector through ball bearings. On the thigh connecting piece, the connection point of the push rod telescopic part and the thigh connecting part and the connection point of the push rod telescopic part and the fuselage connecting part are respectively on both sides of the pin in the z-axis direction of the hip joint universal joint; hip joint pitch The axis direction of the motor output shaft is parallel to the x-axis direction. The output end of the hip joint pitch motor is fixedly connected to the end of the leg structure, driving the leg structure to rotate around the axis direction of the hip joint pitch motor output shaft.
一种三自由度的腿部结构，包括大腿、膝关节连接轴、小腿、踝关节万向节组件、脚部、膝关节曲柄摇杆驱动组件和踝关节曲柄摇杆驱动组件；所述大腿的下端与小腿的上端通过膝关节连接轴转动连接，小腿的下端通过踝关节万向节组件与脚部转动连接；膝关节曲柄摇杆驱动组件的固定端安装在大腿的上端，膝关节曲柄摇杆驱动组件的驱动端铰连接在小腿的上端，并驱动小腿绕膝关节连接轴的轴线方向进行前后摆动，实现小腿的俯仰动作；所述的踝关节曲柄摇杆驱动组件的固定端安装在大腿的中间部位，踝关节曲柄摇杆驱动组件的驱动端连接在踝关节万向节组件上，用以实现脚部的俯仰动作和侧摆动作；A three-degree-of-freedom leg structure, including a thigh, a knee joint connecting shaft, a calf, an ankle joint universal joint assembly, a foot, a knee joint crank rocker drive assembly and an ankle crank rocker drive assembly; the thigh The lower end and the upper end of the calf are rotationally connected through the knee joint connecting shaft, and the lower end of the calf is rotationally connected to the foot through the ankle joint universal joint assembly; the fixed end of the knee crank rocker drive assembly is installed on the upper end of the thigh, and the knee crank rocker The driving end of the driving assembly is hingedly connected to the upper end of the calf, and drives the calf to swing back and forth around the axis of the knee joint connection axis to realize the pitching motion of the calf; the fixed end of the ankle crank rocker driving assembly is installed on the thigh. In the middle part, the driving end of the ankle crank rocker drive assembly is connected to the ankle universal joint assembly to realize the pitching and side swinging movements of the foot;
所述的踝关节万向节组件包括踝关节万向节和踝关节安装座，所述的踝关节万向节包括x轴方向的销轴和z轴方向的销轴，所述小腿的下端连接在踝关节万向节中x轴方向的销轴的两端，并绕踝关节万向节中x轴方向的销轴进行旋转；所述的踝关节安装座固定安装在脚部的脚面上，踝关节万向节中z轴方向的销轴的两端分别转动安装在踝关节安装座上，踝关节安装座及脚部绕踝关节万向节中z轴方向的销轴进行旋转；所述踝关节安装座上靠近脚部后跟的位置处设置有一根沿x轴方向布置的连接轴；The ankle joint universal joint assembly includes an ankle joint universal joint and an ankle joint mounting base. The ankle joint universal joint includes a pin in the x-axis direction and a pin in the z-axis direction. The lower end of the calf is connected to The two ends of the pin in the x-axis direction of the ankle joint universal joint rotate around the pin in the x-axis direction of the ankle joint universal joint; the ankle joint mounting seat is fixedly installed on the instep of the foot, The two ends of the pin in the z-axis direction of the ankle joint universal joint are respectively rotatably mounted on the ankle joint mounting base, and the ankle joint mounting base and the foot rotate around the pin in the z-axis direction of the ankle joint universal joint; A connecting shaft arranged along the x-axis direction is provided on the ankle joint mounting base near the heel of the foot;
所述的踝关节曲柄摇杆驱动组件包括两个相对设置在大腿与小腿两侧的踝关节驱动单元，每个踝关节驱动单元包括依次连接的踝关节驱动电机、踝关节曲柄、踝关节一级连杆、踝关节三角板和踝关节二级连杆，所述的踝关节驱动电机安装在大腿上，踝关节曲柄的一端固定连接在踝关节驱动电机的驱动端，踝关节曲柄的另一端与踝关节一级连杆的一端铰连接，踝关节一级连杆的另一端铰连接在踝关节三角板的顶角一处，踝关节三角板的顶角二与膝关节连接轴的端部铰连接，踝关节三角板的顶角三与踝关节二级连杆的一端通过球轴承铰连接，踝关节二级连杆的另一端通过球轴承铰连接在踝关节安装座的连接轴上；其中，踝关节三角板的顶角一、顶角二与顶角三顺指针依次设置，且踝关节一级连杆与踝关节二级连杆分别处于踝关节三角板的两侧。The ankle crank rocker drive assembly includes two ankle drive units arranged oppositely on both sides of the thigh and calf. Each ankle drive unit includes an ankle drive motor, an ankle crank, and an ankle joint level connected in sequence. connecting rod, ankle triangular plate and ankle secondary connecting rod. The ankle joint drive motor is installed on the thigh. One end of the ankle joint crank is fixedly connected to the driving end of the ankle joint drive motor. The other end of the ankle joint crank is connected to the ankle joint. One end of the primary connecting rod of the joint is hingedly connected, the other end of the primary connecting rod of the ankle joint is hingedly connected to the top corner of the ankle triangular plate, the top corner of the ankle triangular plate is hingedly connected to the end of the knee joint connecting shaft, and the ankle joint is hinged. The top corner 3 of the joint triangle plate is hinged with one end of the secondary link of the ankle joint through a ball bearing, and the other end of the secondary link of the ankle joint is hingedly connected to the connecting shaft of the ankle joint mounting base through a ball bearing; among them, the ankle joint triangle plate The top angles 1, 2 and 3 are arranged in sequence along the pointers, and the ankle joint primary link and the ankle secondary link are respectively located on both sides of the ankle triangular plate.
一种六自由度、低惯量的机器人仿生腿，它包括髋关节结构和腿部结构；所述的腿部结构包括大腿、膝关节连接轴、小腿、踝关节万向节组件、脚部、膝关节曲柄摇杆驱动组件和踝关节曲柄摇杆驱动组件；所述大腿的下端与小腿的上端通过膝关节连接轴转动连接，小腿的下端通过踝关节万向节组件与脚部转动连接；膝关节曲柄摇杆驱动组件的固定端安装在大腿的上端，膝关节曲柄摇杆驱动组件的驱动端铰连接在小腿的上端，并驱动小腿绕膝关节连接轴的轴线方向进行前后摆动，实现小腿的俯仰动作；所述的踝关节曲柄摇杆驱动组件的固定端安装在大腿的中间部位，踝关节曲柄摇杆驱动组件的驱动端连接在踝关节万向节组件上，用以实现脚部的俯仰动作和侧摆动作；A six-degree-of-freedom, low-inertia robot bionic leg, which includes a hip joint structure and a leg structure; the leg structure includes a thigh, a knee joint connecting shaft, a calf, an ankle joint universal joint assembly, a foot, a knee Joint crank rocker drive assembly and ankle crank rocker drive assembly; the lower end of the thigh and the upper end of the calf are rotationally connected through the knee joint connecting shaft, and the lower end of the calf is rotationally connected with the foot through the ankle joint universal joint assembly; knee joint The fixed end of the crank rocker drive assembly is installed on the upper end of the thigh, and the drive end of the knee joint crank rocker drive assembly is hingedly connected to the upper end of the calf, and drives the calf to swing back and forth around the axis of the knee joint connection shaft to achieve the pitch of the calf. Action; the fixed end of the ankle crank rocker drive assembly is installed in the middle of the thigh, and the drive end of the ankle crank rocker drive assembly is connected to the ankle universal joint assembly to realize the pitching action of the foot. and side swing movements;
所述的髋关节结构包括机身连接件、髋关节万向节、大腿连接件、两个推杆伸缩件和髋关节俯仰电机；所述的髋关节万向节包括有y轴方向的销轴和z轴方向的销轴，所述的机身连接件连接到髋关节万向节中y轴方向的销轴的两端，并绕髋关节万向节中y轴方向的销轴进行旋转；所述髋关节万向节中z轴方向的销轴的两端分别安装在大腿连接件上，大腿连接件绕髋关节万向节中z轴方向的销轴进行旋转；两个所述的推杆伸缩件分别设置在机身连接件的前后两侧，推杆伸缩件的连接端通过球轴承连接在机身连接件上，推杆伸缩件的伸出端通过球轴承连接在大腿连接件上，推杆伸缩件和大腿连接件的连接点与推杆伸缩件和机身连接件的连接点分别处于髋关节万向节中z轴方向的销轴的两侧；髋关节俯仰电机输出轴的轴线方向与x轴方向平行，髋关节俯仰电机的输出端与大腿的端部固定连接，驱动大腿绕髋关节俯仰电机输出轴的轴线方向进行旋转。The hip joint structure includes a fuselage connector, a hip joint universal joint, a thigh connector, two push rod telescopic members and a hip joint pitch motor; the hip joint universal joint includes a pin in the y-axis direction. and a pin in the z-axis direction, the fuselage connector is connected to both ends of the pin in the y-axis direction of the hip joint universal joint, and rotates around the pin in the y-axis direction of the hip joint universal joint; The two ends of the pin in the z-axis direction of the hip joint universal joint are respectively installed on the thigh connector, and the thigh connector rotates around the pin in the z-axis direction of the hip joint universal joint; the two pushers The rod telescopic parts are respectively arranged on the front and rear sides of the fuselage connecting piece. The connecting end of the push rod telescopic part is connected to the fuselage connecting part through a ball bearing. The extended end of the push rod telescopic part is connected to the thigh connecting part through a ball bearing. , the connection point of the push rod telescopic part and the thigh connecting part and the connection point of the push rod telescopic part and the fuselage connecting part are respectively on both sides of the pin in the z-axis direction of the hip joint universal joint; the hip joint pitch motor output shaft The axis direction is parallel to the x-axis direction, and the output end of the hip joint pitch motor is fixedly connected to the end of the thigh, driving the thigh to rotate around the axis direction of the hip joint pitch motor output shaft.
本发明与现有技术相比产生的有益效果是：Compared with the prior art, the beneficial effects produced by the present invention are:
1、本申请通过两方面的设计使得腿部结构整体结构更加紧凑，外观更加“拟人”化。一是，结构上布局的设计：髋关节结构与腿部结构均为对称式设计，髋关节结构的中分面与腿部结构的中分面垂直设计，其中髋关节俯仰电机与膝关节俯仰电机对称布置在腿部结构中分面的两侧，两个踝关节驱动单元对称布置在腿部结构中分面的两侧，且处于髋关节俯仰电机与膝关节俯仰电机的下方，同时处于膝关节的上方，即整个腿部结构的驱动电机均对称布置于大腿上，充分利用了大腿的空间，小腿尺寸得以缩小，整体布局紧凑，外观更加“拟人”。二是，小腿部轻量化的设计，减小驱动装置的体积：将用于驱动踝关节的电机置于大腿上，小腿部分不安装任何机器人腿部的驱动元件，使机器人腿部的质量分布更加靠近大腿根部，减小了小腿部分的惯量，降低了小腿驱动装置的要求，进而减小驱动装置的体积，使布局更加紧凑，更加接近人类腿部外形，同时对实现更高的运动性能提供了可能；而用于驱动髋关节的电缸压缩了高度尺寸，更加“拟人”、美观。1. This application uses two aspects of design to make the overall structure of the leg structure more compact and the appearance more "anthropomorphic". First, the design of the structural layout: the hip joint structure and the leg structure are both symmetrical designs, and the mid-section plane of the hip joint structure is designed perpendicular to the mid-section plane of the leg structure. The hip joint pitch motor and the knee joint pitch motor are The two ankle joint drive units are symmetrically arranged on both sides of the middle plane of the leg structure, and are located below the hip joint pitch motor and knee joint pitch motor, and at the same time at the knee joint. Above, that is, the drive motors of the entire leg structure are symmetrically arranged on the thighs, making full use of the space in the thighs, reducing the size of the calves, making the overall layout compact, and the appearance more "anthropomorphic". Second, the lightweight design of the lower leg reduces the size of the driving device: the motor used to drive the ankle joint is placed on the thigh, and no driving components of the robot leg are installed on the lower leg, which reduces the mass distribution of the robot leg. It is closer to the root of the thigh, which reduces the inertia of the calf and reduces the requirements for the calf drive device, thus reducing the size of the drive device, making the layout more compact and closer to the shape of the human leg, and at the same time providing higher sports performance. This makes it possible; and the electric cylinder used to drive the hip joint has reduced height and size, making it more "anthropomorphic" and beautiful.
2、本申请通过膝关节曲柄摇杆驱动组件的设计，使得小腿发生俯仰运动的同时，脚部可以一同抬起，并始终保持水平状态，而不会发生姿态的改变；通过踝关节曲柄摇杆驱动组件的设计，使得脚部可以实现俯仰运动或侧摆运动，同时不会影响小腿的位置与运动姿态。2. This application uses the design of the knee joint crank rocker drive component so that while the lower leg undergoes pitching motion, the foot can be lifted together and always maintained in a horizontal state without any change in posture; through the ankle joint crank rocker The design of the drive component allows the foot to achieve pitching or sideways motion without affecting the position and movement posture of the calf.
附图说明Description of the drawings
附图作为本申请的一部分，用来提供对本发明的进一步的理解。The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention.
图1为本发明实施例3仿生腿的轴侧图一。Figure 1 is a axial view of a bionic leg according to Embodiment 3 of the present invention.
图2为本发明实施例2腿部结构中膝关节处的局部放大图。Figure 2 is a partial enlarged view of the knee joint in the leg structure according to Embodiment 2 of the present invention.
图3为本发明实施例3仿生腿的左视图。Figure 3 is a left side view of the bionic leg according to Embodiment 3 of the present invention.
图4为本发明实施例2腿部结构的右视图。Figure 4 is a right view of the leg structure in Embodiment 2 of the present invention.
图5为本发明实施例3仿生腿的主视三维建模图。Figure 5 is a front view three-dimensional modeling diagram of the bionic leg in Embodiment 3 of the present invention.
图6为本发明实施例3仿生腿的主视线条图。Figure 6 is a main line view of the bionic leg according to Embodiment 3 of the present invention.
图7为本发明实施例1髋关节结构的轴侧图。Figure 7 is an axial view of the hip joint structure in Embodiment 1 of the present invention.
图8为本发明实施例3仿生腿弯曲状态的结构示意图。Figure 8 is a schematic structural diagram of the bent state of the bionic leg in Embodiment 3 of the present invention.
图9为本发明实施例3仿生腿弯曲状态的轴侧图。Figure 9 is a side view of the bionic leg in a bent state according to Embodiment 3 of the present invention.
图10为本发明实施例1髋关节结构偏摆状态的三维建模图。Figure 10 is a three-dimensional modeling diagram of the deflection state of the hip joint structure in Embodiment 1 of the present invention.
图11为本发明实施例1髋关节结构偏摆状态的线条图。Figure 11 is a line diagram of the deflection state of the hip joint structure in Embodiment 1 of the present invention.
图12为本发明实施例3仿生腿侧摆状态的三维建模图。Figure 12 is a three-dimensional modeling diagram of the side swing state of the bionic leg in Embodiment 3 of the present invention.
图13为本发明实施例3仿生腿侧摆状态的线条图。Figure 13 is a line diagram of the side swing state of the bionic leg in Embodiment 3 of the present invention.
附图标记说明：A-髋关节结构；B-腿部结构；1-机身连接件；1-1-连接耳；2-髋关节万向节；2-1-销轴一；2-2-销轴二；3-大腿连接件；3-1-安装座；3-2-第二连接耳；4-推杆伸缩件；5-髋关节俯仰电机；6-大腿；6-1-豁口；6-2-连接环；6-3-连接板；7-膝关节连接轴；8-小腿；9-踝关节万向节组件；9-1-踝关节万向节；9-1-1-销轴三；9-1-2-销轴四；9-2-踝关节安装座；9-2-1-连接轴；10-脚部；11-膝关节曲柄摇杆驱动组件；11-1-膝关节俯仰电机；11-2-膝关节曲柄；11-3-膝关节运动连杆；12-踝关节曲柄摇杆驱动组件；12-1-踝关节驱动电机；12-2-踝关节曲柄；12-3-踝关节一级连杆；12-4-踝关节三角板；12-4-1-顶角一；12-4-2-顶角二；12-4-3-顶角三；12-5-踝关节二级连杆。Explanation of reference signs: A-hip joint structure; B-leg structure; 1-fuselage connector; 1-1-connecting ear; 2-hip joint universal joint; 2-1-pin one; 2-2 -Pin two; 3-Thigh connector; 3-1-Mounting seat; 3-2-Second connecting ear; 4-Push rod telescopic part; 5-Hip joint pitch motor; 6-Thigh; 6-1-Gap ; 6-2-Connecting ring; 6-3-Connecting plate; 7-Knee joint connecting shaft; 8-Calf; 9-Ankle joint universal joint component; 9-1-Ankle joint universal joint; 9-1-1 -Pin three; 9-1-2-Pin four; 9-2-ankle joint mounting base; 9-2-1-connecting shaft; 10-foot; 11-knee joint crank rocker drive assembly; 11- 1-Knee joint pitch motor; 11-2-Knee joint crank; 11-3-Knee joint motion connecting rod; 12-Ankle joint crank rocker drive component; 12-1-Ankle joint drive motor; 12-2-Ankle joint Crank; 12-3-ankle joint primary connecting rod; 12-4-ankle joint triangle; 12-4-1-top corner one; 12-4-2-top corner two; 12-4-3-top corner three ;12-5-Ankle joint secondary link.
具体实施方式Detailed ways
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对实施例中的技术方案进行清楚、完整地描述，以下实施例用于说明本发明，但不用来限制本发明的范围。In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following examples are used to illustrate the present invention. , but are not used to limit the scope of the present invention.
实施例1：Example 1:
本实施例为解决现有的髋关节结构无法实现多自由度的问题，进而提供一种三自由度的髋关节结构，参见图1至图13，所述的髋关节结构A用于腿部结构B与机器人身体部位的连接，并且可以实现腿部结构B三个方向的自由度，分别为腿部结构B的侧摆、偏航与俯仰。参见图1，所述的髋关节结构A包括机身连接件1、髋关节万向节2、大腿连接件3、两个推杆伸缩件4和髋关节俯仰电机5；所述的机身连接件1用于髋关节与机器人身体部位的连接，大腿连接件3用于髋关节与大腿的连接，髋关节万向节2用于机身连接件1与大腿连接件3的连接，同时在两个推杆伸缩件4的作用下实现大腿的侧摆与偏航动作，髋关节俯仰电机5安装在大腿连接件3上，并与大腿6的端部连接，用于实现大腿的俯仰动作。This embodiment solves the problem that the existing hip joint structure cannot achieve multiple degrees of freedom, and further provides a hip joint structure with three degrees of freedom. See Figures 1 to 13. The hip joint structure A is used for the leg structure. B is connected to the robot body part, and can realize the three degrees of freedom of the leg structure B, which are the side swing, yaw and pitch of the leg structure B respectively. Referring to Figure 1, the hip joint structure A includes a fuselage connector 1, a hip joint universal joint 2, a thigh connector 3, two push rod telescopic members 4 and a hip joint pitch motor 5; the fuselage connection Part 1 is used to connect the hip joint to the robot body part, thigh connecting part 3 is used to connect the hip joint to the thigh, and hip joint universal joint 2 is used to connect the body connecting part 1 to the thigh connecting part 3. The side swing and yaw movements of the thigh are realized under the action of a push rod telescopic part 4. The hip joint pitch motor 5 is installed on the thigh connector 3 and connected to the end of the thigh 6 to realize the pitching action of the thigh.
参见图7、图10、图11，所述的髋关节万向节2包括有两根垂直设置的销轴，分别为y轴方向的销轴一2-1和z轴方向的销轴二2-2，故髋关节万向节2具有两个自由度，分别为绕y轴方向旋转的一个自由度以及绕z轴方向旋转的一个自由度；所述机身连接件1的侧面设置有一个连接耳1-1，并朝向x轴方向进行延伸，连接耳1-1连接到髋关节万向节2中y轴方向的销轴一2-1的两端上，并可以绕销轴一2-1进行旋转；所述大腿连接件3的顶部设置有安装座3-1，髋关节万向节2中z轴方向的销轴二2-2的两端分别安装在安装座3-1的两个支架上，所述的大腿连接件3可以绕髋关节万向节2中z轴方向的销轴二2-2进行旋转；所述安装座3-1背向机身连接件1的一侧还偏心设置有两个第二连接耳3-2，两个第二连接耳3-2相对设置在安装座3-1中z轴方向的两端；两个所述的推杆伸缩件4分别设置在机身连接件1的前后两侧，推杆伸缩件4的连接端通过球轴承连接在机身连接件1上，推杆伸缩件4的伸出端通过球轴承连接在第二连接耳3-2上，推杆伸缩件4和大腿连接件3的连接点与推杆伸缩件4和机身连接件1的连接点分别处于髋关节万向节2中z轴方向的销轴二2-2的两侧；所述的髋关节俯仰电机5安装在大腿连接件3上，髋关节俯仰电机5输出轴的轴线方向与x轴方向平行，髋关节俯仰电机5的输出端与大腿6的端部固定连接，驱动大腿6绕x轴方向旋转。Referring to Figures 7, 10, and 11, the hip joint universal joint 2 includes two vertically arranged pins, namely pin 1 2-1 in the y-axis direction and pin 2 2 in the z-axis direction. -2, so the hip joint universal joint 2 has two degrees of freedom, one degree of freedom for rotation around the y-axis direction and one degree of freedom for rotation around the z-axis direction; the side of the fuselage connector 1 is provided with a The connecting lugs 1-1 extend toward the x-axis direction. The connecting lugs 1-1 are connected to both ends of the pin 2-1 in the y-axis direction of the hip joint joint 2 and can be wound around the pin 2-1. -1 to rotate; the top of the thigh connector 3 is provided with a mounting seat 3-1, and the two ends of the pin 2-2 in the z-axis direction of the hip joint joint 2 are respectively installed on the mounting seat 3-1 On the two brackets, the thigh connector 3 can rotate around the pin 2-2 in the z-axis direction of the hip joint 2; the mounting seat 3-1 faces away from one side of the fuselage connector 1. There are also two second connecting lugs 3-2 eccentrically provided on the side, and the two second connecting lugs 3-2 are arranged oppositely at both ends of the mounting base 3-1 in the z-axis direction; the two push rod telescopic parts 4 They are respectively arranged on the front and rear sides of the fuselage connector 1. The connecting end of the push rod telescopic member 4 is connected to the fuselage connector 1 through a ball bearing. The extended end of the push rod telescopic member 4 is connected to the second connection member through a ball bearing. On the ear 3-2, the connection point of the push rod telescopic part 4 and the thigh connecting part 3 and the connection point of the push rod telescopic part 4 and the fuselage connecting part 1 are respectively located at the pin two in the z-axis direction of the hip joint universal joint 2. Both sides of 2-2; the hip pitch motor 5 is installed on the thigh connector 3, the axis direction of the output shaft of the hip pitch motor 5 is parallel to the x-axis direction, and the output end of the hip pitch motor 5 is in contact with the thigh 6 The ends are fixedly connected to drive the thigh 6 to rotate around the x-axis direction.
进一步的，所述的推杆伸缩件4为电缸，以减小髋关节处的体积与质量。Furthermore, the push rod telescopic part 4 is an electric cylinder to reduce the volume and mass of the hip joint.
本实施例中，髋关节万向节2为髋关节结构A提供两个自由度，并在两个电缸的耦合作用下，实现腿部结构B的侧摆与偏航动作；髋关节俯仰电机5为髋关节结构A提供一个自由度，通过髋关节俯仰电机5的驱动，实现腿部结构B的俯仰动作。In this embodiment, the hip joint universal joint 2 provides two degrees of freedom for the hip joint structure A, and realizes the side swing and yaw movements of the leg structure B under the coupling effect of the two electric cylinders; the hip joint pitch motor 5 provides a degree of freedom for the hip joint structure A, and is driven by the hip joint pitch motor 5 to realize the pitching action of the leg structure B.
实施例2：Example 2:
本实施例为解决现有的腿部结构无法实现多自由度、惯量大且整体结构尺寸较大的问题，进而提供一种三自由度、低惯量的腿部结构，参见图1、图2、图3、图4、图5、图6、图8、图9、图12、图13，其包括大腿6、膝关节连接轴7、小腿8、踝关节万向节组件9、脚部10、膝关节曲柄摇杆驱动组件11和踝关节曲柄摇杆驱动组件12；所述大腿6的下端与小腿8的上端通过膝关节连接轴7转动连接，小腿8的下端通过踝关节万向节组件9与脚部10转动连接；膝关节曲柄摇杆驱动组件11的固定端安装在大腿6的上端，膝关节曲柄摇杆驱动组件11的驱动端铰连接在小腿8的上端，并驱动小腿8绕膝关节连接轴7的轴线方向进行前后摆动，实现小腿8的俯仰动作；所述的踝关节曲柄摇杆驱动组件12的固定端安装在大腿6的中间部位，踝关节曲柄摇杆驱动组件12的驱动端连接在踝关节万向节组件9上，用以实现脚部的俯仰动作和侧摆动作。This embodiment solves the problem that the existing leg structure cannot achieve multiple degrees of freedom, large inertia, and large overall structural size, and further provides a three-degree-of-freedom, low-inertia leg structure. See Figures 1 and 2. Figure 3, Figure 4, Figure 5, Figure 6, Figure 8, Figure 9, Figure 12, Figure 13, which includes thigh 6, knee joint connecting shaft 7, calf 8, ankle universal joint assembly 9, foot 10, Knee joint crank rocker drive assembly 11 and ankle joint crank rocker drive assembly 12; the lower end of the thigh 6 and the upper end of the calf 8 are rotationally connected through the knee joint connecting shaft 7, and the lower end of the calf 8 passes through the ankle joint universal joint assembly 9 Rotally connected to the foot 10; the fixed end of the knee joint crank rocker driving assembly 11 is installed on the upper end of the thigh 6, the driving end of the knee joint crank rocker driving assembly 11 is hingedly connected to the upper end of the calf 8, and drives the calf 8 around the knee The axis direction of the joint connecting shaft 7 swings back and forth to realize the pitching movement of the lower leg 8; the fixed end of the ankle crank rocker drive assembly 12 is installed in the middle of the thigh 6, and the ankle crank rocker drive assembly 12 is driven by The end is connected to the ankle universal joint assembly 9 to realize the pitching movement and side swinging movement of the foot.
参见图4和图6，所述的大腿6为空心壳体结构，大腿6的下端开有前后贯通的豁口6-1，且豁口6-1的左右两侧分别设置有一个连接环6-2，所述小腿8的上端插在大腿6下端的豁口6-1中，且与大腿6分别通过转动轴承套装在沿x轴方向设置的膝关节连接轴7上，所述的豁口6-1为小腿8的旋转提供活动空间；所述大腿6中间位置的左右两侧各设置一个连接板6-3，踝关节曲柄摇杆驱动组件12的固定端安装在两个连接板6-3上。Referring to Figures 4 and 6, the thigh 6 is a hollow shell structure. The lower end of the thigh 6 has a gap 6-1 that runs from front to back, and a connecting ring 6-2 is provided on the left and right sides of the gap 6-1. , the upper end of the calf 8 is inserted into the gap 6-1 at the lower end of the thigh 6, and the lower leg 8 and the thigh 6 are respectively sleeved on the knee joint connecting shaft 7 provided along the x-axis direction through rotating bearings. The gap 6-1 is The rotation of the lower leg 8 provides space for movement; a connecting plate 6-3 is provided on the left and right sides of the middle position of the thigh 6, and the fixed end of the ankle crank rocker driving assembly 12 is installed on the two connecting plates 6-3.
参见图7、图10和图11，所述的踝关节万向节组件9包括踝关节万向节9-1和踝关节安装座9-2，所述的踝关节万向节9-1包括有两根垂直设置的销轴，分别为x轴方向的销轴三9-1-1和z轴方向的销轴四9-1-2，故踝关节万向节9-1具有两个自由度，分别为绕x轴方向旋转的一个自由度以及绕z轴方向旋转的一个自由度；所述小腿8的下端连接在踝关节万向节9-1中x轴方向的销轴三9-1-1的两端，并可绕销轴三9-1-1进行旋转；所述的踝关节安装座9-2固定安装在脚部10的脚面上，踝关节万向节9-1中z轴方向的销轴四9-1-2的两端分别转动安装在踝关节安装座9-2上，踝关节安装座9-2及脚部10可绕销轴四9-1-2进行旋转；所述踝关节安装座9-2上靠近脚部10后跟的位置处设置有一根沿x轴方向布置的连接轴9-2-1，膝关节曲柄摇杆驱动组件11的驱动端转动连接在连接轴9-2-1上。Referring to Figures 7, 10 and 11, the ankle universal joint assembly 9 includes an ankle universal joint 9-1 and an ankle joint mounting base 9-2. The ankle universal joint 9-1 includes There are two vertically arranged pins, namely pin three 9-1-1 in the x-axis direction and pin four 9-1-2 in the z-axis direction. Therefore, the ankle joint universal joint 9-1 has two free joints. The degrees are respectively one degree of freedom for rotation around the x-axis direction and one degree of freedom for rotation around the z-axis direction; the lower end of the lower leg 8 is connected to the pin 3 9- in the x-axis direction of the ankle joint 9-1. 1-1 at both ends, and can rotate around the pin 3 9-1-1; the ankle joint mounting base 9-2 is fixedly installed on the instep of the foot 10, and the ankle joint universal joint 9-1 The two ends of the pin 9-1-2 in the z-axis direction are respectively rotatably installed on the ankle joint mounting base 9-2. The ankle joint mounting base 9-2 and the foot 10 can be rotated around the pin 4 9-1-2. Rotation; the ankle joint mounting base 9-2 is provided with a connecting shaft 9-2-1 arranged along the x-axis direction near the heel of the foot 10, and the driving end of the knee joint crank rocker driving assembly 11 is rotationally connected On connecting shaft 9-2-1.
参见图4，所述的膝关节曲柄摇杆驱动组件11包括膝关节俯仰电机11-1、膝关节曲柄11-2和膝关节运动连杆11-3；所述的膝关节俯仰电机11-1与髋关节俯仰电机5同轴设置，膝关节俯仰电机11-1的输出端与膝关节曲柄11-2的一端固定连接，膝关节曲柄11-2的另一端与膝关节运动连杆11-3的一端铰连接，膝关节运动连杆11-3的另一端与小腿8顶部的连接耳铰连接。Referring to Figure 4, the knee joint crank rocker driving assembly 11 includes a knee joint pitch motor 11-1, a knee joint crank 11-2 and a knee joint motion connecting rod 11-3; the knee joint pitch motor 11-1 It is coaxially arranged with the hip joint pitch motor 5. The output end of the knee joint pitch motor 11-1 is fixedly connected to one end of the knee joint crank 11-2, and the other end of the knee joint crank 11-2 is connected to the knee joint motion connecting rod 11-3. One end of the knee joint movement link 11-3 is hingedly connected, and the other end of the knee joint movement link 11-3 is hingedly connected with the connecting ear at the top of the calf 8.
进一步的，所述的膝关节运动连杆11-3包括连杆一和连杆二，连杆一的一端铰连接在膝关节曲柄11-2的端部，连杆一的另一端与连杆二的一端铰连接，连杆二的另一端与小腿8顶部的连接耳铰连接。Further, the knee joint motion link 11-3 includes a connecting rod 1 and a connecting rod 2. One end of the connecting rod 1 is hingedly connected to the end of the knee joint crank 11-2, and the other end of the connecting rod 1 is connected to the connecting rod 11-2. One end of the connecting rod 2 is hingedly connected, and the other end of the connecting rod 2 is hingedly connected with the connecting ear at the top of the lower leg 8 .
更进一步的，所述的连杆二与小腿8的连接端为弯曲状，以实现腿部的最大弯曲程度。Furthermore, the connecting end of the connecting rod 2 and the lower leg 8 is curved to achieve the maximum bending degree of the leg.
参见图6，所述的踝关节曲柄摇杆驱动组件12包括两个相对设置在大腿6与小腿8两侧的踝关节驱动单元，每个踝关节驱动单元包括依次连接的踝关节驱动电机12-1、踝关节曲柄12-2、踝关节一级连杆12-3、踝关节三角板12-4和踝关节二级连杆12-5，所述的踝关节驱动电机12-1安装在大腿6侧面的连接板6-3上，踝关节曲柄12-2的一端固定连接在踝关节驱动电机12-1的驱动端，踝关节曲柄12-2的另一端与踝关节一级连杆12-3的一端铰连接，踝关节一级连杆12-3的另一端铰连接在踝关节三角板12-4的顶角一12-4-1处，踝关节三角板12-4的顶角二12-4-2与膝关节连接轴7的端部铰连接，踝关节三角板12-4的顶角三12-4-3与踝关节二级连杆12-5的一端通过球轴承铰连接，踝关节二级连杆12-5的另一端通过球轴承铰连接在踝关节安装座9-2的连接轴9-2-1上；其中，踝关节三角板12-4的顶角一12-4-1、顶角二12-4-2与顶角三12-4-3顺指针依次设置，且踝关节一级连杆12-3与踝关节二级连杆12-5分别处于踝关节三角板12-4的两侧；所述的踝关节曲柄12-2、踝关节一级连杆12-3、踝关节三角板12-4的顶角一12-4-1与顶角二12-4-2之间的边以及膝关节连接轴7与踝关节驱动电机12-1之间的连线构成一个上平行四边形结构；所述的踝关节三角板12-4的顶角二12-4-2与顶角三12-4-3之间的边、踝关节二级连杆12-5、连接轴9-2-1与踝关节万向节9-1中x轴方向的销轴的连线以及小腿8构成一个下平行四边形结构。Referring to Figure 6, the ankle crank rocker drive assembly 12 includes two ankle drive units disposed oppositely on both sides of the thigh 6 and calf 8. Each ankle drive unit includes an ankle drive motor 12- connected in sequence. 1. Ankle joint crank 12-2, ankle joint primary connecting rod 12-3, ankle joint triangular plate 12-4 and ankle joint secondary connecting rod 12-5. The ankle joint drive motor 12-1 is installed on the thigh 6 On the side connecting plate 6-3, one end of the ankle joint crank 12-2 is fixedly connected to the driving end of the ankle joint drive motor 12-1, and the other end of the ankle joint crank 12-2 is connected to the ankle joint primary connecting rod 12-3. One end of the ankle joint first-level connecting rod 12-3 is hingedly connected at the top corner 12-4-1 of the ankle joint triangle plate 12-4, and the top corner 12-4 of the ankle joint triangle plate 12-4 -2 is hingedly connected to the end of the knee joint connecting shaft 7, the top corner 12-4-3 of the ankle joint triangular plate 12-4 is hingedly connected to one end of the ankle joint secondary connecting rod 12-5 through a ball bearing, and the ankle joint 2 The other end of the stage connecting rod 12-5 is hingedly connected to the connecting shaft 9-2-1 of the ankle joint mounting base 9-2 through a ball bearing; wherein, the top corners of the ankle joint triangular plate 12-4 - 12-4-1, Vertex angle two 12-4-2 and vertex angle three 12-4-3 are arranged in sequence, and the ankle joint primary link 12-3 and the ankle secondary link 12-5 are respectively located at the ankle triangular plate 12-4 on both sides; between the top angle one 12-4-1 and the top angle two 12-4-2 of the ankle joint crank 12-2, the ankle joint primary connecting rod 12-3, and the ankle joint triangle plate 12-4 The sides and the connection between the knee joint connecting shaft 7 and the ankle joint drive motor 12-1 form an upper parallelogram structure; the top corner 2 12-4-2 and the top corner 3 of the ankle joint triangular plate 12-4 It consists of the edge between 12-4-3, the ankle secondary link 12-5, the connection between the connecting shaft 9-2-1 and the pin in the x-axis direction of the ankle universal joint 9-1, and the calf 8 A lower parallelogram structure.
本实施例中，膝关节曲柄摇杆驱动组件11和踝关节曲柄摇杆驱动组件12均对称安装在大腿6上，使得整个腿部结构紧凑，外观更加“拟人”。同时，由于小腿8上并不涉及驱动部件，使得小腿8上的重量较小，腿部惯量减小，驱动腿部的电机、电缸等装置需求进一步减小，同时尺寸和质量进一步降低，进而使腿部轻量化得以实现。In this embodiment, the knee crank and rocker driving assembly 11 and the ankle crank and rocker driving assembly 12 are both symmetrically installed on the thigh 6, making the entire leg structure compact and the appearance more "anthropomorphic". At the same time, since there are no driving components on the lower leg 8, the weight on the lower leg 8 is smaller, the inertia of the leg is reduced, the demand for motors, electric cylinders and other devices that drive the legs is further reduced, and the size and quality are further reduced, thus Lightweight legs are achieved.
实施例3：Example 3:
本实施例为了解决现有的人形仿生腿无法同时实现多自由度、布局紧凑、轻量化及低惯量的目的，进而提供一种六自由度、低惯量的机器人仿生腿，参见图1至图13，其包括髋关节结构A和腿部结构B；所述的髋关节结构A用于腿部结构B与机器人身体部位的连接，并且可以实现腿部结构B三个方向的自由度，分别为腿部结构B的侧摆、偏航与俯仰；所述的腿部结构B自身存在三个自由度，分别为膝关节的俯仰运动、踝关节的俯仰与侧摆。In order to solve the problem that the existing humanoid bionic leg cannot achieve multiple degrees of freedom, compact layout, lightweight and low inertia at the same time, this embodiment provides a six-degree-of-freedom, low-inertia robot bionic leg, see Figures 1 to 13 , which includes a hip joint structure A and a leg structure B; the hip joint structure A is used to connect the leg structure B with the robot body part, and can realize the freedom of the leg structure B in three directions, namely the legs The leg structure B itself has three degrees of freedom, namely the pitching motion of the knee joint and the pitching and lateral swinging of the ankle joint.
参见图3、图7、图10和图11，所述的髋关节结构A包括机身连接件1、髋关节万向节2、大腿连接件3、两个推杆伸缩件4和髋关节俯仰电机5；所述的机身连接件1用于髋关节与机器人身体部位的连接，大腿连接件3用于髋关节与大腿的连接，髋关节万向节2用于机身连接件1与大腿连接件3的连接，同时在两个推杆伸缩件4的作用下实现大腿的侧摆与偏航动作，髋关节俯仰电机5安装在大腿连接件3上，并与大腿6的端部连接，用于实现大腿的俯仰动作。Referring to Figures 3, 7, 10 and 11, the hip joint structure A includes a fuselage connector 1, a hip joint universal joint 2, a thigh connector 3, two pushrod telescopic members 4 and a hip joint pitch. Motor 5; the fuselage connector 1 is used to connect the hip joint to the robot body part, the thigh connector 3 is used to connect the hip joint to the thigh, and the hip joint universal joint 2 is used to connect the fuselage connector 1 to the thigh. The connection of the connector 3 simultaneously realizes the side swing and yaw movements of the thigh under the action of the two push rod telescopic members 4. The hip joint pitch motor 5 is installed on the thigh connector 3 and connected to the end of the thigh 6. Used to achieve the pitching movement of the thigh.
参见图10，所述的髋关节万向节2包括有两根垂直设置的销轴，分别为y轴方向的销轴一2-1和z轴方向的销轴二2-2，故髋关节万向节2具有两个自由度，分别为绕y轴方向旋转的一个自由度以及绕z轴方向旋转的一个自由度；所述机身连接件1的侧面设置有一个连接耳1-1，并朝向x轴方向进行延伸，连接耳1-1连接到髋关节万向节2中y轴方向的销轴一2-1的两端上，并可以绕销轴一2-1进行旋转；所述大腿连接件3的顶部设置有安装座3-1，髋关节万向节2中z轴方向的销轴二2-2的两端分别安装在安装座3-1的两个支架上，所述的大腿连接件3可以绕销轴二2-2进行旋转；所述安装座3-1背向机身连接件1的一侧还偏心设置有两个第二连接耳3-2，两个第二连接耳3-2相对设置在安装座3-1中z轴方向的两端；两个所述的推杆伸缩件4分别设置在机身连接件1的前后两侧，推杆伸缩件4的连接端通过球轴承连接在机身连接件1上，推杆伸缩件4的伸出端通过球轴承连接在第二连接耳3-2上；所述的髋关节俯仰电机5安装在大腿连接件3上，髋关节俯仰电机5输出轴的轴线方向与x轴方向平行，髋关节俯仰电机5的输出端与大腿6的端部固定连接，驱动大腿6绕x轴方向旋转。Referring to Figure 10, the hip joint universal joint 2 includes two vertically arranged pins, namely the pin 2-1 in the y-axis direction and the pin 2-2 in the z-axis direction. Therefore, the hip joint The universal joint 2 has two degrees of freedom, one degree of freedom for rotation around the y-axis direction and one degree of freedom for rotation around the z-axis direction; a connecting ear 1-1 is provided on the side of the fuselage connector 1, And extends toward the x-axis direction, the connecting ears 1-1 are connected to both ends of the pin 2-1 in the y-axis direction of the hip joint universal joint 2, and can rotate around the pin 2-1; so The top of the thigh connector 3 is provided with a mounting base 3-1, and the two ends of the pin 2-2 in the z-axis direction of the hip joint joint 2 are respectively installed on the two brackets of the mounting base 3-1, so The above-mentioned thigh connector 3 can rotate around the second pin 2-2; the side of the mounting base 3-1 facing away from the fuselage connector 1 is also eccentrically provided with two second connecting ears 3-2, two The second connecting ears 3-2 are arranged oppositely at both ends of the mounting base 3-1 in the z-axis direction; the two push rod telescopic parts 4 are respectively installed on the front and rear sides of the fuselage connector 1, and the push rod telescopic parts The connecting end of 4 is connected to the fuselage connector 1 through a ball bearing, and the extended end of the push rod telescopic member 4 is connected to the second connecting ear 3-2 through a ball bearing; the hip joint pitch motor 5 is installed on the thigh On the connector 3, the axis direction of the output shaft of the hip joint pitch motor 5 is parallel to the x-axis direction. The output end of the hip joint pitch motor 5 is fixedly connected to the end of the thigh 6 to drive the thigh 6 to rotate around the x-axis direction.
进一步的，所述的推杆伸缩件4为电缸。Furthermore, the push rod telescopic part 4 is an electric cylinder.
参见图1至图6，所述的腿部结构B包括大腿6、膝关节连接轴7、小腿8、踝关节万向节组件9、脚部10、膝关节曲柄摇杆驱动组件11和踝关节曲柄摇杆驱动组件12；所述大腿6的下端与小腿8的上端通过膝关节连接轴7转动连接，小腿8的下端通过踝关节万向节组件9与脚部10转动连接；膝关节曲柄摇杆驱动组件11的固定端安装在大腿6的上端，膝关节曲柄摇杆驱动组件11的驱动端铰连接在小腿8的上端，并驱动小腿8绕膝关节连接轴7的轴线方向进行前后摆动，实现小腿8的俯仰动作；所述的踝关节曲柄摇杆驱动组件12的固定端安装在大腿6的中间部位，踝关节曲柄摇杆驱动组件12的驱动端连接在踝关节万向节组件9上，用以实现脚部的俯仰动作和侧摆动作。Referring to Figures 1 to 6, the leg structure B includes thigh 6, knee joint connecting shaft 7, calf 8, ankle joint universal joint assembly 9, foot 10, knee joint crank rocker driving assembly 11 and ankle joint Crank rocker drive assembly 12; the lower end of the thigh 6 and the upper end of the calf 8 are rotationally connected through the knee joint connecting shaft 7, and the lower end of the calf 8 is rotationally connected to the foot 10 through the ankle joint universal joint assembly 9; the knee joint crank rocker The fixed end of the rod driving assembly 11 is installed on the upper end of the thigh 6. The driving end of the knee joint crank rocker driving assembly 11 is hingedly connected to the upper end of the calf 8, and drives the calf 8 to swing forward and backward around the axis direction of the knee joint connecting shaft 7. Realize the pitching action of the calf 8; the fixed end of the ankle crank rocker drive assembly 12 is installed in the middle part of the thigh 6, and the drive end of the ankle crank rocker drive assembly 12 is connected to the ankle universal joint assembly 9 , used to achieve the pitching and side swinging movements of the feet.
参见图4和图6，所述的大腿6为空心壳体结构，大腿6的下端开有前后贯通的豁口6-1，且豁口6-1的左右两侧分别设置有一个连接环6-2，所述小腿8的上端插在大腿6下端的豁口6-1中，且与大腿6分别通过转动轴承套装在沿x轴方向设置的膝关节连接轴7上，所述的豁口6-1为小腿8的旋转提供活动空间；所述大腿6中间位置的左右两侧各设置一个连接板6-3，踝关节曲柄摇杆驱动组件12的固定端安装在两个连接板6-3上。Referring to Figures 4 and 6, the thigh 6 is a hollow shell structure. The lower end of the thigh 6 has a gap 6-1 that runs from front to back, and a connecting ring 6-2 is provided on the left and right sides of the gap 6-1. , the upper end of the calf 8 is inserted into the gap 6-1 at the lower end of the thigh 6, and the lower leg 8 and the thigh 6 are respectively sleeved on the knee joint connecting shaft 7 provided along the x-axis direction through rotating bearings. The gap 6-1 is The rotation of the lower leg 8 provides space for movement; a connecting plate 6-3 is provided on the left and right sides of the middle position of the thigh 6, and the fixed end of the ankle crank rocker driving assembly 12 is installed on the two connecting plates 6-3.
参见图4，所述的踝关节万向节组件9包括踝关节万向节9-1和踝关节安装座9-2，所述的踝关节万向节9-1包括有两根垂直设置的销轴，分别为x轴方向的销轴三9-1-1和z轴方向的销轴四9-1-2，故踝关节万向节9-1具有两个自由度，分别为绕x轴方向旋转的一个自由度以及绕z轴方向旋转的一个自由度；所述小腿8的下端连接在踝关节万向节9-1中x轴方向的销轴三9-1-1的两端，并可绕销轴三9-1-1进行旋转；所述的踝关节安装座9-2固定安装在脚部10的脚面上，踝关节万向节9-1中z轴方向的销轴四9-1-2的两端分别转动安装在踝关节安装座9-2上，踝关节安装座9-2及脚部10可绕销轴四9-1-2进行旋转；所述踝关节安装座9-2上靠近脚部10后跟的位置处设置有一根沿x轴方向布置的连接轴9-2-1，膝关节曲柄摇杆驱动组件11的驱动端转动连接在连接轴9-2-1上。Referring to Figure 4, the ankle joint universal joint assembly 9 includes an ankle joint universal joint 9-1 and an ankle joint mounting base 9-2. The ankle joint universal joint 9-1 includes two vertically arranged The pins are pin three 9-1-1 in the x-axis direction and pin four 9-1-2 in the z-axis direction. Therefore, the ankle joint universal joint 9-1 has two degrees of freedom, which are around x. One degree of freedom for rotation in the axial direction and one degree of freedom for rotation around the z-axis direction; the lower end of the calf 8 is connected to both ends of the pin 3 9-1-1 in the x-axis direction of the ankle joint 9-1 , and can rotate around the pin 3 9-1-1; the ankle joint mounting seat 9-2 is fixedly installed on the instep of the foot 10, and the pin in the z-axis direction of the ankle joint 9-1 The two ends of the ankle joint 9-1-2 are respectively rotatably mounted on the ankle joint mounting base 9-2. The ankle joint mounting base 9-2 and the foot 10 can rotate around the pin shaft 9-1-2; the ankle joint A connecting shaft 9-2-1 arranged along the x-axis direction is provided on the mounting base 9-2 close to the heel of the foot 10. The driving end of the knee joint crank rocker driving assembly 11 is rotationally connected to the connecting shaft 9-2 -1 on.
参见图4，所述的膝关节曲柄摇杆驱动组件11包括膝关节俯仰电机11-1、膝关节曲柄11-2和膝关节运动连杆11-3；所述的膝关节俯仰电机11-1与髋关节俯仰电机5同轴设置，膝关节俯仰电机11-1的输出端与膝关节曲柄11-2的一端固定连接，膝关节曲柄11-2的另一端与膝关节运动连杆11-3的一端铰连接，膝关节运动连杆11-3的另一端与小腿8顶部的连接耳铰连接。Referring to Figure 4, the knee joint crank rocker driving assembly 11 includes a knee joint pitch motor 11-1, a knee joint crank 11-2 and a knee joint motion connecting rod 11-3; the knee joint pitch motor 11-1 It is coaxially arranged with the hip joint pitch motor 5. The output end of the knee joint pitch motor 11-1 is fixedly connected to one end of the knee joint crank 11-2, and the other end of the knee joint crank 11-2 is connected to the knee joint motion connecting rod 11-3. One end of the knee joint movement link 11-3 is hingedly connected, and the other end of the knee joint movement link 11-3 is hingedly connected with the connecting ear at the top of the calf 8.
进一步的，所述的膝关节运动连杆11-3包括连杆一和连杆二，连杆一的一端铰连接在膝关节曲柄11-2的端部，连杆一的另一端与连杆二的一端铰连接，连杆二的另一端与小腿8顶部的连接耳铰连接。Further, the knee joint motion link 11-3 includes a connecting rod 1 and a connecting rod 2. One end of the connecting rod 1 is hingedly connected to the end of the knee joint crank 11-2, and the other end of the connecting rod 1 is connected to the connecting rod 11-2. One end of the connecting rod 2 is hingedly connected, and the other end of the connecting rod 2 is hingedly connected with the connecting ear at the top of the lower leg 8 .
更进一步的，所述的连杆二与小腿8的连接端为弯曲状，以实现腿部的最大弯曲程度。Furthermore, the connecting end of the connecting rod 2 and the lower leg 8 is curved to achieve the maximum bending degree of the leg.
参见图6，所述的踝关节曲柄摇杆驱动组件12包括两个相对设置在大腿6与小腿8两侧的踝关节驱动单元，每个踝关节驱动单元包括依次连接的踝关节驱动电机12-1、踝关节曲柄12-2、踝关节一级连杆12-3、踝关节三角板12-4和踝关节二级连杆12-5，所述的踝关节驱动电机12-1安装在大腿6侧面的连接板6-3上，踝关节曲柄12-2的一端固定连接在踝关节驱动电机12-1的驱动端，踝关节曲柄12-2的另一端与踝关节一级连杆12-3的一端铰连接，踝关节一级连杆12-3的另一端铰连接在踝关节三角板12-4的顶角一12-4-1处，踝关节三角板12-4的顶角二12-4-2与膝关节连接轴7的端部铰连接，踝关节三角板12-4的顶角三12-4-3与踝关节二级连杆12-5的一端通过球轴承铰连接，踝关节二级连杆12-5的另一端通过球轴承铰连接在踝关节安装座9-2的连接轴9-2-1上；其中，踝关节三角板12-4的顶角一12-4-1、顶角二12-4-2与顶角三12-4-3顺指针依次设置，且踝关节一级连杆12-3与踝关节二级连杆12-5分别处于踝关节三角板12-4的两侧；所述的踝关节曲柄12-2、踝关节一级连杆12-3、踝关节三角板12-4的顶角一12-4-1与顶角二12-4-2之间的边以及膝关节连接轴7与踝关节驱动电机12-1之间的连线构成一个上平行四边形结构；所述的踝关节三角板12-4的顶角二12-4-2与顶角三12-4-3之间的边、踝关节二级连杆12-5、连接轴9-2-1与踝关节万向节9-1中x轴方向的销轴的连线以及小腿8构成一个下平行四边形结构。Referring to Figure 6, the ankle crank rocker drive assembly 12 includes two ankle drive units disposed oppositely on both sides of the thigh 6 and calf 8. Each ankle drive unit includes an ankle drive motor 12- connected in sequence. 1. Ankle joint crank 12-2, ankle joint primary connecting rod 12-3, ankle joint triangular plate 12-4 and ankle joint secondary connecting rod 12-5. The ankle joint drive motor 12-1 is installed on the thigh 6 On the side connecting plate 6-3, one end of the ankle joint crank 12-2 is fixedly connected to the driving end of the ankle joint drive motor 12-1, and the other end of the ankle joint crank 12-2 is connected to the ankle joint primary connecting rod 12-3. One end of the ankle joint first-level connecting rod 12-3 is hingedly connected at the top corner 12-4-1 of the ankle joint triangle plate 12-4, and the top corner 12-4 of the ankle joint triangle plate 12-4 -2 is hingedly connected to the end of the knee joint connecting shaft 7, the top corner 12-4-3 of the ankle joint triangular plate 12-4 is hingedly connected to one end of the ankle joint secondary connecting rod 12-5 through a ball bearing, and the ankle joint 2 The other end of the stage connecting rod 12-5 is hingedly connected to the connecting shaft 9-2-1 of the ankle joint mounting base 9-2 through a ball bearing; wherein, the top corners of the ankle joint triangular plate 12-4 - 12-4-1, Vertex angle two 12-4-2 and vertex angle three 12-4-3 are arranged in sequence, and the ankle joint primary link 12-3 and the ankle secondary link 12-5 are respectively located at the ankle triangular plate 12-4 on both sides; between the top angle one 12-4-1 and the top angle two 12-4-2 of the ankle joint crank 12-2, the ankle joint primary connecting rod 12-3, and the ankle joint triangle plate 12-4 The sides and the connection between the knee joint connecting shaft 7 and the ankle joint drive motor 12-1 form an upper parallelogram structure; the top corner 2 12-4-2 and the top corner 3 of the ankle joint triangular plate 12-4 It consists of the edge between 12-4-3, the ankle secondary link 12-5, the connection between the connecting shaft 9-2-1 and the pin in the x-axis direction of the ankle universal joint 9-1, and the calf 8 A lower parallelogram structure.
本实施例中，通过两方面的设计使得腿部结构B整体结构更加紧凑，外观更加“拟人”化。一是，结构上布局的设计：髋关节结构A与腿部结构B均为对称式设计，髋关节结构A的中分面与腿部结构B的中分面垂直设计，其中髋关节俯仰电机5与膝关节俯仰电机11-1对称布置在腿部结构B中分面的两侧，两个踝关节驱动单元对称布置在腿部结构B中分面的两侧，且处于髋关节俯仰电机5与膝关节俯仰电机11-1的下方，同时处于膝关节的上方，即整个腿部结构B的驱动电机均对称布置于大腿6上，充分利用了大腿的空间，小腿尺寸得以缩小，整体布局紧凑，外观更加“拟人”。二是，小腿部轻量化的设计，减小驱动装置的体积：将用于驱动踝关节的电机置于大腿上，小腿部分不安装任何机器人腿部的驱动元件，使机器人腿部的质量分布更加靠近大腿根部，减小了小腿部分的惯量，降低了小腿驱动装置的要求，进而减小驱动装置的体积，使布局更加紧凑，更加接近人类腿部外形，同时对实现更高的运动性能提供了可能；而用于驱动髋关节的电缸压缩了高度尺寸，更加“拟人”、美观。In this embodiment, the overall structure of the leg structure B is made more compact and the appearance is more "anthropomorphic" through two aspects of design. First, the design of the structural layout: hip joint structure A and leg structure B are both symmetrical designs. The mid-section plane of hip joint structure A and the mid-section plane of leg structure B are designed perpendicularly. Among them, hip joint pitch motor 5 The knee joint pitch motor 11-1 is symmetrically arranged on both sides of the middle plane of leg structure B, and the two ankle joint drive units are symmetrically arranged on both sides of the middle plane of leg structure B, between the hip joint pitch motor 5 and Below the knee pitch motor 11-1, it is also above the knee joint, that is, the drive motors of the entire leg structure B are symmetrically arranged on the thigh 6, making full use of the thigh space, reducing the size of the calf, and making the overall layout compact. The appearance is more "anthropomorphic". Second, the lightweight design of the lower leg reduces the size of the driving device: the motor used to drive the ankle joint is placed on the thigh, and no driving components of the robot leg are installed on the lower leg, which reduces the mass distribution of the robot leg. It is closer to the root of the thigh, which reduces the inertia of the calf and reduces the requirements for the calf drive device, thus reducing the size of the drive device, making the layout more compact and closer to the shape of the human leg, and at the same time providing higher sports performance. This makes it possible; and the electric cylinder used to drive the hip joint has reduced height and size, making it more "anthropomorphic" and beautiful.
本实施例中，通过膝关节曲柄摇杆驱动组件11的设计，使得小腿8发生俯仰运动的同时，脚部可以一同抬起，并始终保持水平状态，而不会发生姿态的改变；通过踝关节曲柄摇杆驱动组件12的设计，使得脚部可以实现俯仰运动或侧摆运动，同时不会影响小腿的位置与运动姿态。In this embodiment, through the design of the knee joint crank rocker drive assembly 11, while the lower leg 8 undergoes pitching motion, the foot can be lifted together and always maintained in a horizontal state without any change in posture; through the ankle joint The design of the crank rocker drive assembly 12 enables the foot to achieve pitching or side swinging motion without affecting the position and movement posture of the lower leg.
以下对本发明的工作过程做进一步的说明，以进一步展示本发明的工作原理和优点：The working process of the present invention is further described below to further demonstrate the working principle and advantages of the present invention:
1、腿部侧摆运动的过程：1. The process of leg side swing movement:
参见图12和图13，当机身连接件1连接在机身上并保持固定不动时，两个电缸的伸缩杆同步伸出缸体且伸出的长度相同时，电缸的伸缩杆对大腿连接件3产生相同的推力，大腿连接件3在偏心推力的作用下绕髋关节万向节2中z轴方向的销轴向上旋转，并带动腿部结构向机身侧方摆动，实现了腿部侧摆的自由度。Referring to Figure 12 and Figure 13, when the fuselage connector 1 is connected to the fuselage and remains fixed, the telescopic rods of the two electric cylinders extend out of the cylinder synchronously and the extended lengths are the same. The same thrust is generated on the thigh connector 3. The thigh connector 3 rotates upward around the pin in the z-axis direction of the hip joint 2 under the action of the eccentric thrust, and drives the leg structure to swing to the side of the fuselage. Achieve freedom of leg side swing.
2、腿部偏航运动的过程：2. The process of leg yaw movement:
参见图10和图11，当两个电缸的伸缩杆先后伸出缸体且伸出的长度不同时，大腿连接件3在两个电缸的伸缩杆的耦合作用下，绕髋关节万向节2中y轴方向的销轴旋转，当处于机身前方的电缸伸缩杆伸出较长、处于机身后方的电缸伸缩杆伸出较短时，大腿连接件3带动腿部结构顺时针旋转，反之，大腿连接件3带动腿部结构逆时针旋转，实现了腿部偏航的自由度。Referring to Figures 10 and 11, when the telescopic rods of the two electric cylinders extend out of the cylinder one after another with different extension lengths, the thigh connector 3 rotates around the hip joint in all directions under the coupling action of the telescopic rods of the two electric cylinders. The pin in the y-axis direction in section 2 rotates. When the telescopic rod of the electric cylinder in front of the fuselage stretches out longer and the telescopic rod of the electric cylinder behind the fuselage stretches out shorter, the thigh connecting piece 3 drives the leg structure to move smoothly. clockwise rotation, on the contrary, the thigh connecting piece 3 drives the leg structure to rotate counterclockwise, realizing the freedom of leg yaw.
3、腿部俯仰运动的过程：3. The process of leg pitching movement:
髋关节俯仰电机5的驱动轴驱动大腿6前后摆动时，实现了腿部俯仰的自由度。When the drive shaft of the hip pitch motor 5 drives the thigh 6 to swing forward and backward, the freedom of leg pitching is achieved.
4、小腿俯仰运动的过程：4. The process of calf pitching movement:
参见图8，所述膝关节俯仰电机11-1的旋转运动依次通过膝关节曲柄11-2和膝关节运动连杆11-3传递给小腿8，并带动小腿8绕膝关节连接轴7进行俯仰运动，同时小腿8带动脚部10抬起；由于踝关节驱动电机12-1并没有启动，处于上方的上平行四边形结构的形态没有改变，踝关节三角板12-4的位置没有发生改变，故下平行四边形结构中的顶边状态以及底边状态不会发生改变，脚部10始终是平行于地面的，但是脚部10与小腿8之间的夹角角度发生改变，故膝关节俯仰电机11-1的旋转运动可以改变小腿8的俯仰角度，而不会改变脚部10的俯仰角度。Referring to Figure 8, the rotational motion of the knee joint pitching motor 11-1 is sequentially transmitted to the calf 8 through the knee joint crank 11-2 and the knee joint motion link 11-3, and drives the calf 8 to pitch around the knee joint connecting axis 7. At the same time, the calf 8 drives the foot 10 to lift; because the ankle joint drive motor 12-1 has not started, the shape of the upper parallelogram structure above has not changed, and the position of the ankle joint triangle plate 12-4 has not changed, so the lower The top edge state and the bottom edge state in the parallelogram structure will not change. The foot 10 is always parallel to the ground, but the angle between the foot 10 and the calf 8 changes, so the knee joint pitch motor 11- The rotational movement of 1 can change the pitch angle of the lower leg 8 without changing the pitch angle of the foot 10 .
5、脚部俯仰运动的过程：5. The process of foot pitching movement:
参见图8，两个踝关节驱动单元中的踝关节驱动电机12-1同步同向驱动，踝关节驱动电机12-1的旋转运动依次通过踝关节曲柄12-2、踝关节一级连杆12-3、踝关节三角板12-4和踝关节二级连杆12-5传递给脚部10，脚部10发生俯仰运动；具体的，踝关节驱动电机12-1带动踝关节曲柄12-2逆时针转动，踝关节曲柄12-2通过踝关节一级连杆12-3带动踝关节三角板12-4绕膝关节连接轴7进行逆时针旋转，踝关节三角板12-4通过踝关节二级连杆12-5带动脚部10绕踝关节万向节9-1中x轴方向的销轴进行逆时针转动，脚部10的脚尖向下翻转；反之，踝关节驱动电机12-1带动踝关节曲柄12-2顺时针转动，踝关节曲柄12-2通过踝关节一级连杆12-3带动踝关节三角板12-4绕膝关节连接轴7进行顺时针旋转，踝关节三角板12-4通过踝关节二级连杆12-5带动脚部10绕踝关节万向节9-1中x轴方向的销轴进行顺时针转动，脚部10的脚尖向上翻转，故脚部10的俯仰姿态发生改变；由于踝关节二级连杆12-5始终处于竖直状态，所以小腿8的状态与位置并没有发生改变，踝关节驱动电机12-1仅改变了脚部10的俯仰角度。Referring to Figure 8, the ankle joint drive motors 12-1 in the two ankle joint drive units are driven synchronously and in the same direction. The rotational motion of the ankle joint drive motor 12-1 passes through the ankle joint crank 12-2 and the ankle joint primary connecting rod 12 in sequence. -3. The ankle joint triangle plate 12-4 and the ankle joint secondary connecting rod 12-5 are transmitted to the foot 10, and the foot 10 undergoes pitching motion; specifically, the ankle joint drive motor 12-1 drives the ankle joint crank 12-2 inversely. When the hour hand rotates, the ankle joint crank 12-2 drives the ankle joint triangle plate 12-4 to rotate counterclockwise around the knee joint connecting axis 7 through the ankle joint primary connecting rod 12-3, and the ankle joint triangle plate 12-4 passes through the ankle joint secondary connecting rod. 12-5 drives the foot 10 to rotate counterclockwise around the pin in the x-axis direction of the ankle joint 9-1, and the toe of the foot 10 flips downward; conversely, the ankle joint drive motor 12-1 drives the ankle joint crank 12-2 rotates clockwise, and the ankle joint crank 12-2 drives the ankle joint triangle plate 12-4 to rotate clockwise around the knee joint connecting axis 7 through the ankle joint primary connecting rod 12-3. The ankle joint triangle plate 12-4 passes through the ankle joint. The secondary link 12-5 drives the foot 10 to rotate clockwise around the pin in the x-axis direction of the ankle joint 9-1, and the toes of the foot 10 flip upward, so the pitch posture of the foot 10 changes; Since the ankle joint secondary link 12-5 is always in a vertical state, the state and position of the calf 8 does not change, and the ankle joint drive motor 12-1 only changes the pitch angle of the foot 10.
6、脚部侧摆运动的过程：6. The process of foot side swing movement:
两个踝关节驱动单元中的踝关节驱动电机12-1同步反向驱动时，脚部10在两个踝关节驱动电机12-1的耦合驱动下，发生侧摆运动；具体的，处于左侧的踝关节驱动单元中的踝关节驱动电机12-1逆时针小角度转动，左侧的踝关节二级连杆12-5带动脚部10的左后跟侧向上提拉，处于右侧的踝关节驱动单元中的踝关节驱动电机12-1顺时针小角度转动，右侧的踝关节二级连杆12-5带动脚部10的右后跟侧向下运动，脚部10在二者的耦合作用下绕踝关节万向节9-1中z轴方向的销轴向右侧摆；反之，处于左侧的踝关节驱动单元中的踝关节驱动电机12-1顺时针小角度转动，左侧的踝关节二级连杆12-5带动脚部10的左后跟侧向下运动，处于右侧的踝关节驱动单元中的踝关节驱动电机12-1逆时针小角度转动，右侧的踝关节二级连杆12-5带动脚部10的右后跟侧向上运动，脚部10在二者的耦合作用下绕踝关节万向节9-1中z轴方向的销轴向左侧摆。When the ankle joint drive motors 12-1 in the two ankle joint drive units are driven synchronously and reversely, the foot 10 undergoes side swing motion under the coupling drive of the two ankle joint drive motors 12-1; specifically, on the left side The ankle joint drive motor 12-1 in the ankle joint drive unit rotates counterclockwise at a small angle, and the left ankle secondary link 12-5 drives the left heel side of the foot 10 to pull upward, and the ankle joint on the right side The ankle joint drive motor 12-1 in the drive unit rotates clockwise at a small angle, and the right ankle secondary link 12-5 drives the right heel side of the foot 10 to move downward, and the foot 10 acts as a coupling between the two. The pin in the z-axis direction of the lower ankle joint 9-1 swings to the right; conversely, the ankle drive motor 12-1 in the ankle drive unit on the left rotates clockwise at a small angle, and the ankle drive motor 12-1 on the left rotates clockwise at a small angle. The ankle joint secondary link 12-5 drives the left heel side of the foot 10 to move downward, and the ankle joint drive motor 12-1 in the right ankle joint drive unit rotates counterclockwise at a small angle. The stage link 12-5 drives the right heel side of the foot 10 to move upward, and the foot 10 swings to the left around the pin in the z-axis direction of the ankle joint 9-1 under the coupling action of the two.
虽然在本文中参照了特定的实施方式来描述本发明，但是应该理解的是，这些实施例仅仅是本发明的原理和应用的示例。因此应该理解的是，可以对示例性的实施例进行许多修改，并且可以设计出其他的布置，只要不偏离所附权利要求所限定的本发明的精神和范围。应该理解的是，可以通过不同于原始权利要求所描述的方式来结合不同的从属权利要求和本文中所述的特征。还可以理解的是，结合单独实施例所描述的特征可以使用在其他所述实施例中。Although the present invention is described herein with reference to specific embodiments, it is to be understood that these embodiments are merely exemplary of the principles and applications of the invention. It is therefore to be understood that many modifications may be made to the exemplary embodiments and other arrangements may be devised without departing from the spirit and scope of the invention as defined by the appended claims. It is to be understood that the features described in the different dependent claims may be combined in a different manner than that described in the original claims. It will also be understood that features described in connection with individual embodiments can be used in other described embodiments.
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