CN117446048A - Foot type robot single-leg mechanism with high burst jumping capability - Google Patents

Abstract

The invention relates to a foot type robot single-leg mechanism with high burst jumping capability, which comprises a thigh assembly; the first end of the lower leg assembly is hinged to the second end of the thigh assembly; a foot plate hinged to the second end of the calf assembly; the lower leg driving device comprises a lower leg driver arranged on the thigh assembly and a travel amplifying device driven by the output end of the lower leg driver, wherein the output end of the travel amplifying device is hinged with the lower leg and amplifies the displacement travel of the output end of the lower leg driver; the foot plate driving device comprises a motor arranged on the thigh assembly, an active energy storage device driven by an output shaft of the motor and a foot plate connecting rod assembly, wherein the foot plate connecting rod assembly is connected between the output end of the active energy storage device and the foot plate, and when the thigh assembly rotates, a rotation included angle between the foot plate and the ground is kept. The robot calf assembly and the foot plate are all in a lightweight design, so that the robot can realize high gravity center arrangement, inertia of the robot calf assembly part is reduced, and jump height of the robot can be greatly improved.

Description

Foot type robot single-leg mechanism with high burst jumping capability

Technical Field

The invention relates to the technical field of robots, in particular to a foot type robot single-leg mechanism with high burst jumping capability.

Background

The foot robot breaks through the limitation of the wheel robot, can adapt to various ground environments, and has stronger terrain adaptability. Therefore, the humanoid foot robot is a hotspot in the current society, the foot robot has been deeply developed in the field of walking step planning control, a relatively complete theory is formed, and most foot robots can realize functions of walking and the like, but are still imperfect in the field of jumping. At present, no humanoid foot robot can realize high burst jumping motion so that the robot can reach high jumping height.

The single-leg structure is a basic unit of the foot type robot and is the simplest robot in the foot type robot, and has the characteristics of short research period and low research and development cost.

The utility model discloses a single-leg robot jump mechanism with initiative ankle joint and bionic foot as in publication No. CN106005079A, including articulated fuselage, thigh, shank and foot in proper order, the articulated department of fuselage and thigh is equipped with the direction drive arrangement that drives the thigh and rotate, be equipped with the first jump drive arrangement that drives the shank and rotate on the thigh, the upper end of shank has the shank roof that articulates with the thigh lower extreme, is equipped with knee joint transfer line between shank roof and the first jump drive arrangement, knee joint transfer line's both ends respectively with shank roof and first jump drive arrangement articulated, the articulated second jump drive arrangement that is equipped with the drive shank that goes out of thigh and shank; a buffer mechanism is arranged between the lower leg and the foot. The invention can realize the cooperative work of the hip and the knee and protect the ankle joint motor from the problem of impact in jumping, but the robot is huge and heavy as a whole, has no lightweight design and is difficult to realize high-burst jumping movement.

As disclosed in patent document with publication number CN105235766a, a four-foot bionic robot single leg capable of realizing a jumping function comprises a body, a thigh module, a shank module, an ankle and an energy storage unit, wherein the body is hinged with the thigh module through a hip joint connector, and a hip joint energy storage unit is arranged between the body and the thigh module; the lower leg module is hinged with the thigh module through a knee joint connecting piece, and a knee joint energy storage unit is arranged between the lower leg module and the knee joint; the ankle is hinged with the shank module through an ankle joint connecting piece, and an ankle joint energy storage unit is arranged between the ankle and the shank module. By adopting a modularized structure, the energy storage units arranged between the joints instantly release energy, so that the movement position relation between the two structures connected with the energy storage units is quickly changed, the body muscle change of the bionic mammal is simulated, the jumping function can be realized by a single leg of the robot, but the energy storage device of the robot is used for passively storing energy, and the controllable jumping of the robot cannot be realized.

The patent document with publication number of CN103879470A discloses a single-leg robot jumping mechanism driven by a connecting rod, which comprises a machine body, thighs and shanks which are hinged in sequence, wherein the thighs are provided with a jumping driving device for driving the shanks to rotate, the hinging part of the machine body and the thighs is provided with a direction driving device for driving the thighs to rotate, the upper end of each shank is provided with a shank top plate hinged with the lower end of each thigh, a transmission rod is arranged between each shank top plate and the corresponding jumping driving device, two ends of each transmission rod are respectively hinged with the driving device and each shank top plate, and an elastic energy storage piece is further arranged between each thigh and each shank top plate. The direction driving device can drive thighs to rotate, so that direction control is realized; the jump driving device and the direction driving device are close to the machine body, so that the rotational inertia of thighs relative to the machine body is reduced, the energy consumption of a first driving motor can be reduced, and the stability and the agility of the movement of the robot are improved; the stability of the robot is improved through balancing the flywheel; through the elastic energy storage piece and the balance piece, energy can be stored and buffered. The energy storage of the robot is passively released, the stored energy cannot be actively released and controlled, and the robot is provided with a balance flywheel, so that the whole robot is overweight and is difficult to realize higher jump.

Therefore, how to realize the high burst jumping motion of the humanoid foot robot and the controllable release of the energy storage mechanism are important research points in the technical field of robots.

Disclosure of Invention

The invention provides a foot type robot single-leg mechanism with high burst jumping capability, which aims to at least solve one of the technical problems in the prior art.

The technical scheme of the invention is a single-leg mechanism of a foot robot, which comprises: a thigh assembly; the first end of the lower leg assembly is hinged to the second end of the thigh assembly; a foot plate hinged to the second end of the calf assembly; the lower leg driving device comprises a lower leg driver arranged on the thigh assembly and a travel amplifying device driven by the output end of the lower leg driver, wherein the output end of the travel amplifying device is hinged with the lower leg assembly and amplifies the displacement travel of the output end of the lower leg driver; the foot plate driving device comprises a motor arranged on the thigh assembly, an active energy storage device driven by an output shaft of the motor and a foot plate connecting rod assembly, wherein the foot plate connecting rod assembly is connected between the output end of the active energy storage device and the foot plate, and when the thigh assembly rotates, a rotation included angle between the foot plate and the ground is kept.

Further, the stroke amplifying device includes: at least one group of first scissor type modules, wherein each group of first scissor type modules comprises two crossed long rods, the middle parts of the long rods are hinged through a rotating shaft, and the end parts of the long rods between the adjacent first scissor type modules are mutually hinged; the second scissor type modules are respectively arranged at two ends of at least one group of first scissor type modules, each second scissor type module comprises two short rods, wherein at the same end of at least one group of first scissor type modules, the ends of the two short rods, which are close to the long rods, are respectively hinged with the two long rods, and the ends of the two short rods, which are far away from the long rods, are mutually hinged; the output end of the lower leg driver is hinged with the rotating shaft, the hinged position of the two short rods close to the lower leg driver is hinged with the thigh assembly, and the hinged position of the two short rods far away from the lower leg driver is in driving connection with the lower leg.

Further, a driving arm is arranged on the lower leg assembly; the stroke amplifying device further comprises an output universal joint, wherein the output universal joint is hinged at the hinged position of the two short rods far away from the calf driver; the lower leg driving device also comprises knee joint transmission rods respectively hinged between the driving arm and the output universal joint.

Further, the calf driver comprises an electrohydraulic actuator, and the output end of the electrohydraulic actuator comprises an actuating rod hinged with the rotating shaft.

Further, the active energy storage device includes: the cylindrical groove cam is connected to the output shaft of the motor, and a periodic annular groove is formed in the periphery of the cylindrical groove cam and comprises at least one linear groove along the axial direction of the output shaft of the motor and curved grooves respectively connected with two ends of the linear groove; the compression cylinder is sleeved on the periphery of the cylindrical groove cam, and the inner wall of the compression cylinder is provided with a sliding rod which moves in the periodic annular groove; and an elastic member for driving the compression cylinder to translate toward the motor; wherein, the input of sole link assembly is connected on the compression section of thick bamboo.

Further, the active energy storage device further includes: the cylinder shell is fixedly connected with the thigh assembly, and the compression cylinder is movably arranged in the cylinder shell.

Further, the elastic piece is arranged in the cylinder shell, and one end of the elastic piece abuts against one end of the compression cylinder far away from the motor.

Further, one end of the cylinder shell, which is far away from the motor, is provided with a ring part with the inner diameter smaller than that of the cylinder shell; the elastic member includes a spring held between the ring portion and the compression cylinder.

Further, the foot board connecting rod assembly includes: one end angle of the triangular connecting rod is hinged at the hinge joint of the thigh assembly and the shank assembly; the energy storage output connecting rod is hinged between one end of the compression cylinder far away from the motor and one end angle of the triangular connecting rod close to the foot plate; the heel connecting rod is hinged between the heel of the foot plate and one end angle of the triangular connecting rod, which is close to the active energy storage device.

Further, one end of the compression cylinder far away from the motor is also provided with an output seat which can penetrate out of the cylinder shell through the ring part, and the energy storage output connecting rod is hinged with the output seat.

The beneficial effects of the invention include:

1. according to the single-leg structure provided by the invention, most of the lower leg driving device and the foot plate driving device of the robot are concentrated on the first end, close to the robot, of the thigh assembly, and the lower leg assembly and the foot plate of the robot are both in a lightweight design, so that the robot can realize high-gravity center arrangement, the inertia of the lower leg part of the robot is reduced, and the jumping height of the robot can be greatly improved;

2. according to the travel amplifying device provided by the invention, the actuating distance of the electrohydraulic actuator in the shank driving device is amplified through the shearing mechanism, namely, the shank driving arm serving as a knee joint can rotate by a larger angle due to the shorter actuating distance of the actuating rod of the electrohydraulic actuator, so that the shank is driven to rotate by the same angle, and the travel amplifying device can also increase the rotation speeds of the driving arm and the shank, so that the robot has the capability of burst and jump;

3. according to the foot plate connecting rod assembly, the energy storage output connecting rod enables the action of the active energy storage device to be transmitted to the triangular connecting rod, the triangular connecting rod is synchronously transmitted to the heel connecting rod, and finally the heel connecting rod is synchronously transmitted to the heel of the foot plate, so that the transmission structure on the lower leg is simplified, the lower leg is enabled to be light in weight and low in inertia, and the jumping capability of the robot is further improved.

4. According to the active energy storage device, the pitching motion control of the foot plate can be realized through the matching of the sliding rod in the compression cylinder and the cam curve groove of the cylindrical groove, and the release control of elastic potential energy stored by the spring can be realized through the action of the spring on the compression cylinder and the matching of the sliding rod and the linear groove, so that the jumping action of the foot plate is realized.

5. According to the invention, the robot has two burst rotations of the knee joint and the ankle joint by means of double burst driving of the lower leg assembly and the foot plate, so that a single leg structure generates high burst jumping motion.

Further, additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

Fig. 1 is a general schematic diagram of a knee flexion energy storage state according to an embodiment of the present invention.

Fig. 2 is a general schematic of a state after discharging stored energy according to an embodiment of the present invention.

Fig. 3 is a detailed schematic view of a thigh assembly and a shank driving device portion in accordance with an embodiment of the invention.

Fig. 4 is a detailed schematic view of a portion of the calf assembly and foot plate drive in accordance with an embodiment of the invention.

Fig. 5 is an exploded schematic view of a portion of an active energy storage device according to an embodiment of the present invention.

The above figures contain the following reference numerals.

100. A thigh assembly; 110. A mounting base; 120. A mounting plate;

200. a lower leg assembly; 210. A driving arm;

300. foot plates;

400. a lower leg driving device; 410. an electro-hydraulic actuator; 411. an actuating lever; 420. a stroke amplifying device; 421. a long rod; 422. a rotating shaft; 423. a short bar; 424. an output universal joint; 430. a knee joint transmission rod;

500. a foot plate driving device; 510. a motor; 520. a cartridge housing; 530. a cylindrical groove cam; 531. a curved slot; 532. a linear groove; 540. a compression cylinder; 541. a slide bar; 542. an output seat; 550. a spring; 560. an energy storage output connecting rod; 570. a triangular connecting rod; 580. a heel link.

Detailed Description

The conception, specific structure, and technical effects produced by the present invention will be clearly and completely described below with reference to the embodiments and the drawings to fully understand the objects, aspects, and effects of the present invention. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other.

It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly or indirectly fixed or connected to the other feature. Further, the descriptions of the upper, lower, left, right, top, bottom, etc. used in the present invention are merely with respect to the mutual positional relationship of the respective constituent elements of the present invention in the drawings.

Furthermore, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any combination of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element of the same type from another. For example, a first element could also be termed a second element, and, similarly, a second element could also be termed a first element, without departing from the scope of the present disclosure.

Referring to fig. 1 and 2, in some embodiments, a single leg mechanism of a foot robot with high burst jumping capability according to the present invention, a thigh assembly 100, a calf assembly 200, a foot plate 300, a calf drive 400 and a foot plate drive 500 are hinged in this order, the thigh assembly 100, the calf assembly 200 and the foot plate 300 are respectively provided on a first end of the thigh assembly 100, and the calf drive 400 and the foot plate drive 500 are respectively driven to rotate the calf assembly 200 around the thigh assembly 100 and the foot plate 300 around the calf assembly 200 to achieve a posture in which the single leg structure of the present invention achieves a knee flexion energy storage state as shown in fig. 1 or a posture in which the stored energy is released as shown in fig. 2.

In particular, referring to fig. 1 and 2, a first end of the lower leg assembly 200 is hinged to a second end of the upper leg assembly 100 by a hinge; foot plate 300 is hinged at the second end of lower leg assembly 200 by a hinge, lower leg driving device 400 includes a lower leg driver provided on upper leg assembly 100 and a stroke amplifying device 420 driven by the output end of lower leg driver, the output end of stroke amplifying device 420 is hinged with lower leg assembly 200 and amplifies the displacement stroke of the output end of lower leg driver, so that the operating distance of the output end of lower leg driver is amplified, and lower leg assembly 200 serving as knee joint can rotate around the hinge with thigh assembly 100 by a larger angle at a shorter operating distance; the foot plate driving device 500 includes a motor 510 provided on the thigh assembly 100, an active energy storage device driven by an output shaft of the motor 510, and a foot plate link assembly connected between an output end of the active energy storage device and the foot plate 300, and maintains a rotational angle between the foot plate 300 and the ground when rotation occurs between the calf assembly 200 and the thigh assembly 100.

Referring to fig. 1 to 3, in order to make the stroke amplifying device 420 compact and lightweight, the stroke amplifying device 420 includes: at least one group of first scissor-fork modules, each group of first scissor-fork modules comprises two crossed long rods 421 with the middle parts hinged through a rotating shaft 422, and the end parts of the long rods 421 between the adjacent first scissor-fork modules are mutually hinged; the second scissor type modules are respectively arranged at two ends of the at least one first scissor type module, each second scissor type module comprises two short rods 423, wherein at the same end of the at least one first scissor type module, the ends of the two short rods 423 close to the long rods 421 are respectively hinged with the two long rods 421, and the ends of the two short rods 423 far away from the long rods 421 are mutually hinged; specifically, in the preferred embodiment of the present invention, the first scissor module is provided with a group, the second scissor module is provided with two, the middle parts of the two long rods 421 of the first scissor module are hinged through a rotating shaft 422, the output ends of the calf driver are hinged with the rotating shaft 422, the two long rods 421 of the first scissor module and the short rods 423 of the second scissor module at the two ends of the first scissor module are hinged with the thigh assembly 100, the hinge part of the two short rods 423 of the second scissor module close to the calf driver end is hinged with the thigh assembly 200, and the hinge part of the two short rods 423 of the second scissor module far away from the calf driver end is in driving connection with the calf assembly 200. Thus, after the output end of the calf driver outputs a certain distance, the short rod 423 of the second scissor-fork module near the calf driver is hinged with the thigh assembly 100, and the stroke amplifying device 420 amplifies and outputs the output distance of the calf driver by a multiple number at the driving connection part with the calf assembly 200, so that the calf assembly 200 rotates around the second end of the thigh assembly 100 greatly.

It should be noted that the amplification factor of the output distance of the leg driver by the stroke amplifying device 420 depends on the number of the first scissor modules in the stroke amplifying device 420, that is, the greater the number of the first scissor modules, the greater the amplification factor of the output distance of the leg driver by the stroke amplifying device 420.

Furthermore, as shown in FIG. 3, in the preferred embodiment of the present invention, the calf drive includes an electro-hydraulic actuator 410, a mount 110 is provided above the first end of the thigh assembly 100, the electro-hydraulic actuator 410 is secured to the mount 110, and the output end of the electro-hydraulic actuator 410 includes an actuator rod 411 hinged to a rotary shaft 422.

Referring to fig. 1, 2 and 4, in order to facilitate the placement of the stroke amplifying device 420 on the thigh assembly 100, to avoid positional interference between the stroke amplifying device 420 and the thigh assembly 100 during actuation, the thigh assembly 200 is provided with a drive arm 210, the drive arm 210 being provided on a first end of the thigh assembly 100 hinged to the thigh assembly 200 and extending away from a second end of the thigh assembly 200; the stroke amplifying device 420 further comprises an output gimbal 424, the output gimbal 424 being hinged at a hinge of two short rods 423 remote from the calf drive; the calf drive 400 also includes a knee drive link 430 articulated between the drive arm 210 and the output universal joint 424, respectively. Specifically, the output universal joint 424 enables the hinge joint of the knee joint transmission rod 430 and the short rod 423 to be hinged under an angle, but the knee joint transmission rod 430 hinged between the output universal joint 424 and the driving arm 210 can play a role in transmission between the stroke amplifying device 420 and the driving arm 210, and can avoid the output end of the stroke amplifying device 420 from being driven to deviate when the driving arm 210 rotates around the hinge joint of the lower leg assembly 200 and the thigh assembly 100 to generate displacement perpendicular to the movement direction of the stroke amplifying device 420, so that the stroke amplifying device 420 can smoothly operate whether the stroke amplifying device 420 is arranged above or beside the thigh assembly 100.

It should be noted that the scissor-type travel amplifying device 420 also increases the rotational speed of the drive arm 210 and the calf assembly 200, thereby increasing the jumping burst capability of the single-leg mechanism robot.

In the embodiment of the present invention, after the actuating rod 411 of the electro-hydraulic actuator 410 is displaced by a distance away from the electro-hydraulic actuator 410, the travel amplifying device 420 drives the driving arm 210 of the calf assembly 200 to rotate outwards around the hinge of the calf assembly 200 and the thigh assembly 100 through the knee joint transmission rod 430, so as to drive the calf assembly 200 to rotate in the same clockwise direction until reaching the knee bending energy storage posture as shown in fig. 1; when the actuating rod 411 of the electro-hydraulic actuator 410 is displaced by a distance in a direction approaching to the electro-hydraulic actuator 410, the travel amplifying device 420 drives the driving arm 210 of the calf assembly 200 to rotate around the hinge of the calf assembly 200 and the thigh assembly 100 in a direction approaching to the electro-hydraulic actuator 410 through the knee joint transmission rod 430, so as to drive the calf assembly 200 to rotate in the same clockwise direction until reaching the stretching posture after releasing the stored energy as shown in fig. 2.

Referring to fig. 2 to 5, the active energy storage device includes a cylinder housing 520, a cylindrical slot cam 530, a compression cylinder 540, and an elastic member; wherein, the first end of thigh assembly 100 is provided with mounting panel 120 below mount pad 110, motor 510 is fixed in mounting panel 120 and is close to the one side of thigh assembly 100 first end, shell 520 is installed in mounting panel 120 and is close to one side of thigh assembly 100 second end, the output shaft of motor 510 passes mounting panel 120 and drive connection cylinder groove cam 530 in shell 520, compression section of thick bamboo 540 suit is on cylinder groove cam 530's surface and translation slides in shell 520 along the axis direction of motor 510 drive shaft, the periphery of cylinder groove cam 530 is equipped with periodic ring wire casing, periodic ring wire casing includes at least one along the axial linear groove 532 of motor 510 output shaft and connect the curved groove 531 at both ends of linear groove 532 respectively, the inner wall of compression section of thick bamboo 540 is equipped with the slide bar 541 of activity in periodic ring wire casing, and the elastic component sets up in shell 520, and its one end that compression section of thick bamboo 540 kept away from motor 510 is held to compression section of thick bamboo 540, compression section of thick bamboo 540 is kept away from motor 510's one end and is connected with sole 300 through the link assembly.

Specifically, the rotation of the output shaft of the motor 510 drives the cylindrical groove cam 530 to rotate, and the curved groove 531 in the periodic annular groove through which the rotating cylindrical groove cam 530 passes drives the sliding rod 541 in the compression cylinder 540 to move along the curved groove 531, and as the end of the compression cylinder 540 far away from the motor 510 is connected with the foot plate connecting rod assembly, the compression cylinder 540 can only reciprocate in the cylinder housing 520 along the direction of the output shaft of the motor 510, so that the foot plate 300 is driven by the foot plate connecting rod assembly to realize synchronous transmission; when the cylindrical groove cam 530 drives the compression cylinder 540 to translate in the cylinder housing 520 towards the direction far away from the motor 510 through the curved groove 531, the elastic member in the cylinder housing 520 gradually completes the energy storage of elastic potential energy until the sliding rod 541 slides to the connection position of the curved groove 531 and the linear groove 532 at the end far away from the motor 510, and the potential energy of the elastic member is stored so as to be extremely incompressible, at this time, the foot plate 300 reaches the ankle bending posture as shown in fig. 1 and 4 through the foot plate connecting rod assembly; when the motor 510 drives the cylindrical cam 530 to rotate a little more in the same direction, the sliding rod 541 of the compression cylinder 540 reaches the end of the linear slot 532 away from the motor 510, the elastic member instantaneously releases the elastic potential energy thereof, so that the sliding rod 541 slides rapidly in the linear slot 532 and the compression cylinder 540 displaces rapidly in the cylinder housing 520 towards the motor 510, and synchronously pulls the foot plate connecting rod assembly to rotate the foot plate 300 rapidly around the second end of the calf assembly 200, generating explosive jumping force until the foot plate 300 reaches the released energy storage posture as shown in fig. 2; when the motor 510 drives the cylindrical cam 530 to rotate in the opposite direction, the rotational position of the foot board 300 at the second end of the calf assembly 200 can be slowly adjusted, so that the foot board 300 can be adjusted according to the ground angle when the single-leg mechanism does not perform the jumping motion, to fit the ground, and the grip of the foot board 300 is improved.

In addition, as shown in fig. 5, in order to prevent the elastic member from being touched by the outside during the elastic potential energy storage and release process and to be smoothly implemented in the cartridge case 520, one end of the cartridge case 520 far away from the motor 510 is provided with a ring portion having an inner diameter smaller than that of the cartridge case 520, the elastic member includes a spring 550 abutting between the ring portion and the compression cylinder 540, and the spring 550 can make the compression cylinder 540 be uniformly subjected to explosive displacement, so that the jumping force is released more smoothly.

In the present invention, the single leg mechanism can simultaneously perform two burst rotations at the knee joint and the ankle joint by the acceleration and distance increase and the elastic burst movement modes of the stroke amplifying device 420 and the active energy storage device, thereby generating a high burst jumping movement.

Referring to fig. 1, 2 and 4, the foot plate link assembly includes a triangle link 570, an energy storage output link 560 and a heel link 580. One end angle of the triangular connecting rod 570 is hinged at the hinge joint of the thigh assembly 100 and the calf assembly 200, the energy storage output connecting rod 560 is hinged between one end of the compression cylinder 540 far away from the motor 510 and one end angle of the triangular connecting rod 570 near the foot plate 300, and the heel connecting rod 580 is hinged between the heel of the foot plate 300 and one end angle of the triangular connecting rod 570 near the active energy storage device; specifically, when the compression cylinder 540 is displaced, the triangular connecting rod 570 is driven to rotate by the hinged energy storage output connecting rod 560, the hinged heel connecting rod 580 is driven to displace by the rotating triangular connecting rod 570, and the heel connecting rod 580 drives the heel of the foot plate 300 to synchronously act, so that the foot plate 300 hinged at the second end of the calf assembly 200 is driven to realize up-down pitching motion. The calf assembly 200 and the foot plate 300 of the single leg structure of the invention are designed to be light and compact, so that the single leg structure realizes high gravity center arrangement, the inertia of the calf assembly 200 of the robot is reduced, and the jumping burst capability of the robot is greatly improved.

In addition, referring to fig. 2 and 5, an output seat 542 through which the compression cylinder 540 can pass through the cylinder housing 520 through the ring is further provided at one end of the compression cylinder 540 far away from the motor 510, and the energy storage output link 560 is hinged to the output seat 542, so that interference between the energy storage output link and the ring of the cylinder housing 520 is avoided when the lower leg assembly 200 rotates around the thigh assembly 100, and the smoothness of the structure is improved.

It should be noted that, as shown in fig. 1, 2 and 4, in order to make the jumping of the single leg mechanism of the present invention be a force-generating more direct and the structure more concise, the energy storage output link 560, the triangle link 570 and the heel link 580 are disposed at one side of the thigh assembly 100 and the calf assembly 200 which is bent inwards in the folding direction, one end of the heel link 580 near the triangle link 570 is provided with a crotch portion avoiding the triangle link 570 and the energy storage output link 560, and the heel link 580 is hinged with the triangle link 570 through two ends of the crotch portion opening.

The present invention is not limited to the above embodiments, but can be modified, equivalent, improved, etc. by the same means to achieve the technical effects of the present invention, which are included in the spirit and principle of the present disclosure. Are intended to fall within the scope of the present invention. Various modifications and variations are possible in the technical solution and/or in the embodiments within the scope of the invention.

Claims (10)

1. A single leg mechanism for a foot robot, comprising:

a thigh assembly (100);

a lower leg assembly (200), a first end of the lower leg assembly (200) being hinged to a second end of the thigh assembly (100);

-a foot plate (300) hinged at a second end of the calf assembly (200);

a lower leg driving device (400) comprising a lower leg driver arranged on the thigh assembly (100) and a travel amplifying device (420) driven by an output end of the lower leg driver, wherein the output end of the travel amplifying device (420) is hinged with the lower leg assembly (200) and amplifies the displacement travel of the output end of the lower leg driver;

the foot plate driving device (500) comprises a motor (510) arranged on the thigh assembly (100), an active energy storage device driven by an output shaft of the motor (510) and a foot plate connecting rod assembly, wherein the foot plate connecting rod assembly is connected between an output end of the active energy storage device and the foot plate (300), and when the thigh assembly (200) and the thigh assembly (100) rotate, a rotation included angle between the foot plate (300) and the ground is kept.

2. The foot robot single leg mechanism according to claim 1, wherein the stroke amplifying means (420) comprises:

at least one group of first scissor-fork modules, wherein each group of first scissor-fork modules comprises two crossed long rods (421) with the middle parts hinged through a rotating shaft (422), and the end parts of the long rods (421) between the adjacent first scissor-fork modules are mutually hinged;

the second scissor type modules are respectively arranged at two ends of the at least one first scissor type module, each second scissor type module comprises two short rods (423), wherein at the same end of the at least one first scissor type module, the ends of the two short rods (423) close to the long rods (421) are respectively hinged with the two long rods (421), and the ends of the two short rods (423) far away from the long rods (421) are mutually hinged;

the output end of the calf driver is hinged with the rotating shaft (422), the hinged position of the two short rods (423) close to the calf driver is hinged with the thigh assembly (100), and the hinged position of the two short rods (423) far away from the calf driver is in driving connection with the calf assembly (200).

3. The single leg mechanism of a foot robot according to claim 2, wherein,

a driving arm (210) is arranged on the lower leg assembly (200);

the stroke amplifying device (420) further comprises an output universal joint (424), the output universal joint (424) being hinged at a hinge of two short rods (423) remote from the calf drive;

the calf drive (400) further includes a knee drive link (430) articulated between the drive arm (210) and the output universal joint (424), respectively.

4. The single leg mechanism of a foot robot according to claim 2, wherein,

the calf driver comprises an electro-hydraulic actuator (410), and the output end of the electro-hydraulic actuator (410) comprises an actuating rod (411) hinged with a rotating shaft (422).

5. The foot robot single leg mechanism of claim 1, wherein the active energy storage device comprises:

the cylindrical groove cam (530) is connected to the output shaft of the motor (510), a periodic annular groove is formed in the periphery of the cylindrical groove cam (530), and the periodic annular groove comprises at least one linear groove (532) along the axial direction of the output shaft of the motor (510) and curved grooves (531) respectively connected with two ends of the linear groove (532);

the compression cylinder (540) is sleeved on the periphery of the cylindrical groove cam (530), and a sliding rod (541) moving in the periodic annular groove is arranged on the inner wall of the compression cylinder (540); and

an elastic member for driving the compression cylinder (540) to translate toward the motor (510);

wherein the input end of the foot plate connecting rod assembly is connected to the compression cylinder (540).

6. The foot robot single leg mechanism of claim 5, wherein the active energy storage device further comprises:

and the cylinder shell (520) is fixedly connected with the thigh assembly (100), and the compression cylinder (540) moves in the cylinder shell (520).

7. The single leg mechanism of a foot robot according to claim 6, wherein,

the elastic piece is arranged in the cylinder shell (520), and one end of the elastic piece abuts against one end of the compression cylinder (540) far away from the motor (510).

8. The single leg mechanism of claim 7, wherein,

one end of the cylinder shell (520) far away from the motor (510) is provided with a ring part with the inner diameter smaller than that of the cylinder shell (520);

the resilient member includes a spring (550) that is held between the ring and the compression cylinder (540).

9. The foot robot single leg mechanism according to claim 6, wherein the foot plate link assembly comprises:

a triangle link (570), one of the end angles of the triangle link (570) being hinged at the hinge of the thigh assembly (100) and the shank assembly (200);

the energy storage output connecting rod (560) is hinged between one end of the compression cylinder (540) far away from the motor (510) and one end angle of the triangular connecting rod (570) near the foot plate (300);

and a heel connecting rod (580) hinged between the heel of the foot plate (300) and one end angle of the triangular connecting rod (570) close to the active energy storage device.

10. The single leg mechanism of a foot robot according to claim 9, wherein,

one end of the compression cylinder (540) far away from the motor (510) is also provided with an output seat (542) which can penetrate out of the cylinder shell (520) through the ring part, and the energy storage output connecting rod (560) is hinged with the output seat (542).