CN117901973A - Rope/belt wheel transmission robot leg structure capable of realizing transmission compensation - Google Patents

Abstract

The invention provides a rope/belt wheel transmission robot leg structure capable of realizing transmission compensation, wherein a driving device of a wheel joint is arranged at a hip joint position and then is transmitted to the wheel joint through a rope/belt, and the change of the length of a rope or a belt caused by knee joint rotation is compensated through the arrangement of a compensation structure so as to realize trans-joint transmission. The robot leg structure includes: thigh, shank, wheel joint drive transmission structure and compensation structure; the thigh is connected to the body or waist of the robot by a hip joint; one end of the shank is connected with the thigh through a knee joint, and the other end is connected with a wheel joint; the driving motor is arranged at the hip joint position, and transmits power to the wheel joint through the cooperation of ropes or belts and the driving wheels so as to rotate the wheels in the driving wheel joint; the compensation structure is disposed on a power transmission path of the wheel joint driving transmission structure for compensating for a change in length of the rope or belt caused when the knee joint rotates.

Description

Rope/belt wheel transmission robot leg structure capable of realizing transmission compensation

Technical Field

The invention relates to a rope/belt pulley transmission robot leg structure, in particular to a rope/belt pulley transmission robot leg structure capable of realizing transmission compensation, and belongs to the technical field of robot structures.

Background

With the development of joint robots, common joint robots cannot meet the working occasions with special situations. Wheel leg robots with high speed, high mobility, high adaptability and high energy utilization rate have become a necessary trend for the development of tandem joint robots. The leg structure of the wheel leg robot needs to comprehensively consider a plurality of aspects of mechanics, kinematics, dynamics, control and the like of the advanced robot, and is a complex comprehensive system.

At present, the joint driving modes of the leg structure of the robot are generally direct driving, conventional gear driving and belt transmission driving, wherein driving motors are arranged at the corresponding joints of the leg structure of the robot or on thighs and calves through transmission, and the defects are that: for the leg structure of the multi-joint robot, a transmission device such as a motor of a next joint becomes a load of a previous joint.

The power driving of the wheel joints is an important link in the design of the leg structure of the wheel leg robot, the wheel joints of the wheel leg robot are driven by a multi-purpose motor at present, and the driving motor is arranged at the positions of the wheel joints, so that driving devices such as the motor at the wheel joints can become the load of the upper stage joints, and the energy consumption of the leg structure of the robot is increased. Especially for jumping robots, the defects are remarkable, the weight of the lower end of the leg structure is increased by driving devices such as motors at wheel joints, jumping performance is affected, and the jumping control complexity and control precision are increased.

There are also rope-driven robot leg structures combining rope drive with wheel joints of a wheel-leg robot, which are mechanical structures using ropes or cables as a driving medium, and are commonly used in robots, prostheses or other devices requiring simulation of movement of biological legs. The transmission principle is that the rope transmission robot leg structure transmits power and motion by utilizing the motion of the rope. The rope drive, in combination with the wheel joints of the wheel leg robot, can bring about a number of advantages of integrity. But the leg structure of the existing rope transmission robot adopts a scheme similar to the traditional belt wheel transmission, which is a single-stage transmission scheme or a multi-stage transmission scheme formed by a plurality of single-stage transmissions (the single-stage transmission is characterized in that other joints are not arranged between a driving joint and a driven joint), and the reason is that: for a rope or belt transmission scheme of a trans-joint transmission, such as a rope or belt transmission robot leg structure for transmitting hip joint torque to a wheel joint across a knee joint, the technical problem of the change of the length of the rope or belt caused by knee joint rotation exists, and the change can break the rope or belt due to the fact that the total length of the rope or belt is unchanged, so that the rope or belt transmission robot leg structure cannot work normally. The driving and transmission device of the wheel joint can still be arranged at the knee joint, and the problem that the driving and transmission device becomes the load of the upper-stage joint still exists.

Disclosure of Invention

In view of the above, the present invention provides a rope/pulley-driven robot leg structure capable of realizing driving compensation, which combines a rope/belt driving with a wheel joint of a wheel leg robot, and sets a driving device of the wheel joint at a hip joint position, and then drives to the wheel joint through the rope/belt, and compensates for a change in length of a rope or a belt due to rotation of a knee joint by setting a compensation structure, thereby realizing trans-joint driving.

The technical scheme of the invention is as follows: a rope/pulley driven robot leg structure capable of transmission compensation comprising: thigh, shank, wheel joint drive transmission structure and compensation structure;

The thigh is connected to the body or waist of the robot by a hip joint; one end of the lower leg is connected with the thigh through a knee joint, and the other end is connected with a wheel joint;

The wheel joint driving transmission structure comprises: the driving motor is arranged at the hip joint position, and power is transmitted to the wheel joints through the cooperation of the rope or the belt and the driving wheels so as to rotate the wheels in the driving wheel joints;

The compensation structure is arranged on a power transmission route of the wheel joint driving transmission structure and is used for compensating the change of the length of the rope or belt caused by the rotation of the knee joint in the power transmission process of the wheel joint driving transmission structure.

As a preferred mode of the present invention, the plurality of driving wheels in the wheel joint transmission driving structure include: the transmission wheel B, the transmission wheel E, the transmission wheel I and the transmission wheel A;

The driving wheel B is arranged at the hip joint position and is coaxially connected with the shaft A at the hip joint position; the shaft A is connected with a driving motor and is rotationally connected with the thigh;

The driving wheel E and the driving wheel I are arranged at the knee joint position and are sleeved outside a shaft C at the knee joint position in a hollow manner; the shaft C is fixedly connected with the lower leg and is rotationally connected with the thigh;

the driving wheel A is arranged at the wheel joint position and is coaxially connected with the shaft B at the wheel joint position; the axle B is coaxially connected with the wheel.

As a preferred mode of the present invention, the compensation structure includes: the driving wheel C, the driving wheel G, the shaft D, the driving wheel H, the shaft E, a rack, a gear, a sliding block, the driving wheel F, the driving wheel J and the shaft F;

the transmission wheel set A formed by the transmission wheel C, the transmission wheel G and the shaft D is positioned in the middle of the thigh; the driving wheel C and the driving wheel G are coaxially sleeved on a shaft D, and the shaft D is supported on the thigh;

A chute is arranged on the thigh above the knee joint, and the chute penetrates through the thigh along the thickness direction of the thigh; the driving wheel D, the driving wheel H, the shaft E, the rack and the sliding block form a sliding unit which can move up and down along the sliding groove; the sliding unit is positioned between the knee joint and the transmission wheel set A; a sliding block is arranged in the sliding groove, the rack is sleeved outside the shaft E, the driving wheel D and the driving wheel H are coaxially sleeved on the shaft E, and the shaft E is connected with the sliding block;

the gear meshed with the rack is coaxially connected with the shaft C;

The transmission wheel set B formed by the transmission wheel F, the transmission wheel J and the shaft F is positioned in the middle of the lower leg; the driving wheel F and the driving wheel J are coaxially sleeved on a shaft F, and the shaft F is supported on the lower leg;

The rope or belt starts from the driving wheel B and is respectively wound on the driving wheel C, the driving wheel D, the driving wheel E, the driving wheel F, the driving wheel G, the driving wheel H, the driving wheel I and the driving wheel J and then is wound back to the driving wheel B to be connected with the starting end, so that a closed loop rope or belt is formed; the winding mode ensures that when the driving wheel B rotates anticlockwise, the driving wheel C, the driving wheel D, the driving wheel E and the driving wheel F rotate anticlockwise, and the driving wheel A, the driving wheel J, the driving wheel I, the driving wheel H and the driving wheel G rotate clockwise.

As a preferable mode of the invention, the rope or belt is wound on each driving wheel in the following mode:

The rope or belt starts from the front side of the driving wheel B, passes through the driving wheel C downwards and winds around the driving wheel D for half a circle and then winds back around the driving wheel C; then the belt passes through the driving wheel D, the driving wheel E and the driving wheel F in turn downwards and winds around the driving wheel A for a plurality of circles from the rear side of the driving wheel A;

The rope or belt winds around the driving wheel A for a plurality of circles, then passes through the driving wheel J, the driving wheel I and the driving wheel H in turn from the front side of the driving wheel A, winds around the driving wheel G for a half circle, winds down for a half circle, winds up through the driving wheel G from the rear side of the driving wheel B for a plurality of circles and then is connected with the starting end of the rope or belt.

As a preferred mode of the present invention, the ratio of the radius of the driving wheel E and the driving wheel I to the radius of the gear reference circle is 2:1.

The beneficial effects are that:

(1) In the leg structure of the robot driven by the rope/belt wheels, the driving motor of the wheel joint is arranged at the hip joint position, and the hip joint torque is transmitted to the wheel joint position by utilizing the matching of the rope or the belt and the driving wheel, so that the leg structure of the robot can move upwards, the leg structure of the robot is lighter, the inertia of the leg structure of the robot is reduced, the control precision is improved, the control difficulty is reduced, and the robot can realize better dynamic performance.

(2) In the leg structure of the robot driven by the rope/belt wheels, the problem that the length of the rope or belt is changed due to the rotation of the knee joint in the process of transmitting the torque of the hip joint (namely the torque of the driving motor) to the wheel joint across the knee joint can be solved by arranging the compensation structure; in the invention, hip joint torque is transmitted to the wheel joints across the knee joints by using the transmission of the ropes or belts, and when the knee joints rotate, the compensation device can compensate the lengths of the ropes or belts so as to ensure that the knee joints normally rotate, thereby realizing transmission across one or more joints.

(3) In the rope/pulley driven robot leg structure of the present invention, the rope or belt is closed loop, which can provide smoother motion, thereby reducing vibration and noise and further improving the driving efficiency.

(4) In the leg structure of the rope/belt wheel transmission robot, the ratio of the radius of the rope wheel E to the radius of the rope wheel I to the radius of the gear reference circle is 2:1, the radius ratio can be such that the length of the rope or belt increased due to the knee joint rotation is equal to the length of the rope or belt decreased due to the movement of the sheaves D and H in the direction of the sheave B.

Drawings

Fig. 1 is a schematic diagram of a robot leg structure capable of implementing transmission compensation of a sheave transmission of the present invention;

fig. 2 is an exploded view of the leg structure of a robot of the sheave drive capable of implementing drive compensation of the present invention;

FIG. 3 is an analytical schematic of the change in cable length caused by knee rotation;

FIG. 4 is a schematic diagram of the gear and rack engagement;

FIG. 5 is a schematic diagram showing the cooperation of the sliding groove and the sliding block;

Fig. 6 is a schematic diagram of the engagement of the ropes with the sheaves;

Fig. 7 is a schematic diagram of the manner in which the ropes are wrapped around the sheave on the side of the leg structure;

Fig. 8 presents a schematic view of the winding of the ropes on the sheave on the other side of the leg structure.

Wherein: 1-hip joint, 2-knee joint, 3-wheel joint, 4-thigh, 5-shank, 6-driving motor, 7-rack, 8-gear, 9-sheave A, 10-rope, 11-chute, 12-slider, 13-wheel, 14-sheave B, 15-sheave C, 16-sheave D, 17-sheave E, 18-sheave F, 19-sheave G, 20-sheave H, 21-sheave I, 22-sheave J, 23-shaft A, 24-shaft B, 25-shaft A, 26-shaft B, 27-spacer, 28-shaft retainer A, 29-shaft C, 30-shaft C, 31-shaft retainer B, 32-shaft D, 33-shaft E, 34-shaft F.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples.

The present embodiment provides a rope/pulley driven robot leg structure capable of realizing drive compensation, which combines a rope/belt drive with a wheel joint of a wheel leg robot, and sets a driving device of the wheel joint at a hip joint position, and then compensates for a change in rope or belt length due to knee joint rotation by setting a compensation structure to realize a trans-joint drive (i.e., transfer of torque of the hip joint out of the driving device across the knee joint to the wheel joint).

As shown in fig. 1, the robot leg structure includes: thigh 4, shank 5, wheel joint drive transmission structure and compensation structure; wherein the thigh 4 is connected to the body or waist of the robot by means of the hip joint 1; one end of the lower leg 5 is connected with the thigh 4 through the knee joint 2, and the other end is connected with the wheel joint 3; whereby the knee joint 2 is located in the middle of the robot leg structure, simulating the knee position; the wheel joints 3 are located at the bottom of the robot leg structure.

The torque transmission in the wheel joint driving transmission structure can be rope or belt (namely rope/belt wheel transmission refers to rope transmission or belt transmission), in this embodiment, taking rope 10 as an example, rope 10 and a rope wheel are matched to realize torque transmission, and when the belt is adopted, the corresponding rope wheel is replaced by a belt wheel; the sheave and pulley are collectively referred to as a drive pulley.

As shown in fig. 2, the thigh 4 includes two thigh plates disposed opposite to each other; the lower leg 5 comprises two oppositely disposed lower leg plates.

The wheel joint transmission driving structure comprises: drive motor 6, rope 10 (or belt), sheave B14, sheave E17, sheave I21, and sheave A9; the driving motor 6 is arranged at the position of the hip joint 1, and transmits power to the wheel joint 3 through the cooperation of the rope 10 and the rope wheels, so that the wheels 13 in the wheel joint 3 rotate. Wherein sheave B14 is arranged at the hip joint 1 position, sheave E17 and sheave I21 are arranged at the knee joint 2 position, and sheave A9 is arranged at the wheel joint 3 position.

The hip joint 1 includes: an axis a23 rotatably connected to the thigh 4 (i.e., two thigh plates); the rope pulley B14 is clamped between the two thigh plates, the shaft A23 is coaxially connected with the rope pulley B14, and the shaft A23 drives the rope pulley B14 to synchronously rotate when rotating; the two ends of the shaft A23 respectively pass through mounting holes on thigh plates at the corresponding ends, and the thigh 4 can rotate around the axis of the shaft A23 (when the shaft A23 rotates, the thigh 4 does not rotate along with the shaft A), and the rotation of the thigh 4 is controlled by other drivers); one end of the shaft A23 extends out of the thigh plate at the corresponding end and is connected with the driving motor 6, and the driving motor 6 drives the rope wheel B14 to rotate through the rotation of the driving shaft A23. In addition, on the shaft A23, two ends of the rope pulley B14 are respectively sleeved with a shaft sleeve A25 and a gasket 27; one end of the shaft A23 connected with the driving motor 6 is provided with a shaft check ring A28, and the other end is axially limited through a shaft shoulder of the shaft A23.

The knee joint 2 includes: the shaft C30 is fixedly connected with the lower leg 5 (namely, the shaft C30 can be driven to rotate when the lower leg rotates), the upper ends of the two lower leg plates are overlapped with the lower ends of the two thigh plates, and the lower leg plates are positioned at the outer sides of the thigh plates at the corresponding sides; the rope pulley E17 and the rope pulley I21 are coaxially arranged between the two thigh plates at the overlapped part, and the rope pulley E17 and the rope pulley I21 are coaxially sleeved (empty sleeve) outside the shaft C30 (namely, the rope pulley E17 and the rope pulley I21 do not rotate along with the rotation of the shaft C30); the two ends of the shaft C30 respectively pass through thigh plate mounting holes at the corresponding ends and are connected with the shank plates, namely the thigh plates are rotationally connected with the shaft C30 and can rotate around the axis of the shaft C30, and the shank plates are fixedly connected with the shaft C30; one end of the shaft C30 extends out of the shank plate at the corresponding end and is provided with a shaft check ring B31; the shaft C30 is provided with washers 27 at both ends of the sheave I21.

The wheel joint 3 includes: a wheel 13 and an axle B24; the rope pulley A9 is clamped between the two shank plates, and the rope pulley A9 is coaxially connected with the shaft B24 and can synchronously rotate; one end of the shaft B24 passes through the mounting hole on the corresponding end calf plate and then is coaxially connected with the wheel 13 (and the end is axially limited through the shaft shoulder of the shaft B), so that the wheel 13 can be driven to rotate through the shaft B24 when the rope pulley A9 rotates, and the wheel 13 is realized when the power of the driving motor 6 is transmitted. One end of the shaft B24 passes through the mounting hole on the corresponding end shank plate and then is axially limited by the shaft retainer ring A28; on the outer shaft B24, a sleeve B26 and a sleeve C29 are respectively fitted over both ends of the sheave A9.

The compensation structure is used to compensate for the change in length of the rope 10 caused when the knee joint 2 is turned during the transfer of the hip joint 1 torque across the knee joint 2 to the wheel joint 3. The compensation structure comprises: sheave C15, sheave G19, shaft D32, sheave D16, sheave H20, shaft E33, rack 7, gear 8, slider 12, sheave F18, sheave J22, shaft F34; wherein the pulley set a consisting of the pulley C15, the pulley G19 and the shaft D32 is located in the middle of the thigh 4 (i.e. between the hip joint 1 and the knee joint 2), specifically: the rope pulley C15 and the rope pulley G19 are coaxially arranged between the two thigh plates and are coaxially sleeved (empty sleeved) on the shaft D32, and two ends of the shaft D32 are respectively positioned in corresponding mounting holes of the two thigh plates; one end of the shaft D32 extends out of the thigh plate at the corresponding end and then is axially limited by the shaft retainer ring A28, and the other end of the shaft D32 is axially limited by the shaft shoulder of the shaft D; gaskets 27 are arranged at two ends of the rope pulley G19 on the shaft C30, and a shaft sleeve A25 is arranged between the rope pulley C15 and the thigh plate at the corresponding side.

As shown in fig. 4 and 5, a chute 11 is arranged on each of the two thigh plates above the knee joint 2, and the chute 11 penetrates through the thigh plate in the thickness direction of the thigh plate; the sheave D16, the sheave H20, the shaft E33, the rack 7, and the slider 12 are connected to form a slide unit that can move up and down along the chute 11. The sliding unit is positioned between the knee joint 2 and the rope pulley group A, in particular: a slide block 12 is arranged in each slide groove 11, a connecting part (the connecting part is not provided with teeth) for enabling a shaft E33 to pass through is arranged at the upper end of the rack 7, the rope pulley D16 and the rope pulley H20 are coaxially arranged between two thigh plates and are coaxially sleeved (empty) on the shaft E33, two ends of the shaft E33 pass through the slide block 12 in the slide groove 11 on the corresponding thigh plate at the corresponding side, the rear end passes through the shaft retaining ring A28 for axial limiting, and the other end is axially limited by the shaft shoulder of the shaft E33. The rack 7 is positioned between the rope wheel D16 and the thigh plate at the corresponding side, namely the shaft E33 passes through the upper end connecting part of the rack 7 and then passes through the slide block 12 at the side; the gear 8 meshed with the rack 7 is coaxially connected with the shaft C30, namely, when the shank 5 rotates, the gear 8 is driven to rotate through the shaft C30, so that the rotary motion of the shank 5 is converted into the linear motion of the rack 7 through the mutual meshing of the gear 8 and the rack 7, namely, when the knee joint 2 rotates, the gear 8 also starts to rotate at the knee joint 2, the gear 8 drives the rack 7 to perform the linear motion, and then the sliding block 12, the rope pulley D16 and the rope pulley H20 are driven to move in the direction of the rope pulley B14 in the sliding groove 11, and therefore the change of the length of the rope 10 caused by the rotation of the knee joint 2 is compensated.

The ratio of the radius of the rope wheels E17 and I21 to the radius of the indexing circle of the gear 8 is 2:1, this radius ratio can be made equal to the length of the rope 10 increased by the rotation of the knee joint 2 and the length of the rope 10 decreased by the movement of the sheaves D16 and H20 in the direction of the sheave B14.

The pulley group B consisting of the pulley F18, the pulley J22 and the shaft F34 is located in the middle of the lower leg 5 (i.e., between the knee joint 2 and the wheel joint 3), specifically: the rope pulley F18 and the rope pulley J22 are coaxially arranged between two shank plates and are coaxially sleeved (empty sleeved) on the shaft F34, two ends of the shaft F34 are respectively positioned in corresponding mounting holes of the two shank plates, one end of the shaft F34 extends out of the shank plate at the corresponding end and then is axially limited through the shaft retainer ring A28, and the other end of the shaft F34 is axially limited through the shaft shoulder of the shaft F34; the two ends of the rope pulley J22 on the shaft F34 are respectively provided with a gasket 27 and a shaft sleeve C29, and a shaft sleeve B26 is arranged between the rope pulley F18 and the corresponding side shank plate.

As shown in fig. 6-8, the ropes 10 are wrapped around the sheaves in the following manner: the rope 10 starts from the front side of the rope pulley B14, passes through the rope pulley C15 downwards and then is wound around the rope pulley D16 for half a turn and then is wound around the rope pulley C15; then passes through the rope pulley D16, the rope pulley E17 and the rope pulley F18 downwards in sequence, and winds around the rope pulley A9 from the rear side of the rope pulley A9 for a plurality of circles (such as three circles), wherein the winding direction ensures that when the rope pulley B14 rotates anticlockwise, the rope pulley C15, the rope pulley D16, the rope pulley E17 and the rope pulley F18 rotate anticlockwise, and the rope pulley A9 rotates clockwise in a downward winding mode; after the rope 10 is wound around the rope sheave A9 for three turns, the rope passes through the rope sheave J22, the rope sheave I21 and the rope sheave H20 in turn from the front side of the rope sheave A9, then is wound around the rope sheave G19 for half a turn, then is wound around the rope sheave H20 for half a turn, and is connected with the starting end of the rope 10 after being wound around the rope sheave B14 from the rear side of the rope sheave B14 for several turns (such as three turns) upwards through the rope sheave G19, in this process, the rope 10 is wound upwards (the winding direction ensures that when the rope sheave B14 rotates anticlockwise, the rope sheave J22, the rope sheave I21, the rope sheave H20, the rope sheave G19 and the rope sheave A9 rotate clockwise), so that a closed loop rope is formed, i.e., the rope 10 is a closed loop rope, the closed loop rope can provide smoother movement, vibration and noise are reduced, and transmission efficiency is further improved.

The winding mode of the rope 10 in the form of the winding mode is matched with the compensation structure, so that the length compensation of the rope 10 in the process of trans-articular transmission can be realized, and the trans-articular transmission is realized.

The power transmission mode of the leg structure is as follows: the driving motor 6 at the top of the thigh 4 drives the rope wheel B14 to rotate, the rope wheel B14 drives the rope 10 to rotate, and power is transmitted to the rope wheel A9 through the rope 10 and the rope wheels, so that the wheels 13 are driven to rotate; specific:

The driving motor 6 drives the rope wheel B14 to rotate, the rope wheel B14 drives the rope 10 to start rotating according to the designed wiring mode, and the specific process of the rotation of the rope 10 and each rope wheel is as follows: when the drive motor 6 drives the sheave B14 to start rotating counterclockwise (in the direction of fig. 7), the rope 10 also starts rotating; the rope passing through the sheave C15 between the sheaves B14 and D16 moves in the direction of the sheave A9, thereby rotating both the sheaves C15 and D16 in the counterclockwise direction (in the direction of fig. 7); the rope passing through the sheave F18 between the sheave E17 and the sheave A9 moves in the direction of the sheave A9, and thereby rotates the sheave E17 and the sheave F18 in the counterclockwise direction (in the direction of fig. 7); and sheave A9 rotates in a clockwise direction; when the sheave A9 rotates clockwise (in the direction of fig. 8), the rope passing between the sheave J22 and the sheave G19 and passing through the sheaves I21 and H20 moves in the direction of the sheave B14, and the sheaves J22, I21, H20 and G19 are rotated clockwise (in the direction of fig. 8). That is, when the driving motor 6 drives the sheave B14 to rotate counterclockwise, the rope 10 drives the sheaves C15, D16, E17, and F18 to rotate counterclockwise, and the sheaves A9, J22, I21, H20, and G19 to rotate clockwise.

When the driving motor 6 drives the rope wheel B14 to rotate so as to drive the rope 10 and other rope wheels to rotate, the gear 8 does not rotate, and the rack 7 and the sliding block 12 do not move. When the knee joint 2 starts to rotate, i.e. when the calf 5 rotates anticlockwise about the axis of the shaft C30, the gear 8 at the knee joint 2 starts to rotate anticlockwise, i.e. the gear 8 starts to rotate anticlockwise, and the rack 7 engaged with the gear 8 is moved in the direction of the sheave B14, and the sheave D16, the sheave H20 and the slider 12 connected to the rack 7 are also moved in the direction of the sheave B14 in the chute 11 with the movement of the rack 7 (i.e. the entire sliding unit is moved in the direction of the sheave B14 in the chute 11), based on the direction a in fig. 6. At this time, the angle between the thigh 4 and the shank 5 is an acute angle, and the rope passing through the rope pulley E17 between the rope pulley D16 and the rope pulley F18 is surrounded by the rope pulley E17 which is tangent to the rope pulley E17 before, as shown in fig. 3; the same applies to the ropes between the sheave H20 and the sheave J22, and thus the contact length of the rope 10 with the sheave E17 and the sheave I21 increases. As the slider 12 moves, the rope length wound between the sheave C15 and the sheave D16 and between the sheave G19 and the sheave H20 decreases, thereby compensating for the increase in the rope length at the knee joint 2, and thereby enabling smooth rotation of the knee joint 2.

If no compensation structure is arranged in the process of trans-joint transmission, as shown in fig. 3, when the knee joint 2 is straightened, the contact length of the rope 10 and the rope wheel I21 is 0, and the rope length between the rope wheel G19 and the rope wheel I21 is ab+bc; when the knee joint 2 is rotated by an angle θ, the contact length of the rope 10 with the sheave I21 increases, and the contact length becomes(The length of arc bd, R is the radius of rope sheave E17 and rope sheave I21), the rope length between rope sheave G19 and rope sheave I21 is ab+bc+arc bd, the rope length between rope sheave G19 and rope sheave I21 is increased/>, when compared with the rope length when the knee joint is straightenedWhen the length of the rope between the rope wheels G19 and I21 is increased, the rope 10 is broken without compensating the increased length of the rope on the premise that the total length of the rope is unchanged, and the leg structure of the rope wheel transmission robot cannot work normally.

In the leg structure of the rope sheave-driven robot provided with the compensating device, the rope compensating process is described in detail as follows: when the knee joint 2 rotates by an angle theta, the contact length of the rope 10 and the rope sheave E17 is increased, and the increased length is that(R is the radius of the rope pulley E17, the radius of the rope pulley I21 is the same as the radius of the rope pulley E17), namely the length is increased by thetar, and the rope length at the rope pulley I21 is also increased by thetar, namely the total length is increased by 2 thetar after the knee joint 2 rotates by the angle of thetar; when the knee joint 2 is rotated by an angle θ, the gear 8 is also rotated by an angle θ, and the rack 7 engaged with the angle θ is moved in the direction of the sheave B14/>(R is the reference circle radius of the gear 8), namely, the length of the rack 7 moving towards the rope wheel B14 is thetar; the sliding block 12, the rope pulley D16 and the rope pulley H20 move along the direction of the rope pulley B14 along with the rack 7 by the length thetar, so that the rope lengths wound between the rope pulley H20 and the rope pulley G19 and between the rope pulley D16 and the rope pulley C15 change, the rope lengths between the rope pulley B14 and the rope pulley D16 and passing through the rope pulley C15 are reduced by thetar due to the fact that the rope lengths between the rope pulley D16 and passing through the rope pulley C15 are reduced by thetar, the rope lengths between the rope pulley B14 and the rope pulley H20 and passing through the rope pulley G19 are reduced by thetar, and the rope lengths between the rope pulley H20 and the rope pulley G19 are reduced by thetar when the rope pulley D16 and the rope pulley H20 move towards the rope pulley B14; the ratio of the indexing circle radius of the rope wheel E17 to the gear 8 is 2:1, the ratio of the reference circle radius of the rope wheel I21 to the gear 8 is also 2:1, namely 2θr=4θr, the total increase of the rope length is equal to the total decrease of the rope length, namely the designed compensation structure solves the technical problem of the rope length change caused by knee joint rotation.

While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.

Claims (5)

1. Rope/pulley driven robot leg structure capable of realizing drive compensation, characterized by comprising: thigh, shank, wheel joint drive transmission structure and compensation structure;

The thigh is connected to the body or waist of the robot by a hip joint; one end of the lower leg is connected with the thigh through a knee joint, and the other end is connected with a wheel joint;

The wheel joint driving transmission structure comprises: the driving motor is arranged at the hip joint position, and power is transmitted to the wheel joints through the cooperation of the rope or the belt and the driving wheels so as to rotate the wheels in the driving wheel joints;

The compensation structure is arranged on a power transmission route of the wheel joint driving transmission structure and is used for compensating the change of the length of the rope or belt caused by the rotation of the knee joint in the power transmission process of the wheel joint driving transmission structure.

2. A rope/pulley driven robotic leg configuration enabling drive compensation as claimed in claim 1, in which a number of the drive wheels in the wheel joint drive configuration comprise: the transmission wheel B, the transmission wheel E, the transmission wheel I and the transmission wheel A;

The driving wheel B is arranged at the hip joint position and is coaxially connected with the shaft A at the hip joint position; the shaft A is connected with a driving motor and is rotationally connected with the thigh;

The driving wheel E and the driving wheel I are arranged at the knee joint position and are sleeved outside a shaft C at the knee joint position in a hollow manner; the shaft C is fixedly connected with the lower leg and is rotationally connected with the thigh;

the driving wheel A is arranged at the wheel joint position and is coaxially connected with the shaft B at the wheel joint position; the axle B is coaxially connected with the wheel.

3. A rope/pulley driven robotic leg configuration enabling drive compensation as claimed in claim 2, in which the compensation configuration comprises: the driving wheel C, the driving wheel G, the shaft D, the driving wheel H, the shaft E, a rack, a gear, a sliding block, the driving wheel F, the driving wheel J and the shaft F;

the transmission wheel set A formed by the transmission wheel C, the transmission wheel G and the shaft D is positioned in the middle of the thigh; the driving wheel C and the driving wheel G are coaxially sleeved on a shaft D, and the shaft D is supported on the thigh;

A chute is arranged on the thigh above the knee joint, and the chute penetrates through the thigh along the thickness direction of the thigh; the driving wheel D, the driving wheel H, the shaft E, the rack and the sliding block form a sliding unit which can move up and down along the sliding groove; the sliding unit is positioned between the knee joint and the transmission wheel set A; a sliding block is arranged in the sliding groove, the rack is sleeved outside the shaft E, the driving wheel D and the driving wheel H are coaxially sleeved on the shaft E, and the shaft E is connected with the sliding block;

the gear meshed with the rack is coaxially connected with the shaft C;

The transmission wheel set B formed by the transmission wheel F, the transmission wheel J and the shaft F is positioned in the middle of the lower leg; the driving wheel F and the driving wheel J are coaxially sleeved on a shaft F, and the shaft F is supported on the lower leg;

The rope or belt starts from the driving wheel B and is respectively wound on the driving wheel C, the driving wheel D, the driving wheel E, the driving wheel F, the driving wheel G, the driving wheel H, the driving wheel I and the driving wheel J and then is wound back to the driving wheel B to be connected with the starting end, so that a closed loop rope or belt is formed; the winding mode ensures that when the driving wheel B rotates anticlockwise, the driving wheel C, the driving wheel D, the driving wheel E and the driving wheel F rotate anticlockwise, and the driving wheel A, the driving wheel J, the driving wheel I, the driving wheel H and the driving wheel G rotate clockwise.

4. A rope/pulley driven robot leg construction enabling drive compensation as claimed in claim 3, wherein the rope or belt is wound on the respective drive wheel in the following manner:

The rope or belt starts from the front side of the driving wheel B, passes through the driving wheel C downwards and winds around the driving wheel D for half a circle and then winds back around the driving wheel C; then the belt passes through the driving wheel D, the driving wheel E and the driving wheel F in turn downwards and winds around the driving wheel A for a plurality of circles from the rear side of the driving wheel A;

The rope or belt winds around the driving wheel A for a plurality of circles, then passes through the driving wheel J, the driving wheel I and the driving wheel H in turn from the front side of the driving wheel A, winds around the driving wheel G for a half circle, winds down for a half circle, winds up through the driving wheel G from the rear side of the driving wheel B for a plurality of circles and then is connected with the starting end of the rope or belt.

5. A rope/pulley driven robot leg construction enabling drive compensation according to claim 3 or 4, characterized in that the ratio of the radius of the drive wheel E and drive wheel I to the radius of the gear pitch circle is 2:1.