CN210063193U

CN210063193U - Robot running mechanism with mechanical unbalance prevention function

Info

Publication number: CN210063193U
Application number: CN201920814804.3U
Authority: CN
Inventors: 张子向
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-05-31
Filing date: 2019-05-31
Publication date: 2020-02-14
Anticipated expiration: 2029-05-31

Abstract

The utility model provides a robot running gear with machinery is prevented unbalance, aim at solve rugged road surface position, and traditional type humanoid robot foot area of landing is less, and the robot gesture is adjusted the difficulty, easy unbalanced problem. The lower limb component lower extreme passes through spherical joint connection foot part, still be equipped with a plurality of regulation poles between the surface of lower limb component and foot part, the foot part comprises well palm portion, back palm portion and preceding palm portion, forms rotation connection through the pivot between back palm portion and the well palm portion, and preceding palm portion is surrounded around well palm partial profile face by a plurality of jack catchs and forms, each the jack catch includes the bull stick articulated with well palm portion, the one end fixed connection toe portion of each bull stick, the both sides of the other end of each bull stick respectively with well palm portion between be connected with the spring part that is in tensile state.

Description

Robot running mechanism with mechanical unbalance prevention function

Technical Field

The invention relates to a walking structure of a humanoid robot, in particular to a robot walking mechanism with mechanical unbalance prevention.

Background

The biped walking robot simulates a human biped walking mode, and has a good human walking posture, so that the biped walking robot has a wide application scene and a large development space. However, in order to realize the simulated human-like posture, the bipedal human-like robot needs to use a large number of joints and components to realize the simulated human-like posture, particularly the feet. The existing humanoid robot adopts platy feet in a large number, then senses the body posture by utilizing sensors such as a gyroscope and the like positioned at the body, and then adjusts the foot joints and the upper body posture through a feedback system so as to achieve the effect of body balance. In order to accurately sense body posture information, a relatively precise feedback system is required to adjust, the feedback system can adjust the smooth road surface, and the balance of the robot cannot be stably kept only by adjusting the posture of the upper body of a rough road surface on which the road surface is uneven and the feet cannot completely land.

SUMMERY OF THE UTILITY MODEL

In view of the above situation, the present invention provides a robot walking mechanism for preventing mechanical unbalance, and aims to solve the problems of a rugged road surface, a small foot landing area of a traditional human-like robot, difficulty in adjusting the posture of the robot, and easiness in unbalance.

The technical scheme is that the leg adjusting device comprises a rod-shaped lower limb component, the lower end of the lower limb component is connected with a foot component through a spherical joint, a plurality of adjusting rods are further arranged between the lower limb component and the surface of the foot component, the fixed ends of the adjusting rods are fixedly connected with the lower limb component, and the hinged ends of the adjusting rods are hinged with the foot component to form a structure which can complete the adjustment of a set angle between one or more adjusting rod action foot components and the lower limb component; the foot part consists of a middle palm part, a rear palm part and a front palm part, the middle palm part is movably connected with the lower limb part through a spherical joint, the rear palm part and the front palm part are both positioned in the walking direction and positioned at two sides of the middle palm part, the rear palm part and the middle palm part form rotary connection through a pivot, and a rotary axis between the rear palm part and the middle palm part is vertical to the walking direction; the front palm portion is formed by a plurality of claws surrounding the outer contour surface of the middle palm portion, each claw comprises a rotating rod hinged with the middle palm portion, one end of each rotating rod is fixedly connected with a toe portion, and spring pieces in a stretching state are connected between two sides of the other end of each rotating rod and the middle palm portion respectively.

In the above or some embodiments, the middle palm portion has a cylindrical table-shaped structure, the lower end of the lower limb member is provided with a spherical rotating portion, and a corresponding segment-shaped groove body matched with the rotating portion is arranged at the center of the middle palm portion, so as to form a structure that the spherical rotating portion rotates in the segment-shaped groove body.

In the above or some implementations, the middle sole portion and the middle sole portion are connected through a damping shaft, a half gear structure is disposed on a pivot of the damping shaft, and a rotation limiting groove forming a limiting position with two side edges of the half gear is disposed on the corresponding middle sole portion to form a rotation structure of the middle sole portion and the middle sole portion within a set angle range.

In the above or some embodiments, the upper end of the lower limb component is hinged to a first driving rod, the other end of the first driving rod is hinged to the frame, and the lower limb component further comprises a second driving rod hinged to the middle upper part of the lower limb component, the second driving rod is provided with a hinged end hinged to a crank rod, the crank rod is configured to be driven by a power source and move in a circular manner, and the power source is fixedly mounted on the frame.

In the above or some embodiments, the vehicle body further comprises a stabilizer bar located between the second driving rod and the frame, one end of the stabilizer bar is hinged to the middle position of the second driving rod, the other end of the stabilizer bar is hinged to the frame, the foot part, the lower limb part, the first driving rod, the second driving rod, the crank rod, the stabilizer bar, the frame and the power source form a single-foot unit, and two single-foot units are arranged in parallel.

In the above or some embodiments, each of the monopod units is driven by a separate power source.

In the above or some embodiments, the frame includes two fixing plates disposed obliquely upward and in parallel, a connecting plate is disposed between the fixing plates, the power source is fixedly mounted on the connecting plate, and the power source is typically connected with a power pack, which is fixedly mounted with the fixing plates and located between the two fixing plates.

Compare with traditional biped robot, the sufficient part of this scheme lies in when forming angle modulation between the low limbs part, it itself has a plurality of parts to constitute, wherein can be under self action of gravity between back palm portion and the well palm portion, when lieing in the road surface of height unevenness, can the angle between self-adaptation regulation back palm portion and the well palm portion, in order to obtain better impetus, the jack catch of the preceding palm portion that the cyclic annular distributes in addition, rely on the spring part to keep and contact non-rigid contact between the ground, the jack catch also passes through the reaction force of spring part when obtaining more strong points, provide reliable holding power for the low limbs part, in order to realize better posture adjustment.

Drawings

Fig. 1 is a front view of an embodiment of the solution according to the patent.

Figure 2 is a side view of an embodiment of the solution according to the patent.

Fig. 3 is an enlarged schematic view of a portion a of fig. 1.

Fig. 4 is an enlarged schematic view of a portion B in fig. 1.

Detailed Description

In order to more clearly and fully illustrate the core concepts of the present invention, the invention will be further described and illustrated with reference to specific embodiments. It should be noted that the following specific embodiments are intended to illustrate the inventive concept and are not intended to limit the implementation of the present invention, so the implementation of the present invention includes but is not limited to what is described in the present application, and the replacement and avoidance by those skilled in the art according to the inventive concept should be considered as falling within the scope of the present invention which is claimed or should not be granted.

The humanoid robot includes a walking mechanism executed as a walking action, a sensor system used for obtaining the posture information of the robot, and a control unit used for receiving an input signal of the sensor system and operating a command set according to the input signal, the control unit generates a control command acting on the control drive unit according to a built-in command set and each acquired sensor signal, the drive unit includes a drive circuit and a power source 900 such as a motor and an adjusting rod 200 which are electrically connected with the drive circuit, each motor and the adjusting rod 200 are positioned at the walking mechanism and do not provide power for the walking mechanism, and the power source 900 includes but is not limited to the types listed above.

In this embodiment, the walking mechanism includes two single-foot units arranged in parallel, each single-foot unit simulates the whole leg structure of human intelligence walking process, and each single-foot unit includes a foot part 300, a lower limb part 100, a first driving rod 500, a second driving rod 600, a crank rod 700, a stabilizer bar 800, a frame, and a power source 900, where the power source 900 may be a stepping motor with an encoder, and receives a pulse signal from a driving circuit via the encoder, so as to precisely control the rotation period and rotation angle of the crank rod 700. In the specific implementation process, each single-foot unit is connected with the corresponding crank lever 700 by one power source 900, so that the two single-foot units have their own power respectively, and it is noted that in the present scheme, because the single-foot units operate alternately during the operation, the operating phases of the crank levers 700 are 180 ° apart, so as to realize the alternate operation and operation of the two single-foot units.

In the above or some embodiments, the frame is kept relatively fixed for mounting and connecting relatively static components, in this embodiment, the frame includes two fixing plates 1000 arranged obliquely upward and in parallel, a connecting plate 1001 is provided between the fixing plates, and the stepping motor matched with the crank rod 700 is fixedly mounted on the connecting plate 1001, in this embodiment, each stepping motor and the adjusting rod 200 can be driven by electric power, wherein the adjusting rod 200 can be an electric telescopic rod driven by electric power, wherein the electric power is provided by an integrally mounted lithium ion battery pack which forms the power pack 1002, in this embodiment, the power pack 1002 is fixedly mounted between the two fixing plates 1000, because the power pack 1002 has a heavy mass, in the embodiment of the embodiment, the traveling mechanism is equipped with an upper limb structure enough that the power pack 1002 is located at the middle and lower parts of the whole robot and can balance the center of gravity of the robot, enhancing its stability.

In the above or some embodiments, the lower limb member 100 is a rigid structure in the shape of a rod or a long strip, the lower end of the lower limb member 100 is connected to the foot member 300 through a spherical joint, the lower limb member 100 can freely swing to a large extent relative to the foot member 300 through the spherical joint, the swing range of the lower limb member 100 is a substantially conical structure, a plurality of adjusting rods 200 are further disposed between the lower limb member 100 and the surface of the foot member 300, the fixed end of each adjusting rod 200 is fixedly connected to the lower limb member 100, the hinged end of each adjusting rod 200 is hinged to the foot member 300, a structure that the one or more adjusting rods 200 can complete the adjustment of the set angle between the foot member 300 and the lower limb member 100 is formed, and the one or more adjusting rods 200 can complete the adjustment of the angle between the foot member 300 and the lower limb member.

In the above or some embodiments, the foot member 300 is composed of a middle palm portion 301, a back palm portion 302 and a front palm portion 303, the middle palm portion 301 is movably connected with the lower limb member 100 through a spherical joint, the back palm portion 302 and the front palm portion 303 are both located in the walking direction and located on two sides of the middle palm portion 301, the middle palm portion 301 is in a cylindrical table structure, a spherical rotating portion 101 is arranged at the lower end of the lower limb member 100, a spherical notch-shaped groove 102 matched with the rotating portion is arranged at the center of the corresponding middle palm portion 301, a structure that the spherical rotating portion 101 rotates in the spherical notch-shaped groove 102 is formed, and the rotating axis between the back palm portion 302 and the middle palm portion 301 is perpendicular to the walking direction; the front palm portion 303 is formed by a plurality of claws 400 surrounding the outer contour surface of the middle palm portion 301, each claw 400 comprises a rotating rod 401 hinged with the middle palm portion 301, one end of each rotating rod 401 is fixedly connected with a toe portion 403, two sides of the other end of each rotating rod 401 are respectively connected with the middle palm portion 301 through a spring piece 402 in a stretching state, the rear palm portion 302 is connected with the middle palm portion 301 through a damping shaft 306, a half gear structure 304 is arranged on a pivot of the damping shaft 306, a rotation limiting groove 305 forming limiting with two sides of the half gear is correspondingly arranged on the middle palm portion 301, and a rotation structure of the middle palm portion 301 and the rear palm portion 302 in a set angle range is formed.

In the above or some embodiments, the upper end portion of the lower limb part 100 is hinged to the first driving lever 500 in a straight lever shape, the other end of the first driving lever 500 is hinged to the fixing plate 1000 of the frame, and further includes the second driving lever 600 hinged to the middle upper portion of the lower limb part 100, the second driving lever 600 is provided with a hinged end hinged to the crank lever 700, the crank lever 700 is configured to be driven by a stepping motor and move circularly, the crank lever 700 includes a driving end fixedly connected with an output end of the motor, the driving end may be a disc-shaped structure, and further includes a rod-shaped output end, the output end is hinged with the first driving lever 500, here, the first driving lever 500 has an L-shaped structure, and the middle portion of the lower limb member 100 is hinged to a straight end of the first driving lever 500, and the first driving lever 500 is hinged to the stabilizer bar 800 at a right-angle position, wherein the other end of the stabilizer bar 800 is hinged to the fixing plate 1000 of the frame.

The specific movement process of the scheme is that when the crank lever 700 is driven to rotate by the stepping motor, the crank lever 700 makes a circular motion to drive the first driving rod 500 to make a planar motion, the planar motion of the first driving rod 500 drives the lower limb part 100, wherein the motion track of the lower limb part 100 simulates the lifting and lowering motion of the leg when a human walks, because the phases of the crank levers 700 of the two single-foot units are 180 degrees different, when one crank lever 700 moves to a set position, the position of the other crank lever 700 is 180 degrees different from the set position, therefore, the above-mentioned phase difference can be used to realize the alternate motion of the single-foot units, compared with the traditional two-foot robot, the foot part 300 of the scheme is composed of a plurality of parts when the angle is adjusted between the lower limb parts 100, wherein the rear palm part 302 and the middle palm part 301 can be under the action of self gravity when the road surface is uneven, the angle between the rear palm portion 302 and the middle palm portion 301 can be adjusted in a self-adaptive mode to obtain a better acting point, in addition, the clamping jaws 400 of the front palm portion 303 distributed in the annular mode are in non-rigid contact with the ground depending on the spring piece 402, and the clamping jaws 400 provide reliable supporting force for the lower limb component 100 through the reaction force of the spring piece 402 while obtaining more supporting points, so that better posture adjustment is achieved.

Claims

1. The robot walking mechanism with the mechanical unbalance prevention function comprises a rod-shaped lower limb component (100), wherein the lower end of the lower limb component (100) is connected with a foot component (300) through a spherical joint, and is characterized in that a plurality of adjusting rods (200) are further arranged between the lower limb component (100) and the surface of the foot component (300), the fixed end of each adjusting rod (200) is fixedly connected with the lower limb component (100), the hinged end of each adjusting rod (200) is hinged with the foot component (300), and a structure capable of achieving set angle adjustment between the foot component (300) and the lower limb component (100) by means of action of one or more adjusting rods (200) is formed; the foot component (300) comprises a middle palm part (301), a rear palm part (302) and a front palm part (303), the middle palm part (301) is movably connected with the lower limb component (100) through a spherical joint, the rear palm part (302) and the front palm part (303) are both positioned in the walking direction and are positioned at two sides of the middle palm part (301), the rear palm part (302) and the middle palm part (301) are in rotary connection through a pivot, and a rotary axis between the rear palm part (302) and the middle palm part (301) is perpendicular to the walking direction; the front palm portion (303) is formed by a plurality of clamping jaws (400) which are encircled around the outer contour surface of the middle palm portion (301), each clamping jaw (400) comprises a rotating rod (401) hinged with the middle palm portion (301), one end of each rotating rod (401) is fixedly connected with a toe head portion (403), and spring pieces (402) in a stretching state are connected between two sides of the other end of each rotating rod (401) and the middle palm portion (301).

2. The robot walking mechanism with mechanical unbalance prevention function as claimed in claim 1, wherein the middle palm part (301) is a cylindrical table structure, the lower end of the lower limb member (100) is provided with a spherical rotating part (101), and a corresponding spherical notch-shaped groove body (102) matched with the rotating part is arranged at the center of the middle palm part (301), so that the spherical rotating part (101) rotates in the spherical notch-shaped groove body (102).

3. The robot walking mechanism with mechanical unbalance prevention function according to claim 1 or 2, wherein the rear palm portion (302) is connected with the middle palm portion (301) through a damping shaft (306), a half gear structure (304) is arranged on a pivot of the damping shaft (306), a rotation limiting groove (305) which limits the two side edges of the half gear is arranged on the corresponding middle palm portion (301), and a structure that the middle palm portion (301) and the rear palm portion (302) rotate within a set angle range is formed.

4. The robot walking mechanism with mechanical anti-unbalance of claim 3, wherein the upper end of the lower limb member (100) is hinged with a first driving rod (500), the other end of the first driving rod (500) is hinged with the frame, further comprising a second driving rod (600) hinged with the middle upper part of the lower limb member (100), the second driving rod (600) is provided with a hinged end hinged with a crank rod (700), the crank rod (700) is configured to be driven by a power source (900) and move circularly, and the power source (900) is fixedly installed on the frame.

5. The robot walking mechanism with mechanical unbalance prevention according to claim 4, further comprising a stabilizer bar (800) between the second driving rod (600) and the frame, wherein one end of the stabilizer bar (800) is hinged to the middle of the second driving rod (600), the other end of the stabilizer bar (800) is hinged to the frame, the foot member (300), the lower limb member (100), the first driving rod (500), the second driving rod (600), the crank lever (700), the stabilizer bar (800), the frame, and the power source (900) form a single-foot unit, and two single-foot units are arranged in parallel.

6. The robotic walking mechanism with mechanical anti-imbalance according to claim 5, wherein each of the monopod units is driven by a separate power source (900).

7. The robot running gear with mechanical anti-unbalance according to claim 6, characterized in that the frame comprises two parallel fixing plates (1000) arranged obliquely upwards, a connecting plate (1001) is arranged between the fixing plates, the power source (900) is fixedly installed on the connecting plate (1001), the power source (900) is further typically connected with a power pack (1002), and the power pack (1002) is fixedly installed on the fixing plates (1000) and is located between the fixing plates (1000).